沈阳大学学报（自然科学版）2023，Vol.35Issue(6)：503-510,8.
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
摘要
Abstract
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.关键词
无人遥控潜水器(ROV)/桥墩检测/复合结构/缺陷识别/YOLOv5s/注意力机制Key words
ROV(remotely operated vehicle)/pier inspection/composite structure/defect identification/YOLOv5s/attention mechanisms分类
信息技术与安全科学引用本文复制引用
齐晓轩,陶九明,陈鉴,何至诚,袁鹏达..基于改进YOLOv5s的桥墩缺陷检测ROV设计应用[J].沈阳大学学报（自然科学版）,2023,35(6):503-510,8.基金项目
国家自然科学基金资助项目(61873338) （61873338）
