# An Intelligent Collaborative Charging System for Open-Pit Mines
## 6 Simulation Experiments and Result Analysis
### Simulation Results and Analysis
#### 6.5.2 Result Analysis  
Based on empirical operational parameters--with the explosive truck's travel speed set at 0.7 m/s (2-3 km/h) and that of loading robots at 3.5 m/s (10-15 km/h)--the simulation results demonstrate significant efficiency improvements. The comparative data of total travel time for loading operations are presented in Table 1.  
From the perspective of operational time analysis, assuming that the hole-searching and charging time of traditional charging trucks is equivalent to that of charging robots, the total travel time (i.e., explosive truck travel time plus charging robot travel time) of the intelligent collaborative charging method during the charging process of the same blasting area is shorter than that of traditional charging trucks, with an 18% improvement in operational efficiency, thereby validating the high efficiency of the intelligent collaborative charging approach. Based on practical field experience in open-pit mines, traditional charging trucks encounter significant difficulties in hole searching, resulting in prolonged hole-searching time and extended charging time per blast hole. In contrast, charging robots exhibit faster and more efficient intelligent hole-searching capabilities, leading to shorter charging time per blast hole. Consequently, the intelligent collaborative charging method demonstrates superior operational efficiency with significantly reduced working time.  
From the perspective of travel distance analysis, although the conventional charging truck has a shorter total travel distance, it operates as a heavy-duty vehicle with substantial energy consumption. In contrast, the intelligent cooperative charging method reduces the explosive truck's travel distance to half that of the conventional approach, while the charging robot covers a longer distance. However, the charging robot is more lightweight and energy-efficient. Consequently, in terms of energy consumption analysis, the intelligent cooperative charging method does not demonstrate significant advantages in energy cost savings, yet it does not incur additional economic costs either.  
From an intrinsic safety perspective, conventional charging trucks often require an on-site operator to assist with hole locating and alignment during the charging process, whereas the intelligent cooperative charging method achieves fully automated operation, eliminating one operator per shift. This fundamentally enhances production safety and realizes true intelligent operation.  
Considering comprehensive factors such as operational time, energy consumption costs, and intrinsic mine safety, the intelligent cooperative charging method proves more efficient and safer. It represents both the developmental objective and an effective pathway for modern intelligent mining.  
Figure 16: The traveling paths of both the explosive truck and the charging robot.  
\begin{table}
\begin{tabular}{l c c c c c c c c c c c} \hline \hline
**Categories Method** & **Number of** & **Candidate** & **Actual** & **Explosive Track** & **Explosive Track** & **Explosive** & **Changing Robot** & **Changing Robot** & **Total Charging** & **Time Savings (min)** & **Efficiency** \\
**Target Holes** & **Pushing** & **Pushing** & **Trend Distance (s)** & **Time-final** & **Trend Distance (s)** & **Operation Time (min)** & **Trend Distance (s)** & **Time-final** & **Time Savings (min)** & **Efficiency** \\ \hline Conventional & 231 & 627 & 128 & 1397.71 & 33.28 & 0 & 0 & 33.28 & 33.28 \\ Explosive Track & 231 & 627 & 19 & 602.39 & 16.48 & 2280.73 & 10.77 & 27.23 & 6.03 & 18\% \\
**Method** (Proc.'s-k Robot) & & & & & & & & & & \\ \hline \hline \end{tabular}
\end{table}
Table 1: Comparison of total travel time for explosive loading operations.