Design and Experimental Validation of an Automatic Inspection Robot Control System based on Multi-Sensor Fusion

Xiaodong Zhao; Yuxian Li; Hongwei Jiang; Fa Huang

doi:10.54691/0vvjfj55

Authors

Xiaodong Zhao
Yuxian Li
Hongwei Jiang
Fa Huang

DOI:

https://doi.org/10.54691/0vvjfj55

Keywords:

Multi-Sensor Fusion, Inspection Robot, Ultrasonic Obstacle Avoidance, Infrared Line Tracking, Automatic Inspection.

Abstract

To address the problems of high labor intensity, low efficiency, and safety risks in traditional manual inspection, as well as the insufficient environmental adaptability and limited path adjustment capability of existing inspection robots, an automatic inspection robot system based on multi-sensor fusion is designed. The system employs a Raspberry Pi 5 as the main control platform and integrates a Mecanum-wheel mobile mechanism, ultrasonic sensors, infrared sensors, and a camera pan-tilt module to accomplish the overall structural design, hardware selection, drive system development, and fusion control program implementation. In terms of software control, ultrasonic obstacle avoidance, infrared line tracking, and multi-sensor fusion decision-making functions are realized, and two operating modes, namely manual remote control and automatic inspection, are established. System debugging and experimental results demonstrate that the robot is capable of stable locomotion, path tracking, obstacle detection, and obstacle avoidance, thereby achieving the expected design objectives. The proposed system features a simple structure, low cost, convenient operation, and relatively stable performance, and can provide a useful reference for the design and application of low-cost intelligent inspection robots.

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