| 摘要 |
<p>A load swing at a crane is detected with high accuracy by accurately detecting the position of a suspended load through provisions of an imaging means (2) disposed in the vicinity of the top portion of a boom (1) and attitude controlled such that its visual field is directed perpendicularly downwardly, and a hook position detecting means (16) for detecting a relative position of a hook to the boom top portion by obtaining the centroid of an identification pattern by image processing an identification pattern IP plotted on an upper surface of a hook (4) disposed at a leading end of a rope and the identification pattern IP imaged by the imaging means (2).</p> |
