Charging seat detection method based on multi-sensor fusion

The application discloses a charging seat detection method based on multi-sensor fusion. A visual detection sensor and a laser radar sensor are arranged on a robot; after a charging seat is visually detected, a rectangular identification box is generated in a picture to represent the position of the charging seat; a direction of the rectangular identification box relative to a camera is calculatedaccording to the positions of the left and right sides of the rectangular identification box in the picture; according to a position relation between the camera and a laser radar, the direction of the rectangular recognition box is mapped to the detection range of the laser radar, and the accurate distance between the charging seat and the robot is obtained by calculating an average distance value within the detection range set by the laser radar; and after visual and laser radar cooperative testing, the direction and distance of the charge seat to the robot are obtained. According to the application, the advantages