crane

Abstract

To provide a crane capable of measuring a position of a tip part of a boom by using a camera.SOLUTION: A control device 40 acquires images (E1, E2, E4, E5) respectively from first cameras (81, 85) and second cameras (82, 86), corrects posture information of a boom 31 based on marker images (M3a, M3b, M7) on difference images (E3, E7) obtained by differentiating the images (E1, E4) captured by the first cameras (81, 85) and normal images or mirror images of the images (E2, E5) captured by the second cameras (82, 86), and calculates the position of the tip part of the boom 31.SELECTED DRAWING: Figure 2

Claims

1. A crane equipped with a boom, A marker is provided at the tip of the boom, A first camera and a second camera are provided at the base end of the boom and capture images of the area including the marker. The system includes a control device that acquires attitude information including the elevation angle and slewing angle of the boom, and processes images captured by the first camera and the second camera, The lines of sight of the first camera and the second camera are parallel to each other. The control device is The images are acquired from the first camera and the second camera, respectively. A crane characterized by correcting the posture information of the boom based on a marker image on a difference image obtained by subtracting the image captured by the first camera and the image captured by the second camera, and calculating the position of the tip of the boom.

2. Based on the marker image on the difference image, the deflection angle, twist angle, and distance from the base to the tip of the boom are calculated. The crane according to claim 1, characterized in that the posture information of the boom is corrected based on the calculated deflection angle, twist angle, and distance from the base end to the tip end of the boom.

3. The aforementioned marker uses an infrared light-emitting diode as its light source. The system comprises a first infrared transmission filter and a second infrared transmission filter that transmit the light emitted from the marker, The first camera is positioned facing the marker and captures the image via the first infrared transmission filter. The crane according to claim 1 or 2, characterized in that the second camera is provided facing the marker and captures the image via the second infrared transmission filter.

4. The emission wavelength of the infrared light-emitting diode is approximately 940 nm. The crane according to claim 3, characterized in that the transmission wavelength of the first infrared transmission filter and the second infrared transmission filter is in the 940 nm band.

Images