With the development of science and

With the development of science and technology, there are more and more kinds of robot sensory sensors, among which the visual sensor becomes an important part of automatic walking and driving. The typical application field of vision is autonomous intelligent navigation system. Image processing technology has been quite developed for various visual technologies, while image-based understanding technology is still very backward. Machine vision needs a lot of operations and can only recognize some simple targets in structured environment. The core component of vision sensor is camera tube or CCD, which can focus automatically. However, the price, volume and use mode of CCD sensor are not dominant, so it is a practical and effective method to consider proximity sensor in the system which does not require clear image but only rough feeling.