ASI systems are designed for modular, yet scalable deployment. ASI
recognizes the daunting task of automating all aspects of a surface
or underground mines in one step. Yet, a piecemeal approach often
introduces risk of deploying independent systems which are unable to
integrate later into an overall mine system.
ASI leverages its Mobius mine software to allow highly flexible, modular
implementations of individual autonomy solutions, all using a common
control platform. With Mobius installed as a foundation, mines can
implement individual projects that can then scale into larger integrated
solutions with the aim of ultimately realizing a fully autonomous, yet
integrated mining operation.
Scalable Solutions For Mining
Connecting All The Dots In The Mine Of Tomorrow
Table Of Contents 01
Mobius was designed with interoperability and
scalability in mind. ASI’s vehicle controllers
integrate with native vehicle control systems,
and provide a bridge for all vehicles, regardless
of make, model, or vehicle control system, to
communicate with Mobius.
Mobius’ FMS capabilities include assign,
monitor, assist, and reporting functionality
combined with command and control for
AHS enables significant gains in productivity,
utilization of availability, and reduction in costs.
06 Autonomous Haulage
Provide real-time driver prompts and assists to
increase efficiency and safety of manned fleets.
08 Operator Assist
Leverage Mobius to provide Guarded Tele-Op,
Guided Tele-Op, and Semi-Autonomous for
increased safety and efficiency.
10 Intelligent Tele-Op
14 Obstacle Detection
ASI integrates Mobius with Flanders’
system for optimized path planning,
choreographed navigation, and enhanced
connectivity with other mine systems.
Mobius for blasting trucks provides capability
for tele-op, semi-autonomous, or fully
autonomous navigation of blast vehicles
including blast factory and stemming vehicles.
CUSTOMIZE YOUR ROADMAP FOR
Mobius software platform is the leader in
OEM agnostic command and control of
autonomous mining vehicles. Mobius operates
at the system level on a dedicated server
housed in a site control room. Mobius is
connected to each vehicle via an RF Network
such as wireless mesh, LTE, or others.
Mobius has a critical advantage of being able
to act as the site FMS or conversely, integrate
with most common FMS to receive dispatch
information and communicate information
with an autonomous fleet.
CAN BUS, VIMS
SENSORY / PERCEPTION
DATABASE RF-NETWORK GPS
3RD PARTY FMS
A HYPOTHETICAL CASE STUDY
Mobius is partitioned into various mining modules to support various operations within the mine.
These modules include haulage, drilling, blasting, etc. As mines automate various stages of the
mine over time, Mobius’ advantage allows seamless integration between each module, ultimately
resulting in a fully integrated autonomous mine operation spanning all major mine operations.
Customize Your Roadmap to Automation
FLEET MANAGEMENT SYSTEM WITH THE POWER OF COMMAND AND CONTROL
ASI’s Mobius system includes the basic functions embodied in a more expensive and
comprehensive FMS. Mine operators with manned fleets should consider using Mobius’ FMS, in
lieu of more comprehensive systems. The primary functions of Mobius:
Birds-eye view of position and projected path
of all vehicles checked into system
Graphic mine map with ability to drill down to
any area of the mine or click on any vehicle
Production monitoring of haulage including
cycle times, tonnage, idle time, hang time, etc.
Payload analytics for performance metrics
comparing nominal vs actual tonnage
Real-time status tracking of trucks through
load cycle, eg. Load, dump, loaded, empty, etc.
Vehicle underutilization alerts when vehicle
idling in stationary position above threshold
Suite of standard reports plus access to data
via open database for unlimited queries
KPI Dashboard available on key metrics for
instant access to plan vs actual data
Driver performance reporting shows
performance by driver against benchmark data
Road condition reporting including slippage,
Radio Network reporting of coverage,
throughput, and outages.
Anomaly reporting of vehicle health and
The only combined FMS/
Command and Control for
Manual or Automatic Truck Assignments.
Import mine plans or assign via Point and
Real time exception alerts allowing for on
the fly modifications to routes and vehicle
Operator discretionary task empowerment for
on-vehicle decision making when appropriate.
Pitboss override and information access
provides mine foreman access / control of
Directed text messaging between control
room operator and individual vehicles.
Patented adaptive route learning optimization
Collision and Proximity warnings
Precision Spotting Assistant guides operators
for single or dual sided loading to shovel
through audio and visual queues
Choreographer – prompts drivers for nominal
speeds, routes, slow-down, speed-up, etc.
Fatigue Guardian – warns driver when
noticeable trend or deviation from norms
Best Driver Delta – Scores driver performance
in real-time for training / improvement
Includes more driver assist
functionality over other fleet
OEM Agnostic Retrofit
Automate new or existing fleet assets of any
make or model without locking your operation
into a single source for vehicles.
Autonomous Haulage 07
Machine control on vehicles squeezes
productivity gains from various sources
including more efficient spotting, driving
behaviors, and real-time information flows.
Eliminating the need to stop equipment for
breaks and shift changes, which increases the
utilization of each vehicle.
Increase safety by removing operators from
harms way. Reduce damage by precision
control and improved driving characteristics.
By controlling multiple vehicles in a single
control room, and managing vehicle
operations in a consistent manner, mine
operations can realize a significant reduction
in labor, fuel and maintenance costs.
Reduced Cost Per Ton
Autonomous haulage allows for
programmable operation of vehicles within
OEM operating parameters. By better tracking
and controlling vehicle operations within
prescribed limits, asset life can be extended,
including areas such as tires, brakes, and other
Better Asset Management
Regulations imposed for human operations
restrict flexibility in mine design. By removing
humans from the mine, operators have
increased freedom to alter mine designs in
areas such as road widths or wall heights which
can greatly reduce overburden removal costs.
Mine Plan Optimization
& Mine Design
Mobius provides real time user prompts that help drivers adjust their
speed and course to eliminate queuing or reduce shovel/plant idleness.
The ability to warn the driver if his truck leaves its assigned lane of
travel, or if there’s a noticeable trend or deviation from driving norms.
When using Mobius as an FMS in manned mine operations, optional functionality exists to
provide real-time driver prompts and assists to increase efficiency and safety. These driver
assist solutions work through a tablet interface installed in each manned vehicle interfacing
Choreographer / Driver Prompts Fatigue Guardian
Operator Assist 09
Identify and warn operators of possible
collisions and provide proximity alerts when
vehicles are within a configurable threshold.
Guide operators for single or dual sided
loading to shovel through audio and visual
Real-time comparison of operators against
best practices with immediate feedback to
improve truck operation.
Collision Warnings Spot Assist The Trainer
EXCAVATORBLAST TRUCKDOZER FONT END LOADER UNDERGROUND LHD
ASI’s autonomy kits can be configured for a variety of mining equipment and applications from dozers to LHDs. Intelligent Tele-Op leverages the
power of Mobius to increase the efficiency and safety of each mine application. From Slot dozing to underground mucking, Intelligent Tele-Op
provides distinct advantages for any application.
Intelligent Tele-Op 11
Guided Tele-op leverages the capabilities of
Mobius to enable automatic steering along
a pre-set path. Under this mode, an operator
may control acceleration and braking while
Mobius automatically controls steering.
Similar to a train on a railroad track, controlled
vehicles can drive on their precise path,
minimizing the reliance on high resolution
video and operator skill for safe operation.
Guarded tele-op leverages the capabilities of
Mobius to enable geo-fencing within tele-op
control. This function enables user to create
drivable areas within the map. By establishing
drivable areas, tele-operated vehicles can
be prevented from driving in unsafe areas or
running off established roads. Anti-collision
capability can be achieved as multiple vehicles
are checked into the system.
ASI’s Autotramming functionality allows for
semi-autonomous capability. Under this
mode, a user generally uses tele-op control
of the vehicle when doing earth moving or
technical operations. An operator may then
assign the vehicle a destination point on the
map, then Mobius autonomously drives the
vehicle to that point. This function is typically
used to autonomously deploy vehicles from
one location to another and then take tele-op
control when doing technical work.
Tele-Op Control Types
Guided Tele-Op Autotramming
WHEEL STICKS HANDHELD
Multiple drills may be operated and monitored
from a Command Center remote from the
bench. The holes are drilled in a pre-mapped
order at the locations and depths loaded into
the system. The drill is precisely guided to
the proper hole coordinates for accurate hole
location. Upon reaching the desired depth it
retracts the drill string then jacks and propels
to the next hole.
The choreography and path planning
capability of Mobius allows for optimized
movement of multiple drills and potentially
blast trucks in a single drill bench. By
coordinating vehicle movements, drill cycle
time can be reduced while increasing vehicle
Drills are guided to hole coordinates within the
drill bench using Mobius Path Planner. Mobius
also allows for autonomous operation outside
the drill bench. This enables autonomous
navigation to other drill benches or safe zones
during blasting operations.
High Precision Drilling Bench Optimization Autonomous Navigation
ASI integrates Flanders’ ARDVARC system
with Mobius for optimized path planning,
choreographed navigation, and enhanced
connectivity with other mine systems.
Drills & Blast Trucks 13
ASI’s Mobius for Blasting platform provides
capability for tele-op, semi-autonomous, or
fully autonomous navigation of blast vehicles
including blast factory and stemming vehicles.
Potential integration of blasthole characteristic
data such as seam and geology aspects of
each hole allow dynamic blast charging and
detonation timings during the blast cycle.
By dynamically tailoring the blast process
based on actual, “As-Drilled” hole data, blast
processes can achieve higher efficiency
and increased fragmentation. The resulting
benefits ultimately include less impact on
excavators, crushers, grinders, and even more
Mobius is capable of working with various 3rd
party payload providers to enable automated
deployment of blast mediums and initiation
Tele-Op / Semi-AutonomyCoordinated Drill & Blasting Payload APIs
Obstacle Detection & Avoidance
Convert native data streams from nearly any
sensor type (e.g. LIDAR, laser, radar, etc.) into
usable information within the command and
As its most basic obstacle handling
functionality, vantage slows vehicles to a safe
stopping point when an obstacle is detected
and awaits operator intervention.
Vantage dynamically plans the safest and
most efficient pathway around an obstacle
identified through sensor data. No operator
approval is necessary.
Sensor Fusion See-And-Stop See-And-Avoid
Vantage improves safety for robotic vehicles, initiating see-and-stop
or see-and-avoid behavior to react safely to potential hazards in the
environment. Vantage equipped vehicles use an advanced suite of
software and sensors to create a 3 dimensional model of the world
around it, scanning 100s of times a second for obstacles.
Obstacle Detection 15
Lidar Units and Uses
Due to the longer range of this model the Forecast 190B is commonly
found on faster moving vehicles such as haul trucks. The 190-degree
field of view provides sufficient OD for an autonomous vehicle moving
along a path.
ASI’s 3D obstacle mapping system, Forecast, is a complete laser-based
obstacle detection solution, not just a laser scanner. Its output is a full
traversability map showing positive obstacles suitable for input into any
path plan solution for large unmanned vehicles.
HOW IT WORKS
Forecast emits a laser beam that reflects off of potential obstacles by
combining wide spatially referenced areas, variations in vehicle roll and
pitch are accounted for without the need for high accuracy IMU data.
Self diagnostic algorithms detect sensor and processor faults and
monitor data quality in real time.
The wide 270-degree field of view offered by the Forecast 270B makes
it perfect for autonomous vehicles with a sharp turning radius. Pair two
units on opposite corners of a vehicle for a full 360-degree envelope of
Forecast 190B Forecast 270B
Automate Any Vehicle Type In Your Existing Fleet
ASI’s patented VCU is the on-board computer that manages vehicle
functions. It also communicates real-time vehicle status and health to
the remote user in Mobius.
Based on the application for the autonomous vehicle a
combination of GPS, radios, beacons, and/or cameras will be used
to pinpoint its location.
For by-wire vehicles, no mechanical actuation is needed, as the VCU
integrates with vehicle controls directly through the vehicle interface
module. Acceleration, braking, and steering use ASI’s control algorithm to
improve efficiency, smooth operation, and deal with the unexpected.
An array of sensors detects obstacle information and relay it to the
on-board VCU to react quickly and appropriately. These sensed
obstacles are then reported to Mobius to be tracked and to notify other
Offered as a dedicated stand-alone system, the on-board and remote
emergency-stops (e-stop) serves as a safety override, immediately
halting all vehicle operations either regionally or site wide.
ASI’s autonomy kit can be configured to retrofit a variety of mining
equipment and applications from Dozers to LHDs
AUTONOMOUS SOLUTIONS, INC.
990 N 8000 W
Mendon, UT, USA 84325
Anglo American’s Automation Partner OurPartners/Clients Sales Staff
The goal of the multi-year relationship is to deliver enhanced
productivity, sustainability, and safety through OEM agnostic mining
vehicle automation systems for the company’s haulage operations.
Contact our sales staff for
quotes or any additional
T +1.435.755.2980 x1142
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