With the acceleration of the urbanization process,the construction of underground tunnels and subway networks is increasing,which puts forward higher requirements for the health monitoring and maintenance of tunnel structures.Based on this,this paper designs and implements a tunnel inspection robot system based on multi-modal sensing technology.The system integrates a variety of sensors such as visual,acoustic,vibration and gas detection,which can monitor the tunnel environment and structure all weather and with high precision,not only improving the inspection efficiency and safety,but also providing strong support for the safe operation and intelligent management of the tunnel.
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