Lase Twistlock Detection System

LaseASC and LaseTDS
Laser Measurement Systems for Automatic Stacking and Twistlock

Detection
Version 1.0
Author(s): LA
File:
Version Revise Name Date

1.0 created LA 13.08.2013
© LASE Industrielle Lasertechnik GmbH Printed: 15.8.2013 11:50

Note:
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Copyright © 2013
LASE Industrielle Lasertechnik GmbH
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D 46485 Wesel
Tel.: +49 (0) 281 / 959 90-0

eMail: info@lase.de
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Description - Version 1.0

CONTENT
1.1 Used symbols ........................................................................................................................... 1
Abbreviations ....................................................................................................................................... 1
2 Requirement ................................................................................................................................... 1
3 Solution .......................................................................................................................................... 1
3.1 LaseTDS .................................................................................................................................. 2
3.1.1 Definition Coordinate system ........................................................................................... 2
3.1.2 3D-Scanner system LASE3000D-C1-118 ....................................................................... 3
3.1.3 Installation ........................................................................................................................ 4
3.1.4 System overview ............................................................................................................. 6
3.1.5 Reference marker ............................................................................................................ 7
3.1.6 Software LaseTDS........................................................................................................... 8
3.1.6.1 Measurement Results .................................................................................................. 9
3.1.6.2 3D-View ..................................................................................................................... 10
3.1.6.3 Calibration .................................................................................................................. 12
3.1.6.4 Twist lock measurement/loading position .................................................................. 14
3.2 LaseASC ................................................................................................................................ 18
3.2.1 Configuration of the measurement system .................................................................... 18
3.2.1 Hardware - Overview ..................................................................................................... 21
3.2.2 Software LaseASC ........................................................................................................ 22
3.2.2.1 General ...................................................................................................................... 22
3.2.2.2 Software modules ...................................................................................................... 22
3.2.2.3 Swivel control (3D-Units) ........................................................................................... 22
3.2.2.4 Measuring tasks......................................................................................................... 22
3.2.2.5 3D-Laser scanner ...................................................................................................... 27
3.2.2.6 Software ..................................................................................................................... 28
Specification - Version 1.0 Page I of 2

TABLES
Table 1: Technical data L3000D-C1-118................................................................................................. 3
FIGURES
Figure 3: 3D-Scanner mounted at the pole (6m height), ......................................................................... 4
Figure 5: 3D-Scanner mounted under a weather protection roof ............................................................ 5
Figure 6: Hardware for 6 lanes (for the customer one Laser scanner is sufficient) ................................. 6
Figure 9: LASE LASETDS application – measurement result (calculated center) .................................. 9
Figure 10: LaseTDS application – measurement result (twist lock positions) ....................................... 10
Figure 11: 40” trailer in the lane ............................................................................................................. 11
Figure 12: LASE – 3D-image 40’ trailer (different screenshot, fit not to the picture above, but showing
the principle) .......................................................................................................................................... 11
Figure 14: LASE Test application – Calibration screenshot 2 ............................................................... 12
Figure 15: LASE Test application .......................................................................................................... 13
Figure 16: Calibration – internal transformation list ............................................................................... 13
Figure 17: HHLA CTB ASC with 2 x 3D-laser scanner ......................................................................... 19
Figure 18: Mounting position of the laser scanner at ASC .................................................................... 20
Figure 18: Mounting position of the laser scanner at ASC .................................................................... 20
Figure 19: Hardware-Overview .............................................................................................................. 21
Figure 20: Measuring of target area in crane travel axis (drawing is from a project, where lans markers
are used) ................................................................................................................................................ 23
Figure 21: 3D-view of measurement data (target container) ................................................................. 24
Figure 22: gap detection (top view) ....................................................................................................... 25
Figure 23: shadow areas in stack verification mode.............................................................................. 26
Figure 24: back edges of truck and trailer ............................................................................................. 27
Figure 25: LASE3000D-C3-226 ............................................................................................................. 27
Figure 26: LaseASC application ............................................................................................................ 28
Figure 27: View scanner ........................................................................................................................ 29
Figure 28: 3D-View ................................................................................................................................ 29
Specification - Version 1.0 Page II of 2

2 Requirement
A customer wants to automate the process of the automatic loading of the road trailer in the
Terminal. To fulfill this requirement it is necessary to detect the position of the Twistlocks on the
trailer. The complete solution is a combination of different sensor systems (multi-sensor
system).
The company LASE has successfully integrated these product in the terminal of London
Gateway, further projects are in Los Angeles and Brisbane.
This solution –in exactly this version- is a patent solution from Cargotec!
3 Solution
The following products of LASE have to utilize
LaseASC for Automatic stacking, with the functionalities:

 Exact position measurement of the container in the stack (block)
 Stack verification mode
 Position measurement of AGVs on the waterside transfer area
 Position measurement of the Terminal Trailer for semi-automatic handling
 Automatic lifting up of container from route trailer
 Rough Position measurement of route trailer for semi- automatic loading of trailer
LaseTDS for automatic landing of container on a route trailer, with the following functionality
- Detecting Twistlocks
- Calculating down position
- Obstacle detection
- Cabin position detection
- Truck trailer combination evaluation
- Truck lifting detection
Additional sensors have to measure the position of the Headblock and the Spreader.
Specification - Version 1.0 Page 1 of 29

Solution Specification Chapter: 3
3.1 LaseTDS
3.1.1 Definition Coordinate system
To be able to verify all values measured by the LaseTDS and LaseASC application, a surveyor
has measured the absolute positions of the reference markers and for each trailer measurement
position the absolute coordinates of each of the twist locks.
Therefore a common coordinate system was defined. This was used from the surveyor and the
LASE LASETDS application as well. Thus all measured positions are related to the origin of the
used coordinate system as follows:
Y = reference markers
Truck lane 1
point of pole with scanner

origin
X
Truck lane 2
Figure 1: Coordinate system (top view)
The origin was at the beginning of the two truck lanes in the center line between both lanes. The
X-Axis was running to the right beginning from the origin straight through the center of the
marker and the lamp pole.

3.1.2 3D-Scanner system LASE3000D-C1-118

The high performance 3D-Lasescanner based on the components of 2D-Laserscanner and a
swiveling platform. The swiveling platform is turned by a servo-drive. A high resolution Encoder
inside the servo-drive measures the angle of rotation of the platform. By the linkage of the 2D-
Laserdata with the Encoder data, high precise 3D profile measurements are produced. For
operation, the modular LASE CEWS Application software (here LaseTDS) is controlling the
swiveling and evaluation of the scan data.
Figure 2: 3D-Scanner LASE 3000D-C1-118
Description value
Measuring range (at 10% remission) 26m
Measuring frequency 25 – 100Hz
Angle step (scanner) 0,1667 – 0,5°
Scan range 190°
Resolution ±12mm
Wave length Laser Infra-red (905nm)

Laser Class Class 1 (eye-safe), to EN/IEC 60825-1 and
21CFR 1040.10 and 1040.11
Swivel range appr. ±160°
Swivel resolution 0,002°
Power (Servo, Laser, Heating) 24V DC
Interface Laser Ethernet
Interface Servo CAN-Bus
Weight ca. 9Kg
Temperature range -25 – +50°C
Protection category IEC IP 65 (Scanner IP 67)
Table 1: Technical data L3000D-C1-118

3.1.3 Installation
Figure 3: 3D-Scanner mounted at the pole (6m height),
Figure 4: 3D-Scanner mounted at the pole (6m height), here a system for 6 lanes

Figure 5: 3D-Scanner mounted under a weather protection roof

3.1.4 System overview

The following drawing shows an overview of the used hardware. The 3D-Scanner was
connected via two Harting plugs to the switch cabinet. The cabinet contains a power supply an
Ethernet switch and some other electrical components. For controlling the hardware and doing
the data logging a laptop was used. On the laptop the LASETDS software application was
installed. The both components of the 3D-scanner (2D-Laserscanner, servo drive) were
connected via Ethernet (Laserscanner) respectively via a CAN-Interface (Servo drive) with the
laptop.
Figure 6: Hardware for 6 lanes (for the customer one Laser scanner is sufficient)

3.1.5 Reference marker

For the automatic calibration function 12 reference marker were placed in 3 lines along both
sides of the truck lanes.
Figure 7: Reference marker

3.1.6 Software LaseTDS
Figure 8: LaseTDS application
 Status windows for interfaces (TCP/IP scanner, CAN-Bus servo drive)

 Status of measurements in the possible 6 lanes
 Button for setting pre information and start of measurement sequence
 fields for showing the measurement results of twist-lock measurement
 3D-view for showing scan data and calculated twist-lock positions
 Error-/Event messages

3.1.6.1 Measurement Results

The part for showing the calculated results is split in two sections ().
The actual aim of the application is to provide the calculated center position, the skew, the height
at the front edge of the container slot on the trailer as well as the height at the back edge.
The calculated values are shown on the surface. The results will be sent via a telegram to the
ASC control system.
Figure 9: LASE LASETDS application – measurement result (calculated center)
Apart from that the upper mentioned result (calculated center) the application shows the
measured positions of each single recognized twist lock. Provided are the twist lock coordinates
(X, Y, Z). Additionally the status of the internal calculations is given. The status is shown via
check boxes. As an example here is a short explanation of the meaning of few of check boxes:
- Y LO/Y HI indicates on which side of the trailer the twist lock was found.
- Hindernis Y is set if there is an obstacle between twist locks in Y direction
- Detected says whether a twist lock could be recognized from the 3D data or not
- Calculated is set when the twist lock could not be recognized and the software has
calculated its position
- Shadowed indicates that a twist lock could not be recognized because of a shadow (no 3D
data) caused by a container or similar

Figure 10: LaseTDS application – measurement result (twist lock positions)
3.1.6.2 3D-View
The LaseTDS application provides the possibility to show the scan data in a 3-dimensial view.
LaseTDS is transforming the incoming scan data according the calibration offset values. The
result is a 3D image which fits to the real environment.
The figure below shows a screenshot of the 3D-view. The reference markers are marked with
the yellow arrows (just 5 are pinpointed). The different colors are representing different height
level. Dark blue relates to ground level. Red relates to top edge of trailer.
The color gradient can be adjusted.

Figure 11: 40” trailer in the lane

The LaseTDS application provides the possibility to show the scan data in a 3-dimensial view.
LaseTDS is transforming the incoming scan data according the calibration offset values. The
result is a 3D image which fits to the real environment.
The figure below shows a screenshot of the 3D-view. The reference markers are marked with
the yellow arrows (just 5 are pinpointed). The different colors are representing different height
level. Dark blue relates to ground level. Red relates to top edge of trailer.
The color gradient can be adjusted.
Figure 12: LASE – 3D-image 40’ trailer (different screenshot, fit not to the picture above, but
showing the principle)

3.1.6.3 Calibration
As a first step the measured absolute coordinates (nominal values) are typed in on a special
dialog (see above).
The first screenshots below (left) is showing a 3D-image of one reference marker. The red cube
around the marker represents the internal search area for the reference marker. Only
measurement points inside of this area will be used for the calculations. From all points inside
the area the points which hitting the top of the half sphere are separated (screenshot right, red
points).
Figure 13: LASE Testappliaction – Calibration screenshot 1
By changing the transformations for the incoming scans step by step the LaseTDS calibrations
tries to match the transformed scan data as good as possible to the nominal reference marker
positions. The following both screenshots are showing the transformation at the beginning (left)
and at the end of the calibration sequence (right).
The light green sphere is representing the nominal position. The dark green sphere is
representing the current position. The center is marked by green and blue lines. The deviation
in the first screenshot is several centimeter. In the right picture both position are matching
perfectly.
Figure 14: LASE Test application – Calibration screenshot 2
The screenshot below shows the 3D-scan data fitting perfectly to the nominal reference

marker positions.
Figure 15: LASE Test application

The screenshot below shows the dialog box with a list of all internal transformations needed to
get a perfect matching 3D-scan image.
Figure 16: Calibration – internal transformation list

3.1.6.4 Twist lock measurement/loading position

Once started the complete sequence runs automatically.
Sequence and algorithm:
1. Set pre-information and press “Set” button

2. Scanner is driven to start position
3. 3D-scan is taken, application is collecting data
4. Application selects points inside of area of interest only
5. Finding trailer end and cabin end
6. Determination of side edge points, rough skew calculation to estimate twist lock search
areas
7. Search for twist locks
8. Select twist lock regarding pre-information
9. Calculate slot center (X, Y, Z), skew and slot height front and slot height end
10. Show results on the view
The following screenshots are showing different steps of the internal twist lock recognition
algorithms. The algorithms are not using any kind of trailer shape detection. There is no need
to have a data base of different trailer shapes measured trailers can be compared to. Thus the
shape of the trailer doesn’t matter. The algorithms are just searching for objects which could be
a twist lock.
In the next step each found twist lock must have a defined relation (certain distance in X, Y and
diagonal) to other found twist locks. If there is a relation the twist lock will be marked as a valid
twist lock. That makes the twist lock recognition independent from the trailer shapes.
Collecting 3D-data (3)

Scan plane starts from the left side of the truck and is running towards the right side of the truck.
The complete width of the trailer has to be scanned. When the scan is done the scanner is
driven back to its idle position (usually looking straight downwards).
Selecting points inside of area of interest (4)

The application selects all points from the collected data which are inside a defined area of
interest (yellow cube). That step is a first filter to eliminate points which representing fences or
other possible obstacles.

Determination of side edges (6)

From the points inside the area of interest the application determines the outer edges of the
measured trailer.
The green lines are representing the outer edges of the trailer. The white line corresponds to
the center line. This information will be used to calculate the skew and for adjusting search areas
for the twist lock recognition algorithm.
Search for twist locks (7)

For searching for twist locks only measurement points from the edges (from outer edge
300/400mm towards the centre) will be used.
The white marked dots under the green lines in the image below are possible twist lock objects

The image below shows a detail of found twist locks of image above
Select twist locks regarding pre-information (8)

The last step of the algorithm is to match possible twist lock combinations to eliminate wrong
found objects.
The LaseTDS software has some parameters with default values (0 ) for the distances between
the twist locks in X and Y-direction. These parameters were used to eliminate wrong objects.
According the pre-information each twist lock is related up to three other twist locks. The
relations are marked with white lines. The intersection of the white lines fits to the center position
the container positions for this kind of chassis (20’ front, 40, 20’ rear).

Specification Chapter: 0

3.2 LaseASC
The LaseASC is a laser scanning system which processes 3-dimensional measurement data provided
by one or two 3D-Laser scanner. The LaseASC application collects the scanning data and calculates all
needed information from these data.
In the Automatic Stacking Crane (ASC) the crane control system (CCS) will use LaseASC
measurement results as one input to control
 Exact position measurement of the container in the stack (block)
 Stack verification mode
 Position measurement of AGVs on the waterside transfer area
 Position measurement of the Terminal Trailer for semi-automatic handling
 Automatic lifting up of container from route trailer
 Rough Position measurement of route trailer for semi- automatic loading of trailer
The measurement system for each crane consists of following components:

 IPC with installed LaseASC application and all needed software modules
 1 or 2 x 3D-Laser scanner
The measurements will started by a special trigger message from PLC. All measurements will made
when ASC has reached the nominal slot position.
LaseASC operation can be divided into 6 functions:

1. To detect possible misplaced containers in the clearance zone of the target slot.
2. To recognize the top edges of the container underneath at which the hanging container or empty
spreader shall be landed on and to determine its location relative to a reference within the field of
view of the scanners.
3. To recognize vertical markers mounted on the ground and to determine their position relative to a
reference within the scan field of view of the scanners.
4. To measure distance to stack underneath and determine stack height in stack verification mode.
5. To recognize a truck cabin roof at landside transfer point and to determine cabin location relative
to a reference within the field of view of the scanners.
6. To recognize a terminal chassis frame and to determine chassis location relative to a reference
within the field of view of the scanners.
Reference point is a common point of origin with LaseTPS.
3.2.1 Configuration of the measurement system

In the e-house on each of the ASC a measurement PC (IPC) is mounted, on which the LaseASC is
installed. The application contains all necessary modules for the communication to the laser systems
and to PLC, as well as the analysis and visualisation of the measurement data.
The both 3D-units are mounted at a special frame under the trolley.

Figure 17: Work principle with the two scan planes of the two 3D-laser scanner
Figure 18: HHLA CTB ASC with 2 x 3D-laser scanner

Figure 19: Mounting position of the laser scanner at ASC
Figure 20: Mounting position of the laser scanner at ASC

3.2.1 Hardware - Overview
Figure 21: Hardware-Overview

3.2.2 Software LaseASC
3.2.2.1 General
The software of the measurement system is been developed and tested in C++ (MFC, Doc/View
architecture) with help of the development environment Visual Studio 2003 for Windows XP
Professional.
3.2.2.2 Software modules

Software for the LaseASC consists of following modules:
 Communication laser scanners (Ethernet)
 Communication swiveling unit (CAN)
 Communication PLC (Ethernet)
 Application core: land marker measurement, container and chassis position detection, diverse
calculations
 Visualization
 Operating signals and notices of malfunction
 Commissioning and service
 Calibration
The different modules are activated by a program sequence control. The program sequence control
works with an internal cycle time of approximately 10ms. Which modules are activated depends on
which functionality is ordered by the PLC. The picture at the next page shows an overview about the
program sequence.
For storing (logging) of all events and error messages the measurement system uses human readable
log-files. There is no database used. In case of error analysis this files can opened with Microsoft Excel
or with any other text editor. It is also possible to activate the logging of all incoming data (scanner, servo
drive, PLC communication). This feature will be used during the commissioning and in case of analysis
of malfunction. The size and amount for the log-files respectively the log-folder is adjustable. If the
amount of log-files or the adjusted maximum sizes will be overstepped, the oldest files will be deleted.
3.2.2.3 Swivel control (3D-Units)

Before a measurement can start the PLC must send a special trigger message (PREPARE) to LaseASC
application. With information from the last data update message from PLC LaseASC application can
calculate and set all needed swivel settings to the swivel control.
The range for the swiveling during the single measurement tasks depends on the task, the area and the
tier etc. That does mean for example if a container shall be set down, first the target area will be scanned,
afterwards the scan runs over the adjacent stacks (gap detection). The swivel range and swivel velocity
also depends on the target height and the area.
The scanner platforms swiveling with a velocity that the moving distance of scan points at ground in Y
direction is about 40mm every 100ms. Consequently the velocity for measurements in higher tiers is
faster than in lower tiers.
Usual swiveling sequence:
PREPARE message both 3D-units are swiveled in that way that both scan planes running over
the target area (in direction to slot center).
START message the scan planes are swiveling from start position to the outer edges of the
container to the adjacent stacks
STOP message swiveling stops
3.2.2.4 Measuring tasks

The LaseASC gets information from the PLC which measurement task is the next. Therefore the PLC
sends a special trigger messages. First trigger message is a PREPARE message sent at least 2
seconds before the crane has reached the nominal target position. According to the task both 3D-units
will swivel to an appropriate start angle. This start angle depends on the target tier. If the crane has

reached the target area a START measurement message is send by the PLC. The measurement ends
when PLC sends a STOP message
All below described possible measurement tasks will handle in the state measurement!
3.2.2.4.1 Measuring Target Container

First measurement after trigger message START is that LaseASC starts to recognize the top edges of
the container underneath at which the hanging container or empty spreader shall be landed. From the
measured container edges LaseASC application determines the skew and the deviation of the container
center point to the nominal slot position.
By building average values of several scans for the 4 outline edges accuracy for container position in
crane travel axis and in trolley travel axis can be of +/-20mm.
Figure 22: Measuring of target area in crane travel axis (drawing is from a project, where lans
markers are used)
Different algorithms are used to filter the measurement points and to recognise the edges of the target
container.
First step is to measure the scenario. With the knowledge of the trolley position and the nominal target
position the search area (for container edges) can be limited. It is only possible to detect edges of the
highest container, which should be the target container. Next step is to separate the highest
measurement points, which represent the upper edges, from other points. Therefore gaps in X and Y
direction are searched to roughly find the outer edges. Result is a “ribbon” of measurement points (see:
Figure 23: 3D-view of measurement data (target container)). Through the outer points of these remaining
measurement points a straight line is placed which represent the outer edge in Y direction. To find the
edges in X direction a virtual cube is placed at the ends of the points. With different filters and
calculations the edge is determined from the points inside of the cube.
This procedure is the same for both 3D-Units. If there are measurement points from both units the
container width is the distance between both lines. If there are only points from one unit the LaseASC
uses the width information (from PLC) for the expected target container.

Recognized
target Measured
container container
edge (green
ribbon)
Figure 23: 3D-view of measurement data (target container)
The picture above shows the measurement data of only one 3D-Unit (light green points). The data from
the other 3D-Unit are blinded out.
The white box is a detected container at top of a five high stack. It’s also possible to see parts of the
container edges of the lower containers (light green lines).
In the following figures different setups (combinations) of containers in the stack area are shown. The
red container shows the respective target position. By means of this configuration it is recognizable that
always at least 3 land marks are detected by the scan planes.

3.2.2.4.2 Measuring the space between target slot and the edges of container in adjacent
stacks (gap detection).
If it is required by PLC the LaseASC measures the gap between the target slot and the adjacent stacks.
This is to avoid any collision while lowering or pick up the spreader or a container at spreader (decided
by PLC).
The gap detection takes place when the 3D-Units swivel from the target area to the adjacent stacks.
After the gap area is measured and all data are stored in LaseASC application, two adjustable 3
dimensional cubes are added to the measurement points (at target position). If the areas between both
cubes are violated by more than 40mm a collision warning will be send to the PLC.
The gap detection works only until the height of the target area.
Figure 24: gap detection (top view)
The picture above shows the top view to a target area surrounded by several container stacks. The both
red rectangles are the cubes mentioned above. If the area between this both red rectangles is violated
(e.g. not enough space for place for lowering a container), shown at the top part of the picture, a collision
message will be send to PLC.

3.2.2.4.3 Measuring distance to stack underneath and determine stack height in stack
verification mode
To check if stocking level is concordant with reality, the crane can drive well directed to positions in the
stack to verify the state. Therefore the crane and trolley are positioned upright over the slot which shall
be checked. The scanners are swiveled to the middle of the slot and then starting swiveling the edges.
After the target area is totally scanned the highest level will be determined from the recorded data and
send to PLC.
It is not possible to check several stacks per lanes because of shadowed areas (i.e. perhaps a scanner
can’t see containers in tier 1 behind a stack of 5 container height, see picture below).
Figure 25: shadow areas in stack verification mode
With the previous knowledge about which scene shall measure (20’, 40’, general, open top,..) the
measuring system measures the highest point within the predetermined area. Height measurement is
made with an accuracy of +/- 50 mm.
Sequence of stack verification mode
 crane moves to position which has to be verified
 if necessary 3D-Units swivel to start angle
 crane achieves the position which has to be verified
 3D-units swivelling to outer edges
 The measurement system measures and calculates the height of stack
 Measurement is ready, data will be send to PLC
 Crane moves to next position or verification mode stops

3.2.2.4.4 Measuring truck cabin and trailer
3.2.2.4.4.1 Truck cabin

The position of the truck cabin is measured in case of setting down a container to a chassis at landside
transfer point. The LaseASC application determines the truck cabin and provides the PLC the center
point of the back edge of the cabin (see drawing below). The LaseASC application uses a 3- dimensional
cube which will placed around the recorded data (measurement points representing the cabin) to detect
the cabin. The given point (X, Y, Z) is the distance to the current trolley position (X = distance to most
back edge of cabin, Y = distance to middle of cabin, Z = distance to highest point of roof or mounted
parts). Because of too much different units which can be mounted at the cabin (air deflectors, exhausts,
flashing lights etc.) the accuracy is +/-200mm.
3.2.2.4.4.2 Trailer
To measure known terminal chassis or a container on a loaded chassis at landside transfer point and
to determine chassis position (centre point of back edge: x, y, z and skew of trailer) or container locations
(centre point x, y, z and skew of container) relative to the current trolley position with an accuracy of +/-
200mm. For road chassis it is only possible to do an approximately chassis position detection because
of to many different shapes.
Figure 26: back edges of truck and trailer
3.2.2.5 3D-Laser scanner

The 3D-Unit was developed to allow a 3-dimensional scanning of a scenario (e.g. container stacks,
truck/trailer combinations). With the internal synchronization between scanner and servo drive
(measurement points + angle). LaseASC is able to create 3-dimensional images of the scenario under
the ASC and to achieve all necessary measurement tasks.
Figure 27: LASE3000D-C3-226

3.2.2.6 Software
The LaseASC application works automatically together with PLC and needs in ASC operation no
interaction from staff.
The application offers several views and dialogue boxes for the operation, calibration and monitoring.
The figure below shows for instance the application “main” view. This view is called “diagnostic view”
and provides all important information to the status of LaseASC.
Figure 28: LaseASC application
3.2.2.6.1 View Scanner (View Scans 2D)

The screen “Scanner” offers several possibilities to display the measuring data of each single scanner
2-dimensional. This view can be opened many times or it is possible to show both scanner data in one
view. All measuring data can be observed out of several directions. In the figure below for instance the
data of scanner 1 (red) and scanner 2 (green) are shown in X/Z direction.

Figure 29: View scanner
This screen will be mostly needed while the first operation and/or while the process of the calibration.
This data will be continuously updated, so that the result will be a moved picture.
3.2.2.6.2 3D-window
The 3D-window is an OpenGL based window, which allows showing a 3-dimensional image of the
scanner data.
Figure 30: 3D-View


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LaseASC and LaseTDS

Laser Measurement Systems for Automatic Stacking and Twistlock

Version Revise Name Date

© LASE Industrielle Lasertechnik GmbH Printed: 15.8.2013 11:50

Tel.: +49 (0) 281 / 959 90-0

Description - Version 1.0

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LaseASC for Automatic stacking, with the functionalities:

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point of pole with scanner

Figure 1: Coordinate system (top view)

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3.1.2 3D-Scanner system LASE3000D-C1-118

Figure 2: 3D-Scanner LASE 3000D-C1-118

Scan range 190°

Wave length Laser Infra-red (905nm)

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Figure 3: 3D-Scanner mounted at the pole (6m height),

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Figure 5: 3D-Scanner mounted under a weather protection roof

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3.1.4 System overview

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3.1.5 Reference marker

Figure 7: Reference marker

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3.1.6 Software LaseTDS

Figure 8: LaseTDS application

 Status windows for interfaces (TCP/IP scanner, CAN-Bus servo drive)

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3.1.6.1 Measurement Results

Figure 9: LASE LASETDS application – measurement result (calculated center)

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Figure 10: LaseTDS application – measurement result (twist lock positions)

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Figure 11: 40” trailer in the lane

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Figure 13: LASE Testappliaction – Calibration screenshot 1

Figure 14: LASE Test application – Calibration screenshot 2

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Figure 15: LASE Test application

Figure 16: Calibration – internal transformation list

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3.1.6.4 Twist lock measurement/loading position

1. Set pre-information and press “Set” button

Collecting 3D-data (3)

Selecting points inside of area of interest (4)

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Determination of side edges (6)

Search for twist locks (7)

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Select twist locks regarding pre-information (8)

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The measurement system for each crane consists of following components:

LaseASC operation can be divided into 6 functions:

Reference point is a common point of origin with LaseTPS.

3.2.1 Configuration of the measurement system

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Figure 18: HHLA CTB ASC with 2 x 3D-laser scanner

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Figure 19: Mounting position of the laser scanner at ASC

Figure 20: Mounting position of the laser scanner at ASC