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Deep learning (DL)-based percussion methods in concrete-filled steel-tube (CFST) void detection have gained much attention. However, the detection signal contains a large amount of noise, which affects the accuracy of qualitative and quantitative analyses of the subsequent detection results. To improve the signal-to-noise ratio (SNR) during percussion detection, this study proposes a CFST void detection method using the good point set and vibrational snow ablation optimizer (GVSAO) algorithm and dual-channel parallel convolutional neural networks (CNNs). The proposed method employs the gram angle field (GAF) to transform percussive sound signals into images. It then constructs a dual-channel parallel CNN structure, where the GAF is decomposed into the following two maps: the gram angle sum field (GASF) and the gram angle difference field (GADF). These maps are simultaneously fed into the CNN for training. The outputs from the two channels are concatenated and fused. Finally, the GVSAO algorithm was used for model optimization to improve convergence speed and recognition accuracy. Both the temporal and spatial characteristics of the knocking sound signal are fully preserved, while the interference of different construction noises is effectively avoided. Validation experiments were conducted on CFST specimens with different heights of voids (0, 50, 100, and 150 mm) under different pressure loads. The original sample dataset and the signal-enhanced dataset were obtained by adding background noise with different SNRs. The test results show that the prediction accuracies on the original signal dataset are consistently above 98.74%. Among them, the accuracy achieves 100% at pressure loads of 0 and 50 tons. Additionally, the prediction accuracies on the signal-enhanced dataset are all above 97.2%, indicating that the model maintains a high level of classification performance. This suggests that the model can effectively suppress noise and exhibits excellent robustness. Full article