CN113424055A - 隧道结构病害多尺度检测与智能诊断系统及方法 - Google Patents

隧道结构病害多尺度检测与智能诊断系统及方法 Download PDF

Info

Publication number
CN113424055A
CN113424055A CN202080010321.3A CN202080010321A CN113424055A CN 113424055 A CN113424055 A CN 113424055A CN 202080010321 A CN202080010321 A CN 202080010321A CN 113424055 A CN113424055 A CN 113424055A
Authority
CN
China
Prior art keywords
detection
disease
tunnel
diseases
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202080010321.3A
Other languages
English (en)
Inventor
李术才
刘斌
王正方
蒋鹏
张凤凯
刘涵池
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University
Original Assignee
Shandong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN2019109555022 priority Critical
Priority to CN201910955502 priority
Priority to CN2020100147158 priority
Priority to CN202010014732.1A priority patent/CN113155176A/zh
Priority to CN2020100147321 priority
Priority to CN202010014715.8A priority patent/CN113155979A/zh
Priority to CN202010071046.8A priority patent/CN111323764B/zh
Priority to CN2020100710468 priority
Application filed by Shandong University filed Critical Shandong University
Priority to PCT/CN2020/119581 priority patent/WO2021068848A1/zh
Publication of CN113424055A publication Critical patent/CN113424055A/zh
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0019End effectors other than grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/005Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00Investigating fluid-tightness of structures
    • G01M3/38Investigating fluid-tightness of structures by using light
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/20Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by using diffraction of the radiation by the materials, e.g. for investigating crystal structure; by using scattering of the radiation by the materials, e.g. for investigating non-crystalline materials; by using reflection of the radiation by the materials
    • G01N23/203Measuring back scattering
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04Analysing solids
    • G01N29/043Analysing solids in the interior, e.g. by shear waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04Analysing solids
    • G01N29/06Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0609Display arrangements, e.g. colour displays
    • G01N29/0618Display arrangements, e.g. colour displays synchronised with scanning, e.g. in real-time
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04Analysing solids
    • G01N29/06Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654Imaging
    • G01N29/069Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22Details, e.g. general constructional or apparatus details
    • G01N29/225Supports, positioning or alignment in moving situation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22Details, e.g. general constructional or apparatus details
    • G01N29/26Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/44Processing the detected response signal, e.g. electronic circuits specially adapted therefor
    • G01N29/4409Processing the detected response signal, e.g. electronic circuits specially adapted therefor by comparison
    • G01N29/4427Processing the detected response signal, e.g. electronic circuits specially adapted therefor by comparison with stored values, e.g. threshold values
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/44Processing the detected response signal, e.g. electronic circuits specially adapted therefor
    • G01N29/4481Neural networks
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862Combination of radar systems with sonar systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865Combination of radar systems with lidar systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/885Radar or analogous systems specially adapted for specific applications for ground probing
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/417Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section involving the use of neural networks
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06NCOMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00Computing arrangements based on biological models
    • G06N3/02Computing arrangements based on biological models using neural network models
    • G06N3/04Architectures, e.g. interconnection topology
    • G06N3/0454Architectures, e.g. interconnection topology using a combination of multiple neural nets
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06NCOMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00Computing arrangements based on biological models
    • G06N3/02Computing arrangements based on biological models using neural network models
    • G06N3/08Learning methods
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1615Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1625Truss-manipulator for snake-like motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/30Inspecting, measuring or testing
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/60Specific applications or type of materials
    • G01N2223/628Specific applications or type of materials tubes, pipes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/60Specific applications or type of materials
    • G01N2223/646Specific applications or type of materials flaws, defects
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00Indexing codes associated with group G01N29/00
    • G01N2291/02Indexing codes associated with the analysed material
    • G01N2291/028Material parameters
    • G01N2291/0289Internal structure, e.g. defects, grain size, texture
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/37Measurements
    • G05B2219/37206Inspection of surface
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/39Robotics, robotics to robotics hand
    • G05B2219/39311Multilayer, MNN, four layer perceptron, sigmoidal neural network
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40298Manipulator on vehicle, wheels, mobile
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40307Two, dual arm robot, arm used synchronously, or each separately, asynchronously
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/45Nc applications
    • G05B2219/45066Inspection robot
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0207Unmanned vehicle for inspecting or visiting an area
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06NCOMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00Computing arrangements based on biological models
    • G06N3/02Computing arrangements based on biological models using neural network models
    • G06N3/08Learning methods
    • G06N3/084Back-propagation

Abstract

本公开提供了一种隧道结构病害多尺度检测与智能诊断系统及方法。其中,隧道结构病害多尺度检测与智能诊断系统,包括行走部;支撑部,其设置在行走部上;所述支撑部包括可旋转伸缩台架,可旋转伸缩台架上设置有并行工作的双机械臂;检测部,其安装在支撑部上,用于对隧道结构同一位置不同深度范围的表观病害和内部病害进行多尺度检测,并将检测的病害信息传送至控制部;控制部,其被配置为构建基于深度神经网络的病害诊断模型;利用历史表观病害和内部病害信息构建数据集,训练基于深度神经网络的病害诊断模型;实时接收多尺度检测信息并自动识别出内部及表观病害的类型、位置、轮廓及介电属性。

Description

PCT国内申请,说明书已公开。

Claims (23)

  1. PCT国内申请,权利要求书已公开。
CN202080010321.3A 2019-10-09 2020-09-30 隧道结构病害多尺度检测与智能诊断系统及方法 Pending CN113424055A (zh)

Priority Applications (9)

Application Number Priority Date Filing Date Title
CN2019109555022 2019-10-09
CN201910955502 2019-10-09
CN2020100147158 2020-01-07
CN202010014732.1A CN113155176A (zh) 2020-01-07 2020-01-07 一种隧道衬砌结构病害综合检测装置及方法
CN2020100147321 2020-01-07
CN202010014715.8A CN113155979A (zh) 2020-01-07 2020-01-07 一种用于隧道衬砌无损检测的浮动贴合装置及方法
CN202010071046.8A CN111323764B (zh) 2020-01-21 2020-01-21 一种基于探地雷达的地下工程目标体智能识别方法及系统
CN2020100710468 2020-01-21
PCT/CN2020/119581 WO2021068848A1 (zh) 2019-10-09 2020-09-30 隧道结构病害多尺度检测与智能诊断系统及方法

Publications (1)

Publication Number Publication Date
CN113424055A true CN113424055A (zh) 2021-09-21

Family

ID=75437719

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080010321.3A Pending CN113424055A (zh) 2019-10-09 2020-09-30 隧道结构病害多尺度检测与智能诊断系统及方法

Country Status (3)

Country Link
US (1) US20210396842A1 (zh)
CN (1) CN113424055A (zh)
WO (1) WO2021068848A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113157005A (zh) * 2021-04-22 2021-07-23 中煤科工集团重庆研究院有限公司 用于隧道断面变形监测的旋转云台及其控制系统
CN113442138A (zh) * 2021-06-28 2021-09-28 中铁十二局集团有限公司 一种隧道内攀爬机器人巡检路径规划方法
CN113837163B (zh) * 2021-11-29 2022-03-08 深圳大学 一种基于三维探地雷达的隧道监测方法、系统以及存储介质
CN114329307B (zh) * 2022-03-16 2022-06-14 广东海洋大学 一种隧道跨断层处错断诊断方法及系统
CN114429771A (zh) * 2022-04-02 2022-05-03 武汉地震工程研究院有限公司 钢梁与cfrp板粘结缺陷智能检测方法及系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102799182A (zh) * 2012-08-20 2012-11-28 南京工程学院 全方位视频传输避障小车
CN104476550A (zh) * 2014-12-05 2015-04-01 济南鲁智电子科技有限公司 全液压自主移动机械臂及其动作方法
CN108229461A (zh) * 2018-01-16 2018-06-29 上海同岩土木工程科技股份有限公司 一种基于深度学习的隧道裂缝快速识别方法
CN108731736A (zh) * 2018-06-04 2018-11-02 山东大学 用于桥隧结构病害无损检测诊断的自动爬墙式雷达光电机器人系统
CN109262583A (zh) * 2018-11-21 2019-01-25 广东电网有限责任公司 一种电缆隧道巡检机器人
CN209132427U (zh) * 2018-11-11 2019-07-19 山西省交通科学研究院 一种隧道地质雷达快速检测机器人装置

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5002756B2 (ja) * 2006-07-11 2012-08-15 株式会社 帝国設計事務所 車載型遠隔点検装置
KR101165509B1 (ko) * 2009-12-11 2012-07-13 주식회사 포디컬쳐 터널 표면 검사장치
CN201989147U (zh) * 2010-12-29 2011-09-28 沈阳新松机器人自动化股份有限公司 电缆隧道巡检机器人
CN105512635A (zh) * 2015-12-15 2016-04-20 鲁东大学 一种融合类别属性的深度网络地下目标识别方法及系统
CN106501866A (zh) * 2016-12-22 2017-03-15 山东大学 一种适用于隧道衬砌质量检测的雷达装置及使用方法
CN107621626B (zh) * 2017-10-09 2018-08-31 中国矿业大学(北京) 基于深度卷积神经网络的雷达信号铁路路基病害检测方法
CN108303426A (zh) * 2018-02-06 2018-07-20 华中科技大学 一种电缆隧道缺陷无损快速检测装置及其检测方法
CN209311671U (zh) * 2018-12-19 2019-08-27 中铁岩锋成都科技有限公司 一种隧道衬砌质量无损检测台车
CN110161043B (zh) * 2019-05-10 2021-03-26 同济大学 一种地铁隧道结构综合检测车
CN110270975A (zh) * 2019-07-02 2019-09-24 中铁西南科学研究院有限公司 一种隧道衬砌质量检测机械手
CN111160204A (zh) * 2019-12-23 2020-05-15 山东大学 基于主元分析bp神经网络的地质雷达图像识别方法及系统
CN111323764B (zh) * 2020-01-21 2022-03-25 山东大学 一种基于探地雷达的地下工程目标体智能识别方法及系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102799182A (zh) * 2012-08-20 2012-11-28 南京工程学院 全方位视频传输避障小车
CN104476550A (zh) * 2014-12-05 2015-04-01 济南鲁智电子科技有限公司 全液压自主移动机械臂及其动作方法
CN108229461A (zh) * 2018-01-16 2018-06-29 上海同岩土木工程科技股份有限公司 一种基于深度学习的隧道裂缝快速识别方法
CN108731736A (zh) * 2018-06-04 2018-11-02 山东大学 用于桥隧结构病害无损检测诊断的自动爬墙式雷达光电机器人系统
CN209132427U (zh) * 2018-11-11 2019-07-19 山西省交通科学研究院 一种隧道地质雷达快速检测机器人装置
CN109262583A (zh) * 2018-11-21 2019-01-25 广东电网有限责任公司 一种电缆隧道巡检机器人

Also Published As

Publication number Publication date
US20210396842A1 (en) 2021-12-23
WO2021068848A1 (zh) 2021-04-15

Similar Documents

Publication Publication Date Title
CN113424055A (zh) 隧道结构病害多尺度检测与智能诊断系统及方法
WO2019233222A1 (zh) 用于桥隧结构病害无损检测诊断的自动爬墙式雷达光电机器人系统
WO2021068846A1 (zh) 一种用于运营期隧道衬砌检测及病害诊断的多臂机器人
La et al. Mechatronic systems design for an autonomous robotic system for high-efficiency bridge deck inspection and evaluation
CN102060057B (zh) 飞机油箱检查机器人系统及其控制方法
CN111152182B (zh) 一种用于运营期隧道衬砌检测及病害诊断的多臂机器人
CN109029277A (zh) 一种隧道形变监测系统及方法
US20180129211A1 (en) Next generation autonomous structural health monitoring and management using unmanned aircraft systems
CN110510025A (zh) 一种公路隧道隐性病害爬壁检测机器人
CN103837087B (zh) 基于主动形状模型的受电弓自动检测方法
CN205068089U (zh) 一种应用于变电站的轨道式巡检系统
CN207173608U (zh) 全自动无人化地铁或城铁轨道检测装置
CN112098326A (zh) 针对桥梁病害的自动检测方法和系统
CN107817319A (zh) 一种用于城市道路与管线工程地下缺陷的无损检测机器人系统
CN109736894A (zh) 一种用于煤矿巷道围岩灾害的监测系统、监测方法及预警方法
CN111537524A (zh) 地铁隧道病害智能监测装置及使用方法
CN107356671A (zh) 全自动无人化地铁或城铁轨道检测方法
CN111866337A (zh) 智能巡检机器人及巡检方法
CN106737554A (zh) 一种自主式道路无损检测机器人系统
CN110988871A (zh) 一种无人机载穿墙雷达高层建筑墙体健康离线检测系统及检测方法
CN106194260A (zh) 一种隧道巡检小车
CN108189040A (zh) 一种污水管线检测机器人系统
CN213244111U (zh) 智能巡检机器人
CN114248249A (zh) 一种复杂岩壁石质文物智能探测机器人
CN111521165B (zh) 隧道建设风险预测智能系统

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination