Cat® Terrain v7 for Grading and Loading Caterpillar

Terrain is a capability set of Cat MineStar System. When used with Command for hauling, Terrain is used on grading and loading equipment to interact with the Command Center and individual autonomous mining trucks (AMTs) using a touchscreen display.

Terrain is used within the Command environment for the following mining tasks:

• Calling and sending AMTs

• Setting spot locations

• Surveying and reporting position to the Command Center

Safety

The information that is contained in this manual is in addition to the owners documentation and the Operation and Maintenance Manual that is provided with the machine. The information that is contained in this manual should not be used as a replacement for any of the original owner documentation.

Prior to operation of the machine read the Operation and Maintenance Manual.

Caterpillar recommends that each customer performs the following tasks:

• Conduct a risk assessment for autonomous operation

• Establish layers of protection in and around the area of the autonomous machines

• Establish safe job site procedures.

Examples may include personnel training, warning signs, and barricades.

Reference: Refer to Operation and Maintenance Manual, M0102733, "Safety" for more safety warnings related specifically to autonomous operation.

Perception System

The perception system on the AMT is separate to Terrain software on the loader. Read this safety information about the perception system on the AMT. The information that is contained in this manual should not be used as a replacement for any of the AMT documentation.

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An autonomous mining truck may not be able to detect the following types of objects: objects that are obscured by dust. objects that are gentle sloping. objects that are dark-colored or non-reflective. objects that are obscured by environmental factors including but not limited to steam, heavy rain, and fog. objects that are submerged in water. objects that are suspended above the lane. objects that are shorter than 1 m tall. Failure of the autonomous mining truck to detect these types of objects could result in a collision with these types of objects and may create a risk of injury or death. Ensure that the travel path of the autonomous mining truck remains clear of these types of objects.

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NOTICE
The perception system is incapable of seeing overhead obstacles that are potentially in the travel path of the autonomous mining truck (AMT). Contact with these obstacles may damage the equipment or mine site. Ensure that the haul roads are always clear of low hanging obstacles.

Illustration 1	g03319686
Do not enter lanes where an autonomous truck is traveling

Illustration 1 shows AMT "A" traveling forward in a lane for which the truck has permissions. Light vehicle (LV) "B" is shown traveling perpendicular to AMT "A". Although LV "B" is within the perception systems field of view, illustrated by the dashed line, the LV will not trigger the AMT to stop until the LV enters the lane.

Illustration 2	g03320186
(A) Obstacle detected (B) Obstacle cleared within allowed time

In Illustration 2, the AMT has detected the LV but the LV clears within the allotted time so the LV does not trigger the AMT to stop.

Illustration 3	g03320189
(C) Obstacle detected (D) Stopped truck no longer sees the obstacle

In Illustration 3, the AMT has detected an obstacle (1) that is shorter than 1 m and stops, but after stopping the perception system no longer sees the obstacle.

Starting the Machine

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When operating a machine utilizing Terrain for grading and loading or using Detect, allow for proper start-up time. Before moving the machine within the area of autonomous operation, review the status bar and ensure that the on-board radio module and the satellite receiver are functioning and reliable. Moving the machine before the machine has established good radio communications, established an accurate position, and updated the mine model can cause the machine to not be seen by the autonomous mining truck and other equipment operating in the autonomous area which may result in serious injury or death.

When first starting up a machine utilizing Terrain for grading and loading or using Detect, allow for proper startup time. Review the Status bar to ensure that the onboard radio module and the satellite receiver are functioning and reliable before moving the machine within the area of autonomous operation.

Reference: Refer to Operation and Maintenance Manual, M0102733, "System Startup and Shutdown" for detailed information regarding the buttons and icons on the Status bar.

Awareness Zones

Illustration 4	g03350148
Machine approaching a restricted (no entry) zone

The office creates awareness zones with set boundaries and creates alarms associated with these boundaries that are triggered when preset conditions are met.

Preset conditions may include the following:

• Entering a zone

• Locking a zone

• Other machines entering a locked zone

Illustration 5	g03373676
Vehicle entering awareness zone of other machine

If a Terrain equipped machine is working in an awareness zone, and any other vehicle enters that awareness zone, the onboard software gives the operator an audible warning that another vehicle is entering the zone. If a Terrain equipped machine enters an awareness zone where another vehicle is already working, the onboard software gives all Terrain equipped machines that are in the zone an audible warning that the machine has entered the zone.

Lanes

Lanes are displayed on the Plan window. The two types of lanes are dynamic and static. The lanes appear the same on the display module, but are color-coded to help distinguish the lane type.

Illustration 6	g03742498
Machine traveling in blue permitted lane alongside peach static lanes

Table 1 provides descriptions and priorities for the default lane colors.

Table 1

Default Lane Color	Priority	Description
Blue(1)	Highest Always visible	Permission lanes
Yellow	Mid-level	Assigned lanes
Peach(1)	Lowest Least visible lanes	Lane edges Updated lanes Newly added lanes
Gray	NA	Out of date

(1)	The site can change the blue or peach color to another color. Ask your site supervisor for the colors that are used on your site.

When the onboard system is functioning, the machine receives regular updates of any lane changes that are made in the office. This process is known as updating the mine model.

Mine Model Out of Date - Indicates that mine model updates are out of date

When the onboard system stops receiving updates, the Mine Model Out Of Date icon appears on the lower Status bar. Talk to your site supervisor if the icon persists for an extended period.

Display Lanes - Opens the "Lane Display Options" dialog

Illustration 7	g03896115

Note: The site can limit the type of lanes that appear on the display. Your supervisor can provide information about the types of lanes that are used on your site.

Changing Appearance of Lanes

The operator is able to override the onboard software settings that are used to show or hide lanes.

Display Lanes - Opens the "Lane Display Options" dialog

Menu - Opens the main menu

To change the appearance of lanes, complete these steps:

1. Open the onboard software.
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   Illustration 8	g03896115

2. Access the "Lane Display Options" dialog using one of the following methods:

   Display Lanes - Touch the button.

   Menu - Open the main menu and select "Command" > "Display Lanes".

3. Select from the following options:

   All Lanes - Static, dynamic, assigned, and permitted. Sites often use this option when loading.

   Used Lanes (default) - Static, assigned, and permitted. Sites often use this option when working in areas where material is dumped.

4. Select "OK".

Requesting a Stop Truck

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The intended use of the Stop Truck button is for non-urgent situations to stop all autonomous mining trucks within the office configured area stop radius of the machine. The Stop Truck signal is processed through Cat® MineStar System office software and is subject to delays. A delayed stop in an urgent situation could lead to a hazardous event which may result in serious injury or death. For urgent stop requests, always use an A-Stop transmitter.

While operating, there may be a non-urgent need for Terrain equipped machines to stop nearby AMTs. The Stop Truck button is used for this purpose.

Stop Truck - Stops all AMTs within the area stop radius

Menu - Opens the main menu

The Stop Truck function broadcasts the request one time to AMTs that are within the configured area stop radius of the machine. The default radius is 200 m (656 ft). The Stop Truck does not affect machines that are moving towards the loader but are outside the 200m (configurable by site) range.

Note: The Stop Truck function only keeps out AMT machines. Extra zone locks may be required for machines other than AMTs.

To utilize the Stop Truck function, complete these steps:

1. Access the "Stop Truck/ Stop Clear" dialog using one of the following methods:

   Stop Truck - Touch the button.

   Menu - Open the main menu and select "Command" > "Stop Truck".

2. Move the pop-up dialog to verify that the trucks are stopped.

3. If the machines are in view, verify that the machines have physically stopped.

4. Communicate to the Command Center controller and manned equipment that the stop request was activated and the purpose for the request.

5. Confirm that the stop request is granted and that the machines have stopped.

6. Verify that there is enough time to perform the action which required the stop request before on-coming traffic is scheduled to arrive.

7. Complete the task which prompted the stop request.

Resuming Operations after a Stop Truck

1. When ready to resume normal operations, communicate with the Command Center controller.

2. Move back to a normal operation location, known safe environment, or to a location prompted by the controller.

3. Inform the controller that the task which prompted the stop truck request is complete and that the machine is ready to resume operation.

4. Confirm approval to resume operation.
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   Illustration 9	g06145415
   "Stop Truck/Stop Clear" pop-up dialog

5. Wait until the controller and all other affected employees are ready, then touch the "Stop Clear" button in the "Stop Truck/Stop Clear" pop-up dialog.

   Selecting the button prompts the stopped trucks in the area to resume operation.

Configuring the Reference Point of the Machine for Load and Dump Operations

To fix and track spotting operations correctly for loading and dumping, Terrain assumes a reference point on the machine. The reference point is the location at which the load or dump operation is to be performed. The dipper tooth or blade tip is the default reference point. To change the default reference point, configure an offset using the following MCU path:

• Ore Control Configuration > Spot Offset > <machine type> Set Spot Offset

Note: The offset is always along the machine axis (Y axis) and relative to the reference point. The X and Z axes have no offset component. All spot point Z values are projected to ground.

Reference: For detailed information, refer to MCU Help, "Set Spot Offset".

Dump Spotting

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NOTICE
The operator must use critical judgment when setting the spot location for an autonomous mining truck (AMT). When setting a spot location for loading, an AMT will attempt to achieve the position set by the operator. Do not set a spot location that causes an AMT to move to a hazardous location. Do not set a spot location so that an AMT will contact any part of the loader. Do not set a spot location over a hole or lowered area of any kind. The AMT perception system cannot identify a hole as an obstacle. Ensure that when excavating inside the load area boundary the dynamic truck lanes are not routed through the excavated areas. An AMT attempting to move to a hazardous location, or falling into a hole because the operator did not use critical judgment when setting the spot location, may result in damage to the machine or nearby equipment.

Dump Spotting is a feature that is available to machines on sites with a GIS database. The feature is available on all machines that have an active Command for hauling security key. As of Terrain v6.2, Dump Spots can be set by dozer operators only. Dump Spot requests made by any other machine types are ignored by the office.

The Dump Spotting feature is intended for use by dozer operators working in an area where AMTs dump overburden. The dozer operator can also specify the overburden material to dump on a spot.

Configure Dump Spotting button - Opens the Custom Dump dialog

Set Dump Spot button - Sets the configured spot for dumping

Menu - Opens the main menu

Setting a Dump Spot

To set a Dump Spot, complete these steps:

1. Position and orient the dozer blade on the ground precisely where the AMT needs to dump its load. When created, the Dump Spot will be positioned at the center of the blade on the ground.

2. Open the "Custom Dump" dialog using one of the following methods:

   Set Dump Spot button - Select the button.

   Main menu - Open the main menu and select "Command" > "Dump Spotting" > Set Dump Spot

   Note: If pressing the "Set Dump Spot" button the first time since login, the "Custom Dump" menu will open. Refer to "Configuring a Dump Spot".

3. An image of a truck with an orange arrow appears on the operator display, showing the dump spot location. The orange arrow indicates the intended direction of the truck. The orientation of the truck image matches the Dump Spot configuration.

   • Only one Dump Spot can be set at a time. If a new spot is placed while a previous spot is pending, then the pending spot will be dropped.

   • The orange spot arrow automatically disappears after 5 minutes so the plan view is not obstructed. The Dump Spot is still present and the lanes will be displayed.
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   Illustration 10	g06296772
   Sample "Warning" dialog

4. The set spot request is sent to the office. Up to 1 minute may pass before the office sends an approval or rejection.

Fails or is rejected - A Warning dialog displays and the orange Dump Spot icon is removed from the display

Approved by the system - The Dump Spot turns green.

Note: Dump Spot configuration is retained until the operator selects "Configure Dump Spotting" to readjust the settings. Dump Spot configuration is only retained while the operator is logged in. When the operator logs out, all Dump Spot configurations are eliminated.

Note: When the autonomy system path planner completes a path to the Dump Spot location, the Dump Spot will reappear on the display of the dozer. The operator needs to be aware of the defined lanes and areas of travel.

Note: There is no Call Truck option associated with a Dump Spot. Trucks queueing to dump in that area will automatically be assigned to the spot in the order of arrival.

Configuring a Dump Spot

To configure an existing Dump Spot, complete the following:

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Illustration 11	g06340227
"Custom Dump" dialog

1. Open the "Custom Dump" dialog.

   Configure Dump Spotting button - Select the button.

   Set Dump Spot button - Press the button the first time since logging in.

   Menu - Open the main menu and select "Command" > "Dump Spotting" > "Configure Dump Spot".

2. Configure the "Custom Dump" menu.

   Dump Order - Select an option to determine the priority for when the AMT will dump at the spot.

   "Rotate Spot Heading" - Click the arrow to rotate the heading of the Dump Spot. The heading indicates the direction the truck will move away from the Dump Spot.

   "Cusp Preferences" - Select an option to determine how the AMT will turn prior to approaching the Dump Spot. For more information on Cusp Preferences refer to "Setting the Cusp Preferences".

   "More options" - Select the button to configure more options.

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   Illustration 12	g06296883
   Spot references

   1. Configure the following:

      "Spot Reference" - Defines which point of the AMT must reach the Dump Spot before the AMT raises its bed

      "Truck Travel Direction" - Determines the direction the AMT approaches/leaves the Dump Spot.

   2. Select "OK" to return to the "Custom Dump" dialog.

3. Select "Enable" to send the Dump Spot request to the office.

Troubleshooting Dump Spots

Illustration 13	g06296784
"Warning" message dialog example

If the spot point is rejected, one of the following "Warning" message dialogs will be displayed:

• "The office rejected the request to set a spot location. The office cannot find a path to this spot. Contact your supervisor."

• "The office rejected the request to set a spot location. Location is not within a valid plan"

• "The office rejected the request to set a spot location. Cannot determine unique plan for this location"

• "The office rejected the request to set a spot location. No Operator logged in"

• "The request to set a dump spot location failed to reach office. Resend the request, and then contact the office if this request times out."

• "A spot location cannot be set. Only set a spot when position status is High of Medium accuracy"

1. For all listed error messages, select "OK".

2. If possible, fix an error (such as login), and then touch "Set Dump Spot" again to resend the request.

Note: The office also rejects dump spot requests if a spot location is unclear, such as an obstacle. Trucks will not be assigned to an unclear dump spot.

Removing a Spot

Contact the office to remove a spot.

Locking a Spoil Pile

Once a truck is sent to a dump and finishes dumping, a spoil pile will be created and the zone will have to be locked/unlocked for spoil pile cleanup.

Locking/Unlocking a Zone for Spoil Pile Cleanup

This information explains locking and unlocking a zone for spoil pile cleanup operations after an autonomous truck dumps a load and leaves the dump site. Machines equipped with Terrain for grading and loading are able to clean up around loaders, roads, and dump areas.

Lock Zone for Cleaning - Selects the nearest cleanup zone

Menu - Opens the main menu

To lock or unlock a zone for spoil pile cleanup, complete these steps:

1. Access the "Lock Zone for Cleaning" dialog using one of the following methods:

   Lock Zone for Cleaning - Select the button.

   Menu - Open the main menu and select "Command" > "Lock a Zone for Clean Up".

2. Communicate with the Command Center controller why the zone is being locked.

   The controller acts to maintain productivity while the zone is locked.

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   Illustration 14	g06296769
   "Error" message if no cleanup zone is close

3. Position the machine close to the zone to be locked.

   Note: To clean up a road, use the Collect Terrain Data feature to establish a spoil pile cleanup zone over the road. Refer to "Collecting and Sending Survey Data" .If the machine is not close enough to a cleanup zone an error message appears. Touch "OK", move closer to the desired cleanup zone and touch the "Lock Zone" button again.

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   Illustration 15	g03373678
   "Clean Up Zone" dialog

4. Touch the "Lock Zone for Cleaning" button.

   A "Clean Up Zone" dialog appears.

5. Touch the “Choose Zone” button

6. Touch the desired spoil pile.

   Note: The automatically selected zone may not be a spoil pile. Search the list of zones for the correct spoil pile. Spoil piles are automatically created after a truck dumps a load and leaves the dump site.

7. Touch the "OK" button.

   The selected spoil pile cleanup location changes color.

   An orange cross-hatched zone was created by the operator who is logged into the machine. A zone with black and yellow diagonal stripes was created by a different operator than the one logged on to the machine.

   Note: AMTs will be allowed to leave a locked cleanup zone but will not be allowed to enter a locked zone.

8. Enter the locked zone and spread and compact the spoil pile to complete the spoil pile cleanup.
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   Illustration 16	g06145538
   "Message" dialog for deleting a cleanup zone

9. Touch the "Done" button on the "Clean Up Zone" dialog when spoil pile cleanup is complete.

   The Message dialog for deleting a cleanup zone appears.

10. Select one of the following buttons:

    Note: Ensure that the zone is a spoil pile and is not an exclusion zone. At this stage, an important exclusion zone can be inadvertently removed.

    Yes - Delete the zone from the display and from the office system.

    No - Unlock the zone, but keep the zone on the display and in the office system.

11. Communicate to the controller and manned vehicles that the zone is open.

12. Leave the cleanup area.

Entering a Dynamic Area

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When entering a dynamic lane in the autonomous zone, ensure that the Mine Model Out of Date icon is not present in the status bar. If this icon is present, the machine does not have the most recent Lanes files. Entering the autonomous zone when this icon is present may result in serious injury or death. Contact the office or the Command Center controller and request that the most recent Lanes files be sent to the machine.

Dynamic areas, such as load and dumps areas, are areas in the autonomous zone that are expected to be constantly changing. These dynamic areas require extra caution when the machine enters. The office continuously sends the onboard system mine model updates to inform the operator which lanes the AMT has permission to use.

Mine Model Out of Date - Indicates that mine model updates are out of date

Illustration 17	g03429416
Grayed out lanes and Mine Model out of Date icon

If the onboard system stops receiving the updates, the Mine Model out of Date icon appears on the lower Status bar and the lanes become grayed out. If this situation occurs, take steps to ensure that the machine receives the most recent Lanes files before proceeding into the autonomous zone.

Illustration 18	g03370716
Machine next to a dynamic area

When entering a dynamic area, complete these steps:

1. Verify the status of the machine on the display module.

   1. Ensure that there are no poor position or communication icons on the lower Status bar.

   2. Check that the Mine Model Out of Date icon is not present on the lower Status bar.

2. Before entering dynamic areas, contact the Command Center controller.

   1. Advise of your intention to enter the area.

   2. Describe who you are, where you are, and your intended activities.

   3. Verify that you are visible on the office software.

3. If you perform work in the dynamic area, use the cleanup zone lockout feature to lock out the area for the intended work.

   Reference: Refer to "Locking/Unlocking a Zone for Spoil Pile Cleanup" for information on the use of the cleanup zone lock feature.

4. If you perform work in a loading area, contact the loader operator on the radio and coordinate the activities.

5. Advise the controller when the work inside the area is complete and the machine is out of the area.

6. Be sure to unlock any zones that you locked when entering the area.

Autonomous Area System Check

Auto Area System Check button - Use to request permission to enter an area where autonomous trucks are working.

Use the following procedure to enter an autonomous area:

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Illustration 19	g06261566
"Autonomous Area System Status Check" dialog

1. Send a request to enter the autonomous area using one of the following methods to open the "Autonomous Area System Status Check" dialog box.

   Auto Area System Check button - Touch the button.

   Menu - Open the main menu and select "Command" > "Auto Area System Check".

   Note: The Auto Area System Check button and the Auto Area System Check menu item are both disabled during the system check. The dialog box stops all other operations until the onboard software receives a response from the office or the operation is canceled.

2. After the dialog box opens, perform one of the following actions.

   • Cancel the request.

   • Wait to receive an approval from the office.

   • Wait for the request to fail.

   • Wait for the request to time out.

   1. To cancel the request, select the "Cancel" button on the dialog. The dialog closes and the Auto Area System Check button and the Auto Area System Check menu item are both enabled.

      Note: An unlimited number of entry requests can be sent.

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      Illustration 20	g06261568
      Approval dialog

   2. If the request is not canceled, wait for an approval by the office, then select "OK".
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      Illustration 21	g06261591
      "Entry Failed" dialog showing reason as "Not Stopped"

   3. If the request is not canceled or approved, and the "Entry Failed" dialog appears, select "OK" to close the dialog, then perform the appropriate action based on the reason for the failure.

      An entry request can fail or be rejected for any of the following reasons:

      • Not Stopped (can be accompanied with Non Zero Velocity, Unstable Position, or many other similar conditions)

      • Start-up in Progress

      • Operator not Logged in

      • Contact Office for Assistance

      • Not in the Autonomous Area
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      Illustration 22	g06261601
      "System Entry Check - Respone Timeout" dialog

   4. If the request is not canceled, is not approved, or does not fail, wait for the "Response Timeout" dialog to appear, then select "Close" .

      One of the following timeout messages appears:

      "Timeout waiting Office to Acknowledge Check" - The request has been sent, but the office has not acknowledged the request.

      "Timeout waiting Office reply" - The office has acknowledged the request, but has not replied within the allotted time (20 seconds by default).

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   Illustration 23	g06265706
   Timeout messages

3. If approved by the office, then enter the area, or if a timeout message is received, select "OK" to close the dialog, and perform one of the following:

   • Send another entry request.

   • Move out of the way of a waiting machine and send another entry request.

   Note: Operators are trained by the site on procedures when a "Response Timeout" message is received. The operator can send an unlimited number of entry requests.

Locking / Unlocking a Zone for Clean Up

This information explains locking and unlocking a zone to enable clean up operations. Machines equipped with Terrain for grading and loading are able to clean up around loaders, roads, and dump areas.

Lock Zone for Cleaning - Selects the nearest cleanup zone

Menu - Opens the main menu

To lock or unlock a zone for cleaning, complete these steps:

1. Access the "Lock Zone for Cleaning" dialog using one of the following methods:

   Lock Zone for Cleaning - Touch the button.

   Menu - Open the main menu and select "Command" > "Lock a Zone for Clean Up".

2. Communicate with the Command Center controller the purpose for locking the zone.

   The controller acts to maintain productivity while the zone is locked.

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   Illustration 24	g06296769
   Error message if no cleanup zone is close

3. Position the machine close to the zone to be locked.

   Note: To clean up a road, use the Collect Terrain Data feature to establish a cleanup zone over the road. Refer to "Collecting and Sending Survey Data" .

   If the machine is not close enough to a cleanup zone an error message appears. Touch "OK", move closer to the desired cleanup zone and touch the "Lock Zone" button again.

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   Illustration 25	g03373678
   "Clean Up Zone" dialog

4. Touch the "Lock Zone for Cleaning" button.

   A "Clean Up Zone" dialog appears and the closest cleanup location soon changes color.

   An orange cross-hatched zone was created by the operator who is logged on to the machine. A zone with black and yellow diagonal stripes was created by a different operator than the one logged on to the machine.

   Note: AMTs will be allowed to leave a locked cleanup zone but will not be allowed to enter a locked zone.

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   Illustration 26	g06145516
   "Error" dialog

5. If the office does not confirm the lock within a set time, the following Error dialog appears:

   Select one of the following buttons:

   "Retry" - Request that the office lock the zone.

   "Cancel" - Terminate the request.

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   Illustration 27	g03373679

6. If the zone is incorrect, check the following:

   1. If the desired zone is not highlighted, press the "Choose Zone" button in the "Clean Up Zone" dialog to select a different zone for cleanup.

   2. To cancel the cleanup operation, select "Done" in the "Clean Up Zone" dialog. Refer to Illustration 15.

7. Once the selected area has been locked, enter the area and begin the cleaning process.

8. While maintaining radio contact with the loader operator, complete the cleaning process.

9. Communicate with the controller that the cleaning process is complete.

10. Within the "Clean Up Zone" dialog, press the "Done" button and proceed to the next task.

    • For some zones, pressing "Done" removes the lock and leaves the zone drawn on the display.

    • For other zones, pressing "Done" removes the zone from the display. The software asks the operator to confirm the removal of the zone.

    If the next task is outside of the dynamic area, radio that the operator and equipment are clear of the dynamic area.

    Note: If the operator believes that the crest or tip head has moved significantly, perform the collect and send survey data operation before removing the zone lock on the cleanup area. Refer to "Collecting and Sending Survey Data"

    Reference: Refer to

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    Illustration 28	g06145538
    "Message" dialog for deleting a cleanup zone

11. Some sites may also allow the operator to delete zones at this stage.

    If the zone has a flag allowing the operator to delete the zone, selecting "Done" opens a "Message" dialog asking the operator to confirm the removal of the zone.

    Note: Ensure that the zone is a spoil pile and is not an exclusion zone. At this stage, an important exclusion zone can be inadvertently removed.

    Select one of the following buttons:

    Yes - Delete the zone from the display and from the office system.

    No - Unlock the zone, but keep the zone on the display and in the office system.

12. Communicate to the controller and manned vehicles that the zone is open.

13. Leave the cleanup area.

Collecting and Sending Survey Data

Reference: For instruction for collecting and sending survey data from Terrain equipped machines, refer to Operation and Maintenance Manual, M0102733, General Information (Operator Utilities)Collecting and Sending Survey Data.

Setting the Location of Infrastructure

Report Infrastructure Location - Sets new locations for infrastructure

To set new locations for infrastructure from Terrain equipped machines, complete these steps:

1. Communicate with the Command Center controller that a new location for infrastructure is necessary.

   Confirm that AMTs have been stopped or rerouted to avoid the area.

2. If required, secure the area.

   Refer to "Locking/Unlocking a Zone for Spoil Pile Cleanup" and "Entering a Dynamic Area" for more information.

3. Position the machine and ensure that the machine is in a straight position.

   The centerline of the machine is used for positioning reference. The center of the ground engaging tool is used for the new position location.

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   Illustration 29	g03430064
   "Select Infrastructure" pop-up dialog

4. Touch the Report Infrastructure Location button.

   If the machine is able to set an infrastructure location, a pop-up dialog appears. If the machine is not able to set an infrastructure location, a dialog appears informing that there is no list of infrastructure items.

5. Choose the type of infrastructure and touch the "OK" button.

6. Communicate to the controller that the new position for infrastructure has been sent.

   The controller confirms that the data is received, the mine model is updated, and the new zone files are sent.

7. Check the location to ensure that the map represents the infrastructure.

8. If the zone was locked, press the "Done" button to release the secured area.

9. Resume normal operations.

Setting up Loading Operations

In setting up loading operations, first select a method of loading and then set up spot locations for loading.

Selecting a Loading Method

The following are the four primary methods that are used for loading:

• Back-in Loading (one spot)

• Drive-by Loading (one spot)

• Loading at Face (one or two spots)

• Custom Loading (one or two spots)

Configure Spot and Call Truck - Displays the "Spot and Loading Options" dialog

Illustration 30	g03099978
Loading at face

Illustration 31	g03099997
Back-in loading

Illustration 32	g03099999
Drive-by loading

Illustration 33	g03100097
Drive by-loading

Illustration 34	g03373680
"Spot and Loading Options" pop-up dialog

To select a loading method, complete these steps:

1. Click "Configure Options" in the "Command" menu to display a pop-up window of the "Spot and Loading Options" dialog.

   Alternatively, if this spot is the first set since restarting the software, select the Set Spot Location button to set up the loading method at the start of a shift.

2. Select a loading method by clicking the "Enable Spot" button of the desired method.

   Note: Once a loading method is selected by pressing an "Enable Spot" button, that method will be associated with the Set Spot Location button even if the office software does not accept the method.

   For custom or flexible loading, press the "Next" button. A "Custom Loading" dialog appears.

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   Illustration 35	g06085468
   "Custom Loading" dialog

3. Select "Spot 1".

   1. Select the spot reference point on the machine.

      Note: The spot reference point is the place on the truck that will line up with the loader bucket.

   2. Rotate the spot heading.

   3. Select the truck travel direction.

      In illustration 35, the truck moves into the spot backwards and drives out of the spot forwards.

4. Select "Enable".

5. Select "Spot 2".

   1. Select the reference point on the machine.

   2. Rotate the spot heading.

   3. Select the truck travel direction.

6. Select "Enable".

7. Select "Close".

Setting a Spot

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NOTICE
The operator must use critical judgment when setting the spot location for an autonomous mining truck (AMT). When setting a spot location for loading, an AMT will attempt to achieve the position set by the operator. Do not set a spot location that causes an AMT to move to a hazardous location. Do not set a spot location so that an AMT will come in contact with any part of the loader. Do not set a spot location over a hole or lowered area of any kind. The AMT perception system cannot identify a hole as an obstacle. Ensure that when excavating inside the load area boundary the dynamic truck lanes are not routed through the excavated areas. An AMT attempting to move to a hazardous location, or falling into a hole because the operator did not use critical judgment when setting the spot location, may result in damage to the machine or nearby equipment.

Set Spot Location 1 - Sets a location for loading

Set Spot Location 2 - Sets a second location for loading

Configure Spot and Call Truck - Opens the "Spot and Loading Options" dialog

Menu - Opens the main menu

A spot location is set by the Terrain equipped machine and used by the AMTs for loading.

To set spot locations, complete these steps:

1. Position and orient the loader bucket precisely where the machine loads the truck.

   The spot location is set at the tip of the bucket cutting edge when the set spot is requested. The truck positions the center of the rear axle to this position when called.

2. Press the Set Spot Location 1 button on the loader display screen to have Terrain set a spot at the center of the bucket cutting edge.

   A spot icon with an orange arrow appears on the screen. If the spot location is approved by the system, the spot turns green. If the spot location is not accepted, a popup appears notifying the operator that the spot position was rejected. Move and reset the spot location.

   Note: Up to 1 minute may pass before the spot request is sent and the orange arrow turns green.

   When the autonomy system path planner completes a path to the spot location, the spot will appear on the Terrain display of the loader. The operator needs to be aware of the defined lanes and areas of travel.

   Note: The "Spot and Loading Options" dialog does not pop up again.

3. To show the dialog or to change the loading method at any time, use one of the following methods:

   Configure Spot and Call Truck - Touch the button.

   Menu - Open the main menu and select "Command" > "Configure Options".

4. If a second spot is required, position and orient the loader bucket precisely where the machine loads the truck. Repeat Step2 and Step 3.

Spot Location Requirements

Illustration 36	g03397333

Illustration 37	g03397341
(1) Load face (2) 50 degrees

When setting a spot location, ensure that the spot point is within the limits for the AMT.

Ensure that the spot location conforms to the following:

• Is nominally within ±2 degrees but does not exceed a maximum of -10 percent grade

• Grade is consistent for 1.5 truck lengths into the face or the berm

• Does not cause the AMT bed to contact the face before the tires contact the berm, if applicable

• Does not cause the AMT to pitch more than 10 percent or roll more than 5 percent

• Allows the AMT to approach the berm or the face as close to perpendicular as possible, not exceeding 50 degrees

Refer to Illustration36 and Illustration 37 for more information.

Note: If conditions at the spot location cause the AMT to exceed the pitch and roll limits, the AMT will stop. A greater approach angle will contribute to pitch and roll if the spot location is on a grade.

Removing a Spot

Illustration 38	g03357414

To erase one spot location, in the main menu select "Command" > "Remove a Spot". The most recent spot that was created by this machine is deleted.

If two spots are present, the "Remove Spot - Double Side Loading" dialog appears. Select the desired remove button to remove the spot, then select "Close" to close the dialog. Alternatively, select "Close" to exit without removing any spots.

Erasing All Current Spot Locations

To erase all current spot locations, in the main menu select "Command" > "Erase Spots". All current spots created by this machine are deleted.

Setting the Cusp Preferences

The cusp is the region where the truck turns, just before the truck backs into the spot to be loaded. The cusp connects a spot with a lane. Not all sites will use cusps.

To set a preferred cusp, perform these steps:

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Illustration 39	g06085468
"Custom Loading" dialog

1. Open the "Custom Loading" dialog.

2. Select the spot number, 1 or 2.

3. Rotate the heading of the spot, if required. The heading indicates the direction the truck will move away from the spot.

4. Select one of the following options:

   Use office selection - Fleet office software chooses cusp. This selection is the default.

   Required - Operator chooses cusp. Error message if MineStar cannot construct lanes to meet the cusp.

   Preferred - Operator selects cusp. MineStar office software constructs lanes to meet cusp or as close to the user-selected cusp as possible.

   Ignore office selection - Path planner software chooses cusp. This option is seldom used. See the example below for when to use this option.

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   Illustration 40	g06085473
   "Cusp Preferences" dialog that appears if the cusp is entered incorrectly

5. If available, select the cusp as follows:

   Left - The cusp region will be to the left of the heading of the spot.

   Center - The cusp region will be straight in front of the heading of the spot.

   Right - The cusp region will be to the right of the heading of the spot.

   Note: The cusp region is always set relative to the spot heading.

   If a cusp is entered incorrectly, the following "Cusp Preferences" message as shown in Illustration 40 appears:

   Select a cusp option.

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   Illustration 41	g06085471
   "More Options" dialog

6. In the "Custom Loading" dialog, select "More Options" to select an optional spot reference and travel direction, then select "OK" on the "More Options" dialog.

7. In the "Custom Loading" dialog, select "Enable"

   Note: Cusps do not appear on the Plan window.

8. If the spot request fails, one of the following error messages appears:

   - "The office rejected the request to set a spot location. The office cannot find a path to this spot. Contact your supervisor."

   - "The request to set a spot location has timed out. Resend the request and then contact the office if this request times out."

   - "The office rejected the request to set a spot location. Reason unknown. Contact your supervisor."

   Select "OK" and discuss with the supervisor.

Example:

The operator may sometimes have to override the office choice. One example is when the office chooses "Force Left / Force Right", but the planner software cannot comply. In this case, select to "Ignore" the office selection and choose a cusp.

Calling a Truck

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Autonomous trucks cannot detect obstacles that enter the path of travel while traveling in reverse gear. Entering the path of travel of a reversing autonomous truck can result in serious injury or death. Use extreme caution around autonomous trucks operating in reverse and remain a safe distance away from the trucks path of travel.

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NOTICE
The autonomous mining truck (AMT) cannot detect objects when backing up. When approaching your loader, the AMT expects that you will keep your bucket out of the path of the AMT. Contact with the bucket may damage the equipment. Ensure that your bucket is high enough to dump and will not impede the path of the AMT.

Depending on the number of spots set up, call a truck to be loaded.

Calling a Truck - Single Side

While performing loader operations, create a spot before calling an AMT to load. The loader operator is allowed only one outstanding call for each valid spot. All other call requests are ignored.

Call Truck - Calls a truck to a single-sided loader.

Note: The loading tool cannot be over the lane when the truck approaches. The truck perception system scans the area when approaching and determines if there are any obstacles preventing the truck from backing in. If an obstacle is detected, the truck will not proceed.

To call a truck to a single-sided loader, complete these steps:

1. Ensure that a valid spot location has been set for the position to be loaded. For more information on setting a valid spot location, refer to "Setting a Spot".

2. Touch the Call Truck button for the spot to be loaded.

   Note: When a call is sent, the tail portion of the green arrow, at the spot location to which the truck will be sent, is transparent. When the request is approved by the system, the tail turns green. If a call is canceled, the tail is transparent.

   Note: A second AMT may use the outstanding call to queue at the cusp. The loader may not set a new spot location with a queued truck. The AMT in queue will move into position at the loader without further command.

3. The next available AMT will position at the desired spot.

Calling a Truck - Double Side

Call Truck to Spot 1 - Calls truck to one side of a double-sided loader

Call Truck to Spot 2 - Calls truck to other side of a double-sided loader

To call trucks to both sides of a double-sided loader, complete these steps:

1. Ensure that a valid spot location has been set for the desired side to be loaded. For more information on setting a valid spot location, refer to "Setting a Spot".

2. Press the Call Truck to Spot 1 button or the Call Truck to Spot 2 button for the side to be loaded. The next available AMT will position at the desired spot.

   The Call Truck button is also available. If you use the Call Truck button, select the operation for the button when setting the spot locations. If there is no spot to call the truck into, the truck will be assigned according to the option that is set. Refer to "Calling a Truck".

   Note: Do not leave the loading tool in the lane when the truck approaches. The truck perception system scans the area when approaching the loader when traveling in the forward direction and determines if there are any obstacles preventing the truck from backing in. If a loading tool is left in the lane while the truck is approaching, the truck may detect an interference and stop.

3. Use the "Waiting Truck" window to check if any trucks are queued for the current spot before setting another spot

Sending a Truck

Send Truck - Sends the truck at the top of the list in the "Waiting Truck" window

To send a truck, complete these steps:

1. Touch the Send Truck button.

   This button sends the AMT that is in the loading state, positioned at the spot location, away from the loader. This action also removes the AMT from the ETA list.

   The loaded AMT takes on the next assignment and proceeds to the dump location.

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   Illustration 42	g06296786
   "Warning" empty truck dialog

2. If sending the AMT empty, a "Warning" dialog appears confirming that the AMT is to be sent empty.

   Press "Cancel" to cancel the send truck command. Press "OK" to send empty. The empty AMT takes on the next assignment.

Canceling a Call

Cancel Call - Cancels a "Call Truck" request

Menu - Opens the main menu

To cancel a "Call Truck" request, complete these steps:

1. Access the "Lane Display Options" dialog using one of the following methods:

   Cancel Call - Touch the button.

   Menu - Open the main menu and select "Command" > "Call Cancel".

   Note: Cancel Call does not stop AMTs that have been called to approach the loader and have already passed the queue point.

2. Confirm that the Cancel Call is granted by checking the "Waiting Truck" window, if available.

   Note: When a call is sent, the tail portion of the green arrow, at the spot location to which the truck will be sent, is transparent. When the request is approved by the system, the tail turns green. If a call is canceled, the tail is transparent.

Troubleshooting the System

Occasionally, problems will occur. Good troubleshooting techniques significantly reduce the time required to isolate the problem and, ultimately, reduce the length of downtime. The approach taken to troubleshooting depends on the configuration of the system that is being worked.

The following sections outline some basic troubleshooting strategies when the stated messages appear.

Set Spot Messages

Table 2

Message	Solution
“A spot location cannot be set. Only set a spot when position status is Fixed, Float, or DGPS.”	Low accuracy means that position status is "Autonomous", "Old GPS", or "No GPS". Only set a spot when position status is "Fixed", "Float", or "DGPS".
“The request to set a spot location has timed out. Resend the request, and then contact the office if this request times out. ”	By default the software sends the message five times, and then times out if the office does not reply within 2 seconds. Resend the request, and then contact the office if this request also times out.
The office rejected the request to set a spot location. A truck is already moving to this location.	Select "OK". No further action is needed.
“The office rejected the request to set a spot location. The location is not valid for this machine. Request a spot location with a valid location.”	Request spot location with a valid location.
“The office rejected the request to set a spot location. The office cannot find a path to this spot. Contact your supervisor.”	Select "OK". Discuss with your supervisor.
“The office rejected the request to set a spot location. Reason unknown. Contact your supervisor.”	Select "OK". Discuss with your supervisor.

Remove Spot Messages

Table 3

Message	Solution
"The request to remove a spot location has timed out. Resend the request, and contact the office if the second request times out."	By default the software sends the message once, and times out if the office does not reply within 2 seconds. The spot location and connecting lane remain. Select "OK". Discuss with your supervisor.
"The office may have already accepted the spot location. Are you sure you want to remove it?"	Select "Yes" to remove the most recently created spot, or "No" to cancel the request.

Clean Up Messages

Table 4

Message	Solution
"No cleanup zone could be found. Move closer to the cleanup zone."	By default, the radius for checking the site for cleanup zones is 300 m. The radius is configurable and may be different for your site. Select "OK". Discuss with your supervisor.
"The request to lock a cleanup zone has timed out. Resend the request, and contact the office if the second request times out."	Select "OK". Discuss with your supervisor.
"The cleanup zone locked by this machine will now be removed. Do you want to continue?"	Select "Yes" to remove cleanup zone or "No" to cancel request.

Truck Messages

Table 5

Message	Solution
"The request to call a truck or cancel a called truck has timed out. Resend the request, and contact the office if the second request times out."	The call truck message is sent up to five times with a timeout of 1 second. Resend request, and then discuss with your supervisor.
"You cannot cancel a Call Truck command because you have not called a truck."	Select "OK". No further action is needed.
"The truck is empty. Are you sure you want to send an empty truck?"	Select "Yes" to send empty truck or "No" to cancel the request.
"A truck could not be sent. There are no trucks that are loading or waiting."	Select "OK". Discuss with your supervisor.

Cusp Troubleshooting

Table 6 outlines the general troubleshooting for cusps:

Table 6

Trouble	Description	Resolution
Selected required cusp. Office removes old lane but does not provide new lane.	Office software fails to set the cusp. May send the following error message: "The office rejected the request to set a spot location. The office cannot find a path to this spot. Contact your supervisor."	Remove the spot and set the spot again.
Cusps and preferences are not retained over shutdown.	Each time the user reboots the onboard software the user must reset preferences and cusps. This reset is correct functioning. The software retains preferences and cusps when the operator changes, but does not for reboot or shutdown.	NA

Setting Spots Messages

Table 7 outlines the general troubleshooting for Command on Terrain:

Table 7

Trouble	Description	Resolution
After Remove Spot, the spot disappears, but the lane remains.	If the network is down and the Remove Spot fails to reach the office, the onboard and office software will be out of synchronization. There is no error message.	Wait until the network is up, then set a new spot. This action causes the onboard and office software to reset.
After Remove Spot, the spot disappears and the lane may or may not remain. If the operator calls a truck, the call fails (operator message). The Mine Model icon appears on the status bar.	There is a series of messages between the onboard software and the office software. If any message fails, even after the software retries three times, then neither the office nor the onboard have the spot. The lane may, or may not, remain depending on the issue.	Wait for the Mine Model out of Date icon to clear. Ensure that the network is up.
The Mine Model out of Date icon appears. and Set Spot fails (error message). Call Truck fails but the lane may still appear.		Wait for the Mine Model out of Date icon to clear. Ensure that the network is up and then try Set Spot again.

Mine Model out of Date - This icon indicates that the mine models updates are out of date.