PURPOSE: To control the travel of a crane on the basis of an image process by controlling a travel motor, using a deviation angle detected with a gyro as well as an instruction value calculated from a deviation amount calculated immediately before a guide line image disappears. ;CONSTITUTION: Two cameras 8a and 8b mounted on a trackless crane 1 travelling along a guide line 6 photograph the guide line 6, and a gyro 9 detects a deviation angle 6 and a deviation angular velocity θ s relative to the guide line 6. While a photographed image shows a guide line image, deviation amounts Δx1 and ΔX2 are calculated by processing the image, and instruction values v1 and v2 available therefrom are used to control a travel motor before and after the deviations. On the other hand, while the guide line image is not being shown, a deviation angle θ detected with the gyro and the calculated deviation amount Δx0=-(Δx1+Δx2)/2 immediately before the disappearance of the guide line image are used to calculate a deviation amount. Δx during the disappearance of the guide line image via the application of an equation, and a control variable Δv' is thereby calculated. Then, the travel motor before and after the deviations is controlled by use of instruction values v'1 and v'2 obtainable from the calculation.;COPYRIGHT: (C)1996,JPO
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