Autonomous robot inspection method based on double yellow line detection

The invention relates to an autonomous robot inspection method based on double yellow line detection. The method comprises steps that an image pre-processing step is carried out as follows, 1.1), image down-sampling and interest-area extraction are carried out; 1.2), the yellow information and the gray level of an image are extracted; 1.3), histogram equalization and binarization are carried out; and 1.4), morphological transformation is carried out; 2, zodiac line identification and center line positioning are carried out as follows, 2.1), refinement and Hof linear detection are carried out; and 2.2), intermediate line positioning of the double yellow lines based on a vector is carried out; 3, the mobile strategy is carried out as follows, a point D is searched from a straight line C, a y value of the point D is a fixed value, an x value changes with the straight line C, through determining the position of the point D, mobile robot decision is carried out. The autonomous robot inspection method based on doub