Development of an Underwater Detection Robot for the Structures with Pile Foundation

摘要

Addressing the challenges for detecting underwater damage to the structures with pile foundation, this study presents the design of an adsorption-operated robotic system. Initially, a prototype is proposed for an adsorption-operated robot that is equipped with an automatic movement mechanism. To account for the disturbance of the drag force in the control system, a hydrodynamic numerical model for the detection robot is established. The numerical results of the drag force are then integrated into the control system, leading to the design of a force-redeemed active disturbance rejection controller. Furthermore, a novel detection algorithm based on the image segmentation network UNet is developed for the automatic identification of damages. The performance of the controller and detection algorithm is evaluated against traditional methods. The results indicate that the proposed force-redeemed active disturbance rejection controller outperforms traditional PID and ADR controllers in terms of overshoot and adjustment time. Moreover, the developed detection algorithm exhibits superior performance in precision, F1 score, and mean intersection over union compared to the traditional algorithms of FCN, PSPnet, Deeplabv3, and UNet. Overall, this paper advances the technology of autonomous robots for underwater detection in the structures with pile foundation.