Avoidance Zones are used to remind the operator to avoid entering specific areas on the site. A machine buffer is configured around the machine. When a buffer crosses into an Avoidance Zone, Avoidance Zone warnings and beeps alert the operator.
For v3.2 and earlier, a single machine buffer can be configured. For v4.0 and later, multiple machine buffers can be configured. The operator is also alerted when the system cannot provide Avoidance Zone warnings.
Reference: For information about avoidance surfaces, refer to Systems Operation, M0102735, "Avoidance Surfaces".
Reference: For information about record logging, refer to Systems Operation, M0102735, "Avoidance Surface and Zone Transgressions Logged" .
Avoidance Zone information is contained in files with a *.cat file extension. To create an Avoidance Zone file, use a design software package to create a closed polygon. The polygon will define the required Avoidance Zone area. Save the closed polygon as a *.dxf file. Use Cat MineStar System to convert the *.dxf file into an Avoidance Zone *.cat format file.
The *.cat files are sent to the machines by Cat MineStar System. On the machine, the *.cat files must be selected as "Prime" and "Active" if the files are to be used for Avoidance Zone warnings.
Configure Machine Detection Points
The onboard software places 27 points around the machine. The points are continually monitored relative to the Avoidance Zone to determine when the machine enters an Avoidance Zone. The 27 points consist of nine points in three separate planes. In each plane there are points in the following positions:
- One point at each of the four corners of the machine
- One point at the origin of the machine
- Two points along the centerline at either end of the machine.
- Two points perpendicular to the centerline out from the origin at either side of the machine
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| Illustration 1 | g01271446 |
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Detection points: nine shown in single plane (1) GPS location (2) Machine origin | |
Illustration 1 shows the locations of the detection points that are used to detect when the machine passes into an Avoidance Zone. The position of the origin will vary depending on the type of machine. As the position of the origin varies, the position of the two points along the sides of the machine will also vary.
The machine dimensions are used by the onboard software to define the position of the detection points. The dimensions are entered into the MCU.
Points above and below the detection points are used by the onboard software to determine when the machine enters an avoidance surface. Configure the "High" and "Low" distances in the MCU.
Reference: Refer to "Avoidance Surfaces" section on this manual for information about avoidance surfaces.
The on-screen Avoidance Zone warnings can indicate that the machine is no longer transgressing the zone under the following conditions:
- Surface or the zone is narrow enough
- Machine crosses the corners of a zone or surface
These conditions apply even though the machine is still transgressing due to both of the following:
- Avoidance Zone is smaller than the distance between two detection points
- For a short while, no detection point is in the Avoidance Zone.
The Plan view can be used as a visual backup in these uncommon situations.
Single Machine Buffer (v3.2 and earlier)
To alert the operator to a defined Avoidance Zone, the office configures a 3-D rectangular area around the machine. This area, termed a buffer, defines the extents of the machine. In v3.2 and earlier there is one buffer. An Avoidance Zone warning is displayed when any part of the buffer enters an Avoidance Zone.
Enable Machine to Notice an Avoidance Zone (v3.2 and earlier)
Follow these steps to use Avoidance Zones:
- Send an Avoidance Zone file to the machine.
- Select the "Avoidance Zone" checkbox. This selection allows operators to select Avoidance Zone files in the "Select Data Files" dialog in the "MCU File Select" setting.
- Set the Avoidance Zone file to "Prime".
- Set a machine buffer by selecting the "Machine Buffer" checkbox in the MCU and entering data.
Note: All distances are stated in meters and are referenced from the machine origin.
- Enter a time interval for sending Avoidance Zone warnings to the CAN Port.
The operator will receive a warning message stating that Avoidance Zones are not enabled if the following conditions exist:
- An Avoidance Zone file is set to "Prime".
- The "Machine Buffer" setting is not enabled.
To avoid this message, select the "Ignore No Machine Buffers" setting in the MCU.
Enable Warning Messages (v3.2 and earlier)
Use the following setting in the MCU to set up Avoidance Zone warnings and warning alarms in a Remote Control Console:
"Machine Buffer Notification Levels" - Set to 0 for one buffer.
"Send Avoidance Messages" - Set the time interval at which warnings are sent, or turn off avoidance warnings.
Use the following information to set up an annunciator in the onboard software:
- The annunciator sounds when an Avoidance Zone warning occurs. Tone, duration, and annunciator timing are all configurable in the MCU.
- The annunciator is on until silenced by the operator by using the "Silence Alarm" button on the avoidance warning. Disable the button by selecting "Mute Avoidance Alarm" in the MCU.
Multiple Machine Buffers (v4.0 and later)
To alert the operator to a defined Avoidance Zone, the office configures a 3-D rectangular area around the machine. This area, termed a buffer, defines the extents of the machine. The onboard software can set up to five machine buffers around a machine.
The buffer configuration must be enabled while asking for the software activation keys generated by product Key Support. Talk to your Terrain Site Champion about this process.
Each buffer must be bigger than the previous buffer. An Avoidance Zone warning is displayed when any part of the machine buffer enters an Avoidance Zone. When a buffer crosses an Avoidance Zone, on-screen messages display warnings. These warnings change as the machine moves further into the zone.
Enable Machine to Notice Avoidance Zones (v4.0 and later)
Follow these steps to use Avoidance Zones:
- Send an Avoidance Zone file to the machine.
- Select the "Avoidance Zone" checkbox. This selection allows operators to select Avoidance Zone files in the "Select Data Files" dialog in the "MCU File Select" setting.
- Set the Avoidance Zone file to "Prime".
- Set a machine buffer by selecting the "Machine Buffer" checkbox in the MCU and entering data for each buffer that is required.
Note: All distances are stated in meters and are referenced from the machine origin.
- Enter a time interval for sending Avoidance Zone warnings to the CAN Port.
The operator will receive a warning message stating that Avoidance Zones are not enabled if the following conditions exist:
- An Avoidance Zone file is set to "Prime".
- The "Machine Buffer" setting is not enabled.
To avoid this message, select the "Ignore No Machine Buffers" setting in the MCU. When this setting is selected, the operator cannot silence the alarm.
Enable Warning Messages (v4.0 and later)
Use the following setting in the MCU to set up Avoidance Zone warnings and warning alarms in the Remote Control Console:
"Send Avoidance Messages" - Set the time interval at which warnings are sent, or turn off avoidance warnings.
Use the following information to set up an annunciator in the onboard software:
Note: Beginning in v5.0, the annunciator is optional.
- The annunciator sounds when an Avoidance Zone warning occurs. Tone, duration, and annunciator timing are all configurable in the MCU.
- The annunciator is on until silenced by the operator by using the "Silence Alarm" button on the avoidance warning. Disable the button by selecting "Mute Avoidance Alarm" in the MCU.
Note: When this setting is enabled, the operator can mute Terrain Avoidance alarms. Terrain alarms are the alarms that are configured in "Set Up Terrain Alarms". This setting does not apply to alarms set up in Fleet with Detect or Fleet with Command.