Detection of position and orientation of flying cylinder shaped objects by distance sensors

A new approach considers in-plant transportation of objects by throwing them in direct hits into a capturing device. Therefore, trajectories of the thrown objects have to meet it in a certain position as well as in a defined angular orientation. Due to high sensitivity, for instance to environmental effects, a trajectory is fairly hard to predict precisely via simulation models. Furthermore, repeatability may be poor due to uncertainties in launch angle and launch velocity. If the trajectory does not meet the capturing device accurately, its position and orientation has to be adapted accordingly. Deviations between predicted and actual trajectory have therefore to be detected by a sensor system. This paper presents an algorithm for the detection of position and orientation of thrown cylinders during flight. This algorithm uses measured points on the lateral surface of the cylinder. These data are collected by distance sensors, which are located along the trajectory.