A sound-based measurement of sway angle for anti-sway control of overhead crane

Miki Matsunaga, Masayoshi Nakamoto, Toru Yamamoto
2018 Journal of Robotics, Networking and Artificial Life (JRNAL)  
For anti-swing control of overhead crane, a deflection angle must be estimated. However, it is difficult to estimate deflection angles with a contact sensor such as rotary encoder. Therefore, we show a non-contact measurement method for the deflection angles by using two microphones. This method is based on the sound source location in a human with two ears. The method employs a time delay of arrival (TDOA) of acoustic signals which are picked up by the two microphones. Also, we show an
more » ... we show an algorithm to obtain the angle from the TDOA by using the Newton's method. Finally, we show experimental results to demonstrate the effectiveness of the proposed method.
doi:10.2991/jrnal.2018.4.4.14 fatcat:bdecp6m6rffzpo2g2fbpvuk4je