Multi-Arm Tunnel Inspection Robot for Internal and Surface Defect Diagnosis
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Solution Overview
Problem
Current tunnel inspection methods rely on manual inspection and are prone to false negatives and positives, with existing robots unable to efficiently inspect internal defects in tunnel structures due to limitations in load capacity, scanning speed, and adaptability to varying tunnel environments.
Innovation Solution
A multi-arm robot equipped with a moving platform, multi-degree-of-freedom mechanical arms, and advanced non-destructive inspection devices such as wideband air-coupled ground penetrating radar and X-ray backscattering inspection, along with a self-adaptive floating type coupled device and multifunctional gimbal, enables autonomous, precise, and intelligent defect diagnosis in tunnels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual inspection is used, then inspection can be performed with simple equipment, but inspection time is long, labor cost is high, and inspection accuracy is low
Solution Approach 1:
The inspection robot is equipped with autonomous navigation capabilities and self-positioning systems, enabling it to perform inspections independently without manual operation. The robot automatically navigates along the tunnel, positions inspection devices, and collects data, thereby improving inspection efficiency while managing equipment complexity through automation
Solution Approach 2:
The robot integrates multiple inspection functions including surface defect detection, internal structure scanning, and environmental monitoring into a single platform. This multi-functional design improves overall inspection efficiency by eliminating the need for multiple separate inspection systems while the modular architecture helps manage device complexity
2Measurement precision
If existing inspection robots are used, then automation is achieved, but load capacity is insufficient for large-size inspection devices
Solution Approach 1:
The robot system is divided into modular components including the main platform, interchangeable inspection modules, and support structures. This segmentation allows high-precision inspection devices to be mounted on the robot while distributing weight and enabling selective deployment of inspection equipment based on specific inspection needs
Solution Approach 2:
The robot employs a multi-level inspection architecture where inspection devices are positioned at different spatial levels and angles. This dimensional arrangement allows precise inspection of tunnel structures from multiple perspectives while optimizing the distribution of inspection equipment weight across the robot platform
3Adaptability or versatility
If guide rail type robots are used, then stable movement is achieved, but adaptability to different tunnel environments is poor
Solution Approach 1:
The robot employs dynamic adjustment mechanisms including adjustable wheel configurations, flexible positioning systems, and real-time parameter adaptation. These dynamic features enable the robot to adapt to different tunnel environments while maintaining stable operation through continuous adjustment of movement parameters and inspection configurations
Solution Approach 2:
The robot system incorporates variable parameters such as adjustable speed, configurable inspection distances, and adaptable navigation modes that can be changed based on environmental conditions. This parameter flexibility allows the robot to maintain operational stability across diverse tunnel environments while enhancing its adaptability
4Measurement precision
If surface inspection devices are used, then surface defects can be detected, but internal defects cannot be inspected
Solution Approach 1:
The robot integrates multiple inspection technologies including surface scanning, ground-penetrating radar, and internal structure imaging into a unified inspection system. This merging of different inspection modalities enables simultaneous detection of both surface and internal defects while the integrated control system manages the complexity of coordinating multiple devices
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot achieves rapid, accurate, and intelligent inspection of tunnel lining defects, improving inspection efficiency and precision while adapting to different tunnel environments, enabling effective detection of internal damage and surface defects.
Implementation Method 1
a wideband air-coupled ground penetrating radar is disposed on the moving platform by using a foldable mechanical arm
Implementation Method 2
X-ray backscattering inspection device
Data Source
AI summary
A multi-arm robot used for tunnel lining inspection and defect diagnosis in an operation period, including a moving platform, where 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 each multi-degree-of-freedom mechanical arm; a controller receives environmental data and mechanical arm attitude data sensed by the environment detection device and 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 robot; and the controller receives tunnel lining structural data sensed by the defect infection device, and performs defect diagnosis. Overall automatic inspection can be implemented both on the surface and inside of the tunnel lining.