For Indoor Navigation Of Mobile Robot Vision System Research

After the first Robot was invented in 60s of 20^th century ,the technology of the Robot has been a industry which is promising . The Robot has deeply affected the national defence construction , National economy and many ways of people's life . The technology of Robot will be the magistral technology in the new century . So empoldering the flat roof of Robot which serves to the industry and other fields and can be re-empoldered easily ,has well market potentials and research vision . Now the paper did some research aiming at navigation and position of Robot.First, the paper gives the summarize of the research content and develops ways of the technology of the navigation and position of Robot. Then the background of choosing subject and the primary structure of the paper were introduced .Second , the paper put forward the arithmetic which is userd to proceed the image gathered by robot's vidicon ahead . And by adopting the arithmetic of wavelet multiscale product and morphological multiscale and multi-structure to wipe off yawp and detect edges , it can gain a full edge information and good real-time characteristic .Third , adopting the arithmetic of morphological thin to detect vertical doors' lines in the edge image which used list to check can reduce the magnitude of compute very much for nether work . Then author puts forward the ameliorating arithmetic of Hough transform which is some to one to pick up the vertical parallel lines . It will improve the compute speed and reduce the storage space . And adding slip window can ensure exact degree of identify lines .Fourth , to solve the vidicon's demarcate and the robot's orientation , the author adopted the arithmetic of the vidicon's demarcate by using the information of the road edge completely without setting road sign in environment.Fifth , when getting the orientation of the area which has the doorplate , the author ameliorated the traditional orientation ways by using counting the quantity of the connected areas from candidate areas .At last, there are a summarize of author's research and the coming work .