# An Intelligent Collaborative Charging System for Open-Pit Mines
## 7 Conclusions  
(1) A new intelligent collaborative loading method for open-pit mines that enables efficient and continuous operation between explosive vehicles and explosive charging robots has been proposed. For the loading process in open-pit mines, the explosive vehicle and the loading robot work in collaboration, completing the loading efficiently and accurately. The operation equipment components have an interactive function with each other, transmitting operation instructions in real time and feeding back execution information. The automation and intelligence of the explosive charging operation have been promoted. (2) The on-board terminal module of the explosive vehicle, the loading robot module, and the connection device between the explosive vehicle and the loading robot have been proposed, and the module functions of the explosive vehicle, the loading robot, and their connection devices have been expounded. The on-board terminal module of the explosive vehicle has functions such as positioning and signal reception and transmission, path planning, and quantitative control of explosives. The explosive charging robot module has functions such as automatic hole finding, precise positioning, and explosive charging. The explosive conveying structure between the explosive vehicle and the loading robot, including the positive-pressure wind power supply device on the top of the explosive vehicle, the 360\({}^{\circ}\) rotation device of the explosive conveying pipe, the rigid explosive conveying pipe, the flexible explosive conveying pipe, and related interfaces, is an auxiliary device for explosive transportation. (3) Two optimal path planning methods have been proposed. The first is the optimal driving path plan for the transportation of explosives by the explosive vehicle, including the traveling route, parking position, and holding posture of the explosive vehicle. The second is the optimal hole-finding route plan of the loading robot, including the hole-finding route of the loading robot, the positioning of the hole opening, and the loading posture. (4) It has solved the problems of difficult hole finding and inaccurate positioning of the center of the drill hole opening in existing mixed explosive vehicles. The problem of low loading operation efficiency of existing mixed explosive vehicles caused by complex driving paths, frequent turns, and long loading times has been solved. (5) The intelligent cooperative charging method for open-pit mines fundamentally transforms the operational approach of the charging process, establishing an intelligent collaborative working mode. This advancement narrows the technological gap between charging and other intelligent open-pit mining processes such as drilling and shovel-truck operations, thereby enhancing the overall intelligent level of the entire open-pit mining workflow. Simulation experiments demonstrate that this method improves operational efficiency by 18%, effectively promoting the intelligent construction and development of open-pit mining operations. (6) Although this study verifies the short operation time and high efficiency of the intelligent cooperative charging method, the experimental design did not specifically simulate the hole alignment time of equipment or compare energy consumption between different devices, which may introduce deviations in the results. Additionally, the simulation experiments were relatively simplistic, and field experiments were challenging to conduct, potentially leading to discrepancies between theory and practice. In future research, the AnyLogic multi-method modeling platform could be employed to develop a hybrid simulation model integrating discrete-event and agent-based modeling techniques. This approach would allow for an accurate reconstruction of the operational workflows of both charging methods, enabling a broader investigation of influencing factors and further validation of the findings.