A Development of Anti-sway System for Real Application: Measurement and Control of Crane Motions Using Camera

J. Ocean Eng. Technol. 2008;22(4):90-96.

Kawai Hideki,Kim Young-Bok,Choe Yong-Woon,Yang Joo-Ho

Faculty of Engineering Soka University,Faculty of Mechanical Engineering College of Engineering Pukyong National University,Faculty of Engineering Soka University,Faculty of Mechanical Engineering College of Engineering Pukyong National University

실용화를 고려한 Anti-Sway 시스템 구축: 카메라를 이용한 크레인 운동 계측 및 제어

카와이 히데키,김영복,최용운,양주호

소오카대학 공학부,부경대학교 공과대학 기계공학부,소오카대학 공학부,부경대학교 공과대학 기계공학부

Keywords: Swing motion, Camera, Image sensor, Moving-mass, Spreader, Template matching method, Vector code correlation (VCC)

핵심용어: 스윙모숀, 카메라, 이미지센서, 가동질량체, 스프레더, 템플릿 매칭법, 벡터코드 상관법

Abstract

In general, the swing motions of a crane are controlled and suppressed by controlling the trolley motion. In many of our previous studies, we suggested a new type of anti-sway control system for a crane. In this proposed control system, a small auxiliary mass (moving-mass) is installed on the spreader and moving this auxiliary mass controls tire swing motion. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. However, measuring systems based on a laser sensor or other means are not veryuseful in real-worldapplications. So, in this paper, animage sensor is used to measure the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method called Vector Code Correlation (VCC), which was devised to consider real environmental conditions. The H $infty$ based control technique is applied to suppress the swing motion of the crane. Experimental results showed that the proposed measurement and control system based on an image sensor is useful and robust to disturbances.