# An Intelligent Collaborative Charging System for Open-Pit Mines
## 2 Current Development Status of Key Technologies and Equipment in Open-Pit Mining
### Current Status of Mine Charging Technologies and Equipment  
The development of charging technologies and equipment in international mining operations has a long-established history. Leading mining nations such as the United States and Canada pioneered research into on-site explosive mixing and charging systems as early as the 1950s, with companies like American Elec Corporation being among the first to develop bulk explosive loading trucks [81]. Over decades of technological advancement, on-site bulk explosive production has become the dominant method for industrial explosives manufacturing across the Americas, Australia, and Europe. Notably, Australia now utilizes on-site mixing and charging trucks for over 90% of its industrial explosives, where explosives are mixed and loaded directly at mine blast sites [50]. While bulk explosive trucks enjoy widespread adoption internationally, their automation and intelligitization levels remain relatively limited. Representative systems include the U.S.-developed proBlast3 model capable of operational parameter monitoring; Bulk Delivery Trucks that dynamically adjust explosive density through networked geological data analysis; South African systems integrating GPS modules with borehole recognition processors for automated charging control [82]; Australia's cutting-edge technology that significantly enhances operational efficiency through lithology-adaptive density regulation, delivering substantial productivity gains while reducing operational costs [83]. The development of charging technologies and equipment in China's mining sector commenced relatively late. Initial technological adoption began in 1986 with the introduction of American bulk explosive loading truck systems, marking the genesis of domestic bulk explosive vehicle technology [84]. A significant technological leap occurred in the early 21 st century through systematic innovation, particularly through the integration of various sensors with hydraulic and electronic control systems. These advancements substantially enhanced automation and digitalization capabilities, ultimately driving rapid progress in bulk explosive vehicle technology [85; 86; 87; 88]. [PERSON] [89] investigated the overall design methodology for explosive truck loading in open-pit mines, proposing that intelligent mixing-loading vehicles should possess the capability to automatically identify the precise location of each blasthole and achieve accurate explosive charging. [PERSON] et al. [90] developed a remote control system for production-oriented mixing-loading vehicles which integrates sensors and network controllers to enable intelligent full-process management of transportation and mixing operations through 5G network communication. [PERSON] et al. [91] proposed a wireless remote control approach for PLC systems on mixing-loading vehicles using wireless remote control devices. [PERSON] et al. [92] designed an automatic hole aligning explosive loading vehicle by installing hole aligning mechanisms and position sensing devices on a chassis equipped with vehicle positioning systems, thereby realizing automated hole alignment for mixing-loading vehicles. In recent years, significant progress has been made in the intelligent development and application of explosive charging equipment in mining operations. However, challenges remain in achieving fully unmanned and intelligent systems, particularly in terms of precise perception, accurate control, and efficient explosive charging. Significant gaps remain in achieving fully autonomous and intelligent operations, warranting continued and intensified research efforts. Research indicates that while mechanization and automation have been realized in drilling, shoveling, and hauling, automation and intelligence in explosive charging and blasting lag significantly, constraining efficient mine development.