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In order to promote the intelligent transformation of service-oriented robot used in supermarkets, an intelligent shopping cart has been designed in this paper to realize the integration of auto following, shopping and payment based on the multi-sensor information fusion technology and vision servo technology. Firstly, a distributed sensor fusion structure was designed including photoelectric, ultrasonic sensors and monocular camera. Then, all the collected data were fused during auto following process of the intelligent shopping cart, and the commodity information could be identified to form the billing information by which the customer could complete the payment by scanning the payment QR code and the corresponding records also can be viewed by logging in the Wechat applet.
Yuan et al. (Sun,) studied this question.
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