# An Intelligent Collaborative Charging System for Open-Pit Mines
## 1 Introduction  
The use and status of mineral resources. Mineral resources constitute the fundamental material basis for human society, serving as the primary source of industrial supply chains and a critical foundation for industrial development [1, 2]. As of the early 21 st century, mineral resources accounted for over 95% of China's energy consumption and more than 80% of its industrial raw material supply. With continuous global population growth and increasing gross domestic product (GDP) across nations, worldwide mineral resource consumption has maintained a steady upward trajectory--a trend expected to persist for decades to come [3, 4, 5, 6]. Currently, amidst the evolution of next-generation information technologies and transformative shifts in the global political landscape, the world is entering a new developmental phase. China, in particular, is navigating unprecedented changes in a century, marked by escalating uncertainties [7, 8, 9]. Consequently, advancing high-quality development in the mining sector and ensuring timely, demand-driven mineral resourcesupply are of irreplaceable strategic significance. These efforts are pivotal to safeguarding national security, sustaining economic growth, and maintaining societal stability [10].  
The importance of open-pit mining. Currently, mineral resource extraction is mainly carried out separately through open-pit mining and underground mining, with very few mines combining open-pit and underground mining. Statistics show that mineral resources obtained through open-pit mining account for a large proportion of the total mineral development, especially in the field of non-coal mining resources [11; 12; 13; 14]. Data from references [15; 16] indicate that the vast majority of China's building material mines adopt open-pit mining, accounting for approximately 90% of iron ore extraction, 70% of chemical raw material production, and nearly 50% of non-ferrous metal ore exploitation [17; 18]. Consequently, investigating efficient and safe open-pit mining methodologies holds significance for advancing high-quality development in the mineral resources sector.  
The current situation of open-pit mining technology. At present, except for some soft rock mass mines that use mechanical rock breaking for continuous mining, the rock breaking method in most mines is still mainly rock breaking by blasting. Among them, the open-pit mining process uses numerous methods, including rock drilling and drilling, charging and blasting, loading and transportation, crushing, rock (soil) discharge, etc. The operation mode of each process and the degree of coordination between processes directly affect production efficiency and economic benefits [19; 20; 21; 22]. Up to now, processes such as rock drilling, loading and transportation, crushing, and rock (soil) discharge in the open-pit mining process have basically achieved mechanization and automation. Some modern open-pit mines have taken the lead in achieving intelligent operations [23; 24]. However, the technical level of charge blasting and the development of operation equipment are relatively slow. In particular, the development speed of mechanization and automation in the explosive charging process lags behind, and the operation efficiency of explosive charging is relatively low, which seriously restricts the efficient production and economic benefits of open-pit mining [25; 26; 27; 28].  
Therefore, researching and exploring an intelligent collaborative and efficient charging system for open-pit mines is of great practical significance for improving the efficiency of explosive charging operations, promoting efficient production in open-pit mines, promoting high-quality development of the mineral resources industry, and advancing the safe, efficient, and intelligent construction and development of open-pit mines.