Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Spreader Pose Control Using Dual-electric Compasses

Dual compasses를 이용한 스프레더의 자세 제어

  • Published : 2007.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

A spreader pose control system using dual-electric compasses has been implemented by measuring the skew angle of the spreader with dual-electric compasses. In the conventional spreader pose measurement, CCD cameras, laser sensors or tilt sensors are mostly used. However those sensors are not only sensitive to the weather and disturbances but also expensive to build the system. To overcome the shortcomings, an inexpensive and efficient system to control the spreader pose has been implemented using the dual-magnetic compasses. Since the spreader iron-structures are noise sources to the magnetic compass, it is not considered to use the magnetic compass to measure the orientation of the spreader. An algorithm to eliminate the interferences of metal structures to the dual compasses has been developed in this paper. The 10:1 reduction model of a spreader control system is implemented and the control performance is demonstrated to show the effectiveness of the dual-magnetic compasses proposed in this research.

Keywords

References

  1. K. Obata, N. Miyata, M. Kobayashi, M. Nishioka, and H. Yoshikawa, 'Development of automatic container yard crane,' Mitsubishi Heavy Industries Technical Review, vol. 38, no. 2, pp. 62-66, Jun, 2001
  2. K. Obata, K. Uchida, T. Chikura, H. Yoshikawa, and T. Monzen, 'Automated transfer crane,' Mitsubishi Heavy Industries Technical Review, vol. 40, pp. 1-5, no. 2, Jan, 2003
  3. H. Yoshikawa, S. Kunimitsu, H. Hoshina, N. Mitata, and M. Kobayashi, 'Development of hoisting load position sensor for container handing cranes,' Mitsubishi Heavy Industries Technical Review, vol. 38, no. 3, pp. 67-72, June 2001
  4. J.-J. Lee, G.-G. Nam, B.-K. Lee, and J.-M. Lee, 'Measurement of 3D spreader position information using the CCD cameras and a laser distance measuring unit,' International Journal of Navigation and Port Research, vol. 28, no. 4, pp. 323-331, Jun., 2004 https://doi.org/10.5394/KINPR.2004.28.4.323
  5. J. R. Holmquist, 'Laser guided loading system,' IEEE Trans. Industry Applications, vol. 38, no. 3, pp. 752-757, May, 2002 https://doi.org/10.1109/TIA.2002.1003426
  6. K.-M. Lee, Y-H. Kim, J.-M. Yun, and J.-M. Lee, Magnetic-Interference-Free Dual-Electric Compass, Sensors and Actuators A 120, pp. 441-450, Jan, 2005 https://doi.org/10.1016/j.sna.2005.01.032
  7. J.-P. Ko, W.-K. Kang, Y-H. Kim, and J.-M. Lee, 'Robust electric compass to dynamic magnetic field interference,' Journal of Control, Automation, and Systems Engineering, vol. 11, no. 1, pp. 27-33, Jan, 2005 https://doi.org/10.5302/J.ICROS.2005.11.1.027
  8. J. E. Lenz, 'A review of magnetic sensors,' Proceedings of the IEEE, vol. 78, Issue 6, pp. 973-989, Jun, 1990
  9. R. Racz, C. Schott, and S. Huber, 'Electronic compass sensor,' Sensors, 2004. Proceedings of IEEE, vol. 3, pp. 1446-1449, Oct, 2004