融合图像和声纹特征识别的钢-混凝土结构磁吸爬壁机器人设计
Design of a magnetic wall-climbing robot for steel-concrete structures by integrating image and acoustic feature recognition
摘要
Abstract
To address the challenge of automated detection of void of the steel-concrete structures interfaces,this paper designs a magnetic wall-climbing robot incorporating image and acoustic feature recognition.First,we introduce the robot's chassis,magnetic suction device,power system,drive system,and mapping and sound modules.Next,we discuss the robot's hardware control system and detemine the feasibility of using Neodymium-iron-boron permanent magnet for adsorption force through force analysis and experimental testing.Finally,the composition and functions of the image and acoustic feature recognition software part are detailed.Among them,the image capturing part adopts the image transmission solution based on the Orange Pie platform.The acoustic pattern recognition module consists of front-end,middle-end and back-end architecture:the front-end carries percussion and recording devices for excitation and collection of acoustic patterns;the middle-end of the acoustic pattern recognition WeChat mini program is developed to achieve acoustic pattern noise removal and effective feature extraction;the back-end,through the cooperation of Tencent Cloud and the WeChat mini program,recognizes acoustic pattern data and returns the results to the WeChat mini program.The magnetic wall-climbing robot incorporating image and acoustic feature recognition designed in this paper can achieve the collaborative acquisition and analysis of image and acoustic patterns,providing an effective solution for the automated inspection of steel-concrete and other structural interfaces for debonding.关键词
爬壁机器人/磁吸附/图像传输/声纹识别/钢-混凝土结构Key words
wall-climbing robot/magnetic adsorption/image transmission/acoustic recognition/steel-concrete structures分类
建筑与水利引用本文复制引用
陈冬冬,张建清,张骁琳,季阳,付睿丽..融合图像和声纹特征识别的钢-混凝土结构磁吸爬壁机器人设计[J].土木与环境工程学报（中英文）,2025,47(5):38-43,6.基金项目
国家自然科学基金(52408337、52201319) （52408337、52201319）
中国博士后科学基金(2023M741728) （2023M741728）
江苏省自然科学基金(BK20220980) （BK20220980）
江苏省高等学校基础科学(自然科学)研究项目(24KJB580008) （自然科学）
中国地球物理学会工程物探检测重点实验室开放研究基金(CJ2021GE08) （CJ2021GE08）
南京市建设行业科技计划(Ks2389)National Natural Science Foundation of China(Nos.52408337,52201319) （Ks2389）
China Postdoctoral Science Foundation(No.2023M741728) （No.2023M741728）
Natural Science Foundation of Jiangsu Province(No.BK20220980) （No.BK20220980）
Basic Science Research of Jiangsu Province Higher Education Institution(No.24KJB580008) （No.24KJB580008）
Open Research Fund of Key Laboratory of Engineering Geophysical Prospecting and Detection of Chinese Geophysical Society(No.CJ2021GE08) （No.CJ2021GE08）
Nanjing Construction Industry Science and Technology Project(No.Ks2389) （No.Ks2389）
