An Advanced Visual Tracking Robot with Quality Estimation

the handling of moving objects is a difficult problem in this regard because it requires that the position of the objects is determined with sufficient accuracy. Industrial paint lines are often built using an overhead conveyor with hanging trolleys that carry the objects to be painted. In the standard industrial solution, the trolleys are swinging freely to avoid mass forces on the trolley, and to make it easy to change trolleys. The swinging motion of the trolleys makes it difficult to move the robot to the correct delivery position. It is therefore difficult to load and unload objects on such hanging trolleys. Another problem with paint lines is that is it difficult to determine which loading positions that carry objects. This is important to avoid wasting paint on loading positions where there are no object. The first contribution is a system for accurate tracking of a hanging trolley so that a robot can place objects on the trolley while it is in motion. The second contribution is the detection of which loading positions on the hanging trolley that carry objects.