Visual Feedback Control with Laser for the Position Detection of Crane Hook

Author

Miyamoto, Daisuke ; Nara, Shunsuke ; Takahashi, Satoru

Author_Institution

Dept. of Intelligent Mech. Syst. Eng., Kagawa Univ.

fYear

2006

Firstpage

2079

Lastpage

2083

Abstract

In this paper, we introduce an development device which can measure the working radius of crane truck, automatically. This device is equipped with a laser range finder, a CCD camera and two AC servo motors. Each motor has an encoder. First, we propose the method of object recognition to measure the position of mark set of measurement object, and secondly construct the tracking control system to the development device. Then, it has PI control system with an extended Kalman filter. Through experiments, we show the effectiveness of our proposed method

Keywords

CCD image sensors; Kalman filters; PI control; cranes; diameter measurement; electric vehicles; feedback; laser ranging; object recognition; position measurement; AC servo motor; CCD camera; Kalman filter; PI control system; crane hook; crane truck radius; laser range finder; object recognition; position detection; tracking control system; visual feedback control; AC motors; Charge coupled devices; Charge-coupled image sensors; Cranes; Feedback control; Laser feedback; Object recognition; Position measurement; Servomechanisms; Servomotors; Mark recognition; Three-dimensional position measurement; Tracking control; Visual feedback control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315555

Filename

4109030