Automatic measurement of swing of a crane lifter and relative position of a cylindrical load

摘要

Depending on the size and the weight of the load being transferred, various types of cranes are used in industries. Many attitude measurement and control systems for crane lifters have been developed. These systems are mainly aimed for suppressing the swings of the lifters when the trolleys come to a stop. To improve the efficiency and also not to damage the objects (loads), however, not only the measurement of attitude but also the exact recognition of the load position is important. This paper proposes an automatic measurement system which combines fiber optical gyros (for attitude sensin) and range sensors and measures the position of cylindrical objects such as an iron-plate coil despite the swing of the lifter. The system makes use of the mechanism of the range sensor output to raise the measurement accuracy.