Visual Feedback Tracking with Laser to Moving Crane Hook
Shunsuke Nara and Satoru Takahashi
Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu-City, Kagawa 761-0396, Japan
This paper introduces measurement of the working radius of a crane truck based on visual feedback control. In order to realize the measurement, we developed an observation device which is equipped with a CCD camera, a laser range finder, and AC servo motors. Further, we propose a new algorithm for mark recognition and construct a control system with an extended Kalman filter to eliminate a time delay. By performing several experiments, we verify the performance of the observation device, and show the effectiveness of our proposed method.
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