US 12,072,298 B2
Wall-climbing robot system and method for rapid nondestructive inspection of hidden defects in culverts and sluices
Zhengfang Wang, Jinan (CN); Jing Wang, Jinan (CN); Wenqiang Kang, Jinan (CN); Hanchi Liu, Jinan (CN); Yuzhuang Wan, Jinan (CN); and Qingmei Sui, Jinan (CN)
Assigned to SHANDONG UNIVERSITY, Jinan (CN)
Appl. No. 17/765,215
Filed by SHANDONG UNIVERSITY, Shandong (CN)
PCT Filed Aug. 9, 2021, PCT No. PCT/CN2021/111595
§ 371(c)(1), (2) Date Mar. 30, 2022,
PCT Pub. No. WO2022/156192, PCT Pub. Date Jul. 28, 2022.
Claims priority of application No. 202110071015.7 (CN), filed on Jan. 19, 2021; and application No. 202110706142.X (CN), filed on Jun. 24, 2021.
Prior Publication US 2024/0068951 A1, Feb. 29, 2024
Int. Cl. G01N 21/88 (2006.01); B25J 11/00 (2006.01); B62D 57/024 (2006.01); G01N 15/08 (2006.01); G01N 29/04 (2006.01); G01N 29/265 (2006.01); G01N 29/44 (2006.01); G01S 13/89 (2006.01); G01S 17/89 (2020.01)
CPC G01N 21/8851 (2013.01) [B25J 11/00 (2013.01); B62D 57/024 (2013.01); G01N 15/08 (2013.01); G01N 29/043 (2013.01); G01N 29/265 (2013.01); G01N 29/4454 (2013.01); G01S 13/89 (2013.01); G01S 17/89 (2013.01); G01N 2291/0232 (2013.01); G01N 2291/0289 (2013.01); G01N 2291/2698 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A wall-climbing robot system for rapid nondestructive inspection of hidden defects in culverts and sluices, comprising:
a vehicle body of a robot;
a navigation positioning system and a moving system, both mounted on the vehicle body of the robot;
an automatic knock inspection system, mounted at a front end of the vehicle body;
a mobile ultrasonic rapid inspection system and a corrosion inspection system, both mounted at a bottom of the vehicle body;
a dual-power system, formed by a non-contact negative pressure adsorption apparatus and rotor booster apparatuses, the non-contact negative pressure adsorption apparatus being mounted at the bottom of the vehicle body, the rotor booster apparatuses being mounted on two sides of the vehicle body; and
a master controller, separately communicating with the navigation positioning system, the moving system, the automatic knock inspection system, the mobile ultrasonic rapid inspection system, the corrosion inspection system, and the dual-power system.