Intelligent obstacle avoidance method of cable tunnel robot integrating FMCW radar and visual image

With the increasing number of urban cable tunnels, in order to ensure the environmental detection in cable tunnels and the safe operation of cables, an intelligent obstacle avoidance method of cable tunnel robot integrating FMCW radar and visual images is proposed. The interference value in the robot running path is obtained in combination with FMCW radar to output the detection and recognition results, and the three-dimensional display of the robot running path is realized in combination with the visual image to realize the effective selection of the cable tunnel robot path based on the visual image, and the obstacle data recognition is realized based on the abnormal area in the display path. Finally, experiments show that the intelligent obstacle avoidance method of cable tunnel robot based on the fusion of FMCW radar and visual image has higher advantages in practical application and fully meets the research requirements.