Design of Intelligent Safety Protection Robot Based on Global Position System and Machine Vision

摘要

Abstract In this paper, an intelligent safety protection robot based on the integration of Global Position System(GPS) and machine vision is designed. The robot takes STM32F407 as the control core and is equipped with a variety of environmental monitoring sensors to realize real-time monitoring of the surrounding environment and alarm for potential safety hazards. In order to realize the stable and accurate autonomous navigation of robot, a system combining GPS technology with visual simultaneous localization and mapping (V-SLAM) technology is designed. GPS module collects longitude and latitude information, driving speed and heading Angle to complete the absolute positioning of the robot. Machine vision device collects image information, and the relative positioning of the robot is completed through digital image processing technology. The two positioning information was fused and output new positions and postures through Unscented Kalman Filter (UKF). Through the experimental verification of the combined navigation and positioning effect, the GPS and machine vision integrated navigation device has high precision, and the maximum error is controlled within 0.1 meters.