ISO 23725:2024

Autonomous system and fleet management system interoperability

This document defines the interfaces required between the fleet management (FMS) and autonomous haulage (AHS) systems for dispatch of haul trucks and coordination of production information, including communication protocols, message structures, telemetry signals, map sharing and task assignments. This document applies to surface mining. It specifies requirements and recommendations to achieve the following: — realtime computer system communication; — message definition and semantic; — mine map sharing; — truck dispatching; — truck production monitoring. This document does not address computer system authentication, authorization and cyber security. These methods and technologies are already covered by best practice IT deployments. The specific requirements for safe operation of machines, including execution of task assignments issued by the FMS to the AHS rely on additional information that is agreed between the FMS and AHS supplier which is outside the scope of this document.

Interopérabilité du système autonome et du système de gestion de la flotte

General Information

• Status: Published
• Publication Date: 05-Aug-2024
• ICS: 35.240.99 - IT applications in other fields
• ICS: 73.020 - Mining and quarrying
• Technical Committee: ISO/TC 82/SC 8 - Advanced automated mining systems
• Drafting Committee: ISO/TC 82/SC 8/JWG 2 - Joint ISO/TC 82/SC 8 - ISO/TC 127/SC 2 WG FMS interface
• Current Stage: 6060 - International Standard published
• Start Date: 06-Aug-2024
• Due Date: 01-Sep-2024
• Completion Date: 06-Aug-2024

Standards Content (Sample)

International
Standard
ISO 23725
First edition
Autonomous system and
2024-08
fleet management system
interoperability
Interopérabilité du système autonome et du système de gestion de
la flotte
Reference number
© ISO 2024
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Published in Switzerland
ii
Contents Page
Foreword .vi
Introduction .vii
1 Scope . 1
2 Normative references . 1
3 Terms, definitions and abbreviations . 1
3.1 Terms and definitions .2
3.2 Abbreviations .2
4 Computer communication . 3
4.1 Session and transport layer .3
4.1.1 WebSocket client and service behaviour .4
4.2 Presentation layer .4
4.2.1 Container, serialization, and encoding.4
4.2.2 JSON container .4
4.2.3 NULL attribute .4
4.2.4 Units . .4
4.2.5 On machine component arrays .5
5 Messaging . 6
5.1 Overview .6
5.2 Event based messaging .6
5.3 Message header .7
5.3.1 General .7
5.3.2 Header example .7
5.4 Messages during connection outage .8
5.5 Out of standard message .8
5.5.1 General .8
5.5.2 Out of standard examples .8
5.6 Common attribute enumeration .9
5.6.1 General .9
5.6.2 Actor .9
5.6.3 Action request.9
5.6.4 Action response .10
5.6.5 Action status .10
5.6.6 Autonomy mode .10
6 System messaging . 10
6.1 General .10
6.2 Fleet definition message .10
6.2.1 General .10
6.2.2 Fleet ID . 12
6.2.3 Equipment type . 12
6.2.4 Autonomous . 13
6.2.5 Equipment length and width . 13
6.2.6 Fleet definition example . 13
6.3 Machine all-stop . 15
6.3.1 Optional feature . 15
6.3.2 Scope of effect . 15
6.3.3 Machine all-stop status message . 15
6.3.4 Machine all-stop request message .16
6.3.5 Machine all-stop response message .17
6.3.6 Machine all-stop examples .18
7 Generic machine telemetry .20
7.1 Message content . 20
7.2 Data streams . 20

iii
7.3 Machine position . 20
7.3.1 Machine coordinate system and frame of reference . 20
7.4 Machine position message .21
7.4.1 Machine position examples . 23
7.5 Basic machine health message . 25
7.5.1 Basic machine health message example .27
8 Generic machine messaging .27
8.1 Message content .27
8.2 Machine autonomy mode message .27
8.3 Machine dispatch availability . 28
8.3.1 General . 28
8.3.2 Purpose . 29
8.3.3 Machine Dispatch Availability message . 29
8.3.4 Trigger the FMS to re-send an assignment . 29
8.3.5 Impending custodian change . 30
8.3.6 Machine dispatch availability example . 30
8.4 Machine diagnostic message .32
8.4.1 General
...