Some machines and work sites also employ a Detect Strategy as a separate feature. For information about using Detect, refer to Operation and Maintenance Manual, M0102733, "Cat Detect".
Ensure that you know which strategy the site uses.
The Avoidance Strategy uses a combination of GNSS technology and configuration files to warn the operator when the machine has entered an area to be avoided.
The Avoidance Strategy utilizes the following components:
- Avoidance zone files (*.cat files) configured in the office
- Machine buffers configured as detection points on the machine
- Warning messages and audible alarms on the machine
Note: An audible device is optional equipment for Terrain. If no audible device is installed, audible alarms will not be present.
The files in the office contain the information related to the areas that the machine should avoid. Detection points around the machine warn the operator that the machine is in one of the areas that is to be avoided.
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| Illustration 1 | g03360593 |
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The display shows a Plan window with three machine buffers around a supervisor truck | |
Plan windows show where, and how large, the avoidance zone or avoidance surface is with respect to the machine. Plan windows also can be set up to show the machine buffers around the machine.
Avoidance zones and avoidance surfaces are used to remind the operator to avoid entering specific areas on the site. For example, an avoidance zone might be used to define an area of unstable ground at the mine site. In the same file, a zone could also be used to define areas that are on either side of a hazard, such as an exposed pipe or buried cables.
Avoidance zones are displayed with a crosshatch pattern on the Plan windows. All avoidance zones set to "Prime" or "Active" are shown in the Plan windows.
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| Illustration 2 | g03360590 |
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Typical Plan window (1) Avoidance zone (2) Avoidance surfaces | |
Illustration 2 shows a Plan window that has a single avoidance zone (1) and two avoidance surfaces (2) configured.
These warnings are displayed when an avoidance buffer that has been configured on a machine intersects an avoidance zone or an avoidance surface. An audible alarm is used with the warnings.
The following attributes change as the machine moves closer to the avoidance zone:
- Background color of the warning message
- Text in the message
- Sequence of the audible alarm, if equipped
When the outermost avoidance buffer on the machine enters an avoidance zone, the following actions occur: An avoidance warning message will appear and an audible warning sequence will be initiated. The avoidance message indicates the name of the avoidance buffer.
The following avoidance message sequence illustrates a machine equipped with an optional audible alarm that has been configured with three avoidance buffers:
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The machine is approaching an area that has been designated as an avoidance area. Moving the machine further towards this area may result in personal injury or death. Proceed cautiously in this area. |
- The outermost avoidance buffer enters the avoidance zone. A yellow warning appears on the screen showing that the machine has entered Outer Buffer 2. The system initiates an audible alarm sequence.
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The machine is approaching an area that has been designated as an avoidance area. Moving the machine further towards this area may result in personal injury or death. Proceed cautiously in this area.
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Illustration 4 g02766577 - The next avoidance buffer enters the avoidance zone. The text on the yellow warning updates indicating that the machine has entered Outer Buffer 1. The audible alarm does not change.
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The machine has entered an area that has been designated as an avoidance area. Further movement into this area may result in personal injury or death. Stop and change direction.
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Illustration 5 g02766578 - The innermost avoidance buffer enters the avoidance zone. The warning message changes from yellow to red. The text updates indicating that the machine is in the Inner Buffer. The alarm changes to alert the operator to the severity of the situation.
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| Illustration 3 | g02766576 |
Note: If only one machine zone is configured, this machine zone behaves like the innermost machine zone and has a red background.
Note: When more than one avoidance surface or avoidance zone is involved, the avoidance message and alarm indicate the most serious warning state.
Note: When the machine exits an avoidance zone, the error messages appear in the reverse order that the messages appeared as the machine entered the zone.
The operator is alerted if any portion of the avoidance buffer is above or below an avoidance surface when the machine is traversing the terrain.
The following avoidance message sequences illustrate a machine equipped with an optional audible alarm that has been configured with two avoidance surfaces:
- The outermost avoidance buffer enters the avoidance surface. A yellow warning appears on the screen showing that the machine has entered Outer Buffer 1. The system initiates an audible alarm sequence.
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The machine is about to enter an area that has been designated for the machine to stay above or below the surface. Moving the machine further into this area may result in personal injury or death. Proceed cautiously in this area.
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Illustration 7 g02766580 - The innermost avoidance buffer enters the avoidance zone. The warning message changes from yellow to red. The text updates indicating that the machine is in the Inner Buffer. The system changes the sequence of the alarm to alert the operator to the severity of the situation.
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The machine is about to enter an area that has been designated for the machine to stay above or below the surface. Moving the machine further into this area may result in personal injury or death. Proceed cautiously in this area. |
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| Illustration 6 | g02766579 |
- The outermost avoidance buffer enters the avoidance surface. A yellow warning appears on the screen showing that the machine has entered Outer Buffer 1. The system initiates an audible alarm sequence.
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The machine is about to enter an area that has been designated for the machine to stay above or below the surface. Moving the machine further into this area may result in personal injury or death. Proceed cautiously in this area.
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Illustration 9 g02766582 - The innermost avoidance buffer enters the avoidance zone. The warning message changes from yellow to red. The text updates indicating that the machine is in the Inner Buffer. The system changes the sequence of the alarm to alert the operator to the severity of the situation.
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The machine is about to enter an area that has been designated for the machine to stay above or below the surface. Moving the machine further into this area may result in personal injury or death. Proceed cautiously in this area. |
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| Illustration 8 | g02766581 |
Note: An audible device is optional equipment for Terrain. If no audible device is installed, alarms will not be present.
This message informs the operator that the audible alarm has been silenced. The operator selects the "Silence Alarm" button to activate this feature. Once selected, there will be no audible alarm even when the machine has entered an avoidance zone or avoidance surface.
This message is displayed when the following conditions are true:
- "Silence Alarm" button has been enabled
- Operator has selected the "Silence Alarm" button to turn off audible alarm
- Machine is not currently in an avoidance zone or avoidance surface
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The machine is about to enter an area that has been designated for the machine to stay above or below the surface. Moving the machine further into this area may result in personal injury or death. Proceed cautiously in this area. |
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| Illustration 10 | g02766584 |
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"Silence Alarm" button has not been selected | |
In Illustration 10, the machine is above an avoidance surface. The "Silence Alarm" button has not been selected. The operator can still hear the audible warning. The warning stays red until the machine moves out of the avoidance zone.
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| Illustration 11 | g01201838 |
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"Alarm Silenced" message | |
In Illustration 11, the audible alarm has been silenced and the machine is no longer in an avoidance zone or avoidance surface.
Note: When "Silence Alarm" is deselected, then the "Alarm Silenced" message will disappear and audible warnings can be heard.
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The on-board software is expecting avoidance zone files to be applied, but no prime avoidance zone file has been set. Therefore, there is no active avoidance feature. Moving the machine may result in personal injury or death. Set an avoidance zone to "Prime" in the "Select Data Files" dialog. |
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| Illustration 12 | g06088070 |
This message indicates that the onboard software is expecting avoidance zone files to be applied but no prime avoidance zone file has been set.
To remove this message, set an avoidance zone to "Prime" in the "Select Data Files" dialog.
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| Illustration 13 | g06088075 |
Contact the office for assistance if the "Avoidance Zones" Warning message appears during operation of the machine.
This message can occur under the following conditions.
- An avoidance zone has been set to "Prime" but avoidance zones have not been enabled.
- The machine is incorrectly configured for the avoidance zone. The avoidance zone is not enabled when this message is displayed.
- The machine is incorrectly configured for the avoidance surface. The avoidance surface is not enabled when this message is displayed.
Avoidance surfaces are surfaces that the operator must avoid by ensuring that the machine stays either above the surface or else below the surface. All avoidance surfaces that are set to "Prime" or "Active" are displayed with a parallel infill on the Plan window. Multiple avoidance surface files can be set simultaneously.
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| Illustration 14 | g03385855 |
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(3) Avoidance surface on Plan view
(4) Machine is above the avoidance surface (5) Profile view of Current Elevation | |
A distance above and below the machine is used to determine whether the machine is in an avoidance surface.
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| Illustration 15 | g03324593 |
Illustration 15 pictures an avoidance surface that has been set up as a cone (6) that is formed by material that falls into a hopper (8). A machine (9) feeds the material into the hopper. The space that is inside the cone is specified as the space for the operator to avoid.
When a machine buffer or machine region crosses into an Avoidance zone, Status bar icons and audible alarms (if equipped with an optional annunciator) alert the operator. The transgression is logged.
Note: The system also presents a message to the operator warning when the system cannot provide avoidance warnings.
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| Illustration 16 | g03360593 |
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Three machine buffers around a supervisor truck | |
In Illustration 16, three machine buffers (3) appear around the supervisor truck.
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Menu - Opens the main menu |
To enable or stop the machine buffers from appearing on the Plan window, complete these steps:
- In the main menu, open "Plan" > "Display".
- Select or deselect "Machine Buffers" as required to display or to remove machine buffer linework.
Selected - Line work appears
Deselected - Line work is removed
A rectangular box appears around the machine in the Plan view. The box represents the position of the detection points. This area is called a machine buffer. A warning message is displayed when any part of the machine buffer enters an avoidance zone.
When a machine buffer crosses an avoidance zone, Status bar icons appear that change as the machine moves further into the zone. These icons, which are accompanied by an audible alarm (if available), notify the operator that the machine has entered an avoidance zone or avoidance surface. The system also presents a message to the operator warning when the system cannot provide avoidance warnings.
The number of machine buffers depends on the following:
v3.2 and earlier - Creates a single machine buffer around the machine.
v3.2.4 and later - Creates five possible machine buffers around the machine
The Status bar icons can incorrectly indicate that the machine is no longer transgressing the Avoidance zone under the following conditions:
- The avoidance zone is very narrow.
- The machine has crossed the corners of an avoidance zone.
These indications occur even though the machine is still transgressing. Use the plan view as a visual backup in these uncommon situations.
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File Select - Opens the "Select Data Files" dialog |
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Menu - Opens the main menu |
To select or change the status of a *.cat file, complete these steps.
- Access the "Select Data Files" dialog using one of the following methods:
File Select - Touch the button.
Menu - Open the main menu and select "Files" > "Select".
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Illustration 17 g03361621 "Select Data Files" dialog - To set the required status, select the required *.cat file.
- Select "Change Status".
Only a single *. cat file of each type can be set as "Prime".
Note: Only a single avoidance zone file and avoidance surface file can be set as "Prime". However, multiple avoidance zone and avoidance surface files can be set as "Active". All avoidance zones and all avoidance surfaces that are set to either "Prime" or to "Active" apply.
The Status bar contains icons that provide information to the operator and buttons that perform specific functions.
Note: There is no visual indication that distinguishes a button from an icon.
Reference: Refer to Operation and Maintenance Manual, M0102733, "System Startup and Shutdown" for detailed information regarding the buttons and icons on the Status bar.
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| Illustration 18 | g03385249 |
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Position and network status buttons / icon on right-hand side of lower Status bar (1) "No GPS" Position Status button (2) "Low" Position Status button (3) MineStar Network button: No communication with MineStar office | |
| Position and Network Status Buttons / Icons(1) | ||
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| # | Button / Icon | Notes |
| (1) | "No GPS" position Status | The onboard software and the satellite receiver cannot communicate. No positioning is available. Select to open the "GPS Diagnostic" window.
Act to return the position status to "DGPS", "Fixed", or "Float". |
| (2) | "Low" Position Status | Position status is "Fixed", "Float", or "DGPS" and the accuracy of the position accuracy (as set in GPS Limits) is "Low" or "Medium"
The position status is "Autonomous" with any position accuracy. Act to return position status to "DGPS", "Fixed", or "Float" with "High" Position Error. |
| (3) | MineStar Network | MineStar Network button. Only appears in sites using AMP and PR2 messages, that is, those messages configured to use position awareness.
Communication with one or all the following is missing. - Onboard radio - Office Radio - Fleet Office comms server - Fleet Office server |
| (1) | Refer to Illustration 18. |
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| Illustration 19 | g03385247 |
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Alarm buttons / icons on right-hand side of lower Status bar (5) Mute Alarms button (6) Unmute Alarms button (7) Acknowledge Alarm button (8) Caution Alarm: Avoidance (9) Stop Alarm (appears with Acknowledge Alarm button): Avoidance (10) Caution Proximity Alarm icon (11) Critical Proximity Alarm icon (12) Stop Proximity Alarm icon (appears with Acknowledge Alarm button) | |
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| Illustration 20 | g03379163 |
The message in Illustration 20 indicates that the onboard software is expecting avoidance zone files to be applied, but no avoidance zone file has been set to "Prime" or "Active".
To remove this message, set an avoidance zone to "Prime" or "Active" in the "Select Data Files" dialog as discussed earlier in "Selecting Files".
Contact the office for assistance if any message in this section appears during operation of the machine.
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| Illustration 21 | g03379164 |
The message in Illustration 21 is displayed when an avoidance zone has been set to "Prime" but avoidance zones have not been enabled.
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| Illustration 22 | g03379160 |
The message in Illustration 22 is displayed when machine buffers are incorrectly configured. Do not use avoidance zones when this message is displayed.
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| Illustration 23 | g03379162 |
The message in Illustration 23 is displayed when the remote controlled machine and console cannot communicate because the security activation key does not support remote control.