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| Illustration 1 | g06413053 |
Autonomous Control Module (Auto ECM)
The Autonomous Control Modules (Auto ECMs) are the processing components of the autonomy system. The Auto ECMs use a Linux® based operating system and are responsible for running the autonomy software. Identical software runs on each of the Auto ECMs, however each Auto ECM runs different tasks, and performs a different function. The function that each individual Auto ECM performs is based on a harness code. In other words, which Auto ECM connector (1-5) is plugged into the Auto ECMs dictate what function that specific Auto ECM will perform.
Lane keeping - The autonomous truck stays within the lane boundaries as the assignment is executed.
Site Awareness - The autonomous truck follows another site machine at a defined safe distance and queues at a defined distance for stopped site machines.
Obstacle queuing - The autonomous truck queues behind any obstacle reported by the perception system at a defined queuing distance.
Speed Control - The autonomous truck will determine what speed to drive to keep the truck within safe driving conditions. The autonomous software takes consideration for road geometry, vehicle specifications, and speed limits imposed by the command center. Limits imposed include, speed limit of the lane, truck speed limit, and speed zones.
Permission request - The autonomous truck will request more permitted lanes from the command center when approaching the end of the current permitted assignment. The AMT determines if more lanes need to be executed to complete an assignment.
Zone Compliance - The autonomous truck follows rules of any zone that the AMT encounters, such as speed zones, passable/non-passable zones, traction zones, bed down zones.
Achieving Staging Points - The autonomous truck will achieve given staging points with accuracy and within the tolerances provided. The staging points are created in load and dump areas.
Navigation Path Planning - The autonomous truck will plan the best possible path to drive within the given lane boundaries of an assignment. This path is created to be the most efficient solution the truck can find to execute the assignment.
Collision Detection - The Autonomous Mine Truck (AMT) performs collision detection within the surrounding area. The AMT will stop or slow down if a collision or an eminent collision is detected. The AMT will report to the command center if any collision was detected, such as departure from the lane, breaching the lane boundary, passing a site machine or an obstacle.
Vehicle Observer - The autonomous truck observes machine anomalies such as monitoring vehicle commands compared to actual machine behavior. Based on these observations, the AMT performs planning system self-diagnosis and stops or slows the truck down under undesirable driving conditions.
Vehicle Heath Supervisor (VHS) - The part of the autonomy system that monitors all diagnostics and events on the machine. The autonomy system uses this data to make decisions and respond accordingly.
The truck autonomous system includes a machine control module (MCM) master that is the link between the truck base electronics system and the Autonomous Control Modules (Auto ECMs).
The MCM communicates directly with the Auto ECMs over the onboard network. The MCM receives commands from the Auto ECMs and interprets the commands into instructions for the various systems to complete. The MCM will receive a command to go to a specific location from the Auto ECMs. The MCM will then communicate with the base truck systems what needs to occur for that command to be carried out.
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| Illustration 2 | g06412935 |
Located in the autonomy cabinet, the MCM receives information from Auto ECMs over LAN Ethernet 1. Commands are sent to other devices using CAN 1, CAN 2, and Datalink.
The MCM communicates with autonomous stop receiver 1 and base truck electronics on CAN 1 and datalink. The MCM communicates with I/O Module, autonomous stop receiver 2, and the cabinet fan on CAN 2. Terminals to access CAN 1 and CAN 2 are available in the autonomous cabinet at connectors AC-C2 and AC-C23. Refer to System Operations, "Electrical Input Components" for more information on components.
Input/Output Module (I/O Module)
The I/O module is located in the autonomy cabinet. The I/O module communicates with the MCM over CAN 2. The I/O module acts to expand the input and output capacity of the MCM. The expanded capacity includes the connections to many components providing input to the autonomous system. The I/O module is informally known as the MCM slave.
Autonomous Cabinet Temperature Sensor
The two wire passive temperature sensor, located in the autonomy cabinet, is used to monitor the cabinet internal temperature and used for cabinet fan control. This sensor is a two-wire passive temperature sensor. The I/O module reads the sensor with connections on connector J1.
Autonomous/Manual Switches (Ground Level and Cab)
These switches are used as part of the process to change the truck between manual and autonomous modes. Toggling the switch will not change the trucks mode without the complete mode change process involving Cat MineStar System. For more information refer to Operations and Maintenance Manual, SEBU8751 or the safe work procedure for mode change. The I/O module provides connections at the connector J1.
Autonomous Steering Enable Solenoid #1
The autonomous steering enable solenoid #1 is used to control the autonomous steering enable valve. The solenoid switches the truck steering between manual and autonomous control. To do this function, the truck hydraulics switch from the hydraulic manual unit (HMU) to electro-hydraulic (EH) control. To help ensure better control of switching, two solenoids have been used for redundancy. Solenoid #1 is connected to the I/O module and solenoid #2 is connected to the Chassis ECM. The I/O module output to the autonomous steering enable solenoid #1 is at connector J1, pin 67 with the solenoid return at pin J1, pin 54.
Fire Suppression System Interface
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Before performing any testing or diagnostics of the remote fire suppression activation, disconnect the fire suppression system from the autonomy cabinet. Failure to do so may result in inadvertent activation of the fire suppression system. |
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| Illustration 3 | g03814937 |
If the truck has a third-party fire suppression system installed, the autonomous system provides a means to send and receive signals to the fire suppression system. Refer to Illustration 3. This allows for the autonomous system to monitor the fire suppression system to take appropriate action if the fire suppression system is activated. MineStar provides the ability to remotely activate the fire suppression system via the MineStar Office system.
Note: Refer to the Command for hauling Office Operations and Maintenance Manual for information about how to remotely activate the fire suppression system.
To monitor the fire suppression system, the autonomous system provides two inputs that must be connected to the fire suppression system. Refer to Table 1 for fire suppression monitor input descriptions.
| Fire Suppression Monitoring Input | |||
|---|---|---|---|
| J2-31 | J2-36 | Meaning | Description |
| Open | Ground | Normal | Fire not detected and system not activated |
| Ground | Open | Triggered | Fire detected and system activated |
| Open | Open | Diagnostic | Voltage above normal |
| Ground | Ground | Diagnostic | Voltage below normal |
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| Illustration 4 | g03814935 |
To remotely activate the fire suppression system, the autonomous system provides two connection points that must be connected to the fire suppression system. Refer to Illustration 4 for how the Remote Fire Suppression pins change state when activated.
Note: Due to variations in fire suppression systems, Caterpillar does not provide any harnessing or components to connect the autonomy cabinet to the fire suppression system. Refer to fire suppression provider for information on how to install and service the fire suppression system.
Note: For the autonomy system to acknowledge the information returned from the fire suppression system, the fire suppression system must be set to "INSTALLED" on the MCM. Refer to the Assembly Guide for more information on this setup.
Horns, Headlights, and Turn Signal Control
Sinking drivers in the I/O module operate relays for the operation of the horn and headlights. The left turn and right turn signals are controlled using ON/OFF sourcing drivers. For headlights, no additional provision is made for high or low beam control, only for ON and OFF. The sourcing and sinking driver outputs are found on connector J2. The associated operation relays are mounted on the autonomous cabinet. See the electrical schematic for further information.
Mode indicators indicate the mode in which the autonomous truck is operating. On/off drivers in the I/O module drive the indicators, located to the left and right on the front and centered on the rear. Connections are found on the I/O module at connector J1.
Autonomous Steering Enable Valve Displacement Sensor
The autonomous steering enable valve position sensor is an analog displacement sensor, which detects position of the autonomous steering enable valve. This sensor indicates the mode of the steering hydraulics and is read by an active analog input at the I/O module. The input is at connector J1, pin 36.
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| Illustration 5 | g03458539 |
The autonomous stop switch is used to provide the same functionality as the autonomous stop handheld transmitters. The cab autonomous stop switch connects to the I/O module using switch inputs on the J1 connector.
Pulse Per Second Buffer (PPS Buffer)
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| Illustration 6 | g06412923 |
The autonomous truck system pulse per second (PPS) buffer module is located in the autonomous cabinet. The PPS buffer is used as a converter to change the low-power TTL logic signal from the PCS output to an RS232 signal. After conversion, the module provides multiple RS232 outputs for other modules for timing synchronization.