Multi-sensor fusion-based obstacle avoidance control system and method for tower-climbing robot

The invention discloses a tower-climbing robot obstacle avoidance control system and method based on multi-sensor fusion so as to realize reliable climbing of an electric tower-climbing robot. The system comprises a multi-sensor sensing unit, a signal conversion and transmission unit and a control unit, the multi-sensor sensing unit comprises a cross beam detection sensor, a foot pin detection sensor and a proximity limiting sensor; the signal conversion and transmission unit is used for converting sensing data of the cross beam detection sensor, the foot pin detection sensor and the proximity limiting sensor and then transmitting the sensing data to the control unit; effective stroke limiting between two clamping jaws of the tower climbing robot is achieved through an inductance proximity sensor, and the single-step effective stroke of the tower climbing robot is not smaller than the distance between two cross beams. The ultrasonic sensor is utilized to realize effective identification of cross beam obstacle