Vision navigation method and system of inspection robot under parallel architecture

The invention relates to a robot vision navigation method. The method comprises the steps that 1, a photographing device of a robot is rotated at a preset angle; 2, after being rotated at the preset angle, the photographing device shoots an image to obtain a feature image; 3, the photographing device is rotated back to the initial position; 4, a robot body is rotated, the photographing device shoots an image to obtain a current image, and the current image and the feature image are compared; 5, if the current image and the feature image are matched, rotation of the robot body is stopped, and if not, the fourth step is executed again. The vision of the inspection robot is utilized for monitoring attitude parameters theta of the robot for vision correction, and the robot rotation control precision is ensured.