SICK WGS - Driver assistance system Operating instructions

SICK
Brand
SICK
Model
WGS - Driver assistance system
Type
Operating instructions
OPERATING INSTRUCTIONS
EN
WGS
Driver assistance system
Operating instructions
WGS
2 Translation of the original operating instructions | SICK 8019357/2016-10-12
Subject to change without notice
This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG.
Reproduction of this document or parts of this document is only permissible within the limits of the legal
determination of Copyright Law. Alteration or abridgment of the document is not permitted without the explicit
written approval of SICK AG.
Operating instructions
WGS
8019357/2016-10-12 Translation of the original operating instructions | SICK 3
Subject to change without notice
Contents
Contents
1 About these operating instructions ............................................................................... 6
1.1 Function of this document .................................................................................... 6
1.2 Target group .......................................................................................................... 6
1.3 Information depth ................................................................................................. 6
1.4 Abbreviations used ............................................................................................... 7
1.5 Symbols used ........................................................................................................ 7
2 Safety ............................................................................................................................... 8
2.1 Qualified safety personnel .................................................................................... 8
2.2 Applications of the system ................................................................................... 8
2.3 Intended use ......................................................................................................... 9
2.4 General safety notes and protective measures ................................................10
2.4.1 Safety notes and symbols ...................................................................10
2.4.2 General safety notes ............................................................................11
2.4.3 Potential sources of danger ................................................................12
2.5 Protection of the environment ............................................................................15
2.5.1 Power consumption .............................................................................15
2.5.2 Disposal after final decommissioning ................................................15
3 System description ...................................................................................................... 16
3.1 Scope of delivery .................................................................................................16
3.2 System components ...........................................................................................18
3.2.1 Laser scanner TiM351 ........................................................................18
3.2.2 CAN/Ethernet converter ......................................................................20
3.2.3 Ethernet switch ....................................................................................20
3.3 System functionality ............................................................................................21
3.3.1 Calculating windrow profiles ...............................................................21
3.3.2 Calculating the windrow position ........................................................23
3.3.3 Windrow volume output .......................................................................24
3.3.4 Tracking the windrow measurements ................................................24
3.3.5 Data traffic in the CAN bus ..................................................................26
3.3.6 Defined output of the tracked windrow position ................................27
3.3.7 Supported operating modes ................................................................28
3.3.8 Transfer strategy and the self-monitoring function of the
system ..................................................................................................29
3.4 GPS tracking and windrow tracking ...................................................................29
3.5 System requirements ..........................................................................................31
3.5.1 Ambient conditions ..............................................................................31
3.5.2 Vehicle requirements ...........................................................................31
3.6 Status indicators .................................................................................................31
4 Mounting ...................................................................................................................... 32
4.1 Mounting the laser scanner ...............................................................................32
4.1.1 General notes for installation ..............................................................32
4.1.2 Test installation ....................................................................................33
4.1.3 Final installation ...................................................................................34
4.2 Installing the CAN/Ethernet converter ...............................................................36
4.3 Mount the Ethernet switch .................................................................................36
Operating instructions
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Contents
5 Electrical installation ................................................................................................... 37
5.1 Wiring plan .......................................................................................................... 38
5.2 Connecting the laser scanner ............................................................................ 38
5.2.1 Connection to voltage supply .............................................................. 39
5.2.2 Ethernet connection ............................................................................ 40
5.3 Connecting CAN/Ethernet converter ................................................................. 43
5.3.1 Connection to the power supply ......................................................... 43
5.3.2 Connection to the laser scanner ........................................................ 43
5.3.3 Connection to the CAN bus ................................................................. 44
5.4 Connecting the Ethernet switch ......................................................................... 45
6 Commissioning ............................................................................................................. 46
6.1 Checking the operational readiness of the devices ......................................... 46
6.1.1 Laser scanner ...................................................................................... 46
6.1.2 CAN/Ethernet converter ...................................................................... 46
6.2 CAN protocol specification ................................................................................. 47
6.2.1 WGS inbound messages ..................................................................... 48
6.2.2 WGS outbound messages ................................................................... 49
6.3 Notes on configuration ....................................................................................... 50
6.3.1 Positioning the laser scanner in the vehicle
coordinate system ............................................................................... 50
6.3.2 Determining the windrow position to be
output by the setpoint in the X-direction ............................................ 51
6.3.3 Configuration of the CAN/Ethernet converter.................................... 51
6.4 Test mode ........................................................................................................... 52
6.4.1 Description files for CAN software ...................................................... 52
6.4.2 Overview of CAN messages ................................................................ 53
6.4.3 Visualization of test mode ................................................................... 55
6.5 Implementation .................................................................................................. 58
7 Maintenance ................................................................................................................. 59
7.1 Overview of maintenance tasks ......................................................................... 59
7.2 Maintenance during operation .......................................................................... 59
7.2.1 Cleaning the laser scanners ............................................................... 59
7.2.2 Visual inspection of the cables ........................................................... 60
7.3 Replacing components ....................................................................................... 61
7.3.1 Replacing a laser scanner .................................................................. 61
7.3.2 Replacing CAN/Ethernet converter .................................................... 62
7.3.3 Replacing the Ethernet switch ............................................................ 62
8 Fault diagnosis ............................................................................................................. 63
9 Annex ............................................................................................................................ 64
9.1 Technical data .................................................................................................... 64
9.1.1 System ................................................................................................. 64
9.1.2 Laser scanner TiM351 ........................................................................ 65
9.1.3 CAN/Ethernet converter ...................................................................... 66
9.2 Dimensional drawings ........................................................................................ 67
9.2.1 Dimensional drawings for the TiM351 ............................................... 67
9.2.2 Dimensional drawing for CAN/Ethernet converter ............................ 68
9.2.3 Ethernet switch dimensional drawing ................................................ 69
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Contents
9.3 CAN specification ................................................................................................70
9.3.1 CONFIG_WGS (MUX0) ..........................................................................70
9.3.2 CONFIG_WGS (MUX1) ..........................................................................71
9.3.3 MEASURE_DATA_WGS ........................................................................72
9.3.4 STATUS_WGS .......................................................................................73
9.3.5 GMS_WGS_KMC ..................................................................................74
9.3.6 WBSD_KMC ..........................................................................................75
9.4 CAN/Ethernet converter configuration tool .......................................................76
10 Figures and tables ....................................................................................................... 78
10.1 List of tables ........................................................................................................78
10.2 List of figures .......................................................................................................79
10.3 Keywords index ...................................................................................................81
Chapter 1 Operating instructions
WGS
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About these operating
instructions
1 About these operating instructions
Please read this chapter carefully before you begin working with this documentation
and the WGS driver assistance system.
1.1 Function of this document
These operating instructions provide manufacturers of agricultural machines or
integrators instructions regarding the safe assembly, electrical installation,
commissioning, operation and maintenance of the WGS driver assistance system.
These operating instructions do not provide information on operating the agricultural
machine in which the WGS is integrated or will be integrated.
For information about this, refer to the respective vehicle's operating instructions.
1.2 Target group
Target group Activities
Manufacturer
Specialized personnel such as
electrical or control engineers,
etc.
Planning and installing the WGS in agricultural
machines.
Project engineering, mounting, electrical installation,
configuration, maintenance, replacement of
components, fault diagnosis, troubleshooting
Integrators
Specialized personnel such as
electrical or control engineers,
etc.
Equipping agricultural machines with WGS
Project engineering, mounting, electrical installation,
configuration, maintenance, replacement of
components, fault diagnosis, troubleshooting
Driver
Specialized personnel for
operating and controlling the
harvesting vehicle
Operating the WGS during operation
Tab. 1: Target group
1.3 Information depth
These operating instructions contain information about the WGS driver assistance system
on the following topics:
• System description and system integration
• Mounting
• Electrical installation
• Commissioning and configuration
• Operation
• Maintenance and repairs
• Fault diagnosis and troubleshooting
• Technical data and dimensioned drawings
Furthermore, when planning and using the WGS driver assistance system, technical skills
regarding control engineering, which are not covered by this document, are also required.
The official and legal regulations for operating the WGS must always be complied with.
Operating instructions Chapter 1
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About these operating
instructions
Further information on the 2D laser scanner can be obtained from the department
responsible for automatic detection and position determination at SICK AG or is available
online at www.sick.com.
1.4 Abbreviations used
Controller Area Network = serial bus system
Data bus for agricultural applications
Windrow Guidance System = driver assistance system for harvesting vehicles
1.5 Symbols used
Recommendations are designed to assist you in the decision-making process with respect
to the use of a certain function or technical measure.
Notes provide information about the features of a device, application tips, or other
information that may come in useful.
Instructions that must be carried out in the described order are referred to as step-by-step
instructions and are indicated by numbered lists. Carefully read and follow the instructions
for action.
Instructions for taking action are indicated by an arrow. Carefully read and follow the
instructions for action.
LED symbols describe the status of a diagnostics LED. Examples:
The LED is illuminated continuously.
The LED is flashing.
The LED is off.
CAN bus
ISOBUS
WGS
Recommendation
Note
1. / 2. ...
,
Chapter 2 Operating instructions
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Safety
2 Safety
This chapter concerns your own safety and the safety of the WGS driver assistance system
users.
Please read this chapter carefully before you begin working with WGS.
2.1 Qualified safety personnel
The WGS must be installed, commissioned, and maintained only by adequately qualified
personnel.
A qualified person
• has sufficient skills in the field of the respective equipment based on their technical
training and experience and
• has been instructed by the manufacturer in system operation and all applicable safety
guidelines and
• is familiar with all relevant country-specific occupational safety regulations, work safety
regulations, guidelines, and generally accepted technical rules and standards (e.g.,
DIN standards, VDE regulations, country-specific rules) to such an extent that he/she
is able to evaluate the safe condition of the power-operated equipment, and he/she
• has access to and has read the operating instructions.
The installation of the WGS requires extensive knowledge of control engineering.
As a result, the WGS driver assistance system can only be integrated into a vehicle by the
vehicle manufacturer or an integrator.
The WGS cannot be integrated and put into operation by the end user.
2.2 Applications of the system
The WGS is a vehicle assistance system for the automated guidance of agricultural
machines for the optimal harvesting of crops from a windrow using conventional pick-up
machines.
Regardless of the windrow's deposit quality, the harvesting of the crops is adapted to the
actual local conditions on the field using WGS.
Current status: conventional windrows at a glance
A regular and lightly formed windrow is critical for the optimal performance and speed
of harvesting machines such as balers or choppers. Accumulated clippings or irregular
windrow stacking positions frequently represent causes for blockages or loss of
performance.
If the tractor driver is driving only by sight, it would be difficult for him or her to take
advantage of the optimum performance of his or her machine. The harvesting machine
can clog if it drives over a thick windrow too quickly. If the machine is driving too slowly,
it is not being used optimally and precious harvesting time is lost.
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Safety
Solution: automated windrow guidance with WGS
WGS does just that. The system determines the exact position of the windrow path in real
time during the harvesting process and also provides information about the respective
material density. During this process, a laser scanner installed on the roof of the tractor
scans the windrow path proactively.
Information about the windrow positions and the respective windrow volumes are
forwarded to the vehicle control system as control information for the longitudinal or
transverse control and for regulating the speed of the agricultural machine via the ISOBUS.
The harvest trailer can subsequently be optimally guided over the windrow (either in the
middle or above the center of an area). Driving over the windrow is slowed down when
a larger volume is present. Crops are harvested at high speeds when there is little volume
in the windrow.
As a result, the WGS makes it possible to increase productivity, while simultaneously
assisting the driver.
WGS only detects areas that are visible for the laser scanner in the measurement plane.
In order for this to take place, the laser scanner must have a free view of the areas to be
monitored.
2.3 Intended use
WGS may only be used as described in section 2.2 Applications of the system. It may
only be used by qualified personnel in the environment in which it was mounted and
initially commissioned by qualified safety personnel in accordance with these operating
instructions.
WGS is a system designed for installation in harvesting vehicles that are ISOBUS
compatible. The harvesting vehicles must have corresponding interfaces for automatic
speed control and for controlling an automatic steering system.
WGS is an auxiliary system. Accordingly, the WGS must be integrated into the harvesting
vehicle so that the driver can override or switch the system off at any time.
The driver bears the full responsibility for safe operation of the harvesting vehicle at all
times, in particular for people who are in the hazardous zones of the harvesting vehicle.
The WGS is not a safety device for human protection and therefore does not comply
with any safety standards. For safety applications, please contact SICK AG.
In the event of any other usage or of modification to the system – including in the context
of mounting and installation – any claims against SICK AG under the warranty will be
rendered void.
Note
Note
Chapter 2 Operating instructions
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Safety
2.4 General safety notes and protective measures
2.4.1 Safety notes and symbols
The following safety and hazard notes are used for your own safety, for the safety of third
parties, and for the safety of the machine. You must therefore observe these symbols at all
times.
HAZARD
Denotes an immediate hazard that may result in severe to fatal injuries.
The symbol shown on the left-hand side of the note refers to the type of hazard in question
(the example here shows a risk of injury resulting from electrical current).
Denotes a potentially dangerous situation that may result in severe to fatal injuries.
The symbol shown on the left-hand side of the note refers to the type of hazard in question
(the example here shows a risk of damage to the eye by laser beams).
Denotes a potentially dangerous situation that may result in minor personal injury or
possible material damage.
Denotes a potential risk of damage or functional impairment of the device or the devices
connected to it.
This symbol includes a reference to supplementary technical documentation.
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Safety
2.4.2 General safety notes
WGS has been designed in a way that allows for safe operation. However, a certain level
of risk will always remain.
Awareness of potential sources of danger in the system will help you to work in a safer
manner and thus prevent accidents.
To avoid risks, please also observe the special warnings in each of the individual chapters.
Safety notes
Observe the following to ensure the safe use of the system as intended.
• The notes in these operating instructions must be complied with.
• All official and statutory regulations governing the operation of the system must be
complied with.
• The national and international legal specifications apply to the installation and use of
the system, to its commissioning, and to recurring technical inspections, in particular:
– The accident prevention regulations and work safety regulations
– Any other relevant safety regulations
• The checks must be carried out by qualified safety personnel or specially qualified and
authorized personnel, and must be recorded and documented to ensure that the tests
can be reconstructed and retraced at any time.
• These operating instructions must be made available to the operator of the system.
The system operator must be instructed by qualified safety personnel and must read
the operating instructions.
• The driver must follow relevant instructions and conduct inspections in order to ensure
that the screen of the laser scanner is clean and undamaged.
• The laser scanner must have an unobstructed field of view. The sensor head must not
be covered by other objects, for example.
• SICK AG recommends carrying out a system check before commissioning the system.
Risk resulting from improper operation
Improper installation and commissioning, damaged components, and unsuitable ambient
conditions such as excessively cold or warm temperatures and high levels of dust, fog or
spray, may cause faults and may result in a complete system crash.
Chapter 2 Operating instructions
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Safety
System does not comply with safety standards
WGS is not suitable for the protection of persons according to the applicable safety
standards for machines. The system therefore does not comply with safety standards.
WGS is a driver assistance system. The driver bears the full responsibility for safe
operation of the harvesting vehicle at all times, in particular for people who are in the
hazardous zones of the harvesting vehicle.
WGS must be integrated into the system so that the driver can override or switch the
system off at any time.
2.4.3 Potential sources of danger
Laser light
Damage to the eye by laser beams
The TiM351 laser scanner used by WGS conforms to laser class 1 (eye-safe) in accordance
with EN 60 825-1 (see laser warning label on the device for publication date). This ensures
compliance with 21 CFR 1040.10 except for the tolerances according to Laser Notice
No. 50 of July 26, 2001.
The laser operates at a γ = 850 nm wavelength (invisible infrared light). The laser beam is
not visible to the human eye.
The radiation emitted in normal operation is harmless to human skin and eyes.
Improper use (e.g., opening the housing and stopping the motor) can result in dangerous
exposure to radiation.
Never open the laser scanner housing. Opening the housing does not interrupt the
operation of the laser beam.
Observe the laser safety regulations as per IEC 60 825Q1 (latest version).
• No maintenance is required to ensure compliance with laser class 1.
• The laser output aperture is the front screen on the laser scanner.
WARNING
Important
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Safety
Electrical current
Risk of injury and damage caused by electrical current
Improper handling of live devices may lead to severe personal injury or death by electric
shock.
Electrical installation and maintenance work must always be carried out by personnel
authorized to do so.
The power supply must be disconnected when attaching and detaching electrical
connections.
Select and implement wire cross-sections and their correct fuse protection in
accordance with the applicable standards.
Do not touch any live components.
In the event of danger, immediately disconnect the system from the power supply.
Always use original fuses with the specified current rating.
Report any damaged cables to the maintenance team without delay.
Observe the current safety regulations when working on electrical systems.
Risk of injury and damage caused by potential equalization currents
The TiM3xx is designed and tested for electrical safety in accordance with EN 60950-1
(2006-04)/A11 (2009-03).
It is connected to the peripheral devices via shielded cables. The cable shield (e.g.
supply cable) is connected to the metal housing of the TiM351. The device can either be
grounded through the cable shield or through both fastening latches.
If the peripheral devices have metal housings and if the cable shields also are connected
to these housings, it is assumed that all devices contained in the system have the same
ground potential.
This is achieved, for example, by complying with the following conditions:
• Mounting the devices on conductive metal surfaces.
• Properly grounding the devices and metal surfaces in the system.
• Low-impedance and current-carrying equipotential bonding between areas with different
ground potentials, if necessary.
If these conditions are not met, e.g., on devices in a widely distributed system over several
buildings, potential equalization currents may, due to different ground potentials, flow
along the cable shields between the devices and create hazards.
Potential equalization currents between the TiM3xx and other grounded devices in the
system can have the following effects:
• Dangerous voltages on the metal housing, e.g. of the TiM3xx
• Incorrect function or irreparable damage to the devices
• Damage/irreparable damage of the cable shield due to heating and cable fires
For smaller installations with only slight potential differences, the insulated installation
of the TiM3xx and of peripheral devices may be a sufficient solution.
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Safety
Specific dangers
Risk resulting from incorrect commissioning and configuration
Do not commission without testing by qualified personnel!
Before you operate the system or a device for the first time, you must have it checked and
approved by qualified safety personnel.
Claims under the warranty rendered void
Do not open the device housing. The devices are sealed.
If the device is opened, any warranty claims against SICK AG will be void.
Risk resulting from faults
Cease operation if the cause of the malfunction has not been clearly identified.
A defect in the system may result in fatal accidents or damage to the system.
Immediately stop the WGS if you cannot clearly identify the fault and if you cannot safely
remedy the problem.
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Safety
2.5 Protection of the environment
The system has been designed to minimize its impact on the environment. It consumes
very little power.
Always act in an environmentally responsible manner at work. For this reason, please note
the following information regarding disposal.
2.5.1 Power consumption
The system, including its components, typically consumes 3 W.
2.5.2 Disposal after final decommissioning
SICK does not currently take back devices that are unusable or irreparable.
Always dispose of unusable or irreparable devices in an environmentally safe manner in
accordance with the relevant national waste disposal regulations.
Always dispose of unusable or irreparable devices in an environmentally safe manner in
accordance with the relevant national waste disposal regulations.
Dispose of all electronic assemblies as hazardous waste. The electronic assemblies are
easy to dismantle.
Chapter 3 Operating instructions
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System description
3 System description
This chapter provides information on the special properties of the WGS driver assistance
system. It describes the design and operating principle of the system.
Always read this chapter before you plan, install, integrate and commission the system.
3.1 Scope of delivery
WGS consists of one TiM351 laser scanner with installed firmware and WGS software.
In addition, a CAN/Ethernet protocol converter is required for the system's ISOBUS
integration. An existing device can be used or the already configured CAN/Ethernet
converter can be ordered for the system.
An Ethernet switch and suitable connecting cables can optionally be purchased from SICK.
Fig. 1: WGS scope of delivery
Thorough check for completeness
It is recommended that you carefully check for and report transport damage of any kind
as soon as possible after receiving the system.
Also verify that the delivery includes all components listed on the delivery note.
Quantity Part no. Description
1 1076929 TiM351 laser scanner with integrated firmware and
WGS software
USB stick with description files (.dbc files) for test
mode and diagnostics via CAN software as well as
configuration software for the CAN/Ethernet converter
Tab. 2: WGS scope of delivery
Note
Important note
Operating instructions Chapter 3
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System description
Necessary accessories
Quantity Part no. Description
1
6060948
CAN/Ethernet converter
Tab. 3: Necessary accessories
Optional accessories
Quantity Part no. Description
1
6051544
Ethernet switch
1
6042735
TiM power connecting cable
1
6048251
TiM Ethernet connecting cable
Tab. 4: Optional accessories
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System description
3.2 System components
3.2.1 Laser scanner TiM351
A TiM351 laser scanner installed on the roof of the agricultural machine continuously
monitors the ground in front of the vehicle in a radius of up to 6 m from the sensor during
the harvesting process.
Laser scanners are electro-optical sensors that use non-contact laser beams to scan the
outline of their surroundings in a plane. They measure their surroundings in two-dimensional
polar coordinates.
A rotating mirror is used to deflect the pulsed light in a horizontal area. Due to the rotation
of the mirror, a multitude of single measurements are merged to form an entire scan of an
area. Scanning occurs in a sector up to 270°.
The laser beam is emitted through the front screen. The scan plane position is indicated by
a housing marking next to the front screen.
Fig. 2: Scan plane of the TiM351
Range finding
The 2D laser scanner measurement technology is based on what is known as the time-of-
flight measurement. The laser emits beams pulsed using a laser diode. If a laser pulse hits
an object or person, it is reflected by the surface of the object or person in question. The
reflection is registered by a photo-diode in the laser scanner's receiver. The laser scanner
combines the sender and receiver in a single housing.
With what is known as the pulse time method, the distance between the sensor and the
object is calculated by measuring the time interval between the emission of the laser
pulse and the pulse being received again. Radar systems apply this “pulse time-of-flight
measurement” principle in a similar way.
Fig. 3: Remaining distance measurement of the TiM351
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System description
Direction measurement
The rotating mirror enables radial scanning of the environment. The individual measure-
ments are triggered internally by an encoder in regular angle increments. One complete
rotation represents one measuring process (scan).
The TiM351 works at a scanning frequency of 15 Hz, i.e. it performs 15 measuring
processes per second and makes the measurement results continuously available in real
time via the Ethernet interface.
The measuring procedure uses the averaging from multiple pulses to determine individual
measured values. At an angular resolution of 1°, a measuring point is composed of
an average of 84 measurements. The spot geometry of the submeasuring points is
almost circular, with a measuring point taking the form of a narrow rectangle through
superposition.
Fig. 4: Direction measurement of the TiM351
Firmware and WGS software
The firmware and WGS software pre-installed in the TiM351 laser scanner upon delivery
are inter-coordinated. They are updated together as a part of a program update.
Fig. 5: TiM351 with integrated firmware and WGS software
Chapter 3 Operating instructions
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System description
3.2.2 CAN/Ethernet converter
Due to the fact that the TiM351 laser scanner only has one Ethernet port, a CAN/Ethernet
converter is required for the connection of the sensor to the harvesting vehicle’s CAN
communication. For this purpose, the protocol converter provides a LAN connection and a
CAN interface.
The CAN/Ethernet converter makes it possible for the WGS to be integrated into the
vehicle control system via the ISOBUS. The ISOBUS interface is the industry standard for
agriculture applications. It enables ISOBUS-compliant accessory devices to be controlled
via a uniform protocol, regardless of design or manufacturer.
An existing CAN/Ethernet converter can always be used.
If no CAN/Ethernet converter is at hand yet, the CAN/Ethernet converter available as an
accessory is recommended. The converter is preconfigured upon delivery and can directly
be used by the WGS driver assistance system directly.
Fig. 6: CAN/Ethernet converter
3.2.3 Ethernet switch
Optionally, an Ethernet switch connects the laser scanner with the protocol converter.
The connection of the laser scanner via an Ethernet switch enables the analysis of the CAN
communication during operation as well as upgrading the system via a connected
configuration computer.
Fig. 7: Ethernet switch
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SICK WGS - Driver assistance system Operating instructions

SICK
Brand
SICK
Model
WGS - Driver assistance system
Type
Operating instructions
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