CN201327383Y - Automatic measuring system of natural glide quantity of fork truck fork - Google Patents
Automatic measuring system of natural glide quantity of fork truck fork Download PDFInfo
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- CN201327383Y CN201327383Y CNU2008201699812U CN200820169981U CN201327383Y CN 201327383 Y CN201327383 Y CN 201327383Y CN U2008201699812 U CNU2008201699812 U CN U2008201699812U CN 200820169981 U CN200820169981 U CN 200820169981U CN 201327383 Y CN201327383 Y CN 201327383Y
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Abstract
The utility model discloses an automatic measuring system of natural glide quantity of fork truck fork, which comprises a CCD image collecting system, a bidimensional rotating platform, a target LED and a hydraulic system, wherein the CCD image collecting system comprises a PC machine, an image collecting CCD, an image collecting card, a long focus lens and a short focus lens. The bidimensional rotating platform comprises an angle coder, a bidimensional rotating support and a driving motor, the long focus and the short focus lenses are arranged on the bidimesional rotating support, the driving motor is used to drive the bidimensional rotating support to rotate, the target LED is tracked through forming images by the lenses, the angle coder is arranged on a rotation shaft to record the angle, a fork truck fork is arranged on a fork testing table, the target LED is then fixed on a wall of the fork truck fork, and the hydraulic system replaces a fork truck power system to provide the power. The natural glide quantity is obtained through precisely measuring the images which are formed through the long focus lens by image processing software, and thereby the measurement precision of the natural glide quantity of the fork truck fork exceeds one quantitative level of the required precision on present market.
Description
Technical field
The utility model relates to a kind of automatic measurement system, especially relates to a kind of automatic measurement system of natural downslide amount of forklift fork.
Background technology
Present China whole society logistics cost accounts for the proportion of GDP and paced up and down up and down 21.3% in continuous 7 years, and external logistics level of developed countries is about 10%.The domestic logistics industry still is in the high speed development stage.Fork truck is as an important tool of logistics, and its universal use will reduce the logistics cost of enterprise greatly.In the face of this huge segmenting market, all advanced fork truck brands all enter Chinese market with various forms in the world.It is very urgent that the quality that China domestic fork truck Engineering Machinery Plant should promote own product is captured Chinese market.(Hangzhou fork truck engineering machinery incorporated company is as one of leading enterprise of domestic fork truck industry, from 41.8%, 2005 market share year of year sales volume average speed of growth calendar year 2001 to 2005 having reached 35.9%.But 2005, owing to be subjected to the restriction of production technology, sale only increased by 8%.Be starkly lower than domestic average level.) forklift door frame is the equipment that hoists of fork truck, is the critical piece of fork truck.The quality of its quality has directly determined the performance quality of fork truck.Fork truck is just towards high lifting degree development.Three layers of door frame height reach more than 6 meters.The performance of high door frame is even more important to the influence of fork truck overall performance.The production technology of present state inner upright mounting, particularly detection means is relatively backward, based on artificial and original means, has seriously restricted the lifting of product quality and complete machine performance.(detection of door frame adjustable height and speed more advanced technology at present is to use laser range finder.But the characteristics of laser range finder are to measure the situation of movement of a point on the door frame.Motion conditions to whole door frame needs many laser range finders to work simultaneously on the different azimuth of the left and right sides, front and back.Because door frame needs to use driving that door frame is lifted by crane transport operation in process of production.Do not allow to install laser range finder on some orientation.And different door frame geomery differences, when using laser range finder, need to regulate the position of stadimeter.Because the door frame lifting height can reach more than 6 meters, position adjustments is difficulty relatively.Therefore laser range finder is difficult to realize the measurement of multiparameters such as forklift door frame tilts all around.) wherein the at present also advanced without comparison method of natural downslide amount of fork of forklift truck measure, and precision is not high.Free downslide amount is the very important capability and performance parameter of of fork of forklift truck.The quality that wants to improve fork truck solves this problem with regard to the measuring technique that needs a kind of advanced person.
Summary of the invention
The purpose of this utility model is to provide a kind of automatic measurement system of natural downslide amount of forklift fork, adopt rapid image collection target LED picture and image processing software to handle the image that collects, make the measuring accuracy of natural downslide amount of forklift fork exceed order of magnitude of existing market accuracy requirement.
The technical scheme that its technical matters that solves the utility model adopts is:
Comprise ccd image acquisition system, two-dimentional rotatable platform, target LED structure and hydraulic system; Wherein:
1) ccd image acquisition system: gather CCD at long-focus lens and short focal length lens back difference map interlinking picture, image pick-up card links to each other with CCD, and image pick-up card is inserted on the PC;
2) two-dimentional rotatable platform: fixedly supporting plate is housed at base plate, below fixing supporting plate, surface level drive motor and horizontal direction angular encoder are installed respectively, on the surface level drive motor output shaft synchronous pulley is housed, the horizontal direction rotation axis of horizontal direction angular encoder passes fixedly supporting plate, be positioned on the horizontal direction rotation axis below the fixing supporting plate synchronous pulley is housed, synchronous pulley on synchronous pulley on the surface level drive motor and the horizontal direction angular encoder is rotationally connected with being with synchronously, the U type frame that surface level rotates is installed in and is positioned at the fixedly horizontal direction rotation axis end face above the supporting plate, vertical direction is rotated U type frame and is installed in the surface level rotation U type frame, surface level rotates the right side of U type frame the vertical direction drive motor is installed, vertical direction drive motor axle passes surface level rotation U type frame fixedlys connected with vertical direction rotation U type frame, after left side vertical rotation axle passes surface level rotation U type frame, the one end rotates U type frame with vertical direction fixedlys connected, the left side vertical rotation axle other end connects the vertical direction angular encoder, rotate a short focal length lens of installation and long-focus lens on the U type frame bottom surface in vertical direction, control circuit board is connected with the vertical direction drive motor with the horizontal drive motor;
3) target LED:
Open a light hole in front on the plate and fixed magnet is housed, on the plate circuit board is housed in the back, four LED on the circuit board aim at four light holes of front panel respectively, the light that LED sends is followed the tracks of by short focal length lens and long-focus lens, target LED is fixed on the fork of forklift truck, and hydraulic system replaces the fork truck power system.
The beneficial effect that the utlity model has is
Also there is not at present to accurately measure the measuring system of the natural downslide amount of fork of forklift truck at home and abroad.Natural downslide amount obtains with accurate detection of image processing software by the image after the long-focus lens imaging in native system.Make the measuring accuracy of natural downslide amount of forklift fork exceed order of magnitude of existing market accuracy requirement.Promoted the quality of production and the market competitiveness of China's fork truck greatly, made fork truck safer more convenient in actual logistical applications.
Description of drawings
Fig. 1 is an automatic detection frame diagram of the present utility model.
Fig. 2 is that the target LED in the utility model arranges synoptic diagram.
Fig. 3 is the utility model target LED structural front view.
Fig. 4 is one of the utility model target LED structure vertical view.
Fig. 5 is two of the utility model target LED structure vertical view.
Fig. 6 is the utility model two dimension rotatable platform front view.
Fig. 7 is the utility model two dimension rotatable platform right view.
Fig. 8 is the utility model two dimension rotatable platform vertical view.
Fig. 9 is the control circuit board of the utility model two dimension rotatable platform.
Figure 10 is the utility model target led circuit plate schematic diagram.
Figure 11 is the utility model two dimension rotatable platform circuit board figure.
Among the figure: 1-fixed magnet, 2-handle, 3-gib screw; the 4-circuit board, 5-supplying cell, 6-LED; 7-front panel 8-rear panel, 9 left plates, 10-right plate; the 11-lower shoe, 12-magnet fixed head, 13-upper plate; 14-fixing threaded hole 15-battery fixed head, 16-surface level drive motor, 17-fixed supported slab; 18-drives axle synchronously, and 19-is supporting plate fixedly, the 20-bearing; the 21-surface level rotates U type frame, 22-vertical direction angular encoder, 23-left side vertical direction rotation axis; the 24-control circuit board, 25-protective cover, 26-left plate; the 27-short focal length lens, 28-long-focus lens, 29-right plate; 30-vertical direction drive motor, 31-vertical direction drive motor axle, the 32-vertical direction is rotated U type frame; the 33-fixed hub, 34-horizontal direction rotation axis, 35-drives axle synchronously; 36-horizontal direction angular encoder, 37-fixed supported slab, 38-base plate; the 39-gib screw, 40-power port, 41-control circuit board; the 42-drive circuit board, 43U type holder.
Embodiment
Below in conjunction with drawings and Examples the utility model is described further.
As shown in Figure 1, the utility model comprises with the lower part:
1) ccd image acquisition system: it is made up of PC, image acquisition CCD, image pick-up card, long-focus lens 28 and short focal length lens 27.Gather CCD at long-focus lens 28 and short focal length lens 27 back difference map interlinking picture, image pick-up card links to each other with CCD, and image pick-up card is inserted on the PC.
2) two-dimentional rotatable platform: it is made up of angular encoder and two-dimentional turret and drive motor.Long-focus lens and short focal length lens are installed in two-dimentional turret, drive the imaging of two-dimentional turret two dimension rotation scioptics with drive motor and come tracking target LED, angular encoder is installed in recording angular on the rotation axis.
3) hydraulic system: fork of forklift truck is installed on the pallet fork testing table, again target LED is fixed on the fork of forklift truck wall, replace the fork truck power system that power is provided by hydraulic system.
In Fig. 2, the LED that is d by four diameters forms, and 4 light source quadrates are arranged, and the distance between diagonal angle light source center point is D.Four LED make after the luminosity unanimity on all directions through the light hole outgoing on the front panel by frosted glass.With LED following advantage is arranged: light source is bright, and volume is little, the luminescence efficiency height, and the life-span is long, and direct current supply is safe and reliable.
At Fig. 3, Fig. 4 among Fig. 5, opens 4 light holes on the front panel 7, penetrates LED6 from light hole, drives the switch that a hole installs and fixes magnet 1 in front on the plate 7, and handle 2 is installed on right plate 10.In the back on the plate by gib screw fixing circuit board 4, make four LED on the circuit board just aim at four light holes of front panel 7.Supplying cell 5 usefulness battery fixed heads 15 are fixed on the left plate.Lower shoe 11 has the charging slot.Six blocks of side plates constitute a square box with gib screw.
At Fig. 6, Fig. 7, Fig. 8 among Fig. 9, installs four fixed supported slabs 17 and supports fixedly supporting plate 19 on base plate 38.Below fixing supporting plate 19, install and fix U type seat 43.Fixedly on the U type seat 43 surface level drive motor 16 is being installed, surface level drive motor 16 connects synchronous pulley 18, synchronous pulley 18 usefulness belts connect synchronous pulley 35, and synchronous pulley 35 drives horizontal direction rotation axis 34 makes the surface level that is fixed on the axle rotate the rotation of U type frame 21 horizontal directions.Wherein fixed hub 33 is installed in fixedly supporting plate 19, at 33 li installation bearings 20 of fixed hub, 20 li horizontal direction rotation axis 34 is installed at bearing.The following installation horizontal direction angular encoder 36 of horizontal direction rotation axis 34, horizontal direction angular encoder 36 are used for the turned angle of recording level direction.On the right plate of surface level rotation U type frame 21 vertical direction drive motor 30 is installed, the vertical direction drive motor drives right horizontal direction rotation axis 34.Vertical direction is rotated U type frame 32 and is rotated in the U type frame 21 and can vertical direction rotate at surface level by left vertical direction rotation axis 23 and right horizontal direction rotating steadying bar 34.Vertical direction angular encoder 22 is installed in the left side of left side vertical direction rotation axis 23, is used for writing down the angle that turns on the vertical direction.Vertical direction is rotated on the U type frame 32 two long short focus lens short focal length lenses 27 and long-focus lens 28 is installed.Control circuit board 24 is fixed on the base plate 38.Use protective cover 25 at last, be enclosed within and protect whole two-dimentional rotatable platform.
In Figure 10, two triode Q1, Q2 are housed respectively on the described circuit board 4, first diode D1, second diode D2 and the second resistance R2 series connection, first LED1 and second LED2 series connection, the base stage of first triode Q1 is connected with an end of second the diode D2 negative pole and second resistance R 2, the emitter of first triode Q1 is connected with an end of first resistance R 1, and the collector of first triode Q1 is connected with the positive pole of first LED1; The 3rd diode D3, the 4th diode D4 and the 4th resistance R4 series connection, the 3rd LED3 and the 4th LED4 series connection, the base stage of second triode Q2 is connected with an end of the 4th diode D4 negative pole and the 4th resistance R 4, the emitter of second triode Q2 is connected with an end of the 3rd resistance R 3, and the collector of second triode Q2 is connected with the positive pole of the 3rd LED3; The 5th resistance R 5, oppositely stabilivolt D5 and the 5th LED5 series connection, the negative pole of the negative pole of the negative pole of the 4th LED4, the other end of the 4th resistance R 4, second LED2, the other end of second resistance R 2 and the 5th LED5 connects the negative pole of battery; The other end anodal and the 5th resistance R 5 of the positive pole of the other end of the 3rd resistance R 3, the 3rd diode D3, the other end of first resistance R 1, first diode D1 connects the positive pole of battery through switch SW 1.LED1 wherein, LED2, LED3, LED4 are four target light source, LED5 is used for doing the pilot lamp of power supply.
In Figure 11, the first circuit driver DR1 on the described control circuit board 24 is connected with the second transformer TR2 with the first transformer TR1 respectively with the HV interface of second circuit driver DR2, and two transformers connect the 220V power supply; U, V, the W port of the U of the first circuit driver DR1, V, W port water receiving plane drive motor 16; U, the V of second circuit driver DR2, W port connect U, V, the W port of vertical direction drive motor 30; First single-chip microcomputer cpu1 of single-chip microcomputer and CP+, DIR+, EN+, the negative potential of second singlechip cpu2 link to each other respectively with separately by bus for the OPTO of two drivers, CP, DIR, FREE; The limit switch bus of the first single-chip microcomputer cpu1 and second singlechip cpu2 links to each other with the stop of 12V separately; The first single-chip microcomputer cpu1 connects after the RS232 serial ports links to each other with PC with second singlechip cpu2.
At first fork of forklift truck to be measured is placed on the hydraulic pressure pallet fork testing table, again target LED is fixed on the fork of forklift truck wall by fixed magnet 1, make it with pallet fork one lifting.From 4 meters distant places of fixation test platform level, two-dimentional rotatable platform is fixed on overhead 4 meters high places, and makes the length focal length lens facing to target LED direction, the protective cover 25 of taking away is prepared tracking target LED, carries out image acquisition.The working method that Hydraulic Station is set by control desk comes that lifting provides power to pallet fork.After making system initialization by PC, enter detection-phase.
System utilizes short focal length lens 27, and long-focus lens 28 carries out imaging, and its imageable target is two distance D to corner LED.LED is regularly arranged, makes things convenient for the identification of image.When pallet fork moved, the imaging of LED on CCD will form smear.Because the smear of two LED is basic identical, LED center, diagonal angle D to each other can think and remains unchanged.Therefore the diagonal angle centre distance of available two LED is made the target object height.The image processing that is designed to of this target light source provides great convenience.
Two imaging lens are installed on the two-dimentional rotatable platform.Short focal length lens 27 imagings have bigger field angle, guarantee that target LED can make two-dimentional rotatable platform arrive target LED by real-time follow-up all the time in the field range of short focal length lens 27 when pallet fork moved up and down.Its field angle of long-focus lens 28 imagings is little, and imageable target is become the picture of an amplification, is used for the minor variations of measurement target position.When pallet fork moved to specified altitude assignment and stops, the rotation by two-dimentional rotatable platform traced into target LED, with long-focus lens 28 imagings, makes target LED complete imaging on the CCD of long-focus lens image planes.Difference target is constantly gathered and transmit back the data that collect and return the angle information that the angular encoder meter is recorded by image capturing system by Bluetooth wireless transmission.System utilizes image processing software just can calculate the motion height and the speed of fork truck to the processing of target image that short focal length lens 27 becomes.When door frame after specified altitude assignment stops, long-focus lens 28 traces into target LED, and carries out image acquisition.System utilize again image processing software to long-focus lens 28 become the processing of target image just can calculate the little downslide amount of nature.Wherein little naturally downslide amount is to rise to the stop motion of specified point fork of forklift truck when fork of forklift truck, because fork of forklift truck can slowly move down in actual conditions, this small quantity is referred to as natural downslide amount.
Wherein the CCD that uses in the native system is 1/3 inch size, the specification of 800 * 600 pixels, and the focal length of long-focus lens is 200mm, the focal length of short focal length lens is 35mm.What Bluetooth wireless transmission was used is the GC-05 bluetooth integrated package that is gone out by Nanjing state spring Electric Appliance Equipment Co., Ltd, and that image pick-up card is used is CG300.
Also there is not at present to accurately measure the measuring system of the natural downslide amount of fork of forklift truck at home and abroad.Natural downslide amount accurately detects by long-focus lens in native system.Concrete principle is as follows: on the CCD image planes, the pixel of LED centre distance D correspondence is N, the object height a of 1 pixel correspondence:
a＝D/N
If after after a while, the led light source central point has moved down n pixel, then natural downslide amount Δ s
Δs＝a×n
When long-focus is got 40cm, D is 10cm, and when object distance was 4 meters, a was about 0.14mm.The error of natural downslide amount is determined by the CCD pixel resolution.By the analysis of front, the corresponding 0.14mm of pixel, this is exactly little measuring error that moves down.The relative measurement error of 100mm correspondence is 0.14%.This measuring accuracy satisfies the actual production requirement and has exceeded the precision of an order of magnitude.
The hydraulic workstation configuration:
Fuel reserve tank: 1000 liters of oil reserves (containing the turnover oilhole, liquid level demonstration etc.)
Three phase electric machine: 28KW 1470rpm
Hydraulic pump: 80SCY14-1B
The type of cooling: air-cooled
Vibrationproof tensimeter: 25MPa * 6
Reversal valve: one of above-below direction operation valve, one of anteversion and retroversion directional control valve, katabatic drainage control valve, anteversion and retroversion speed control valve
Electric cabinet (slave computer): frequency converter: 28KW
Contactor:
The commutation pilot relay:
Gauge tap:
Current transformer and reometer: 75A
The hydraulic workstation the key technical indexes:
Accommodation: tonnage: 2.5 tons.4.5 meters of maximum heights.
Decline rate adjustable extent: 300-600mm/s
Ascending velocity is adjustable, maximal value 500mm/s
Pitch velocity adjustable extent: 1-5mm/s.
Claims (3)
1, a kind of automatic measurement system of natural downslide amount of forklift fork is characterized in that: comprise ccd image acquisition system, two-dimentional rotatable platform, target LED structure and hydraulic system; Wherein:
1) ccd image acquisition system: gather CCD at long-focus lens (28) and short focal length lens (27) back difference map interlinking picture, image pick-up card links to each other with CCD, and image pick-up card is inserted on the PC;
2) two-dimentional rotatable platform: fixedly supporting plate (19) is housed at base plate (38), below fixing supporting plate (19), surface level drive motor (16) and horizontal direction angular encoder (36) are installed respectively, on surface level drive motor (16) output shaft synchronous pulley (18) is housed, the horizontal direction rotation axis (34) of horizontal direction angular encoder (36) passes fixedly supporting plate (19), be positioned on the horizontal direction rotation axis (34) below the fixing supporting plate (19) synchronous pulley (35) is housed, synchronous pulley (35) on synchronous pulley (18) on the surface level drive motor (16) and the horizontal direction angular encoder (36) is rotationally connected with being with synchronously, the U type frame (21) that surface level rotates is installed in and is positioned at fixedly horizontal direction rotation axis (34) end face above the supporting plate (19), vertical direction is rotated U type frame (32) and is installed in the surface level rotation U type frame (21), surface level rotates the right side of U type frame (21) vertical direction drive motor (30) is installed, vertical direction drive motor axle (31) passes surface level rotation U type frame (21) fixedlys connected with vertical direction rotation U type frame (32), after left side vertical rotation axle (23) passes surface level rotation U type frame (21), the one end rotates U type frame (32) with vertical direction fixedlys connected, left side vertical rotation axle (23) other end connects vertical direction angular encoder (22), rotate an installation short focal length lens (27) and a long-focus lens (28) on U type frame (32) bottom surface in vertical direction, control circuit board (24) is connected with the vertical direction drive motor with the horizontal drive motor;
3) target LED:
Open 4 light holes in front on the plate (7) and fixed magnet (1) is housed, circuit board (4) is housed on the plate in the back, four LED on the circuit board (4) aim at four light holes of front panel (7) respectively, the light that LED sends is followed the tracks of by short focal length lens (27) and long-focus lens (28), target LED is fixed on the fork of forklift truck, and hydraulic system replaces the fork truck power system.
2, the automatic measurement system of a kind of natural downslide amount of forklift fork according to claim 1, it is characterized in that: first circuit driver (DR1) on the described control circuit board (24) is connected with second transformer (TR2) with first transformer (TR1) respectively with the HV interface of second circuit driver (DR2), and two transformers connect the 220V power supply; U, the V of U, the V of first circuit driver (DR1), W port water receiving plane drive motor (16), W port; U, the V of second circuit driver (DR2), W port connect U, V, the W port of vertical direction drive motor (30); First single-chip microcomputer (cpu1) of single-chip microcomputer and CP+, DIR+, EN+, the negative potential of second singlechip (cpu2) link to each other respectively with separately by bus for the OPTO of two drivers, CP, DIR, FREE; First single-chip microcomputer (cpu1) and the limit switch bus of second singlechip (cpu2) link to each other with the stop of separately 12V; First single-chip microcomputer (cpu1) is connected after the RS232 serial ports links to each other with PC with second singlechip (cpu2).
3, the automatic measurement system of a kind of natural downslide amount of forklift fork according to claim 1, it is characterized in that: two triode (Q1 are housed respectively on the described circuit board (4), Q2), first diode (D1), second diode (D2) and second resistance (R2) series connection, first LED1 and second LED2 series connection, the base stage of first triode (Q1) is connected with an end of second diode (D2) negative pole and second resistance (R2), the emitter of first triode (Q1) is connected with an end of first resistance (R1), and the collector of first triode (Q1) is connected with the positive pole of first LED1; The 3rd diode (D3), the 4th diode (D4) and the 4th resistance (R4) series connection, the 3rd LED3 and the 4th LED4 series connection, the base stage of second triode (Q2) is connected with an end of the 4th diode (D4) negative pole and the 4th resistance (R4), the emitter of second triode (Q2) is connected with an end of the 3rd resistance (R3), and the collector of second triode (Q2) is connected with the positive pole of the 3rd LED3; The 5th resistance (R5), oppositely stabilivolt (D5) and the 5th LED5 series connection, the negative pole of the negative pole of the negative pole of the 4th LED4, the other end of the 4th resistance (R4), second LED2, the other end of second resistance (R2) and the 5th LED5 connects the negative pole of battery; The other end of positive pole of the other end of the positive pole of the other end of the 3rd resistance (R3), the 3rd diode (D3), first resistance (R1), first diode (D1) and the 5th resistance (R5) connects the positive pole of battery through switch (SW1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201699812U CN201327383Y (en) | 2008-12-15 | 2008-12-15 | Automatic measuring system of natural glide quantity of fork truck fork |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNU2008201699812U CN201327383Y (en) | 2008-12-15 | 2008-12-15 | Automatic measuring system of natural glide quantity of fork truck fork |
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| CN201327383Y true CN201327383Y (en) | 2009-10-14 |
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| CNU2008201699812U Expired - Lifetime CN201327383Y (en) | 2008-12-15 | 2008-12-15 | Automatic measuring system of natural glide quantity of fork truck fork |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285591A (en) * | 2011-07-13 | 2011-12-21 | 祝凤金 | Braking glide quantity detector for crane |
| CN104011772A (en) * | 2011-10-19 | 2014-08-27 | 克朗设备公司 | Controlling truck forks based on identifying and tracking multiple objects in an image scene |
| US9990535B2 (en) | 2016-04-27 | 2018-06-05 | Crown Equipment Corporation | Pallet detection using units of physical length |
-
2008
- 2008-12-15 CN CNU2008201699812U patent/CN201327383Y/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285591A (en) * | 2011-07-13 | 2011-12-21 | 祝凤金 | Braking glide quantity detector for crane |
| CN102285591B (en) * | 2011-07-13 | 2013-11-06 | 祝凤金 | Braking glide quantity detector for crane |
| CN104011772A (en) * | 2011-10-19 | 2014-08-27 | 克朗设备公司 | Controlling truck forks based on identifying and tracking multiple objects in an image scene |
| CN104011772B (en) * | 2011-10-19 | 2017-02-15 | 克朗设备公司 | Controlling truck forks based on identifying and tracking multiple objects in an image scene |
| US9990535B2 (en) | 2016-04-27 | 2018-06-05 | Crown Equipment Corporation | Pallet detection using units of physical length |
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