Research on avoidance obstacle strategy of coal underground inspection robot based on binocular vision

In this paper, aiming at the problem of obstacle avoidance in coal underground inspection robot, a control strategy to improve the avoidance obstacle precision of the robot is put forward, which combines the ultrasonic detection ranging technology and image processing method of machine vision. Firstly the ultrasonic detection technology is used to detect the remote distance obstacle, then the image processing method is adopted to perform closed ranging observation of the shape. The experimental simulation results show that the proposed obstacle avoidance combined strategy has a good effect on the inspection and avoidance obstacle of the underground inspection robot.