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56 Insight | Autonomous mining The Controller Area Network (CAN) bus links all the control functions of the vehicle, from the control of the throttle to the braking, and remote control systems tap into that network to steer and control the vehicle. In remote control, a single operator with a joystick controls a particular vehicle in the line of sight over a distance that can be many metres, which removes the risk to the operator from any hazards. To control it safely though depends on the real-time response, or latency, of the wireless link so that the vehicle is sufficiently responsive to the controller, which means having a link that gives quick responses. However, should the wireless link fail, a fail-safe system is needed to halt the vehicle. By contrast, teleop puts the operator in a central control room. Teleop recreates the driving seat of the vehicle, with steering wheel, accelerator and brake, and a screen to replicate the view from the cab. However, it requires a wireless link with both low latency (fast response) and high bandwidth, but it does mean that the operator can move quickly from one vehicle to the next, for example if one haul truck needs to move once it is full to get the next one in place. It can also enhance efficiency by using central scheduling software to allocate the next vehicle to be driven. The fully autonomous approach removes the need for the driver entirely. The route the vehicle has to follow is set by the central scheduling software, to provide the most efficient route through the site. The waypoints for the route are sent to the controller inside the vehicle, which then operates independently. This though requires more safety algorithms, for example to stop the vehicle if there is a person within range of the sensors, but it does allow for the most efficient use of all the site’s resources such as extraction machines and bulldozers as well as the haulage trucks. The technology is now being implemented in two ways – by the vehicle makers, and third-party suppliers. The main vehicle makers are Komatsu, of Japan, and Caterpillar in the US, and both have been working on integrating autonomous technology into their vehicles for the past ten years. Komatsu has partnered closely with mining giant Rio Tinto on developing the technology for open-pit mining. In 2008 it signed an agreement for the large-scale implementation of Komatsu’s Autonomous Haulage System (AHS) as part of Rio Tinto’s Mine of the Future programme. Komatsu is deploying at least 150 of its 930E AHS trucks in Rio Tinto’s iron ore operations in the Pilbara region of Western Australia during 2015. “Autonomous haulage is an important component in our Mine of the Future programme,” said Tom Albanese, chief executive of Rio Tinto at the time of the programme’s launch in 2008. “These autonomous trucks will work with our operations centre [in Perth, about 1300 km away from Pilbara] which integrates and manages the logistics of 14 mines, three ports and two railways. These technologies are revolutionising the way large-scale mining is done, creating attractive high- tech jobs and helping us improve safety and environmental performance, and reduce carbon emissions.” Each autonomous dump truck in Rio Tinto’s operation is fitted with vehicle controllers, a high-precision GPS from Topcon, an obstacle detection system and a wireless network. These allow the trucks to operate safely through a complex load, haul and dump cycle, and Summer 2015 | Unmanned Systems Technology The technologies are revolutionising the way large- scale mining is done, creating high-tech jobs, improving safety and reducing carbon emissions Autonomy allows Rio Tinto to operate its vehicles in Pilbara from a central control room in Perth, about 1300 km away (Courtesy of Rio Tinto)