Smart Trolley Based on Colour Tracking using Raspberry Pi and OpenCV

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  • The main objective of this system is to provide a technology-oriented, low-cost, easily following smart trolley system for shopping.

Colour tracking in real-time is one of the most important topics in the field of Computer Vision. Detection and tracking of moving objects in video scenes is the first relevant step in information extraction in many computer vision applications. This idea can be used for the customers arriving at hypermarkets. The system is designed to track objects by spinning left and right to keep the object in sight and driving forward and backward to maintain a constant distance between the system and the object. Images are acquired through the camera of an ARM11 Raspberry Pi device which is attached to the system. This system is also implemented with automatic billing using RFID readers and tags.


 Nowadays people face a lot of problems in supermarkets. to carry things using trolleys. Mostly we need to push the trolley that carries products. A lot of differently-abled people, old age people, and women carrying babies found it difficult for them to use. Thus there is a need for an innovative product with the social acceptance that aids comfort, convenience, and efficiency in day-to-day life. Differently-abled people often find it difficult to manage the trolley in supermarkets. Imagine that there is a smart trolley that follows you simply wherever you go and carry your things of yours. So in this project, we are implementing a robot that follows specified people as a smart trolley

Study on IoT applications is a popular topic in recent years, but smart shopping systems have not been well investigated. There are some research works been published in recent years regarding improving customers’ shopping experience. We proposed the idea of tracking a customer in the store and discovering customers’ interests in order to offer personalized coupons. The idea of smart shelves and smart carts was also discussed in their work. The smart cart can be tracked using RFID technology and smart shelves can monitor the location and statuses of the items.


  • This smart trolley can be easily distracted if some customers wearing the same color dress and walking in front of the smart trolley 
  • It needs a High-resolution camera for perfect tracking


This aims to help create intelligent autonomous behavior and movement control which makes it very important for the application of object trolley followers.  The camera is one type of hardware that can be used as a sensor to help identify the surrounding environment and can be connected with python. python programming language functions as digital image processing and produces an output that will be used as a control reference to follow a target based on the color of the human follower trolley robot. Python is designed for developers and researchers in the field of computer vision and artificial nerves, genetic algorithms, fuzzy logic, and robotics This research discusses the design and build new innovations from the target trolley robots.


  • The proposed system consists of automatic customer tracking technology.
  • The automatic billing system is implemented.
  • The time of the customer is saved.
  • The details of the product and billing are displayed.


Smart Trolley Based on Colour Tracking using Raspberry Pi and OpenCV
Smart Trolley Based on Colour Tracking using Raspberry Pi and OpenCV


  • Raspberry pi is a microprocessor that is used in this project and it acts as a controlling device in this project
  • RFID is interfaced in with raspberry pi for billing purposes
  • The camera is interfaced with raspberry pi for detecting and tracking customers
  • The LCD display is interfaced with raspberry pi which is used for displaying purposes
  • Trolley setup consists of DC motors and L293 motor driver which is used to follow the customers


  • Raspberry Pi board
  • Camera
  • Robot trolley
  • LCD


  • Raspbian stretch 
  • Open CV
  • Python


  • [1] Suganya. R, Swarnavalli. N, Vismitha. S, Mrs. G. M. Rajathi, “Automated smart trolley with smart billing using Arduino”, International Journal for Research in Applied Science & Engineering Technology (IJRASET), Volume 4 Issue III, March 2016 
  • [2] Quoc Khanh Dang, Young SooSuh, “Human-following robot using the infrared camera”, Institute of Electrical & Electronics Engineers (IEEE) 
  • [3] Sabin Adhikari, Rohit Singh, RamuRaut, “Smart Wheel Chair”, ResearchGate
  •  [4] Saumya Nair, Aditya Nair, Nandita Nandi, “Object Recognition Using Cascade Classifier”, International Journal of Innovations & Advancement in Computer Science (IJIACS) , Volume 7, Issue 4, April 2018
  • [5]. Laser-based person-tracking method And two different approaches to a person following: direction-following and path following, Natural Person-Following Behavior for Social Robots, By Rachel Gockley, Jodi Forlizzi, Reid Simmons,2007.

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