US 12,031,922 B2
Multi-arm robot used for tunnel lining inspection and defect diagnosis in operation period
Bin Liu, Shandong (CN); Zhengfang Wang, Shandong (CN); Peng Jiang, Shandong (CN); Wenqiang Kang, Shandong (CN); Hanchi Liu, Shandong (CN); Jiaqi Zhang, Shandong (CN); and Qingmei Sui, Shandong (CN)
Assigned to SHANDONG UNIVERSITY, Jinan (CN)
Appl. No. 17/289,280
Filed by SHANDONG UNIVERSITY, Shandong (CN)
PCT Filed Sep. 30, 2020, PCT No. PCT/CN2020/119578
§ 371(c)(1), (2) Date Apr. 28, 2021,
PCT Pub. No. WO2021/068846, PCT Pub. Date Apr. 15, 2021.
Claims priority of application No. 201910955353.X (CN), filed on Oct. 9, 2019; application No. 202010014715.8 (CN), filed on Jan. 7, 2020; application No. 202010014732.1 (CN), filed on Jan. 7, 2020; and application No. 202010019203.0 (CN), filed on Jan. 8, 2020.
Prior Publication US 2021/0389257 A1, Dec. 16, 2021
Int. Cl. G01N 21/954 (2006.01); F16L 55/40 (2006.01); G01N 21/88 (2006.01); G01N 22/02 (2006.01); G01N 23/20008 (2018.01); G01N 23/203 (2006.01); G06N 20/00 (2019.01); F16L 101/30 (2006.01)
CPC G01N 21/954 (2013.01) [F16L 55/40 (2013.01); G01N 21/8851 (2013.01); G01N 22/02 (2013.01); G01N 23/20008 (2013.01); G01N 23/203 (2013.01); G06N 20/00 (2019.01); F16L 2101/30 (2013.01); G01N 2021/9544 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A multi-arm robot used for tunnel lining inspection and defect diagnosis in an operation period, comprising a moving platform, wherein an environment detection device and a defect infection device are disposed on the moving platform, the defect infection device is disposed on the moving platform by using a multi-degree-of-freedom mechanical arm, and an attitude detection module is disposed on the multi-degree-of-freedom mechanical arm;
a controller receives environmental data sensed by the environment detection device and mechanical arm attitude data sensed by the attitude detection module, and sends a control instruction to the moving platform and the multi-degree-of-freedom mechanical arm according to the environmental data, to implement movement of the multi-arm robot; and
the controller receives tunnel lining structural data sensed by the defect infection device, and performs defect diagnosis;
wherein, the defect infection device comprises a wideband air-coupled ground penetrating radar and/or an X-ray backscattering inspection device, and the environment detection device comprises one or more of a linear array camera array, a near-infrared binocular stereo imaging camera, and an infrared thermal imaging device, and
wherein the X-ray backscattering inspection device is disposed on the moving platform by using a load mechanical arm, the load mechanical arm is of a three-section mechanical arm structure; a first section of the load mechanical arm is fixed on the moving platform, a power supply and water cooling system is built in a second section of the load mechanical arm, and an end of a third section of the load mechanical arm is connected to the X-ray backscattering inspection device by using a radiation shielding component, and a radiation source and a single-photon detector array are built in the radiation shielding component.