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Publication Citation: Towards Development of an ISO Container to Spreader Bar Sensor System

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