- Machine Control and Guidance Products
- CMD FOR HAULING (S/N: CM41-UP; CM51-UP; AT61-UP)
- COMMAND CONSOLE (S/N: RCS1-UP)
- COMMAND STATION (S/N: RCC1-UP)
- COMMAND CONSOLE (S/N: RCS1-UP)
- Off-Highway Truck/Tractor
- 789D (S/N: SPD1-UP)
- 793F (S/N: D3T1-UP; RBT1-UP)
- 797F (S/N: LAJ1-UP; LTZ1-UP)
- 793F (S/N: D3T1-UP; RBT1-UP)
Introduction
This Special Instruction provides instructions for how to locate a lost Autonomous Stop (A-Stop) remote. This Special Instruction assumes that the lost A-Stop device is transmitting a STOP command and stopping trucks that are operating in autonomous mode.
The overall process flow is as follows:
- Verify that A-Stop device is lost.
- Use an Operator Control Station (OCS) laptop and drive an AMT around in manual mode to determine general location of lost A-Stop.
Note: Only for Command for Hauling
- Use handheld signal locator to find exact location of lost A-Stop.
- Disable A-Stop.
Important Safety Information
Work safely. Most accidents that involve product operation, maintenance, and repair are caused by failure to observe basic safety rules or precautions. An accident can often be avoided by recognizing potentially hazardous situations before an accident occurs. A person must be alert to potential hazards. This person should also have the necessary training, skills, and tools to perform these functions properly.
Safety precautions and warnings are provided in this instruction and on the product. If these hazard warnings are not heeded, bodily injury or death could occur to you or to other persons. Caterpillar cannot anticipate every possible circumstance that might involve a potential hazard. Therefore, the warnings in this publication and the warnings that are on the product are not all inclusive.
When a tool, procedure, work method, or operating technique that Caterpillar does not recommend is used, ensure that and others are safe during use. Additionally, ensure that the product will not be damaged or made unsafe by the operation, lubrication, maintenance, or repair procedures that are used.
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Do not operate or work on this machine unless you have read and understand the instructions and warnings in the Operation and Maintenance Manuals. Failure to follow the instructions or heed the warnings could result in injury or death. Contact your Cat dealer for replacement manuals. Proper care is your responsibility. |
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While operating in autonomous mode, the machine may move without warning. Serious injury or death may occur. Maintain a safe distance from the machine. Personnel who may need to work in the area of an autonomous machine must understand the external autonomous mode indicator lights and job site procedures. Approach the machine when conditions are safe. |
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Failure to use appropriate caution while operating the machine in autonomous mode can result in a potential crushing hazard. Serious injury or death may occur. Operate in autonomous mode only in authorized access restricted autonomous operations areas. Do not approach machine with a solid blue or flashing blue autonomous mode indicator light. |
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Personal injury or death can result from sudden machine movement. Sudden movement of the machine can cause injury to persons on or near the machine. Prevent possible injury by performing the procedure that follows before working on the machine. Move the machine to a smooth and level location that is away from working machines and personnel. Engage the parking brake. Stop the engine. To avoid accidental engine starting, turn the battery disconnect switch to the OFF position. Remove the key for the battery disconnect switch. Use a secure padlock in order to lock the battery compartment access door. Place a "Do Not Operate" tag at the Start/Stop switch location to inform personnel that the equipment is being worked on. |
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| Illustration 1 | g00037860 |
Use steps and handholds whenever you mount the machine. Use steps and handholds whenever you dismount the machine. Before you mount the machine, clean the step and the handholds. Inspect the step and handholds. Make all necessary repairs.
Face the machine whenever you mount the machine and whenever you dismount the machine. Maintain a three-point contact with the step and with handholds.
Note: Three-point contact can be both feet and one hand or a single foot and two hands.
Do not mount a moving machine. Do not dismount a moving machine. Never jump off the machine. Do not try to mount the machine when you carry tools or supplies. Do not try to dismount the machine when you are carrying tools or supplies. Use a hand line to pull equipment onto the platform. Do not use any controls as handholds when you enter the cab or when you exit the cab.
Required Parts
| Customer/Dealer Supplied Parts Required | ||
| Quantity | Part Number | Description |
| 1 | RF Explorer model WSUB1G. | |
| 1 | 2.1A USB Mains Power Adaptor for Australia. | |
| 1 | N/SMA 12" RG-58 antenna adapter cable. | |
| 1 | 900 MHz 9 dBi SS Yagi Antenna N Female connector. | |
| 1 | Operator Control Station (OCS) laptop. | |
| 1 | Wiring Harness | |
Verify that the A-Stop is Missing
Determine Who the Most Recent Person to Use the A-Stop Is
- Follow site procedures for the first response after an A-Stop is activated.
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Illustration 2 g03856864 The A-Stop checkout GUI - Check the A-Stop checkout GUI or site process for logging to determine if the A-Stop is still checked out to an operator.
- Contact the operator to determine the operator's location and if the operator has the A-Stop.
- If the operator does not have or cannot locate the A-Stop, continue to the next section.
- If the operator cannot be contacted, go to the location of each stopped autonomous machine and verify that the operator is not there before continuing.
Determine Search Area and Stop Work Inside This Area
Notify Operators in Autonomous Operations Area that an A-Stop is Missing
Notify all operators in the Autonomous Operations area that an A-Stop has been misplaced and is affecting autonomous operations. Stop any machines that are working in the area of an affected autonomous machine.
Use OCS Laptop and an AMT Truck to Determine General Location of the Lost A-Stop Device
Note: Only applicable for sites with autonomous trucks.
This process involves using an OCS laptop which is connected to the onboard truck network. The truck must be driven manually to collect data. Two people in the cab during this process is recommended: one to drive the truck and one to operate the OCS laptop.
- Switch the truck to full manual mode.
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Illustration 3 g03856868 Launcher icon - Connect the OCS laptop to the truck onboard network and launch "Production OCS" by clicking the Launcher icon.
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Illustration 4 g03856925 OCS program menu - In the OCS program, click the “Astop Locator” tab, located on the right side.
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Illustration 5 g03856926 Signal strength meter - Begin driving the truck around the area. The truck will begin plotting signal strength of the transmitting A-Stop receiver to determine where the A-Stop is located. The scale shown in Illustration 5 is used to show the distance from the A-Stop.
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Illustration 6 g03856876 OCS signal strength screen - The OCS will plot and display the heat markers to show the signal strength of the A-Stop to narrow down the area in which the A-Stop was lost.
- Once the area is narrowed down, the remainder of the search will need to be completed on foot using the RFExplorer handheld signal locator.
Use Signal Locator to Determine Precise Location
Setup Signal Locator
- Connect the Antenna Adapter Cable to the RFExplorer.
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Illustration 9 g03856882 RFExplorer, antenna adapter cable, and antenna Show/hide table
Illustration 10 g03856883 RFExplorer, antenna adapter cable, and antenna connected - Connect the Directional Antenna to the Antenna Adapter Cable.
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Illustration 11 g03856885 RFExplorer on/off switch - Switch ON the RFExplorer.
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Illustration 12 g03856886 RFExplorer settings screen - Verify the RFExplorer settings are as follows (Refer to the"Appendix A: Using the RF Explorer Handheld Spectrum Analyzer" for instructions on how to change settings).
- Center Freq: 919.000
- Frequency Span: 2.000
- Module: 240-960M
- Calculator: Max
- Top dBm: +000
- Bottom dBm: -120
- Iterations: 010
- Offset dB: +100
- Units: dBm
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| Illustration 7 | g03856878 |
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RFExplorer and antenna adapter cable | |
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| Illustration 8 | g03856880 |
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RFExplorer and antenna adapter cable connected | |
Begin Signal Sweep
- Ensure that all work is stopped in the area. Follow site procedures for ensuring the area is safe to walk around in.
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Illustration 13 g03856908 Areas on platform near the left and the right A-Stop receiver antenna - Stand on the platform of the truck near the left A-Stop receiver antenna or on the rear service platform on the Track Type Tractor.
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Illustration 14 g03856910 RFExplorer and antenna - Hold the antenna so that the antenna is pointed directly in front of the technician and so the antenna elements are pointing either perpendicular or parallel to the ground.
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Illustration 15 g03856907 RFExplorer and antenna being rotated - Begin rotating at a slow rate (1/4 turn every 20 seconds) making note of the strongest signal strength and direction that is observed. It may help to draw a rough sketch of the area including machine positions and any features that may help in determining the A-Stop location.
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Illustration 16 g03869593 RFExplorer screen with a signal strength of 3.5 dBm Show/hide table
Illustration 17 g03869594 RFExplorer screen with a signal strength of 6.0 dBm Show/hide table
Illustration 18 g03869595 RFExplorer screen with a signal strength of 19.5 dBm Show/hide table
Illustration 19 g03869596 RFExplorer screen with a signal strength of 26.0 dBm. Note: Illustrations 16 to 19 are examples of various signal strengths from the RF Explorer (A larger signal strength number indicates closer proximity to the A-Stop). The upper number on the screen is the frequency of the strongest signal. The lower number on the screen is the signal strength.
- After rotating in a complete circle, go to the A-Stop receiver antenna on the right and repeat the sweep, again noting the strongest signal strength and direction that is observed.
- Compare the strongest signal strength reading from the two locations. A stronger signal indicates a more likely direction that the A-Stop is transmitting from.
- Walk to an area about
15 m (49.2 ft) away from the truck and perform another sweep, again noting the strongest signal strength and direction that is observed.Show/hide table
Illustration 20 g03869599 Signal sweep process steps
(1) Position of technician for step 2
(2) Position of technician for step 5
(3) Position of technician for step 7
(4) Position of technician for step 8 - Continue the process of walking toward the strongest signal reading and performing sweeps at incremental distances until the A-stop is found. Keep in mind that the A-stop may be under a machine or buried under material.
Stop A-Stop Transmission and Clear A-Stop
- If possible, press the A-Stop reset button for 2 seconds to stop the A-Stop from transmitting.
- If possible, press the A-Stop clear button for 2 seconds to signal affected autonomous machines in the area that the autonomous machines can resume autonomous operations.
Note: Manually assigning the autonomous machines from the control office may be necessary.
Note: If the A-Stop transmitter is damaged but still transmitting, opening the case and removing the battery may be necessary. If the A-Stop is unable to send the "Clear Signal", each truck stopped by the A-Stop will need to be key cycled.
- Follow site procedures to resume work in the area.
Place an Out-Of-Service Tag on the A-Stop
Place an out-of-service tag on the A-Stop remote until the A-Stop remote has been fully inspected and approved for use. The A-Stop may have been damaged while lost and should not be used until a full inspection is completed.
Appendix A: Using the RF Explorer Handheld Spectrum Analyzer
After turning on the RFExplorer, the model information will display briefly then the device will automatically start pre-calibrating.
The Spectrum Analyzer mode screen displays after pre-calibration, this screen shows the technician Frequency vs. Amplitude and battery level.
Pressing the Menu button on the RFExplorer displays the Operational Mode screen, Frequency Menu, Attenuator Menu, or Config Menu.
On the Operational Mode screen, the technician hasthe option to select:
- Spectrum Analyzer
- RF Generator
- WiFi Analyzer
- RF Connections
- About
Pressing the Return button from any menu brings the technician back to the Spectrum Analyzer mode screen. If inside any menu option pressing Return twice will bring the technician back to the Spectrum Analyzer mode screen.
For charging the RFExplorer, the technician will need to connect the standard mini-USB 2.0 connector cable to the device and the USB end to the PC/ power outlet.