SICK TPS, LMS151 RDW, LD-MRS HD Operating Instructions Manual
O P E R A T I N G I N S T R U C T I O NS
EN
TPS
Driver assistance system
Operating Instructions
TPS
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.
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Operating Instructions
Contents
TPS
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 ...................................................... 9
2.4.1 Safety notes and symbols................................................................... 9
2.4.2 General safety notes .........................................................................10
2.4.3 Potential sources of danger .............................................................11
2.5 Protection of the environment............................................................................13
2.5.1 Power consumption ..........................................................................13
2.5.2 Disposal after final decommissioning ..............................................13
3 Product description .........................................................................................................14
3.1 Scope of delivery .................................................................................................14
3.2 System components ...........................................................................................14
3.3 System functionality ............................................................................................17
3.3.1 Front collision warning ......................................................................17
3.3.2 Rear End collision warning ...............................................................18
3.3.3 Road Departure Warning ..................................................................18
3.3.4 Black Spot Warning ...........................................................................19
3.4 Status indicators .................................................................................................20
4 Mounting ..........................................................................................................................22
4.1 Function test before mounting ...........................................................................22
4.2 Mounting the LiDAR sensor ................................................................................22
4.3 Mounting the bracket for the operator display ..................................................25
4.4 Mount the control cabinet ..................................................................................26
4.5 Mount the GPS receiver ......................................................................................27
4.6 Mounting the tone buzzer ...................................................................................27
5 Electrical installation ......................................................................................................28
5.1 Wiring plan ...........................................................................................................28
5.2 Connecting the LD-MRS front and rear LiDAR sensor ......................................30
5.3 Connecting the LMS151 RDW LiDAR sensor ....................................................31
5.4 Connecting the operator display ........................................................................33
5.5 Connecting the GPS receiver ..............................................................................36
5.6 Connecting the tone buzzer ................................................................................36
5.7 Connecting the control cabinet ..........................................................................37
5.8 Connecting the reverse signal (optional) ...........................................................38
5.9 Connecting the pause signal ..............................................................................38
5.10 Connecting the RDW lights (optional) ................................................................39
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6 Commissioning ................................................................................................................40
6.1 Launching the system .........................................................................................40
6.2 The operator display in configuration mode ......................................................42
6.3 Making vehicle setup settings ............................................................................43
Operating Instructions
Contents
TPS
6.4 Configuring the LiDAR sensors .......................................................................... 44
6.4.1 Starting sensor setup ....................................................................... 44
6.4.2 Front sensor set up........................................................................... 45
6.4.3 Rear sensor set up ........................................................................... 46
6.4.4 RDW sensor set up ........................................................................... 48
6.4.5 Saving sensor setup settings ........................................................... 50
6.5 Making Supervisor setup settings ..................................................................... 51
6.5.1 Front zones set up ............................................................................ 51
6.5.2 RDW setup ........................................................................................ 53
6.5.3 Saving sensor setup settings ........................................................... 54
6.6 Reverse Gear and components connection check ........................................... 54
6.7 Switch to the operating mode ............................................................................ 55
6.7.1 Quit configuration mode ................................................................... 55
6.7.2 Operating mode for person carrying out commissioning ............... 55
6.7.3 Enable operating mode for truck operators .................................... 57
7 Operation ......................................................................................................................... 58
7.1 Start the truck and system ................................................................................. 58
7.1.1 The operator display in the operating mode for truck drivers ........ 59
7.2 Forward Driving ................................................................................................... 59
7.2.1 Black spot warning ........................................................................... 60
7.3 Reverse Driving ................................................................................................... 60
7.4 Operate the system ............................................................................................ 61
7.4.1 Switching between day/night mode ................................................ 61
7.4.2 Collision warning in the event of obstacles in the warning
zone ................................................................................................... 62
7.4.3 Collision warning in the event of unintentional road
departure .......................................................................................... 63
7.4.4 React to collision awareness ........................................................... 63
8 Maintenance ................................................................................................................... 64
8.1 Overview of maintenance tasks ......................................................................... 64
8.2 Maintenance during operation .......................................................................... 64
8.2.1 Cleaning the LiDAR sensor ............................................................... 64
8.2.2 Visual inspection of the cables ........................................................ 65
8.3 Replacing components ....................................................................................... 65
8.3.1 Replacing a LiDAR sensor ................................................................ 66
8.3.2 Replacing the operator display ........................................................ 67
8.4 Activities on the web interface ........................................................................... 68
8.4.1 Calling up the web interface ............................................................ 68
8.4.2 Enable configuration mode on the display ...................................... 69
8.4.3 Activating operating mode for truck operators via the web
interface ............................................................................................ 70
8.4.4 Up- and downloading of GPS black spots ....................................... 70
8.4.5 Updating TPS software ..................................................................... 71
9 Fault diagnosis ................................................................................................................ 72
9.1 Response to faults .............................................................................................. 72
9.2 Fault indicators of the LMS151 ......................................................................... 72
9.3 Typical fault situations during commissioning .................................................. 73
9.3.1 Configuration incomplete or incorrect ............................................. 73
9.3.2 LiDAR sensor not available .............................................................. 73
9.4 Typical fault situations during operation ........................................................... 74
9.4.1 Viewing window of the LiDAR sensor contaminated ...................... 74
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Operating Instructions
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TPS
9.4.2 LiDAR sensor not available ...............................................................75
9.4.3 No image on display ..........................................................................76
9.5 SICK support........................................................................................................76
10 Annex ................................................................................................................................77
10.1 Technical data .....................................................................................................77
10.2 Dimensional drawings ........................................................................................78
10.2.1 Dimensional drawing of the 3D LiDAR sensor LD-MRS ..................78
10.2.2 Dimensional drawing of the 2D LiDAR sensor LMS151 .................78
10.2.3 Display dimensional drawing ............................................................79
10.2.4 Control cabinet dimensional drawing ..............................................80
10.2.5 Tone buzzer dimensional drawing....................................................80
10.3 Tone selection for tone buzzer ...........................................................................81
11 Figures and tables ...........................................................................................................82
11.1 List of tables ........................................................................................................82
11.2 List of figures .......................................................................................................83
11.3 Keywords index ...................................................................................................85
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Chapter 1 Operating Instructions
About these operating instructions
Activities
Target group
Mounting, electrical installation,
maintenance, and replacement
of system components
Qualified personnel, such as service technicians
or industrial electricians
Commissioning and
configuration
Qualified personnel, such as technicians or
engineers
Operating the system
Personnel qualified in running and operating the
system (truck operators)
Note
TPS
1 About these operating instructions
Please read through this chapter carefully before you use the documentation and work
with the TPS driver assistance system.
1.1 Function of this document
These operating instructions are designed to give technical personnel instructions on
the safe mounting, configuration, electrical installation, commissioning, operation and
maintenance of the Truck Protection System TPS.
These operating instructions do not provide information on operating the vehicle into
which the TPS is or will be integrated. For information about this instruction, refer to the
vehicle's operating instructions.
1.2 Target group
These operating instructions are intended for people who install, connect, commission,
operate, and maintain TPS.
Tab. 1 Target group
1.3 Information depth
These operating instructions contain information about the TPS driver assistance system
on the following topics:
Product description
Mounting
Electrical installation
Commissioning and configuration
Operation
Maintenance and repairs
Fault diagnosis and troubleshooting
Technical data and dimensioned drawings
When planning and using the TPS driver assistance system, technical skills are required
that are not covered by this document.
The official and legal regulations for operating the TPS must always be complied with.
Further information about the device components used in the TPS can be found in the
accompanying operating instructions.
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Operating Instructions Chapter 1
About these operating instructions
TPS
LD-MRS
LMS
RDW
Recommendation
Note
1. / 2. ...
,
,
TPS
1.4 Abbreviations used
Truck Protection System = driver assistance system for haul trucks
Ladar Digital (Laser Radar) Multi-Layer Range Scanner = 3D LiDAR sensor from SICK AG
Laser measurement sensor = 2D LiDAR sensor from SICK AG
Road Departure Warning = functionality against unintended road departure
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.
Display symbols show the status of the 7-segment display:
Constant display of characters, e.g., U
Flashing display of characters, e.g., 8
Alternating display of characters, e.g., L and 2
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Chapter 2 Operating Instructions
Safety
NOTE
Note
TPS
2 Safety
This chapter concerns your own safety and the safety of the system operator.
Please read this chapter carefully before you begin working with TPS.
2.1 Qualified safety personnel
The TPS must only be mounted, commissioned, and maintained 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 if he/she
has access to and has read the operating instructions.
2.2 Applications of the system
TPS is a driver assistance system for haul trucks in surface mining. It consists of three
LiDAR sensors, a control cabinet, GPS and an interactive operator display.
The system warns the operator of possible collisions, entering hazardous areas (black
spots) and departure of the road (RDW).
During the operation of the truck, the TPS will constantly monitor the surrounding of the
vehicle for obstacles. If an obstacle is detected in one or more of the configured warning
zones, the zone violation is reported to the operator visually and audibly.
When the truck enters a pre-defined black spot like a hazardous intersection, the crusher
or workshop area, the system indicates this by a visual and audible alarm as well.
In case the truck comes to close or too far away from the bund wall the road departure
warning function alerts the operator with an visually and acoustically alarm.
TPS only detects objects which are visible in the measurement plane for the LiDAR
sensor. Therefore, the LiDAR sensor must have a free view of the area to be monitored.
Using TPS means that hazardous situations, such as vehicles, equipment, infrastructure,
unintentional road departure, hazard areas or dangerous queuing up situations are
detected in good time and that accidents during operating are avoided.
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TPS is a driver assistance system. This means that at all times the driver bears the full
responsibility for safe operation, in particular for people who are in the hazardous zones of
the vehicle.
Operating Instructions Chapter 2
Safety
NOTE
HAZARD
WARNING
CAUTION
NOTE
TPS
2.3 Intended use
TPS 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.
TPS is not a safety device for human protection and it 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.
2.4 General safety notes and protective measures
2.4.1 Safety notes and symbols
The following safety and hazard symbols 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.
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 to the device or the devices
connected to it.
This symbol includes a reference to supplementary technical documentation.
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Chapter 2 Operating Instructions
Safety
WARNING
WARNING
TPS
2.4.2 General safety notes
TPS 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 screens of all LiDAR sensors are clean and undamaged
The LiDAR sensors must have a free field of vision. The sensor head must not be
covered by other objects, for example.
SICK AG recommends carrying out a system check before commissioning the system.
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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 faulty alarms and may result in a complete system crash.
Operating Instructions Chapter 2
Safety
WARNING
WARNING
WARNING
CAUTION
Important
TPS
System does not comply with safety standards
TPS is not suitable for the protection of humans within the meaning of the applicable
safety standards for machines. The system therefore does not comply with safety
standards.
TPS is a driver assistance system. It provides the driver with visual and acoustic warnings
about objects outside of the truck, hazardous areas and departure of the road. At all times
the driver bears the full responsibility for safe operation, in particular for people who are in
the hazardous zones of the truck.
Location of use
The system is intended exclusively for use in industrial environments.
2.4.3 Potential sources of danger
Laser protection
Damage to the eye by laser beams
The LD-MRS 3D LiDAR senor used by TPS conform to laser class 1 (eye-safe) as per
EN/IEC 60825-1 (see laser warning label on the device for publication date), 21 CFR
1040.10 and 21 CFR 1040.11.
The LMS151 2D LiDAR sensor used by TPS corresponds to laser class 1 (eye safe) as per
EN/IEC 60825-1 (see laser warning label on the device for publication date).
This complies with 21 CFR 1040.10 with the exception of the deviations as per Laser
Notice No. 50, June, 2007.
The laser operates at a wavelength γ = approx. 905 nm (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 LiDAR sensor housing. Opening the housing does not interrupt the
operation of the laser beam.
Observe the laser safety regulations as per IEC 60 825-1 (latest version).
No maintenance is required to ensure compliance with laser class 1.
The laser output apertures are the optics cover on the LMS151 and LD-MRS LiDAR
sensors.
The laser warning is located on the right side of the LiDAR sensor.
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Chapter 2 Operating Instructions
Safety
HAZARD
WARNING
NOTE
WARNING
TPS
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 voltage 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 voltage 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.
Commissioning/Operation/Maintenance
Risk resulting from incorrect commissioning and configuration
Do not commission without testing by qualified safety 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.
Take the TPS out of operation if you cannot clearly identify the fault and if you cannot
safely remedy the problem.
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Operating Instructions Chapter 2
Safety
Note
TPS
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
Including its components, the system typically consumes 40 W.
The peak power consumption when starting up or in the event of integrated sensor heating
is 150 W.
2.5.2 Disposal after final decommissioning
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.
SICK AG does not take back devices that are unusable or irreparable.
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Chapter 3 Operating Instructions
Product description
Note
Important note
TPS
3 Product description
This chapter provides information on the special properties of the TPS driver assistance
system. It describes the design and operating principle of the system.
Always read this chapter before you mount, install and commission the system.
3.1 Scope of delivery
TPS consists of an LMS151 2D LiDAR sensor and two LD-MRS 3D LiDAR sensors, an
interactive operator display, a control cabinet, mounting kits with shock mounts and
connecting cables, GPS receiver, as well as a tone buzzer. Light signals can be optionally
used.
Fig. 1: Scope of delivery for TPS
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.
3.2 System components
3D LiDAR sensor LD-MRS HD Front and Rear
The 3D LiDAR sensor LD-MRS HD mounted on the front and rear of the truck constantly
monitors the area in front resp. behind the truck, in a radius of up to 200 m (max. value of
warning zone of front LiDAR sensor).
The object detection is done with laser beams that the LD-MRS emits in four stacked
planes. The device measures the distance and the direction (the angle to the LD-MRS) of
the object.
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Operating Instructions Chapter 3
Product description
TPS
The aperture angle is 100° for the front and back sensor.
Fig. 2: Laser output aperture of the LD-MRS Front and Rear
2D LiDAR sensor LMS151 RDW
The 2D LiDAR sensor LMS151 RDW mounted on the front of the truck constantly monitors
the area to the side of the truck.
The 2D LiDAR sensor scans its surroundings using a laser beam in a plane in the time-of-
flight process. The maximum aperture angle is 180°. If the emitted laser beam is reflected
by an object, the distance to the object is calculated.
Failure to install a suitable shock and vibration damper may result in a reduced system life
cycle.
Fig. 3: Laser output aperture of the LMS151 RDW
The operator display
The interactive operator display is the central component of the system. It visualizes the
outline of the truck and the warnings to the driver. Obstacles in the monitored area are
identified, and therefore can be quickly localized.
The display has a touch screen (1), which allows the operator to make entries during initial
commissioning and subsequent operation.
The operator display is attached to a mounting kit (2) with a swivel connector in the truck,
within the operators's field of view.
Fig. 4: Operator display with mounting kit
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Chapter 3 Operating Instructions
Product description
TPS
Control cabinet
The control cabinet connects the LiDAR sensors with the operator display. It also process
input signals and provides various output signals and power to the components.
Fig. 5: Control cabinet
To protect the control cabinet from shocks and vibration, damping measures must be
installed. The control cabinet comes with shock absorber mounting brackets.
Tone buzzer
A tone buzzer supports the visual warning about an obstacle on the display with an
acoustic warning.
Fig. 6: Tone buzzer
GPS receiver
A GPS receiver is used for ego localization in world coordinates, speed, heading and more
information.
Fig. 7: GPS receiver
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Operating Instructions Chapter 3
Product description
Note
TPS
Mounting kits with shock mounts
The TPS comes with mounting brackets with build-in shock absorber for the LMS151 RDW
and for both LD-MRS Rear and Front LiDAR sensors.
To protect the system components (sensors, control cabinet, operator display) from shocks
and vibration, damping measures must be installed. SICK AG recommends using the
included mounting kits with shock mounts that has built-in damper elements.
Failure to install a suitable shock and vibration damper may result in a reduced system life
cycle.
Fig. 8: Mounting kit for LMS151 RDW and LD-MRS Front and Rear
3.3 System functionality
The TPS is a driver assistance system for proximity detection and collision awareness for
heavy mining trucks. The system warns the operator of possible collisions, entering
hazardous areas (black spots) and departure of the road (RDW).
During the operation of the truck, the TPS will constantly monitor the surrounding of the
vehicle for obstacles. If such an obstacle is detected in one or more of the configured
warning zones, the zone violation is reported to the operator visually and audibly.
When the truck enters a predefined black spot like a hazardous intersection, the crusher
or workshop area, the system indicates this by a visual and audible alarm as well.
In case the truck comes to close or too far away from the left bund wall the road departure
warning function alerts the operator with an visually and acoustically alarm as well.
3.3.1 Front collision warning
The LD-MRS HD Front 3D LiDAR sensor monitors the area in front of the truck. It raises an
alarm when an obstacle is violating one of the 3 warning zones (green, yellow, red).
The range of the frontal warning zones is adapted automatically to the current driving
speed of the truck. Speed information is generated by the GPS receiver. In case GPS is
currently not available TPS uses as fall back the so called “low speed warning zones”.
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Fig. 9: Front collision warning
Chapter 3 Operating Instructions
Product description
Note
TPS
3.3.2 Rear End collision warning
The rear end collision warning supports the operator while he is driving in reverse gear
with low speed like when parking, unloading and reversing to a shovel.
The area directly behind the truck is monitored by the rear sensor. The LD-MRS HD Rear
3D LiDAR sensor scans the area behind the wheels and watches for obstacles like walls,
light or heavy vehicles or other mine site equipment that violate the light curtain by their
height.
The rear surveillance is activated only while the truck is in reverse gear. The wheels are
detected by the system and the measured points of the wheels are hidden.
Fig. 10: Rear End collision warning
3.3.3 Road Departure Warning
The Road Departure Warning (RDW) function monitors the distance between the truck and
the left roadside barrier, i.e. bund walls. If the truck violates the set safety distances to
either side, a warning is issued to the driver. Broken bund wall or big rocks at the mine site
are be filtered automatically by the system for a smooth operation. The road boarder is
detected by the 2D LiDAR sensor LMS151 RDW.
Fig. 11: Road Departure Warning Function with In-Lane Symbol
The 2D LiDAR sensor must identify the bund wall to activate this function. Two green
blocks to the left and right of the truck on the display are indicating that the truck is in
lane.
RDW Pause Signal
The system provides a pause signal input. The signal is muting the alarm unit for the
following 30 seconds.
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Operating Instructions Chapter 3
Product description
Note
TPS
RDW Flash Lights (Optional)
Two relay outputs are provided on two 2-wire cables for connection to external RDW signal
lights on the left and right front of the truck.
If the truck is in lane, both RDW lights are illuminated continuously
If the truck is moving unintentionally too close to the left bund wall, only the right light is
illuminated. The left RDW light will not be illuminated anymore.
In case of unintentional read departure to the right (center of the lane), only the left
RDW light is illuminated. The right RDW light is not illuminated anymore. This informs
truck drivers in the opposite direction that the truck is leaving the lane.
3.3.4 Black Spot Warning
TPS provides a function to mark mine site areas with GPS positions. Each GPS position
defines a position in world coordinates with a circular area around it. This area is called
“black spot” (1). This function can be used for two purposes:
On mine site may be locations where the road departure warning system has no usable
roadside barrier as a side reference. These locations may be crossroads,
loading/unloading or construction areas. These areas may be marked by their positions,
disabling the RDW function in their vicinity and thus suppressing false warnings.
Also the position is used for “black spot” marking and identification. Black spots are
hazardous areas like intersections, construction areas, crushers and workshops. TPS
warns the operator when the truck is entering a black spot to raise operator’s attention.
If the black spot is activated for the area the truck is currently placed or driving, the GPS
position is stored and a black spot with the radius of 80m (by default) is created and
stored.
Inside black spot areas, the driver may also disable all acoustic warnings (2). Therefore,
the speaker-icon is shown while the truck is inside the black spot area. Pressing this icon
disables all sound output.
The sound output is automatically turned on again when leaving the black spot area. This
function may be used to mute TPS while the truck is in maintenance in a workshop.
Note that for the correct function of black spots, GPS must be available.
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Fig. 12: Black Spot Warning
Chapter 3 Operating Instructions
Product description
Display
Meaning
LMS151 measuring and no error reported
LMS151 is either not in measuring mode (stopped by the user) or it is
running in measuring mode, but errors have occurred
OFF: no contamination (optics cover)
ON: contamination warning
Blinking: contamination error
Not used
Not used
TPS
3.4 Status indicators
2D LiDAR sensor
The 2D LiDAR sensor is fully automated in normal operation — no operator intervention is
required. The LEDs (1) signal the operational status of the 2D LiDAR sensor. In addition,
the 7-segment display (2) is also available for diagnostics when errors or faults occur
(see chapter 9.2 Fault indicators of the LMS151).
Fig. 13: Status indicators for the LMS511
Tab. 2: Status indicators of the LMS151
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Operating Instructions Chapter 3
Product description
TPS
Operator display
The operator display distinguishes between two operating modes. The system enters
configuration mode when it is first started or following unlocking via the web interface.
It contains assistants for the configuration of the LiDAR sensor, the vehicle dimensions
and the supervisor setup.
In the operating mode, the display assists the operator with collision awareness, driver
assistance and for setting black spot warnings.
Fig. 14: The operator display in configuration and operating mode
Tone buzzer
The tone buzzer does not have any status indicators.
The DIP switch on the underneath of the housing can be used to set the tone selection (1)
and the volume (2).
Recommended settings: OFF, ON, ON, OFF, ON (01101)
Fig. 15: DIP switch on the tone buzzer
Additional information on this can be found in the appendix in chapter 10.3 Tone
selection for tone buzzer.
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Chapter 4 Operating Instructions
Mounting
NOTE
WARNING
Important note
Note
TPS
4 Mounting
4.1 Function test before mounting
Before mounting the TPS components on the truck, it is recommended that the functional
readiness of the devices should be checked.
1. Place the components on a table.
2. Connect the components according to the wiring diagram (see chapter 5.1 Wiring plan).
3. Establish the supply voltage and check the general operational readiness of the
components (see chapter 6.1 Launching the system).
It is recommended that the length of the cable should be checked in advance.
The control cabinet is equipped with fuses both in the 24 V and ground voltage supply
lines. If any of these fuses blow, disconnect from power immediately and check for the
cause.
4.2 Mounting the LiDAR sensor
The reliable and problem-free operation of the system depends primarily on the proper
mounting and alignment of the LiDAR sensor.
Be sure to closely observe the following notes during mounting:
Mount the LiDAR sensor so that it is protected from dirt and damage.
Ensure that the field of vision of the entire optics cover is not restricted.
Always mount the LiDAR sensors such that you are able to insert and remove the
connectors.
Avoid excessive shock and vibration loading on the LiDAR sensor.
In the event of heavy vibration, prevent the fixing screws from accidentally coming loose
using screw-locking devices.
The fine alignment is carried out later during the commissioning with the support of a
setup assistant (see chapter 6.4 Configuring the LiDAR sensors).
Make sure that the screws are easily accessible for fine alignment.
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Operating Instructions Chapter 4
Mounting
TPS
Mounting LD-MRS HD Front and Rear
Mounting is carried out using the supplied mounting kit with shock absorber (2) for the LDMRS. For mounting the LD-MRS (1) safely at the mounting location, 4 M6 screws with
washers and lock washers are required. The supply voltage of the LD-MRS must be
switched off.
Fig. 16: Mounting the LD-MRS using mounting kit with shock absorber
Mounting LMS151 RDW
Mounting is carried out using the supplied mounting kit with shock absorber (2) for the
LMS151 RDW. For mounting the LMS151 RDW (1) safely at the mounting location, 4 M5
screws with washers and lock washers are required. The supply voltage of the LMS151
RDW must be switched off.
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Fig. 17: Mounting the LMS151 RDW using mounting kit with shock absorber
Chapter 4 Operating Instructions
Mounting
Note
Note
TPS
Mounting LD-MRS HD Front to the vehicle
The frontal sensor must be mounted at the very front of the truck, with its area of view
unobstructed in driving direction. The mounting height must be chosen so that relevant
objects, such as pick-up trucks, are within the area of view.
Fig. 18: Mounting position of the LD-MRS HD Front
For the best 3D LiDAR sensor coverage also of the very near proximity in front, the
mounting position marked in blue should be considered.
Please avoid obstructions due to the ladder etc. Recommended mounting height is approx.
1.7 m. Additional protective measures for the scanner would be required for this mounting
height (e.g. mud coverage etc.)
Mounting LD-MRS HD Rear to the vehicle
The rear collision protection system monitors the area directly behind the truck for
obstacles. The 3D LiDAR sensor is typically mounted above the rear axle of the truck
pointing downwards at an angle of about 45 degrees.
The scanner should be mounted close to the rear center of the truck.
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Fig. 19: Mounting position of the LD-MRS HD Rear
The exact angle is defined by its mounting height and will be adjusted during system
setup. Please avoid unnecessary obstructions.
Operating Instructions Chapter 4
Mounting
Note
TPS
Mounting LMS151 RDW to the vehicle
The Road Departure Warning (RDW) LiDAR sensor must be mounted at the front of the
truck, towards the left side. The sensor is mounted with a tilt angle of approximately 35
degrees downwards as its field of view must include the road surface in front of the truck
as well as the left-side road barrier/ wall.
Fig. 20: Mounting position of the LMS151 RDW
The exact angle is defined by its mounting height and will be adjusted during system
setup. Please avoid unnecessary obstructions.
4.3 Mounting the bracket for the operator display
The operator display is mounted in the truck cab. It must be clearly visible for the truck
driver without them having to turn their head.
The operator display is mounted using the mounting kit included with delivery. This means
that the display is additionally protected against mechanical shocks.
The mounting kit is made up of the bracket (1) and an adapter (2) to hold the operator
display.
Fig. 21: Mounting the operator display
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Chapter 4 Operating Instructions
Mounting
Note
Note
TPS
Assemble the bracket and mount in the driver's cab
1. Assemble the individual components of the bracket as shown in the figure.
2. Mount the bracket in the vehicle. In order to do this, screw the foot of the bracket tight
in a suitable location in the truck cab.
The adapter and operator display are mounted during the electrical installation.
The connecting cables have to be inserted into the operator display in a later step. (see
chapter 5.4 Connecting the operator display).
4.4 Mount the control cabinet
The control cabinet must be mounted in a dry and cool position in the inside of the truck
e.g. inside the cabin behind the operator or passenger seat. It is not intended for outside
mounting.
Before mounting the control cabinet, check that all components can be reached by the
supplied cables.
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Fig. 22: Mounting the control cabinet
Operating Instructions Chapter 4
Mounting
TPS
4.5 Mount the GPS receiver
The GPS receiver - with integrated antenna - must be mounted on the outside of the truck.
It must be in possible best clear view of the sky, but protected from mechanical
destruction like falling rocks. The recommended place is along the front railing of the
truck.
Fig. 23: Mounting the GPS receiver
4.6 Mounting the tone buzzer
Mount the tone buzzer in the operator cab behind the driver.
Fig. 24: Mounting the tone buzzer
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