基于探地雷达的可吸附式智能检测机器人装备应用  

Application of Ground Penetrating Radar-Based Adsorbable Intelligent Detection Robot Equipment

作　　者：周志峰 夏得胜 

机构地区：[1]中国铁路郑州局集团有限公司郑州高铁基础设施段,河南 郑州 [2]华东交大科创产业发展有限公司,江西 南昌

出　　处：《人工智能与机器人研究》2025年第1期209-216,共8页Artificial Intelligence and Robotics Research

基　　金：中国铁路郑州局集团有限公司郑州高铁基础设施段科技研究开发课题组。中国铁路郑州局集团有限公司科技研究开发项目(编号2024G19)。

摘　　要：随着隧道工程质量事故的频发,确保隧道安全成为工程建设中的关键任务。传统的隧道质量检测方法,存在高空作业风险、检测效率低、数据可靠性差等问题,亟需一种更加高效、安全的检测手段。本文提出了基于探地雷达的可吸附式智能检测机器人。系统设计了两种飞行模式(飞行和贴墙检测),具备自动避障功能,适应复杂工程环境。检测数据通过WIFI实时回传至主机进行算法处理,精准分析隐患类型和位置,并通过数据存储与回放功能进行统一管理。实验结果表明,该系统能够显著提高检测效率、保障工程安全并降低成本,为铁路隧道等地下工程提供了一种创新的质量检测解决方案。With the frequent occurrence of tunnel engineering quality accidents, ensuring tunnel safety has become a critical task in engineering construction. Traditional tunnel quality inspection methods face issues such as high-altitude work risks, low detection efficiency, and poor data reliability, necessitating more efficient and safer detection approaches. This paper proposes a ground penetrating radar-based adsorbable intelligent detection robot. The system is designed with two flight modes (flying and wall-adhering detection) and features automatic obstacle avoidance, making it adaptable to complex engineering environments. Detection data is transmitted in real-time to the host via WiFi for algorithmic processing, enabling accurate analysis of hazard types and locations. The system also offers data storage and playback functionalities for unified management. Experimental results demonstrate that this system significantly improves detection efficiency, ensures engineering safety, and reduces costs, providing an innovative quality inspection solution for underground projects such as railway tunnels.

关 键 词：无人机 探地雷达 混凝土质量检测 

分 类 号：U45[建筑科学—桥梁与隧道工程]