| 摘要 |
<p>PURPOSE:To smoothen self-motion of a crane by determining deviation of the position of identified target in an image signal from the reference position for target, moving the crane so that the target in the image signal becomes identical to the reference position, and performing location of a hanger. CONSTITUTION:A target 22 with specified pattern is furnished in a specified position on a pallet 16 for placing object, and a reference position as position of the target 22 when the position of the object and a hanger 14 are identical according to this pattern is stored, and a TV camera 26 installed at a crane 10 photographs the photographed surface on the pallet 16 to prepare an image signal. The light amount to be received at this time by the TV camera 26 is adjusted, and the prepared image signal is binarized to prepare a specified image signal, and target is identified out of this image signal upon comparison of this image signal with the pattern of the store target 22. The deviation of the identified target 22 position from its reference position is determined so that the target 22 in the image signal becomes identical to the reference position.</p> |
