The Application of an Intelligent Crane Control System

The paper describes the crane control application and method of designing the anti-sway crane control system based on the fuzzy logic and pole placement method. The crane control system consists of the machine vision system used to contactless measure the sway of a payload, and the untypical stereovision system based on a single camera used to capture the stereo pair of crane workspace snapshots. The method of crane workspace identification based on the stereovision system, and safe and time-optimal path planning for a payload utilizing the heuristic graph search algorithm is delivered in the paper, together with the hardware and software description of the control application.