IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Special Issue Paper
Development of Measurement Device of Working Radius of Crane Based on Single CCD Camera and Laser Range Finder
Shunsuke NaraSatoru Takahashi
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2007 Volume 127 Issue 6 Pages 594-602


In this paper, what we want to do is to develop an observation device to measure the working radius of a crane truck. The device has a single CCD camera, a laser range finder and two AC servo motors. First, in order to measure the working radius, we need to consider algorithm of a crane hook recognition. Then, we attach the cross mark on the crane hook. Namely, instead of the crane hook, we try to recognize the cross mark. Further, for the observation device, we construct PI control system with an extended Kalman filter to track the moving cross mark. Through experiments, we show the usefulness of our device including new control system of mark tracking.

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© 2007 by the Institute of Electrical Engineers of Japan
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