# An Intelligent Collaborative Charging System for Open-Pit Mines
## 2 Current Development Status of Key Technologies and Equipment in Open-Pit Mining
### System Architecture and Operational Mechanisms of Intelligent Collaborative Charging Methods
#### 3.1.1 Structural Configuration and Functional Mechanisms of Explosive Delivery Vehicles  
The structural composition of the explosive truck. The explosive truck primarily consists of the following key components: a mixed explosive storage tank, an explosive conveying screw device, an explosive mixing device, and the truck's walking mechanism. The main functions of the explosive truck include (1) vehicle positioning and signal transmission/reception; (2) planning the optimal driving route, parking position, and stationary posture based on the blast area scope and borehole collar location data; (3) quantitative calculation and control of explosive charging for boreholes within the blast area; (4) interaction with explosive loading robots; (5) intelligent, efficient, and precise explosive transportation and explosive charging. A schematic diagram of the explosive truck structure is shown in Figure 2.  
Figure 1: Schematic diagram of intelligent collaborative charging device structure for open-pit mines. 3.1.2. The Structure and Functions of the Explosive Charging Robot  
The structural configuration of the explosive charging robot comprises several critical subsystems: an autonomous mobility unit for navigation in complex mining environments, a blasthole detection and alignment module with precision positioning capabilities, an orifice-centering mechanism ensuring accurate explosive delivery, a front-mounted explosive charging assembly for direct material deposition, and a rear-mounted interface system for seamless connectivity with explosive delivery trucks through articulated hose couplings. The explosive charging robot is designed to perform five core functions: (1) positioning and signal transmission/reception, enabling real-time communication with the control system; (2) optimal path planning and autonomous hole detection, which involves calculating the most efficient route based on blast zone parameters, blasthole locations, explosive truck trajectory, and current parking position; (3) precise centering and alignment, ensuring millimeter-level accuracy in positioning the charging nozzle relative to the blasthole orifice; (4) interactive coordination with explosive delivery trucks, including material transfer verification and safety interlock functions; (5) intelligent loading operations, incorporating adaptive flow control and process monitoring to maximize explosive charging efficiency while maintaining safety standards. A structural schematic diagram of the explosive charging robot is illustrated in Figure 3.  
3.1.3. Structural Composition and Functionality of Interface Module Between Explosive Truck and Explosive Charging Robot  
Structural composition of the interface module between explosive truck and explosive charging robot: devices and systems. Device 1: The critical coupling apparatus between the explosive truck and explosive charging robot, consisting of a 360\({}^{\circ}\) autonomous rotating structure mounted on the truck roof, a positive-pressure pneumatic conveying system, and an explosive transfer pipeline assembly comprising both rigid and flexible sections. Figure 2: A schematic diagram of the structure of the explosive vehicle. Device 2: Flexible and detachable linkage structures between components, including an interface and sealing assembly between the explosive truck and rigid explosive transfer pipeline, an interface and sealing assembly between the rigid and flexible explosive transfer pipelines, and an interface and sealing assembly between the flexible explosive pipeline and the explosive charging robot. System 1: The explosive truck path planning system configured on the vehicle-mounted terminal which performs computational and control functions including route planning for the explosive truck, determination of parking positions, and control of stationary postures.