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发明公开
CN106383518A 一种多传感器隧道机器人避障控制系统及方法 无效 - 驳回

一种多传感器隧道机器人避障控制系统及方法
摘要：
本发明公开了一种多传感器隧道机器人避障控制系统，包括车体、主控器、超声波模块、WIFI模块和显示器；所述超声波模块分别设置于车体前端、左侧和右侧的超声波模块，用于获取障碍物距离信息；所述主控器通过WIFI模块分别与超声波模块和显示器连接；所述图像采集模块，用于获取道路障碍物图像并输入到主控器中进行图像处理。本发明提供的机器人控制方法在移动机器人的路径规划过程中，采用超声波和视觉传感器的多传感器系统，准确获取障碍物的距离信息，可测量0～200cm距离内存在的障碍物，测量误差小于1％。采用超声波和视觉传感器组成测距采集系统，采集机器人不同方位的障碍物信息，该测距避障机器人低成本、低功耗、高效能。
摘要（英）：

The invention discloses a multi-sensor tunnel robot obstacle avoidance control system comprising a vehicle body, a master controller, ultrasonic modules, a WIFI module and a displayer. The ultrasonic modules are the ultrasonic modules which are arranged at the front end, the left side and the right side of the vehicle body and used for acquiring obstacle distance information. The master controller is connected with the ultrasonic modules and the displayer through the WIFI module. An image acquisition module is used for acquiring road obstacle images and inputting the road obstacle images to the master controller to perform image processing. According to the robot control method, the multi-sensor system of the ultrasonic and visual sensors is adopted in the route planning process of a mobile robot to accurately acquire the distance information of the obstacle, the obstacle existing within the distance of 0-200cm can be measured and the measurement error is less than 1%. A distance measurement acquisition system is formed by the ultrasonic and visual sensors to acquire the obstacle information of different azimuths of the robot so that the distance measurement obstacle avoidance robot is low in cost, low in power consumption and high in efficiency.

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