DozerType ObjectType – OPC UA for Mining - Development

6.1 DozerType ObjectType

6.1.1 Overview

The DozerType provides a representation of a dozer machine as a sub-type of the MiningEquipmentType as shown in Figure 1. Importantly, it is composed of a ParameterSet and a MethodSet to monitor and control all relevant aspects of the equipment.

6.1.2 ObjectType Definition

The DozerType is formally defined in Table 1.

Table 1 – DozerType Definition

Attribute	Value
BrowseName	DozerType
IsAbstract	False

References	Node Class	BrowseName	TypeDefinition	Others
Subtype of the MiningEquipmentType defined in OPC 40560
0:HasAddIn	Object	4:MiningEquipmentIdentification	4:MiningEquipmentIdentificationType	M
0:HasComponent	Object	2:MethodSet	0:BaseObjectType	M
0:HasComponent	Object	2:ParameterSet	0:BaseObjectType	M

Conformance Units
Dozer Functional Variables
Dozer Methods

The components of the DozerType have subcomponents which are defined in Table 2.

Table 2 – DozerType Subcomponents

BrowsePath	References	NodeClass	BrowseName	DataType	TypeDefinition	Others
2:MethodSet	0:HasComponent	Method	Clearway			M
2:MethodSet	0:HasComponent	Method	RequestResumeOperation			M
2:MethodSet	0:HasComponent	Method	RequestStopOperation			M
2:MethodSet	0:HasComponent	Method	SetWorkJob			M
2:ParameterSet	0:HasComponent	Variable	ExclusionZone	0:3DFrame[]	0:3DFrameType	M, RO
2:ParameterSet	0:HasComponent	Variable	MachinePose	0:3DFrame	0:3DFrameType	M, RO

6.1.3 Clearway

The signature of this Method is specified below. Table 3 specify the Arguments and AddressSpace representation, respectively.

Signature

	Clearway(
	  [in]  0:3DFrame[]     PassthroughExclusionZone,
	  [out] 0:Boolean       ClearWayResult );

Table 3 – Clearway Method Arguments

Argument

Description

PassthroughExclusionZone

The PassthroughExclusionZone property describes a 3D polygon specifying the trajectory of another machine that wants to pass through the dozer’s working area.

ClearWayResult

The ClearWayResult property describes whether the dozer has moved out of the other machine’s trajectory.

True – Dozer has successfully moved out of the other machine’s trajectory

False –Dozer has not successfully moved out of the other machine’s trajectory

Table 4 – Clearway Method AddressSpace definition

Attribute	Value
BrowseName	Clearway

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:InputArguments	0:Argument[]	0:PropertyType	0:Mandatory
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

6.1.4 RequestResumeOperation

The signature of this Method is specified below. Table 5 specify the Arguments and AddressSpace representation, respectively.

Signature

	RequestResumeOperation(
	  
	  [out] 0:Boolean       RequestResult );

Table 5 – RequestResumeOperation Method Arguments

Argument

Description

RequestResult

The RequestResult property describes whether the dozer has successfully resumed its work.

True – Dozer has successfully resumed its dozing work

False – Dozer has not successfully resumed its dozing work

Table 6 – RequestResumeOperation Method AddressSpace definition

Attribute	Value
BrowseName	RequestResumeOperation

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

6.1.5 RequestStopOperation

The signature of this Method is specified below. Table 7 specify the Arguments and AddressSpace representation, respectively.

Signature

	RequestStopOperation(
	 [out] 0:Boolean      RequestResult );

Table 7 – RequestStopOperation Method Arguments

Argument

Description

RequestResult

The RequestResult property describes whether the dozer has successfully stopped its operation so that the other machine can pass by.

True – Dozer has successfully stopped its dozing work

False – Dozer has not successfully stopped its dozing work

Table 8 – RequestStopOperation Method AddressSpace definition

Attribute	Value
BrowseName	RequestStopOperation

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

6.1.6 SetWorkJob

The signature of this Method is specified below. Table 9 specify the Arguments and AddressSpace representation, respectively.

Signature

	SetWorkJob(
	  [in]  0:3DFrame[]         WorkingArea,
	  [in]  0:3DFrame[]         DumpArea,  [in]  DozerJobMissionEnum JobMission,
	  [out] 0:Boolean           WorkJobRequestSuccess );

Table 9 – SetWorkJob Method Arguments

Argument	Description
WorkingArea	The WorkingArea property describes a 3D polygon that spans the current working area of the dozer
DumpArea	The DumpArea property describes a 3D polygon that spans the current dumping area of the dozer
JobMission	The JobMissionNumber property describes the specific job the dozer should perform
WorkJobRequestSuccess	The WorkJobRequestSuccess property describes whether the setting of a new dozer work job was successful or not. True – Work Job accepted False – Work Job not accepted

Table 10 – SetWorkJob Method AddressSpace definition

Attribute	Value
BrowseName	SetWorkJob

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:InputArguments	0:Argument[]	0:PropertyType	0:Mandatory
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

6.1.7 ObjectType Description

The Clearway method is called by a partnering machine to indicate that the dozer should move out of the other machine’s way.

The RequestStopOperation is called by a partnering machine to indicate that the dozer should stop its operation to let the other machine pass.

The RequestResumeOperation method is called by a partnering machine to indicate that the dozer can resume its dozing work.

The SetWorkJob method is called by a partnering machine to set a new dozer work job.

The ExclusionZone method indicates the zone which any other machine cannot enter as the dozer is currently performing it’s work within that zone.

The MachinePose variable describes the pose of the dozing machine in terms of location coordinates, orientation and (optional) base frame.

Please refer to OPC 10000-100, OPC 40001-1, OPC 40560 and OPC 40565-1 for the descriptions of other inherited instance declarations.