User's Manual

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REHS7414

18 January 2012

Special Instruction

i04694729

Autonomous Stop (A-Stop)

System for Autonomous

Hauling

SMCS Code:

Off-Highway Truck/Tractor

793D (S/N: FDB1-Up)

793F (S/N: SSP1-Up; RBT1-Up)

797F (S/N: LAJ1-Up)

Table of Contents

Introduction ........................................................... 1

Overview ................................. .............................. 1

A-Stop Operation .................................................. 3

Stopping ............................................................ 4

Clearing an A-Stop ............................................ 5

Resuming Autonomous Operation .................... 5

Testing the A-Stop System ................................... 5

Electrical Input Components ................................. 5

Autonomous Stop Receivers ............................. 5

Electrical Output Components .............................. 6

A-Stop Transmitter ............................................ 6

Introduction

This document contains operational information

about the A-Stop System.

Note: This equipment has been tested and found to

comply with the limits for a Class A digital device,

pursuant to part 15 of the FCC rules. These limits

are designed to provide protection against harmful

interference when the equipment is operated in a

commercial environment. This equipment generates,

uses, and can radiate radio frequency energy and,

if not installed and used in accordance with the

instruction manual, may cause harmful interference

to radio communications. Operation of this equipment

in a residential area is likely to cause harmful

interference in which case the user will be required to

correct the interference at their own expense.

Note: Modiﬁcations not expressly approved by

the manufac

turer could void the user's authority to

operate the equipment under FCC rules.

Overview

g027

99169

Illustration 1

Tabl

Callout Button Description

A-Stop Button

Used to transmit

an A-Stop Signal

received by all

autonomous

machines within

range. The

A-Stop signal

will continue to

transmit until the

A-Stop Reset (2)

is pressed.

(1)

(continued)

Summary of content (8 pages)

PAGE 1
REHS7414 18 January 2012 Special Instruction Note: Modifications not expressly approved by the manufacturer could void the user's authority to operate the equipment under FCC rules. i04694729 Autonomous Stop (A-Stop) System for Autonomous Hauling Overview SMCS Code: Off-Highway Truck/Tractor 793D (S/N: FDB1-Up) 793F (S/N: SSP1-Up; RBT1-Up) 797F (S/N: LAJ1-Up) Table of Contents Introduction ........................................................... Overview ...........................................
PAGE 2
The autonomous stop (A-Stop) system is used to stop the autonomous trucks in the area in case of emergency or unplanned need. The system sends a radio signal to all the trucks within the operating range of the handheld transmitter. The communications of the A-Stop system operate independently from the normal autonomy system and can be used even if MineStar cannot communicate with the truck.
PAGE 3
A-Stop Operation g02728442 Illustration 3 Single transmitter in operation (1) Autonomous machines with on-board A-Stop receiver Illustration 3 shows three Autonomous machines with on-board A-Stop receivers. The flashing light on the A-Stop remote indicates that an A-Stop has been activated. The large circle in the illustration is the range of the A-Stop remote. In the illustration, the three Autonomous machines that are in range of the A-Stop remote are stopped due to the A-Stop button that was pressed.
PAGE 4
g02727922 Illustration 4 Multiple transmitters in operation (1) Autonomous machines with on-board A-Stop receiver Stopping Once an A-Stop event has occurred, any machines in the range of the remote transmitter will be stopped for as long as the remote is transmitting. A “Clear” signal will need to be sent before any of the machines affected will be able to resume normal operation. When more than one remote is activated at once, all remotes that sent an A-Stop command will need to send a “Clear” signal.
PAGE 5
Electrical Input Components When a truck receives an A-Stop stop signal, the truck immediately initiates a controlled stop. While the truck is in autonomous mode with A-Stop active, the autonomous mode and A-Stop lights will be flashing. Refer to Illustration 5 for an example. Autonomous Stop Receivers Clearing an A-Stop Illustration 6 g02742856 The truck identifies and records which transmitter or transmitters have initiated the A-Stop.
PAGE 6
There are two A-Stop receivers per autonomous truck. The receivers are powered from the machine 24V supply. The receivers send and transmit at 919 MHz through the antenna which connects with a cable to the antenna connector (8) located on the side of the receiver. Each receiver communicates with the autonomous machine using a CAN bus. For redundancy, one receiver communicates over the machine CAN circuit and one receiver communicates over the autonomous CAN circuit.
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