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.

中文翻译：

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基于多传感器信息融合技术和视觉伺服技术的智能购物车设计

为推动超市服务型机器人智能化转型，本文基于多传感器信息融合技术和视觉伺服技术，设计了一种智能购物车，实现自动跟单、购物、支付一体化。 . 首先,设计了一个包括光电传感器、超声波传感器和单目摄像头的分布式传感器融合结构。然后将采集到的所有数据在智能购物车的自动跟单过程中进行融合，对商品信息进行识别，形成账单信息，客户扫描支付二维码即可完成支付，相应的记录也可以登录微信小程序即可查看。