本文介绍了声纳传感器在测距方面的应用,将其应用于Nao机器人与障碍物之间的距离确定。在室内环境中,障碍物结构复杂度度适中。我们利用Webots工具对基于超声测距的Nao机器人障碍回避进行仿真,实验结果最终顺利实现。在仿真部分,我们对实验过程给出较详细描述,并给出相关说明图。 This paper introduces the sonar sensor in the application of ranging and applies it to determine the distance between Nao robot and obstacle. In the indoor environment, the obstacle structure is moderately complex. We use Webots tools to simulate the avoidance of Nao robot obstacle based on ultrasonic ranging, and the experimental results are finally realized. In the simulation part, we give a more detailed description of the experimental process, and give the relevant description.