基于改进YOLOv5s的桥墩缺陷检测ROV设计应用

Design and Application of Pier Defect Detection ROV Based on Improved YOLOv5s

针对桥墩附近乱流现象严重和桥墩表面光滑难以吸附的问题,采用浮游加抱臂爬行方式,利用复合控制技术设计了一款桥墩缺陷检测ROV。首先,ROV本体结构采用8矢量推进器布局方案,实现了机器人浮游状态全向运动,提高了ROV抗扰能力;其次,抱臂夹持机构采用绳传动方式,以机械简单联动为ROV爬行状态下的稳定检测提供了可靠平台;最后,采用基于注意力机制改进的YOLOv5s网络识别桥墩缺陷,通过引入ASPP、IAAM等结构,提升了缺陷检测的实时性与精度。真实水域试验结果表明,所设计的ROV具有很好的适用性和有效性,在复杂水域环境下取得了较好的桥墩缺陷检测应用效果,可代替潜水员完成桥墩缺陷采集工作。

In view of the serious turbulence near the pier and the smooth and difficult adsorption of the pier surface,a ROV for pier defect detection was designed by using the composite control technology.Firstly,the ROV body structure adopted the eight-vector thruster layout scheme,which realized the omnidirectional motion of the robot floating state and improved the ROV immunity.Secondly,the holding arm clamping mechanism adopted the rope transmission method,which provided a reliable platform for the stable detection in the ROV crawling state with simple mechanical linkage.Finally,the YOLOv5s network based on attention mechanism was used to identify pier defects,and the real-time and accuracy of defect detection were improved by introducing ASPP,IAAM and other structures.The results of real water test showed that the designed ROV had good applicability and effectiveness,and achieved a good application effect of pier defect detection in complex water environment,which could replace divers to complete pier defect collection.