Brigade Backsense BS-9100 Installation & Operating Manual

Can radar object detection system
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BS-9100 / BS-9100T
®
Backsense
CAN Radar Object Detection System
Installation & Operating Guide
Installation Guide 7059

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Summary of Contents for Brigade Backsense BS-9100

  • Page 1 BS-9100 / BS-9100T ® Backsense CAN Radar Object Detection System Installation & Operating Guide Installation Guide 7059...
  • Page 2: Table Of Contents

    Sensor Start-up Messages ..................19 System Host ........................20 Host Responsibilities ..................... 20 Brigade Backsense CAN Radar Test Tool ..............21 PC Interface for BS-9100 ..................21 PC System Requirements ..................21 CANpro – BS-9100 Network connection cable ............21 Software Installation ....................
  • Page 3: Introduction

    The Brigade BS-9100 radar sensor features an internal CAN interface for network connectivity, allowing the user to link up to 8 sensors and a network host on a single CAN bus, enabling monitoring of multiple detection areas around the vehicle.
  • Page 4 In this scenario, ® Backsense may not be the most suitable solution and therefore Brigade recommends adding an additional or alternative detection system depending on the vehicle’s ®...
  • Page 5 Vertical Detection Area 1.2.2 Factors Influencing the Detection of Objects ® Brigade Backsense shares in principle the advantages and limitations of all radar-based systems when compared to other sensing technologies. In general, it can reliably detect most objects in most environmental conditions such as dirt, dust, rain, snow, sun, fog, darkness, acoustic noise, mechanical vibration, electromagnetic noise or similar.
  • Page 6 • Angle: An object facing directly towards the sensor (perpendicular, orientation head on to the sensor) is detected better than an object that is located towards the edges of the detection area or at an angle. • Distance: An object closer to the sensor is better detected than one that it is further away. •...
  • Page 7: Contents

    Contents Standard System Contents Sensor Fixing Kit BS-FIX-02 Sensor BS-9100-S or BS-9100T-S Optional items (not included) Extension Cables 2m, (6ft) 5m (16ft), 9m (29ft) or 25m (82ft) BS-02DCX BS-05DCX or BS-09DCX BS-25DCSX Adjustable Sensor Bracket BKT-023 Network Y Cable BS-00NYC Network Power Input Cable 120Ω...
  • Page 8: Object Detection

    Object Detection 3.1 Separate Object Detection ® Each Backsense BS-9100 sensor is capable of detecting and reporting data for up to 16 objects within the limitations detailed in section 1.2. In the event that there are more than 16 objects within the detection area of a particular sensor, only the closest 16 detections will be reported, (based on object radius from sensor) 3.2 Detected Object Data The BS-9100 will transmit data for each detected object in separate CAN messages.
  • Page 9: Detected Object Position Relative To Sensor

    3.3 Detected Object Position Relative to Sensor The image below illustrates the relative position of detected objects with respect to the sensor’s front face...
  • Page 10: Hardware Installation

    Hardware Installation 4.1 Recommended Network Layouts and Limitations ® Backsense BS-9100 Systems installation must adhere to a strict network topology to ensure reliable communications between all sensors and host. The network topology must represent a bus featuring 120Ω termination at both ends. Sensors must be connected to the bus via Network Y-Cable only.
  • Page 11: Example 2 (Good), Host Connection In Middle Of Bus. Bad Network Arrangement

    Each sensor should be mounted in an upright position with cable exit on the sensor pointing downwards. The Brigade logo on the front of the sensor should be in readable, normal orientation when standing in the required detection area, see image above. The front of the...
  • Page 12: Cable

    4.5.4 Mounting Angle Brigade recommends mounting the radar sensors on brackets (available from Brigade, see section2.2), which can be adjusted for angle in the horizontal plane, enabling performance optimisation. See below for suggested vertical angle vs sensor installation height on the vehicle.
  • Page 13: Electrical Connections

    Blue 4.8 Power Input Power must be applied to the BS-9100 sensor network via a dedicated Brigade power cable. Only one power input to the system is permitted and must be suitably positioned within the network to ensure that loading from all sensors is balanced and excessive voltage drops are avoided.
  • Page 14: Recommended Fuse Values

    4.9 Recommended Fuse Values Supply Network Size Power Steady Inrush Recommended Voltage (Number of Consumption State Current Fuse Value Sensors) Current 2.8W 0.23A <0.85A, <20mSec 12VDC 5.6W 0.46A 8.4W 0.69A 10.7W 0.92A 1.15A 15.3W 1.38A 17.6W 1.61A 19.9W 1.84A 2.9W 0.12A <0.45A, <20mSec...
  • Page 15: Can Bus

    5.3 CANbus Base ID All BS-9100 sensors are shipped from Brigade with a pre-set Base ID of 0x390. Messages with this ID value do not contain any detection data but do provide a Keep Alive message to the host.
  • Page 16: Base Id Configuration

    Systems installers may configure sensor base ID values using their own host system, or by use of the Brigade Test tool detailed in section 7. Each BS-9100 sensor within a network must be configured with an individual Base ID. The method for Base ID configuration is simple and involves sending a single configuration message to each individual sensor in the CAN network, using a specific “Configuration ID”...
  • Page 17: Configuration Message Structure And Examples

    5.5 Configuration Message Structure and Examples Configuration Message Structure 11- Bit Data Data Data Data Data Data Data Data CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Current Sensor Sensor Number for Fixed Fixed Fixed...
  • Page 18: Detection Message

    Object Closest 0x31D 0x32D 0x33D 0x34D 0x35D 0x36D 0x37D 0x38D Object Closest 0x31E 0x32E 0x33E 0x34E 0x35E 0x36E 0x37E 0x38E Object Closest 0x31F 0x32F 0x33F 0x34F 0x35F 0x36F 0x37F 0x38F Object 5.7 Detection Message Detection data for each detected object (per sensor) is reported in a single CAN message from the sensor with a message as detailed in section 3.2.
  • Page 19: Sensor Start-Up Messages

    Sensor Error 3 N/A N/A 0 = No Error 1 = Temperature Error (>135°C) Sensor Error 2 N/A N/A 0 = No Error 1 = MMIC Error Sensor Error 1 N/A N/A 0 = No Error 1 = Voltage Error Not used N/A N/A Identification Flag...
  • Page 20: System Host

    System Host 6.1 Host Responsibilities BS-9100 systems require connection to a customer-supplied host to receive and utilise object detection messages from the sensor via CAN bus. The host system is responsible for interpreting the detection data detailed in section 5.7 and applying any logic, conditioning, filtering, activation or blind zone settings (e.g.
  • Page 21: Brigade Backsense Can Radar Test Tool

    Tool cannot be run without the Sfting Interface being plugged into the PC. In order for a user to configure and test the system using Brigade’s software applications they must first obtain a CANpro USB Interface from the Softing company and install drivers for this interface on their test PC.
  • Page 22: Software Installation

    7.4 Software Installation 7.4.1 Softing CAN Drivers and Software installation Once the driver installation file has been downloaded from www.softing.com it should be installed as per standard practice. Screen views of the process are shown below (Note: Layout may vary depending on Softing software version). Step 1 –...
  • Page 23 Once the CAN interface has been connected to the PC, the Softing Interface Manager should automatically detect and list it as a device. The following steps should then be performed to configure the interface for use with the Brigade Backsense CAN Radar Test Tool. Step 1 – Softing Interface manager shows an Step 2 –...
  • Page 24 7.4.3 Backsense CAN Radar Test Tool installation Once the driver installation file has been downloaded from www.brigade-electronics.com should be installed as per standard practice. Screen views of the process are shown below (Note: Layout may vary depending on version). Step 1 – Initial installation window Step 2 –...
  • Page 25: Backsense Can Radar Test Tool

    7.5 Backsense CAN Radar Test Tool The Brigade test tool is a windows application that enables users to view all physical detection data from the radar system in real time. The test tool consists of a main Graphic & Control Window displaying a top-down view of detected objects for one selected sensor as well as a sub window for that sensor’s detection...
  • Page 27: Backsense Configuration Tool

    Graphic and Control Window displaying six detected objects for sensor 1 (CAN ID 0x310). 7.5.2 Backsense Detection Table The Backsense Detection Table is a floating sub window of the Graphic and Control window which displays numerical values for all detection data of up to 16 closest objects detected by the selected sensor.
  • Page 28 7.6.1 The Backsense Configuration Tool may be launched from the “Tools” menu within the Backsense CAN Radar Test Tool, as shown below: 7.6.2 Depending on PC security settings, the following warning may be seen. The user must select “Run” to proceed to the application:...
  • Page 29 7.6.3 The launch screen of the Backsense Configuration Tool will appear as below. The connected CANpro interface is identified by serial number. The user must press Return on the keyboard to continue: CANpro Interface Serial Number...
  • Page 30 7.6.4 The Initialisation screen of the Backsense Configuration Tool will appear as below. Command options are displayed on the screen: The Configuration Tool Command Options are as follows: ▪ Display help menu – Configuration Tool Command Options will be re- displayed.
  • Page 31 7.6.5 The user may start (or re-start) monitoring of live CAN data from the sensor (or entire Backsense network) by pressing the “R” key on the keyboard. Spacebar may be used to pause live CAN data. 7.6.6 The description for Configuration Tool data is as illustrated below: RCV = STD = CAN1 =...
  • Page 32 Data XX XX XX XX XX XX XX XX= Detection Data in Hex format from sensor DLC8 = Data Length Code is 8 Bytes T 1372a292 = D 230 = Timestamp from launch of Delta time since previous CAN driver (Hex uSec) message (Dec uSec)
  • Page 33 7.6.7 Pressing the “S” key on the keyboard will enter sensor ID configuration function as shown below: User presses S key to enter Selection menu of configuration function 7.6.8 The user must select the sensor to be configured by pressing the number of that sensor on the keyboard.
  • Page 34 7.6.9 To re-configure the sensor ID, the user must press “C” on the keyboard as below: User presses C key to enter Change menu of configuration function 7.6.10 The user must select the number for the desired sensor ID. In the example below, the desired ID is 1 therefore the user presses “1”...
  • Page 35: System Errors

    7.6.11 Now reset the radar (power cycle). 7.6.12 The user may check for correct ID change by monitor live CAN data from the sensor Pressing the “r” key on the keyboard will start monitoring. 7.6.13 The Backsense Configuration Tool must be closed in order to return to the Backsense CAN Radar Test Tool.
  • Page 36 ® The Brigade Backsense System cannot self-diagnose potential sensor detection issues caused by the build-up of ice, dirt, mud, heavy rain or immersion in water, which may impede system performance. Therefore, follow section “8 Testing and Maintenance”.
  • Page 37: Testing And Maintenance

    ® the installed Brigade Backsense System. If any of the following tests fail, follow the Hardware Installation instructions in section 4 and fault finding guidance in section 7.7 or contact Brigade technical support if still in doubt.
  • Page 38 ® Brigade Backsense System was installed on this vehicle. 9) During the test the operator should verify that each detection zone LED on the Backsense display is illuminated, this will ensure the correct distance of the detected object is indicated to the driver.
  • Page 39: Specifications

    Specifications Operation Characteristics Model name BS-9100 Detection length 60m (197 ft approx.) Detection width 16m (52ft approx.) Nominal tolerance ±0.25m / (1ft approx.) Radar beam angle Horizontal 140° out to the maximum designated width Vertical 12° (symmetrically perpendicular to sensor front surface) 0.25m (1ft approx.).
  • Page 40 Manufacturer and Importer Brigade Electronics Group PLC Brigade House, The Mills, Station Road, South Darenth, DA4 9BD, UK This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
  • Page 41: Mounting Dimensions

    Mounting Dimensions...
  • Page 42: Disclaimer

    Brigade y sus distribuidores can in any way be attached to Brigade or to the comerciales no se responsabilizan de distributor. cualquier daño derivado del uso o deun mal funcionamiento del producto.
  • Page 43 Specifications subject to change. Sous réserve de modifications techniques. Ä nderungen der technischen Daten vorbehalten. Specifiche soggette a variazioni. Las especificaciones están sujetas a cambios. Wijzigingen in specificaties voorbehouden. As especificações estão sujeitas a alterações. Спецификация может изменяться. Specyfikacja techniczna może ulec zmianie. Ö...

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