Design And Implementation Of Shopping Guide Robot Application System For Shopping Mall Based On SLAM

Under the impact of e-commerce,traditional shopping malls have exposed the problem of imperfect shopping guide system.Shopping malls often use classification cards and guidelines to guide customers to shop,which brings inconvenience to customers.In response to this problem,some shopping guide systems based on indoor positioning have appeared in recent years,but these systems still have problems of inconvenient deployment,low positioning accuracy and insufficient shopping guide method.In response to these problems,this project designed and implemented a perfect shopping guide system,which uses mobile robots as carriers to realize real-time positioning and map construction,indoor navigation and robotic autonomous follow-up functions.The implementation of the system solves the above problems existing in the existing shopping guide system,and can be deployed and deployed in a shopping mall.The main work of this topic is as follows:(1)The overall design scheme of the shopping guide robot system is constructed,that is,the mobile robot is designed as the carrier of the shopping guide system,and the hardware system based on the industrial computer,chassis controller,laser radar and motor encoder is built on the robot.To realize the shopping guide related functions,and to establish the motion model and observation model of the shopping guide robot.In the sports model,the problem of drifting the robot odometer caused by the smooth ground of the shopping mall,using odometer data and inertial sensor data fusion,to obtain more reliable odometer information.Using the robot as a carrier makes the shopping guide system have certain versatility,which can be used to replace the traditional shopping cart in the mall and is easy to deploy.(2)The design realizes the combination of odometer and lidar for indoor positioning and map construction.First,an odometer is implemented using an encoder motor mounted on the robot for preliminary estimation of the robot pose.Then,the laser radar is used to observe the environment of the shopping mall,and the indoor map of the shopping mall is established.At the same time,the position estimation result of the odometer is optimized according to the lidar data.Through the method,the shopping guide system establishes an indoor map of the shopping mall,and positioning information,the positioning information has high precision,and can meet the shopping guide shopping demand.(3)The design realizes the navigation method combining global and local path planner.When the system receives the navigation target,it uses the global path planner to search the map for the route from the starting point to the target point to start navigation.Considering the obstacles(such as pedestrians)that may appear randomly in the navigation process,the laser radar is used to continuously scan the environmental information,and the local path planner adjusts the route in real time to realize the autonomous obstacle avoidance in the navigation process.In addition,this topic is designed to realize the autonomous follow-up function of the shopping guide robot.When the user does not need to navigate,the robot can follow the user autonomously.(4)The shopping guide robot was tested in the actual shopping mall,and the system positioning and navigation effects were analyzed.Two representative existing systems were selected and compared in terms of navigation mode,positioning accuracy and equipment deployment,and the availability of the system was analyzed.In summary,this project completed the system design and implementation of the shopping guide robot,realized the map construction,autonomous positioning and indoor navigation functions,and extended the realization of the centroid-based robot visual follow function.Finally,through the test analysis in the actual shopping mall,the availability of the shopping guide robot system is indicated.