Cat® Detect Object Detection System Caterpillar

Angle Adjustments

There are two angle adjustments for the object detection sensors. The adjustments are the Azimuth or horizontal adjustment and the Elevation or the vertical adjust. The angles that are provided in Tables 1 through 18 are the angles that were found to work best for each machine model that is listed. These angles are a guideline and are adjusted a few degrees to bring the detection area of the system into an acceptable limit. This adjustment is necessary because of differences in machines that are not controlled by Caterpillar. The type of tires that are used on a machine may affect the height of the machine. This procedure must be used with the Test and Adjust, "Object Detection Sensor - Calibration" section that is contained in this manual.

Note: For Generic Object Detection applications refer to the tables below of a comparable model for radar adjustment.

797F

795F

798

796

794

793F

793D

789

785

< 100 Ton Truck 4 Radar Adjustment

< 100 Ton Truck 2 Radar Adjustment

Generic Object Detection Truck Configuration IDs and Recommended Filter Settings

Adjust the Object Detection Sensors

There are two angle adjustments for the object detection sensors. The adjustments are the Azimuth or horizontal adjustment and the Elevation or the vertical adjust.

These angles are a guideline and may require an adjustment of a few degrees to bring the detection area into an acceptable limit. This adjustment is necessary because of differences in machines that are not controlled by Caterpillar. The type of tires that are used on a machine may affect the height of the machine. This procedure must be used with the Testing and Adjusting, "Object Detection Sensor - Calibrate" section that is contained in this manual.

Generic OD Side Radar Distance Filtering Calculation

Illustration 1	g06100729
X = Distance from the radar to ground (in meters) Y = Radar beam (in meters) a = angle (in degrees)

When entering the value for the maximum distance filter in Cat Electronic Technician (Cat ET), you need to make sure that you enter the distance for the radar beam (Y value) not the vertical distance from the ground (X value). The following procedure will ensure that you enter the correct distance filter. The recommended filter setting is 1 m (3.3 ft) above the ground to avoid false detections from terrain.

1. Find the vertical distance of the radar above the ground (X value).

2. Subtract 1 m (3.3 ft) from the vertical distance you found (X value- 1).

3. Find the angle of the radar (a value).

4. Refer to the cos(angle) chart for the value.

5. Use the following formula to properly calculate the value to enter in Cat ET (Y).

   Y= (X-1) / cos(a)

Note: The above procedure can also be used when calculating body filters and ground filters for the rear radars. Refer to Section "Rear Radar Body and Ground Filtering".

For example:

Radar is 5 m (16.4 ft) off the ground vertically (X value) and you want to filter the radar 1 m (3.3 ft) above the ground.

Radar angle is 35 degrees.

Cos(35) = 0.8191

Y = 4 m (13.1 ft) / 0.8191 = 4.88 m (16.011 ft).

Rear Radar Body and Ground Filtering

Illustration 2	g06100735
X = Distance from the radar to ground (in meters) Y = Radar beam (in meters) Z = Back Edge of Rear Tires a = angle (in degrees)

Repeat Steps 1 through 5 from the Section "Generic OD Side Radar Distance Filtering Calculation" to calculate the Rear Radar Body and Ground Filtering values.

Rear Radar Body Filtering

To prevent false detections because of the body of the mining truck, it is essential to properly set the minimum detection distance in Cat ET. To find the value for the minimum detection distance measure the ground distance from where the radars hang to the back edge of the tires. Use the value that you find as your minimum detection distance value in Cat ET.

Note: Based on your application some value adjustment may be necessary if false detections occur.

Radar Right and Left Side Filtering

For the side filtering settings in Cat ET, we recommend using no filtering unless the machine will be operating routinely in tight quarters or there are false body detections.

Azimuth Adjustment Procedure

Illustration 3	g02723894
Azimuth adjustment

Note: Markings on the brackets are to be used as reference only. Fine adjustments should always be made with 441-3703 Protractor.

1. Loosen the four azimuth adjustment bolts on the brackets for the radars.
   Show/hide table

   Illustration 4	g03602378
   (1) Parallel line to the machine centerline (2) Parallel line to the rear of the enclosure (3) Azimuth measurement OUT from azimuth table (4) Perpendicular line to the machine centerline

2. Use 441-3703 Protractor in order to set the proper azimuth angle or adjust the angle to fine-tune the system. Refer to the angles listed in "Angle Adjustments" tables for the correct sales model.

   Note: The front and rear radar enclosures will be measured from a reference perpendicular to the machine centerline running front to back. The side radars will be measured from a reference parallel to the platform mounting. A measurement indicating an IN azimuth angle will point from the mounting location inward. A measurement indicating an OUT azimuth angle will point from the mounting location outward.

3. Carefully tighten the four azimuth adjustment bolts on the brackets for the radars.

4. Check the angle again in order to verify that the bracket is set to the proper angle.

5. Tighten bolts.

6. Check the angle again in order to verify that the bracket is set to the proper angle.

7. Proceed to the "Elevation Adjustment Procedure".

Elevation Adjustment Procedure

Illustration 5	g02724028
Elevation adjustment

1. Loosen the four adjustment bolts on the bracket for the radar.
   Show/hide table

   Illustration 6	g03602556
   (5) Elevation Angle

2. Use 437-4620 Level in order to set the proper elevation angle or adjust the angle in order to fine-tune the system.

   Note: With the machine parked on a level surface the angle will be measured from the horizon to the top of the enclosure. Refer to the angles listed in "Angle Adjustments" for proper elevation angle for the correct sales model.

3. Carefully tighten the four azimuth adjustment bolts on the brackets for the radars.

4. Check the angle again in order to verify that the bracket is set to the proper angle.

5. Tighten the bolts.

6. Perform the Test and Adjust, UENR2507, "Object Detection Sensor - Calibrate" procedure that is located within this manual.

Expected Results After Adjustment

After the angles and azimuths have been adjusted and no objects are present in the coverage areas, the system shall produce no visual indicators or audible alarms when the system is active with no faults. If the system produces false detections, utilize the "Status" page in Cat Electronic Technician. Check which radar is falsely detecting objects and the distance at which the faults are detected.

False Detections within 2.1 m (7.00 ft)

1. Verify that the coverage areas are clear of objects.

2. Verify that no part of the machine is in the detection area. (Example: grease lines, third-party attachments.)

   Note: Due to variance in machine configurations, adjusting the radar azimuth angles in or out as much as 5 degrees may be necessary. If this adjustment is done to avoid false detections, use the calibration procedure to verify that the system is functioning properly and providing adequate coverage. Any change from the documented angles will change the coverage area.

3. Verify that the internal enclosure seal is not obstructing the radars viewing angle.

   Note: Remove, adjust, or replace the cover if enclosure is obstructing the view.

False Detections Greater than 2.1 m (7.00 ft)

1. Verify that the coverage areas are clear of objects.

2. Verify that the sensor is not detecting the ground.

   Note: Due to variance in machine height, adjusting the radar angle upward as much as 5 degrees may be necessary. If this adjustment is done to avoid false ground detections, use the calibration procedure to verify that the system is functioning properly and providing adequate coverage.

   Note: Any change from the documented angles will change the coverage area.