1. Visual navigation positioning

　　In the visual navigation positioning system, there are currently more applications at home and abroad are the navigation methods of installing car cameras in robots based on local vision. In this navigation method, the control device and sensing device are loaded on the robot body, and high -rise decisions such as image recognition and path planning are completed by the vehicle control computer.

　　The visual navigation positioning system mainly includes: camera (or CCD image sensor), video signal digital device, DSP -based fast signal processor, computer and its peripherals, etc. Now there are many robotic systems using CCD image sensors. The basic element is a line of silicon imaging elements. Configure optical components and charge transfer devices on a substrate. Through the charge of charge Take it out of the ground, such as the resolution of the image collected by the CCD sensor can be from 32 × 32 to 1024 × 1024 pixels.

　　The working principle of the visual navigation positioning system is simply to perform optical processing of the environment around the robot. First use the camera to collect image information, compress the collected information, and then feed it back to a neural network and statistical method. Learn the subsystem, and then connect the image information collected by the learning subsystem with the actual location of the robot to complete the independent navigation positioning function of the robot.

　　2. Light reflection navigation positioning

　　Typical light reflection navigation positioning methods are mainly using laser or infrared sensors to measure distance. Laser and infrared use light reflection technology to navigate.

　　Laser -based positioning systems are generally composed of laser rotation mechanisms, reflectors, photoelectric receiving devices and data collection and transmission devices.

　　When working, the laser is launched outward by the rotating mirror mechanism. When the cooperative road markup composed of rear to the reflex, the reflected light passed the optoelectronics receiving device processing as a detection signal, and the data collection program reads the code disk data of the rotary mechanism ( The measurement angle value of the target) is passed to the upper machine through the communication. According to the location and the detected information, the sensor can be calculated. The purpose of positioning.

　　Laser ranging has the advantages of narrow beam, good parallelism, small scattering, and high resolution of the ranging direction, but at the same time, it is also disturbed by environmental factors. Therefore A relatively large problem, in addition, there are blind spots in the ranging of laser, so it is difficult to achieve navigation and positioning by laser. In industrial applications, it is generally used in industrial field inspections within a specific range, such as detecting pipe cracks and other occasions. Essence

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