Title :
Position Measurement of a Moving Mark by Vision and Laserg
Author :
Nara, Shunsuke ; Miyamoto, Daisuke ; Takahashi, Satoru
Author_Institution :
Dept. of Intelligent Mech. Syst. Eng., Kagawa Univ., Takamatsu
Abstract :
The purpose of this paper is to measure the working radius of a crane truck by using vision systems. Then, we introduce the observation device which is equipped with a CCD camera, a laser range finder and two AC servo motors. Further, we propose new algorithm for the mark recognition and then construct PID control system with an extended Kalman filter in order to realize the system without the time delay. Through some experiments, we verify performance of observation device which we developed
Keywords :
CCD image sensors; Kalman filters; laser ranging; optical control; position measurement; three-term control; AC servo motors; CCD camera; PID control system; extended Kalman filter; image processing; laser range finder; position measurement; visual feedback; working radius measurement; AC motors; Charge coupled devices; Charge-coupled image sensors; Control systems; Cranes; Machine vision; Position measurement; Servomechanisms; Servomotors; Three-term control; Extended Kalman filter; Image processing; Three-dimensional position measurement; Visual feedback;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257499
