Advanced SearchSearch Tips
Measurement of 3D Spreader Position Information using the CCD Cameras and a Laser Distance Measuring Unit
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Measurement of 3D Spreader Position Information using the CCD Cameras and a Laser Distance Measuring Unit
Lee, Jung-Jae; Nam, Gi-Gun; Lee, Bong-Ki; Lee, Jang-Myung;
  PDF(new window)
This paper introduces a novel approach that can provide the three dimensional information about the movement of a spreader by using two CCD cameras and a laser distance measuring unit in order to derive ALS (Automatic Landing System) in the crane used at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as comer detectors for the geometrical matching between the spreader and a container. Such systems provide only two dimensional information which is not enough for an accurate and fast ALS. In addition to this deficiency in performance, the price of the system is too high to adapt to the ALS. Therefore, to overcome these defects, we proposed a novel method to acquire the three dimensional spreader information using two CCD cameras and a laser distance measuring unit. To show the efficiency of proposed method, real experiments are performed to show the improvement of accuracy in distance measurement by fusing the sensory information of the CCD cameras and a laser distance measuring unit.
Yard crane;Spreader;Skew;Sway;Laser Distance sensor;CCD camera;ATC;
 Cited by
Applications of Dual-electric Compasses to Spreader Pose Control,Hwang, Jong-Myung;Han, Sun-Sin;Lee, Jang-Myung;

International Journal of Control, Automation, and Systems, 2010. vol.8. 2, pp.433-438 crossref(new window)
Dual compasses를 이용한 스프레더의 자세 제어,한순신;정희석;이장명;

제어로봇시스템학회논문지, 2007. vol.13. 9, pp.861-867 crossref(new window)
레이저 빔 궤적을 이용한 자동 랜딩 시스템,황진아;남기군;이장명;

제어로봇시스템학회논문지, 2007. vol.13. 1, pp.39-45 crossref(new window)
Applications of dual-electric compasses to spreader pose control, International Journal of Control, Automation and Systems, 2010, 8, 2, 433  crossref(new windwow)
Choi, S. U., Lee, J. W., Lee, C. H., Lee, Y. J. and Lee , K. S. (2002), 'A development of ATCS for automatic transfer crane', ISIE 2002, Proceedings of the 2002 IEEE International Symposium on, Vol.2, pp.8-11

Choi, S. Y., Jin, T. S. and Lee, J. M. (2003), 'Optimal Moving Windows for Real-Time Road Image Processing', Journal of Robotics Systems, VoI.20, Issue.2, pp.65-77 crossref(new window)

Duda, R. O. and Hart, P. E. (1972), 'Use of hough transform to detect lines and curves in picture', Commun. ACM 15, No.1, pp.11-15 crossref(new window)

David, J and Kreigman (1986), 'Stereo vision and navigation in building for mobile robots', IEEE Trans. On Robotics and Automation, Vol.Ra-2, pp.14-23

Gutierrez, M. and Soto, R. (1998), 'Fuzzy control of a scale prototype overhead crane', Proc. Of IEEE Conf. on Decision & control, pp.4266-4268

Korea Institute of Machinery (2001), 'Development of Design and Control Technology For Automated Transfer Crane', Third year report

Liu, C. I. and Ioannou, P. A (2002), 'A comparison of different AGV dispatching rules in an automated container terminal', Intelligent Transportation Systems, The IEEE 5th International Conference, pp.880 -885

Murata, I. and Nakajima, M. (1993), 'Automatic control system of container crane(in japanese with English abstract)', Trans. JSME, VoI.59, No.564, pp.2401-2407 crossref(new window)

Sonka, M. Hlavac, V. and Boyle, R. (1993), 'Image Processing, Analysis and Machine Vision', CHAPMAN & HALL COMPUTING

Park, S. M., Lee, B. K., jin, T. S. and Lee, J. M. (2003), 'Absolute Position Estimation for Mabi Robot Navigation in an Indoor Environment', Proceeding of the Eighth International Symposium on Artificial Life and Robotics, B-Com Plaza, Beppu, Oita, JAPAN, VoI.2, pp.395-398

Gonzalez, R. C. and Woods, R. E. (1993), 'Digital Image Processing', Addison Wesley