Design and Implementation of Intelligent Security Robot Based on Lidar and Vision Fusion*

摘要

Abstract Nowadays, the mainstream security robot is expensive and the single 2D Lidar SLAM robot has large pose error and large matching calculation in navigation. To solve these problems, this paper designs an intelligent security robot based on the ROS system and STM32 microcontroller. Through the fusion of camera, IMU, lidar multi-sensor data, completing its own positioning, surrounding environment mapping and autonomous navigation functions; Binocular camera for face recognition, lock suspicious persons; Combined with temperature and humidity, smoke and other sensors for environmental monitoring, real-time alarm; Security personnel remote control, according to the data uploaded by the robot to complete the patrol. After a lot of experiments, the functions of the robot are better completed, which has a certain practical value.