Robot-aided Tunnel Inspection and Maintenance System

This paper describes an innovative alternative to manual procedures for the application of carbon fiber and resin injection in concrete surfaces in tunnels. It is based on a specially designed light-weight integrated tool for automatic application of Fiber Reinforced Polymer (FRP) and epoxy resin injection. Vision and laser telemeter sensing are integrated into the tool to assure precise inspection and maintenance operations. An interconnection flange allows simple and robust attachment to a robotic manipulator's tip. The robot-tool set is mounted on an articulated lift platform. Therefore, an operator can direct the platform and the robottool's operations in a control station placed at ground-level, in a wheeled vehicle on which the articulated lift platform is mounted. An intuitive Human-Machine Interface (HMI) has been developed to allow the operator to identify fissures for the injection of epoxy resin, and to choose where to place the FRP strips. Actual procedures are completely automatic.