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|Author(s):||Richard J. Norcross;|
|Title:||Towards Development of an ISO Container to Spreader Bar Sensor System|
|Published:||June 12, 2007|
|Abstract:||This report describes a sensor system that determines the relative pose between a crane spreader and an ISO container. The sensor system supports efforts to transfer cargo between ships in high sea states under ONR s HiCASS program. The sensor system is a collection of 3D sensors (flash LADAR and stereo vision) observing the corners of stacked ISO containers. The need to position the spreader s twistlocks into the ISO standard corner holes set the uncertainty requirements for the sensors at ?= 0.9 cm. The requirement to drive the servo control loop requires the sensor system to determine the pose at 10 Hz with ?= 0.5 cm. The report describes alternative sensor system configurations, methods to achieve the required transfer throughput and container or spreader positioning accuracy, and potential methods for sensors to perform in bright sunlight.|
|Citation:||NIST Interagency/Internal Report (NISTIR) - 7418|
|Research Areas:||Metrology and Standards for Manufacturing Systems and Data|
|PDF version:||Click here to retrieve PDF version of paper (5MB)|