| With the increase in the number of engineering construction in extreme environment year by year,the frequency of accidents caused by engineering structure cracks is also growing.In order to avoid the structural defects affecting the safety and function of engineering facilities,it is imperative to ensure the effective maintenance of engineering facilities.However,in the case of artificially repairing structural cracks in harsh extreme environments,it is often accompanied by difficulties such as danger,repeated labor,inefficiency,and subjectivity of the staff.The rapid development of unmanned equipment makes it possible to replace artificial repair solutions in extreme environments.Research shows that the prerequisite for unmanned repair is firstly to solve the problem of independent decision-making by machines based on site conditions.Therefore,how to systematize the knowledge in the field of crack repair and study how information technology can make the decision-making process of crack repair program is of great significance.By systematically analyzing the professional knowledge in the field of fracture repair,this paper constructs the knowledge base of crack repair process based on the robotic arm,proposes the crack trajectory extraction scheme and the crack decision-making reasoning mechanism,and realizes the automatic decision-making and output of the actual fracture repair scheme.First of all,the knowledge of crack repair was extracted from the standards and regulations,journal papers and expert experience,and the artificial decision-making process of crack repair was used for reference to analyze the causes of crack formation and the factors influencing the crack repair decision.It is concluded that the morphological characteristics of cracks are important manifestations of crack causes.Secondly,the database of crack characteristics is established to provide data support for crack detection,and the extraction method of crack trajectory coordinates based on hand-eye calibration is proposed.Furthermore,the knowledge base of crack repair process was constructed,and the reasoning mechanism of crack repair based on cbr-rbr mixed model was established.Finally,a decision support system of crack repair was constructed to verify the trajectory extraction scheme and crack repair decision reasoning in the laboratory.The system was able to calculate the crack coordinate recognized by the robotic arm and deduce and output the crack repair scheme.Through the above research,the automatic output of the crack repairing scheme in the unmanned situation is realized,and the crack trajectory identification technology is proposed,which provides a working path for the future automatic repair of cracks,and provides reference for improving the informationization level of engineering maintenance in extreme environments. |
