Prototype of Tunnel Inspection Robot
| This work relates the development of an automatic concrete-tunnel inspection
system by an autonomous mobile robot. It was motivated by the accidents
happened recently, that were caused by the fallen parts of the inner-wall
of the concrete-tunnels. This brought about the serious damage of the national
property, and led to the great worries of the whole society. Here, we proposed
a non-destructive automatic tunnel inspection method. In this method, we
aim to inspect the tunnel automatically and completely at high-speed by
using non-destructive sensors. For the non-destructive sensors, we employ
24 ultrasonic sensors and 6 video cameras. These sensors are mounted on
the same plane in the shape of semi-ring. This ultrasonic-sensor video-camera
semi-ring is called as USVC semi-ring. This USVC is mounted on an autonomous
mobile to inspect the concrete-tunnel. Experiment results show that this
system can detect the deformed inner-wall at the division of 8 mm, when
the robot moves at 20 mm/S. Click here for video demo |
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