Overview
A semi-autonomous system, Command for underground automates the tramming and dumping component of an underground loader's load-haul-dump cycle. The operator has the ability to control the machine from an office or remote location away from the hazards of the underground mine. One or more machines can be controlled at once, enhancing operator safety and optimizing production between multiple machines.
Based in a remotely located control station, on the surface or underground, the operator loads and dumps the material via tele-remote control. A combination of on-board computers, cameras, lasers and off-board software enables the system to autonomously steer the machine during hauling, providing safe, productive operation of the load-haul-dump machine. Ergonomic controls allow operation of the machine using familiar components, reducing training time to get accustomed to new equipment, while also providing a safe, comfortable environment for the operator. It also improves accuracy of tunnel navigation, enhancing productivity and reducing machine damage from contact with drive walls.
Specifications
| Application | Underground Hard Rock |
| Level of Automation | Semi-Autonomous |
| Machine Compatibility | Cat Load-Haul-Dump Loaders (select models) |
Benefits & Features
Area Isolation System (Safety)
- The system detects if a person enters the operations area or if the remotely controlled machine leaves the area and shuts down if either of these events occur
- Zones within the operations area can be configured to regulate machine speed and to establish "no go" areas at required points
Guidance Assisted Steering
- Nearly eliminates drive wall collisions, reducing maintenance costs. This allows a larger machine in the same space as a smaller manned machine, increasing effi ciency and payload per pass.
Controlling Multiple Machines Simultaneously
- Separate radio networks can be fed to a single operator station allowing the control of multiple machines in different areas of the mine. Automatic camera switching and the staggering of load cycles ensures the operator maintains safe control of all machines at the same time.
Specifications
| Application | Underground Hard Rock |
| Level of Automation | Semi-Autonomous |
| Machine Compatibility | Cat Load-Haul-Dump Loaders (select models) |
| Length | 2, 5, 20, 60, 96 meters |
| Connectors | M12 4-Pin Ethernet |
| Operating Temperature | -25° to 70° C |
| Power Input | 9-72VDC, 8W |
| RF Power Output | — |
| Connectors | 2 × M12 4-Pin Ethernet M12 Power 2 × N-Type RF |
| RF Range | Up to 100 m from Access Point (line of sight) |
| RF Frequency | — |
| Weight | — |
| Dimensions | 127 × 118 × 57 mm |
| Mode | Bridge |
| Sealing | IP66 |
| Weight | — |
| Power Input | 12-48VDC, 6W |
| Operating Temperature | -25° to 70° C |
| Connectors | 6 × M12 4-Pin Ethernet M12 5-Pin Power |
| Dimensions | 214 × 106 × 57 mm |
| Sealing | IP68 |
| Connectors | Various |
| Operating Temperature | -20° to 60° C |
| Power Input | — |
| Sealing | IP67 |
| Connectors | Mini-Change 3-Pin |
| Length | 2, 5, 20, 60, 100 meters |
| Current Rating | 13A |
| Operating Temperature | -25° to 70° C |
| Sealing | IP66 |
| RF Power Output | — |
| RF Frequency | — |
| RF Range | Up to 200 m between Access Points (line of sight) |
| Mode | Access Point |
| Power Input | 9-72VDC, 8W |
| Dimensions | 127 × 118 × 57 mm |
| Connectors | 2 × M12 4-Pin Ethernet M12 Power 2 × N-Type RF |
Benefits & Features
Area Isolation System (Safety)
- The system detects if a person enters the operations area or if the remotely controlled machine leaves the area and shuts down if either of these events occur
- Zones within the operations area can be configured to regulate machine speed and to establish "no go" areas at required points
Guidance Assisted Steering
- Nearly eliminates drive wall collisions, reducing maintenance costs. This allows a larger machine in the same space as a smaller manned machine, increasing effi ciency and payload per pass.
Controlling Multiple Machines Simultaneously
- Separate radio networks can be fed to a single operator station allowing the control of multiple machines in different areas of the mine. Automatic camera switching and the staggering of load cycles ensures the operator maintains safe control of all machines at the same time.
Operational Control
- Command for underground offers three levels of operational control that are supplemented with video from on-board cameras to provide a real-time view of the machine's location and status. Teleremote operation enables the machine to be run from a distant location with the operator providing all machine input. In Copilot mode, the operator monitors the machine's location on a mine plan and uses the joysticks to give the machine directional input if necessary. On-board scanners, combined with radio network infrastructure, ensure the machine self-steers along a safe path. The most advanced element of control, Autopilot, allows the machine to auto tram, dump, and return for operator control of the loading process. At any time, full operator control of the system can be obtained through teleremote mode.
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