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Cat Command for UndergroundNon-Current

Cat Command for Underground

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

Units: 
Application Underground Hard Rock
Level of Automation Semi-Autonomous
Machine Compatibility Cat Load-Haul-Dump Loaders (select models)
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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.

  January 20, 2025

Specifications

Units: 
Specifications
Application Underground Hard Rock
Level of Automation Semi-Autonomous
Machine Compatibility Cat Load-Haul-Dump Loaders (select models)
Local Area Radio Network Specifications - Ethernet Cabling
Length 2, 5, 20, 60, 96 meters
Connectors M12 4-Pin Ethernet
Machine Automation System Specifications - On-machine Radio
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
Local Area Radio Network Specifications - Network Switch
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
Machine Automation System Specifications - Automation Components
Connectors Various
Operating Temperature -20° to 60° C
Power Input
Sealing IP67
Local Area Radio Network Specifications - Power Cabling
Connectors Mini-Change 3-Pin
Length 2, 5, 20, 60, 100 meters
Current Rating 13A
Local Area Radio Network Specifications - Radio
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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