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Vision-Based Control of the Overhead Crane

Nilsson, Roger and Nordgren, Mikael (2003) In MSc Theses
Department of Automatic Control
Abstract
Through the years, cranes have been used extensively for many different tasks. For example construction work, shipbuilding and cargo transportation. One of the tedious tasks that cranes perform is loading and unloading containers. This is a process which can be optimized with the aid of control theory. While moving cargo, the crane operator must make sure that crane motion does not cause the cargo to accelerate too quickly, as the cargo may then start to oscillate. Such motion may disrupt unsecured cargo and put unnecessary stress on secured cargo. Today the crane movement is directly controlled by the crane operator; this however severely limits the crane speed due to human inability to control the crane optimally. This thesis presents... (More)
Through the years, cranes have been used extensively for many different tasks. For example construction work, shipbuilding and cargo transportation. One of the tedious tasks that cranes perform is loading and unloading containers. This is a process which can be optimized with the aid of control theory. While moving cargo, the crane operator must make sure that crane motion does not cause the cargo to accelerate too quickly, as the cargo may then start to oscillate. Such motion may disrupt unsecured cargo and put unnecessary stress on secured cargo. Today the crane movement is directly controlled by the crane operator; this however severely limits the crane speed due to human inability to control the crane optimally. This thesis presents and investigates a method of controlling the crane movement. The method utilizes computer vision to determine cargo position which is used to control crane movement optimally. (Less)
Please use this url to cite or link to this publication:
author
Nilsson, Roger and Nordgren, Mikael
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
Pendelum, Harris Corner Detection, Vision, FFT, Linear Quadratic Control
publication/series
MSc Theses
report number
TFRT-5712
ISSN
0280-5316
language
English
id
8848112
date added to LUP
2016-03-19 17:22:20
date last changed
2016-03-19 17:22:20
@misc{8848112,
  abstract     = {Through the years, cranes have been used extensively for many different tasks. For example construction work, shipbuilding and cargo transportation. One of the tedious tasks that cranes perform is loading and unloading containers. This is a process which can be optimized with the aid of control theory. While moving cargo, the crane operator must make sure that crane motion does not cause the cargo to accelerate too quickly, as the cargo may then start to oscillate. Such motion may disrupt unsecured cargo and put unnecessary stress on secured cargo. Today the crane movement is directly controlled by the crane operator; this however severely limits the crane speed due to human inability to control the crane optimally. This thesis presents and investigates a method of controlling the crane movement. The method utilizes computer vision to determine cargo position which is used to control crane movement optimally.},
  author       = {Nilsson, Roger and Nordgren, Mikael},
  issn         = {0280-5316},
  keyword      = {Pendelum,Harris Corner Detection,Vision,FFT,Linear Quadratic Control},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Vision-Based Control of the Overhead Crane},
  year         = {2003},
}