Title :
Position Measurement of Crane Hook by Vision and Laser
Author :
Nara, Shunsuke ; Miyamoto, Daisuke ; Takahashi, Satoru
Author_Institution :
Dept. of Intelligent Mech. Syst. Eng., Kagawa Univ., Takamatsu
Abstract :
In this paper, we develop the observation device which measures the working radius of a crane. To realize the measurement, the observation device has the CCD camera and the laser range finder, and the specific mark is attached to a crane. Then, we propose methods for the object recognition and the tracking control. As for the tracking control, to realize the control system without time delay, we construct PI control with an extended Kalman filter. It follows from some experiments that the observation device which we developed enables high accuracy measurement of the working radius of a crane
Keywords :
CCD image sensors; Kalman filters; PI control; cranes; filtering theory; nonlinear filters; object recognition; position measurement; CCD camera; PI control; crane hook; extended Kalman filter; laser range finder; observation device; position measurement; time delays; tracking control; Cameras; Charge coupled devices; Charge-coupled image sensors; Control systems; Cranes; Delay effects; Image processing; Image recognition; Position measurement; Robotics and automation;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347435
