Research on Key Technologies of Meal Delivery Robot Based on the fusion of Lidar and Machine Vision

摘要

With the rapid development of robot technology, meal delivery robot has become a research hotspot at home and abroad. Based on the fusion of Lidar and machine vision, a meal delivery robot was designed in this paper, which integrated the information of Lidar and machine vision in time and space. Specifically, because of the coordination of Lidar and machine vision in working frequency, their data can be unified in time. And through the equivalent conversion of radar coordinate system, world coordinate system, image coordinate system and pixel coordinate system, some relevant data can be unified in space. The food delivery robot in this article uses the ROS system, and uses the server for data processing and data transfer. Integrating lidar and machine vision to provide the robot with accurate environmental perception, which is the innovation of this article. The experimental results show that the fusion of multi-sensor data can effectively reduce the coordinate cumulative errors and the probability of “suspended animation” in the operation of the robot, and improve the meal delivery efficiency of the robot to a great extent. In addition, the robot has the functions of accurate obstacle avoidance, path planning and autonomous navigation.