Very compact videometric sensor system to solve a crane-positioning problem in an automated coil store in order to enable a correct-load suspension as well as correct release

摘要

Abstract: In many automated reel stocks, the storage capacity has been increased using a special kind of vacuum load suspensor, which is able to pick up a stored reel without touching the exterior face. To facilitate the suspension process, this load suspensor includes a conical centering pin that enters the reel core at the end of the downward movement. With this paper we present a 3D videometric measuring system, that contains a camera mounted axially inside of the centering pin. Thus, the system is able to measure the lateral displacement between the centering pin and the core of the reel to be picked up. It supports a correct centric load suspension in order to avoid, damages to the reel by the centering pin at the end of the downward movement. It is also able to correct the crane position before a hanging load is released, to minimize the allowed lateral distance between adjacent stacks. !4