基于GNSS的自主巡航四足机器人及远程监测系统设计

针对复杂区域探测困难、成本较高的问题,设计了一款基于全球卫星导航系统的具有自主巡航功能的环境探测四足爬行机器人及远程监测系统,该机器人以嵌入式STM32F429IGT6芯片作为主控CPU,搭载GPS／北斗定位模块及无线通讯模块,使机器人可以实现自主巡航和自动调节路线.该机器人配备的多种传感器模块可以实现对环境温湿度、风速等参数的采集,同时将收集到的数据进行分析、处理和发送.基于该功能开发的监测系统可以实现对机器人的实时监测,包括运动轨迹和位置信息,并通过无线网络对机器人发送控制指令,实现远程遥控功能.实验结果表明,该自主巡航机器人及其监测系统能够实现精确定位和路线实时调整,提高了机器人探测工作的精准性. 

Design of Autonomous Cruise Quadruped Robot and Remote Monitoring System Based on GNSS

Aiming at the problem of difficulty and high cost in complex region detection, a quadruped crawling robot and remote monitoring system with autonomous cruising function based on GNSS are designed. Then robot uses the embedded STM32F429IGT6 chip as the main control CPU, and carries the GPS／BeiDou positioning module and wireless communication module. So that the robot can realize autonomous cruise and automatic adjustment of the route. The robot is equipped with a variety of sensor modules to achieve the collection of environmental temperature, humidity, wind speed and other parameters. At the same time, the collected data are analyzed, processed and transmitted. The monitoring system based on this function can realize the real-time monitoring of the robot, including the motion track and position information, and send control instructions to the robot through wireless network, which has the function of remote control. The experimental results show that the autonomous cruise robot and its monitoring system can achieve accurate positioning and real time route adjustment, and improve the accuracy of robot detection.