| 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 |
| Keywords: |
3Di;cargo handing;HiCASS |
| Research Areas: |
Metrology and Standards for Manufacturing Systems and Data |
| PDF version: |
 Click here to retrieve PDF version of paper (5MB) |
