The Application of Image Analysis Methods in Selected Issue Solution Dedicated for Overhead Travelling Crane

The paper talk over the proposal of use a combined vision system architecture for solved well known issue occurring in material handling devices (MHDs) exploitation, especially in the crane devices. The described in the presented paper stereovision system for work space mapping and non-contact sensor type for rope angle swinging measure were a part of solutions enabling a full autonomous navigation system (ANS) realized by the overhead travelling crane. In the paper special authors care was dedicated on two issues. The first one was connected with MHDs workspace mapping with built three-dimensional model of their structure. The second part of the paper considering the possibility of attaches image analysis technique into non-contact rope swinging sensor architecture. In this paper, two main problems were identified: crane workspace visualization and need of develop new type of anti-sway technique. For workspace, visualization technique of author's proposed, well known stereovision, but not in standard architecture (to compose stereovision picture one camera was use). In terms of anti-sway technique, authors choose close-loop control system. Thus was develop non-contact anti sway sensor. The common point of both developed methods (anti sway solution and workspace visualization) is vision methods. At the end raises a following conclusion: vision systems and image analysis method are perfect not only in acquiring an information about crane workspace and potential obstacles dimension (stereovision), but also useful as a standalone measurements system of chosen and useful crane parameters. All tests were conducted on the physical model of the scaled overhead travelling crane with 150 kg hosting capability.