Cat® Command For Hauling Caterpillar

Overview

This manual is for the Autonomous Mine Truck (AMT) onboard system, a sub system of Command for Hauling, a capability set of the Cat^® MineStar System. The Command for Hauling system is a tightly integrated site-level solution for the efficient operation of driverless mining trucks in a mining operation. By using the multiple capability sets of the Cat MineStar System, the Command for Hauling capability set is able to manage and maintain a safe, productive work site with manned machines, and fully autonomous trucks working side by side.

Command for Hauling uses Cat MineStar System office software in the command center and is the primary user interface for the autonomous operation. The office software is the main communication center and configuration manager. The software also manages all activities in the autonomous operation area including tracking all mobile equipment and dispatching autonomous mining trucks (AMTs) on missions in a manner that will be the most efficient for the mining operation.

AMTs receive an assignment from the command center through a wireless radio infrastructure. The assignment information includes all of the necessary information to start an assignment (route, haul road profiles, and other information).

While on an assignment, the onboard autonomy system processes inputs from many sources to maintain the correct path and optimize the operation. These sources include onboard subsystems and off board systems. The onboard autonomy positioning and perception subsystems utilize radar, Light Detection, and Ranging (LiDAR), inertial, and Global Navigation Satellite System (GNSS) information. Other onboard base truck systems provide steering, wheel speed, traction, payload, and other similar information. The office software in the command center also provides inputs such as GNSS corrections, GNSS position of other equipment, site maps updates, and more. From all these inputs, the onboard autonomy system processes decisions and safely controls the truck in a safe and productive manner.

Off-Board Components

Terrain - Grading and Loading

Terrain, a capability set of the Cat MineStar System, is an integrated mine operations and mobile equipment management system, with multiple capability sets that may be tailored to unique mine site needs. Terrain enables high-precision management of drilling, dragline, grading, and loading operations by using advanced guidance technology. The system increases machine productivity and provides real-time feedback for improved efficiency.

Terrain provides input about dynamic load sites and dump sites, including spotting locations and avoidance zones for autonomous trucks. The system is used to send/call trucks, set load locations, report positioning data, interact with the command center and the individual autonomous vehicles.

Along with providing detailed in-cab machine guidance and machine positional information for operators, Terrain provides data to mine managers and site planners. This includes machine location and operational status, progress toward completion of work plans and more. Terrain gives machine operators real-time guidance increasing job safety and efficiency.

Terrain interacts with other Cat MineStar System components to reduce surveying needs, increase operator efficiency and awareness of operations, reduce manual management tasks through intuitive tools, and allows real-time progress viewing from the command center.

Detect Proximity Awareness

Detect is a Cat MineStar System capability set that enhances the operators awareness of the immediate environment around the equipment being operated. There are multiple capability packages that can be used within the mine site. Vision brings the use of cameras to enable an operator to view areas of restricted visibility in areas near the machine. Object detection uses a simple touch screen display to alert operators when radars indicate that objects have entered critical areas near the machine. Proximity Awareness functionality adds GNSS capabilities for instantaneous position reporting. Detect can also provide valuable feedback to the command center and mine site managers through onboard reporting and recording functionality.

All vehicles moving on an autonomous mine site must be equipped with a GPS positioning and reporting system. Detect Proximity Awareness is used on all vehicles not equipped with Terrain. Proximity Awareness is used to record survey data, mark hazards, and report positioning data, among other useful tasks. Proximity Awareness can be used with other Detect capability packages.

Mode Change

Mode Indicators

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Mode indicator lights

Manual to Autonomous Mode Change

Show/hide table

Do not perform a mode change to autonomous mode while an object is in a blind spot of an autonomous mining truck (AMT). Changing modes while an object is in a blind spot could result in an impact hazard resulting in serious injury or death. Ensure that all areas surrounding the AMT are free of any objects prior to performing the mode change.

Note: Allow the Autonomous Mining Truck (AMT) to run for at least 5 minutes before changing to Autonomous mode.

Autonomous truck mode change from manual mode to autonomous mode can be initiated from a computer running the Cat MineStar System Client software. The following conditions are required prior to changing an AMT to autonomous mode.

• Machine pre-start inspection has been performed.

• Machine is running and has been running for at least 5 minutes.

• The cab Auto/Manual switch in the AUTO position.

• The transmission control is in the P position (This position engages the park brake).

• The AMT is in a location where conditions allow for a safe transition to autonomous operation.

• The AMT is in a valid lane.

• Green mode indicator should be flashing.

• There are no active diagnostics on the AMT.

To change an AMT from manual mode to autonomous mode, use the following steps.

1. Select the Mode Change control in Cat MineStar System Client application.

2. Navigate to the "Autonomous Status Page" by clicking the "Contents" menu, then selecting "Autonomy".

3. Select the desired AMT. By double-clicking the name of the AMT, the "Autonomous Status Details" page will open.

4. Using the "Operations" tab, place a "Reservation" on the selected machine. Doing so creates a relationship between the user and the AMT. Only this particular user can complete the mode change on this AMT.

   The selected machine reservation status will change on the Cat MineStar System display. The green mode indicator should be ON, not flashing. The blue mode indicator should be OFF.

5. Proceed to the AMT.

6. Switch the ground level auto-manual switch to the AUTO position, indicated by the autonomous truck icon.

   Observe the AMT mode indicator lights. The green mode indicator should be OFF, not flashing. The blue mode indicator should be ON, not flashing. The AMT is in autonomous armed mode and now ready for autonomous mode.

7. Using the Cat MineStar System Client software, from the "Operations" tab, request "Autonomous Mode Transition".

8. Enter the authorized user password.

   The selected AMT status will change on the display. The AMT blue mode indicator light should be flashing. The relationship between the user and the AMT no longer exists. Any user will be able to put the AMT in manual mode.

Autonomous Run or Autonomous Stop to Manual Mode Change

Autonomous truck mode change from autonomous mode to manual mode can be initiated from a computer running the Cat MineStar System Client software. To change an AMT from autonomous mode to manual mode, use the following steps.

Note: If a change to manual mode is made while the AMT is in a dynamic area, the AMT must be moved outside of the dynamic area manually before being returned to autonomous mode.

Autonomous Run or Autonomous Stop to Manual Ready Mode Change

Note: More detailed information on mode change can be found in the Command Office OMM.

1. Navigate to the "Autonomous Status Page" by clicking the "Contents" menu, then selecting "Autonomy".

2. Select the desired AMT. By double-clicking the name of the AMT, the "Autonomous Status Details" page will open.

3. Using the "Operations" tab, request manual mode.

   The system will activate the request. The selected AMT will come to a stop, if not already stopped. AMT status in Cat MineStar System will show "Manual Ready". The green mode indicator should be ON, not flashing. The blue mode indicator should be OFF.

Manual Ready to Manual Mode Change

After the AMT is in manual ready mode, the AMT can be approached by personnel and changed to manual mode. Use the following steps to change an AMT from manual ready to manual mode.

1. Observe the AMT mode indicator lights and approach the machine. The blue mode indicator light should be OFF, not flashing and the green indicator light should be ON, not flashing.

2. Switch the ground level auto-manual switch on the AMT to MANUAL position, indicated by the hand icon.

   Observe the AMT mode indicator lights. The green mode indicator should now be ON, flashing. The AMT is now in manual mode.

Autonomous Run to Manual Mode Change With an Operator in the Cab

Note: More detailed information on mode change can be found in the Command Office OMM.

Situations such as commissioning or after a machine repair can present a need for a machine operator to be in the cab while the AMT is running in autonomous mode. The following procedure provides steps for the operator to change from autonomous run mode to manual mode and take control of the AMT.

Note: When running an AMT in autonomous mode with an operator in the machine cab, ensure that the transmission control is in the N position. If this mode change is made with transmission control in the P position, the mode change will be inhibited and the truck will remain in autonomous run mode.

1. Ensure that the transmission control is in the N position.

2. Place the cab autonomous/manual switch in the MANUAL position, represented by the hand icon.

   The AMT is now in manual mode and can be controlled by the machine operator in the cab. The green mode indicator should be ON, flashing. The blue mode indicator should be OFF.

System Components

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(1) Autonomy cabinet (2) Antennas and mode indicators (3) GNSS antennas (4) Light Detection and Ranging (LiDAR) (#1) and Inertial Measurement Unit (IMU) (5) Radars (#2-#7) (6) Mode change switch and battery disconnect

Illustration 3	g03429368
(7) Radio antenna (8) Mode indicators (9) A-Stop antenna

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(10) Mode indicators (11) ABS IMU and output speed sensor - atop the rear axle housing

Components on the front of the truck include:

• The autonomy cabinet (1)

• Radar sensors (5)

• Long range object detection sensor and the Inertial Measurement Unit (IMU) (4)

• GNSS antennas (3)

• Mode change switch (6)

• Mode indicators (8)

• A-stop antennas (9)

• Radio antennas (7)

On the rear of the truck, there is another set of mode lights (10). The rear ABS IMU and the speed sensor are located atop of the rear axle housing (11).

Autonomy Cabinet

The autonomy cabinet is mounted on the right side of the truck platform, opposite the cab. The cabinet contains the processing and control components of the autonomy system.

Illustration 5	g03429331
Autonomy cabinet (12) Machine control module master (MCM master) (13) A4N2 router (if equipped) (14) Ethernet switch #1 (15) Ethernet switch #2 (16) Ethernet switch #3 (17) Autonomous control module (Auto ECM) #1 (18) Auto ECM #2 (19) Auto ECM #3 (20) Auto ECM #4 (21) Auto ECM #5 (22) Radio mounting location (23) Backup batteries (24) Positioning module (PCS) (25) DMI Filter

Illustration 6	g03429357
Autonomy cabinet (26) Input/output module (I/O Module) (27) Cabinet fan (28) Cabinet temperature sensor (back of center support) (29) Relay/fuse panel (24V) (30) Fuse panel (12V) (31) Air filter (32) 80A circuit breaker (33) A-Stop receivers (34) PPS buffer (Time tag ECM)

Illustration 7	g03429362
Autonomy cabinet (35) 10A Power convertors (36) PM400 power module

The cabinet contains numerous components:

• Autonomous Control Modules (Auto ECMs) #1-5 (17-21).

• Positioning module (PCS) (24).

• Ethernet router (if equipped) (13).

• A-Stop receivers (33).

• Machine control module master (MCM master) (12).

• Pulse per second buffer (34).

• Input/Output module (I/O Module) (26).

• Ethernet switches (14-16).

• Power converters (35).

• Power module (36).

• Backup batteries (23).

• Cabinet Fan (27) and filter (31).

• Cabinet temperature sensor (28).

• Radio (22).

• DMI Filter (25).

• Fuse panels (29-30) and circuit breakers (32).

Illustration 8	g03864395
Autonomy cabinet interface connections (37) 31-Pin chassis connector (AC-C3) (38) 70-Pin chassis connector (AC-C46) (39) Left camera (40) Middle camera (41) Right camera (42) LIDAR ethernet(EJ-C2) (43) Cab ethernet (FJ-C2) (44) RH A-Stop antenna (YF-C2) (45) LH A-Stop antenna (YE-C2) (46) RH radio (WIFI) antenna (YC-C2) (47) LH radio (WIFI) antenna (YA-C2) (48) RH GPS antenna (YH-C2) (49) LH GPS antenna (YG-C2) (50) Front IMU (MU-C2)