The MINEGEM system uses a combination of hardware and software to provide a method of machine guidance and control. The hardware is used to transmit, receive and process data for the system. The software defines the machine system functionality.
One operator is able to control machines remotely via fiber optic, Ethernet and radio link, digital video and laser telemetry. This machine data is also used to provide real-time machine information to the operator station displays.
The MINEGEM system consists of three interrelated subsystems:
- Machine Automation System (MAS)
- Local Area Radio Network (LARN)
- Area Isolation System (AIS)
Machine Automation System (MAS) ( R1300G LJB)
The Machine Automation System (MAS) uses several components. The main components are:
- Automation Electronic Control Module (ECM)
- AIS Receiver Control
- Onboard Radio
Automation Electronic Control Module (ECM)
The automation ECM uses input signals from the automation ICM. The automation ECM interprets these signals and sends output signals to the remote control receiver to control steering, bucket, speed and braking.
The AIS receiver control monitors the automation interlock, the MAS enable switches and the AIS Radio Frequency (RF) leaky feeder signal produced by the AIS transmitter. The function of the AIS receiver control is to disable the machine if the AIS input conditions are invalid. The operation of the red autonomous control warning light and the amber MAS warning light is controlled by the PLC Control and inputs from the AIS receiver control, MAS switch and the remotes switch.
The function of the onboard radio is to transmit and receive all MAS data and operator inputs by way of the LARN. The onboard radio transmits video images, LADAR scans, system voltages, engine rpm, ground speed, engine coolant temperature, engine oil pressure and parking brake status to the automation operator station through the LARN.
Machine Automation System (MAS) ( R1600G 9YZ R1700G ; SBR R2900G ; JLK)
The Machine Automation System (MAS) uses several components. The main components are:
- Automation Electronic Control Module (ECM)
- Automation Interface Control Module (ICM)
- Onboard Radio
Automation ECM has four primary functions:
- Issues machine control commands
- Processes machine location to map localization
- Processes sensor inputs and monitors machine health
- Monitors the integrity of computer processes and when valid, outputs a signal to automation interface control module
Automation ICM controls the interlock function for the AIS. Automation ICM receives an incoming signal from the AIS leaky feeder cable and the LARN antenna to enable the machine for autonomous control. When the Radio Frequency (RF) signal stops, automation ICM will shutdown the engine and engage the parking brakes. Automation ICM also controls the operation of red autonomous control warning light and amber MAS warning light.
Onboard radio on the machine provides a radio link between the machine and the LARN. Onboard radio communicates with LARN radios providing the strongest signal and will reassociate with the next radio in the network when it becomes the strongest signal. Onboard radio converts wireless Ethernet data to RF data and vice versa. Onboard radio transmits and receives all MAS related data via the LARN and the automation operator station.
The LARN is a Wireless Ethernet data network that allows communication between the automation operator station and the automation ECM that is onboard the machine. The LARN radios conform to the IEEE 802.11b/g standards.
All data and commands are sent to and from the machine through the LARN except for the AIS signal.
The AIS has three functions:
- To detect access by personnel to the operations area where the machine is under autonomous control
- To shutdown the machine in the event it attempts to leave the operations area
- To provide an independent means to shutdown an autonomous machine when a barrier trip or fault is detected
The automation operator station may be fixed or mobile. The automation operator station is a computer system with keyboards, mouse devices and joysticks that control the MAS.
The MINEGEM system has two different modes of machine control:
- "Teleremote"
- "Copilot"
"Teleremote" mode allows the operator to control machine throttle, direction, steering and bucket movement using the joystick controls and LADAR scans on the operator display. The video images provide additional information such as detecting obstacles on the road surface. They are used while loading the bucket.
With "Copilot" mode the machine throttle and direction controls are the same as the "Teleremote" mode but the machine uses inputs and outputs from the MAS to steer the machine.