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1. 发明授权

US11555912B2 Automatic wall climbing type radar photoelectric robot system for non-destructive inspection and diagnosis of damages of bridge and tunnel structure 有权
公开(公告)号：US11555912B2
公开(公告)日：2023-01-17
申请号：US16625211
申请日：2019-04-29
申请人： SHANDONG UNIVERSITY
发明人： Bin Liu , Yao Li , Fengkai Zhang , Lichao Nie , Jing Wang , Zhengfang Wang , Zhengyu Liu , Xinji Xu
IPC分类号： G01S13/86 , B62D57/024 , G01B11/16 , G01D21/02 , G01M5/00 , G05D1/02
摘要： An automatic wall climbing type radar photoelectric robot system for damages of a bridge and tunnel structure, mainly including a control terminal, a wall climbing robot and a server. The wall climbing robot generates a reverse thrust by rotor systems, moves flexibly against the surface of a rough bridge and tunnel structure by adopting an omnidirectional wheel technology, and during inspection by the wall climbing robot, bridges and tunnels do not need to be closed, and the traffic is not affected. Bridges and tunnels can divide into different working regions only by arranging a plurality of UWB base stations, charging and data receiving devices on the bridge and tunnel structure by means of UWB localization, laser SLAM and IMU navigation technologies, a plurality of wall climbing robots supported to work at the same time, automatic path planning and automatic obstacle avoidance realized, and unattended regular automatic patrolling can be realized.

2. 发明授权

US11640007B2 System and method for phased array sound wave advanced geological exploration for shield tunneling machine 有权
公开(公告)号：US11640007B2
公开(公告)日：2023-05-02
申请号：US17769909
申请日：2020-12-08
申请人： SHANDONG UNIVERSITY
发明人： Shucai Li , Bin Liu , Xinji Xu , Lei Chen , Chao Fu , Lei Hao
IPC分类号： G01V1/30 , G01V1/18
摘要： The present invention discloses a system and method for phased array sound wave advanced geological exploration for a shield tunneling machine. The system includes a phased array sound wave emitting and receiving apparatus, a probe automatic telescopic apparatus, an automatic protection and cleaning apparatus, and a signal processing and imaging system. Sonic probes are installed on a side wall of a main spoke, opposite to a rotation direction, of a cutterhead of the shield tunneling machine, on the basis of automatic detection of a telescopic state and a contact state, sonic array probes are enabled to make contact with a tunnel face by a hydraulic push rod, a focus sound wave is emitted by using a phased array emitting technology, and a reflected wave signal with front geological information reflected from the front of the tunnel face is received. A scanning direction of a sound wave beam is controlled and changed continuously through a host system, on the premise of obtaining a suspected abnormal body position, the suspected position is imaged in detail by using a focusing image till scanning of a whole two-dimensional section is completed, then the cutterhead is rotated to change an arrangement direction of an array to continue scanning of a next two-dimensional section, and finally three-dimensional geological exploration in front of the tunnel face is realized.

3. 发明授权

US10519771B2 Rock breaking seismic source and active source three-dimensional seismic combined advanced detection system using tunnel boring machine 有权
公开(公告)号：US10519771B2
公开(公告)日：2019-12-31
申请号：US15515475
申请日：2015-05-07
申请人： SHANDONG UNIVERSITY
发明人： Shucai Li , Bin Liu , Xinji Xu , Jie Song , Lichao Nie , Lei Yang , Chunjin Lin , Weimin Yang
IPC分类号： E21D9/11 , G01V1/30 , E21C37/20 , E21D9/10 , G01V1/16 , E21D9/00 , G01V1/04
摘要： A rock breaking seismic source and active source three-dimensional seismic combined detection system uses a tunnel boring machine for three-dimensional seismic combined detection by active seismic source and rock breaking seismic source methods. Long-distance advanced prediction and position recognition of a geological anomalous body are realized using the active source seismic method. Machine construction is adjusted and optimized according to the detection result; real-time short-distance accurate prediction of the body is realized using the cutter head rock breaking vibration having weak energy but containing a high proportion of transverse wave components as seismic sources and adopting an unconventional rock breaking seismic source seism recording and handling method. An area surrounding rock quality to be excavated is represented and assessed. A comprehensive judgment is made to the geological condition in front of the working face with the results of active source and rock breaking seismic source three-dimensional seismic advanced detection.

4. 发明授权

US09500077B2 Comprehensive advanced geological detection system carried on tunnel boring machine 有权
标题翻译：隧道掘进机综合先进地质检测系统
公开(公告)号：US09500077B2
公开(公告)日：2016-11-22
申请号：US14404339
申请日：2014-01-26
申请人： SHANDONG UNIVERSITY
发明人： Shucai Li , Bin Liu , Lichao Nie , Yao Li , Xiangxue Ma , Jie Song , Zhengyu Liu , Huaifeng Sun , Chuanwu Wang , Xinji Xu , Lei Xu
IPC分类号： G01S13/88 , E21D9/00 , G01V1/28 , G01V11/00
CPC分类号： E21D9/003 , G01S13/885 , G01V1/288 , G01V11/00
摘要： The present invention presents a comprehensive advanced geological detection system carried on a tunnel boring machine. The comprehensive advanced geological detection system includes a multifunctional combination main frame, an induced polarization detection device, a seismic wave detection device, an integrated junction device, a borehole ground penetrating radar detection device and a comprehensive interpretation and decision system; the multifunctional combination main frame includes a time division multiplexing control module, an excitation source control module and a parallel data acquisition module; the excitation source control module outputs trigger signals to the three detection devices respectively, and the three detection devices respectively output measurement data and feedback signals to the time division multiplexing control module through the parallel data acquisition module; and the comprehensive interpretation and decision system supports geological interpretations and decisions through the inversion/migration imaging joint inversion of three detection methods.
摘要翻译：本发明提出了一种在隧道掘进机上进行的综合先进的地质检测系统。综合先进的地质检测系统包括多功能组合主框架，感应极化检测装置，地震波检测装置，集成接合装置，钻孔穿透雷达检测装置和综合解释和决策系统; 多功能组合主框架包括时分复用控制模块，激励源控制模块和并行数据采集模块; 励磁源控制模块分别向三个检测装置输出触发信号，三个检测装置通过并行数据采集模块分别将测量数据和反馈信号输出到时分复用控制模块; 综合解释和决策系统通过三种检测方法的反演/迁移成像联合反演来支持地质解释和决策。

5. 发明授权

US09091779B2 Advanced detector system and method using forward three-dimensional induced polarization method for TBM construction tunnel 有权
标题翻译：先进的探测器系统和方法，采用前向三维诱导极化方法进行TBM施工隧道
公开(公告)号：US09091779B2
公开(公告)日：2015-07-28
申请号：US14235307
申请日：2013-01-17
申请人： SHANDONG UNIVERSITY
发明人： Shucai Li , Bin Liu , Zhengyu Liu , Lichao Nie , Jie Song , Huaifeng Sun , Chunjin Lin , Chuanwu Wang , Xinji Xu , Lei Xu , Tingyu Hao , Hao Zhou
IPC分类号： G01V3/00 , G01V3/18 , E21B47/01 , E21D1/00 , E21D9/00 , E21D9/10
CPC分类号： G01V3/18 , E21B47/01 , E21D1/00 , E21D9/003 , E21D9/1093
摘要： Disclosed is an advanced detector system and method using a forward three-dimensional induced polarization method for a TBM (Tunnel Boring Machine) construction tunnel. A narrow detection space of a full-face excavated tunnel is fully used, a controller controls doors of a source and measuring electrode compartment and a shielding electrode compartment to open and controls a corresponding hydraulic delivery device to automatically and quickly arrange a source electrode system, a measuring electrode system and a shielding electrode system. Under the action of a shielding current system, tomography detection supply current is directed ahead of the working face. Three-dimensional geologic information can be obtained, and the relationship between an induced polarization half-decay time difference and a water quantity can be used to quantitatively forecast the water quantity of a water-bearing body, and meanwhile, the half-decay time difference parameter has a high capacity of distinguishing free water from bound water.
摘要翻译：公开了一种使用TBM（隧道镗孔机）施工隧道的前向三维诱导极化方法的先进的检测器系统和方法。充分利用全面挖掘隧道的狭窄检测空间，控制器控制源和测量电极室的门和屏蔽电极室，以打开和控制相应的液压输送装置，以自动且快速地布置源电极系统，测量电极系统和屏蔽电极系统。在屏蔽电流系统的作用下，断层扫描检测电源电流在工作面前方。可以获得三维地质信息，并且可以使用诱导极化半衰期时间差与水量之间的关系来定量预测含水体的水量，同时，半衰期时间差参数具有较高的区别自由水和结合水的能力。

6. 发明授权

US09989671B2 Tunnel construction large-scale integrated geophysical advanced detection model test device 有权
公开(公告)号：US09989671B2
公开(公告)日：2018-06-05
申请号：US14397547
申请日：2014-01-26
申请人： SHANDONG UNIVERSITY
发明人： Shucai Li , Bin Liu , Lichao Nie , Lei Xu , Xiangxue Ma , Chuanwu Wang , Zhengyu Liu , Jie Song , Huaifeng Sun , Xinji Xu , Yao Li
IPC分类号： G01V99/00 , G01V11/00 , G01V1/30 , G01V3/165 , G01V3/17
CPC分类号： G01V99/005 , G01V1/30 , G01V3/165 , G01V3/17 , G01V11/00
摘要： The present invention presents a tunnel construction large-scale integrated geophysical advanced detection model test device. The model test device includes a tunnel surrounding rock, a main tunnel model, a model test case, a water-containing geological structure device, a numerical control automated construction device and a main control chamber. The model test device is a large-scale integrated geophysical advanced detection model test device meeting the detection using a seismic wave method, an electromagnetic method and a direct-current electric method. By using the geophysical advanced detection model test device, the geophysical response features of the water-containing geological structure device in front of a tunnel face may be studied, multiple geophysical advanced detection forward and inversion methods for the water-containing geological structure device are verified, and the relationship between some geophysical detection method results and water burst quantity is studied, for the advanced prediction and water burst quantity prediction in actual engineering.

7. 发明申请

US20150233242A1 COMPREHENSIVE ADVANCED GEOLOGICAL DETECTION SYSTEM CARRIED ON TUNNEL BORING MACHINE 有权
标题翻译：隧道掘进机综合先进地质检测系统
公开(公告)号：US20150233242A1
公开(公告)日：2015-08-20
申请号：US14404339
申请日：2014-01-26
申请人： SHANDONG UNIVERSITY
发明人： Shucai Li , Bin Liu , Lichao Nie , Yao Li , Xiangxue Ma , Jie Song , Zhengyu Liu , Huaifeng Sun , Chuanwu Wang , Xinji Xu , Lei Xu
IPC分类号： E21D9/00 , G01V1/28 , G01S13/88
CPC分类号： E21D9/003 , G01S13/885 , G01V1/288 , G01V11/00
摘要： The present invention presents a comprehensive advanced geological detection system carried on a tunnel boring machine. The comprehensive advanced geological detection system includes a multifunctional combination main frame, an induced polarization detection device, a seismic wave detection device, an integrated junction device, a borehole ground penetrating radar detection device and a comprehensive interpretation and decision system; the multifunctional combination main frame includes a time division multiplexing control module, an excitation source control module and a parallel data acquisition module; the excitation source control module outputs trigger signals to the three detection devices respectively, and the three detection devices respectively output measurement data and feedback signals to the time division multiplexing control module through the parallel data acquisition module; and the comprehensive interpretation and decision system supports geological interpretations and decisions through the inversion/migration imaging joint inversion of three detection methods.
摘要翻译：本发明提出了一种在隧道掘进机上进行的综合先进的地质检测系统。综合先进的地质检测系统包括多功能组合主框架，感应极化检测装置，地震波检测装置，集成接合装置，钻孔穿透雷达检测装置和综合解释和决策系统; 多功能组合主框架包括时分复用控制模块，激励源控制模块和并行数据采集模块; 励磁源控制模块分别向三个检测装置输出触发信号，三个检测装置通过并行数据采集模块分别将测量数据和反馈信号输出到时分复用控制模块; 综合解释和决策系统通过三种检测方法的反演/迁移成像联合反演来支持地质解释和决策。

8. 发明申请

US20140333308A1 ADVANCED DETECTOR SYSTEM AND METHOD USING FORWARD THREE-DIMENSIONAL INDUCED POLARIZATION METHOD FOR TBM CONSTRUCTION TUNNEL 有权
标题翻译：先进的探测器系统和采用前向三维诱导的TBM施工隧道极化方法的方法
公开(公告)号：US20140333308A1
公开(公告)日：2014-11-13
申请号：US14235307
申请日：2013-01-17
申请人： SHANDONG UNIVERSITY
发明人： Shucai Li , Bin Liu , Zhengyu Liu , Lichao Nie , Chao Song , Huaifeng Sun , Chunjin Lin , Chuanwu Wang , Xinji Xu , Lei Xu , Tingyu Hao , Hao Zhou
IPC分类号： G01V3/20 , G01V3/38
CPC分类号： G01V3/18 , E21B47/01 , E21D1/00 , E21D9/003 , E21D9/1093
摘要： Disclosed is an advanced detector system and method using a forward three-dimensional induced polarization method for a TBM (Tunnel Boring Machine) construction tunnel. A narrow detection space of a full-face excavated tunnel is fully used, a controller controls doors of a source and measuring electrode compartment and a shielding electrode compartment to open and controls a corresponding hydraulic delivery device to automatically and quickly arrange a source electrode system, a measuring electrode system and a shielding electrode system. Under the action of a shielding current system, tomography detection supply current is directed ahead of the working face. Three-dimensional geologic information can be obtained, and the relationship between an induced polarization half-decay time difference and a water quantity can be used to quantitatively forecast the water quantity of a water-bearing body, and meanwhile, the half-decay time difference parameter has a high capacity of distinguishing free water from bound water.
摘要翻译：公开了一种使用TBM（隧道镗孔机）施工隧道的前向三维诱导极化方法的先进的检测器系统和方法。充分利用全面挖掘隧道的狭窄检测空间，控制器控制源和测量电极室的门和屏蔽电极室，以打开和控制相应的液压输送装置，以自动且快速地布置源电极系统，测量电极系统和屏蔽电极系统。在屏蔽电流系统的作用下，断层扫描检测电源电流在工作面前方。可以获得三维地质信息，并且可以使用诱导极化半衰期时间差与水量之间的关系来定量预测含水体的水量，同时，半衰期时间差参数具有较高的区别自由水和结合水的能力。

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