| 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 |
