CN105528644A - Dynamic mine shoveling, transporting and dumping efficiency optimization system and method - Google Patents
Dynamic mine shoveling, transporting and dumping efficiency optimization system and method Download PDFInfo
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Abstract
The invention relates to a dynamic mine shoveling, transporting and dumping efficiency optimization system and method, and belongs to the technical field of mining. The system comprises a GPS system of a shoveling device, a dynamic weighing system of an automobile transport device, a crusher of a rocking dumping device and a belt control system. The load queue length of the system in unit time is calculated by using a queuing theory model, a mathematical optimization method is used to calculate the optimal ratio of the automobile to the shoveling devices, high efficiency of a belt is kept in unit time, the automobiles and the shoveling devices are scheduled automatically, the mine feeding amount of the belt is controlled, the production efficiency is improved, loss is reduced, great convenience is provided for production command, and the practicality is very high.
Description
Technical field
The invention belongs to mining technique field, especially relate to a kind of mine and shovel, transport, arrange dynamic platform effect optimization system and method.
Background technology
At present, the mining in ore deposit is in the open arranged in rock operation, and most flow process is: shovel dress-automotive-belt row rock, usually to vehicle, the standby proportioning of shovel installing, carries out in the following ways dispatching and producing:
1, manual intervention, whole process is all rule of thumb, dispatches and carries out vehicle, shovel dress devices dispatch by intercom, mainly carry out according to knowhow and actual conditions;
2, automatically join car by gps system, GPS, according to the haul distance of shovel, car, adopts reasonable algorithm to carry out joining car to improve the production efficiency in mine.Gps system, to the influence degree of mining production benefit about about 15%, by the rationality problem regulating vehicle, the standby proportioning of shovel installing manages mine vehicle and equipment utilization of shovel dress in actual production, has higher practical value.Mine gps system can reduce production cost, improves mining production benefit, has following evident characteristic: 1) workable, and yardman sends instructions under carrying out decision-making also according to the information that scene provides; 2) usability is strong, and system carries out rational allocation according to the instruction of dispatcher to produced on-site; 3) connecting is strong, dispatches and plans as a whole and optimize comprehensively to be connected with scene;
But in the shovel dress-automotive-belt row rock production practices of mine, often cause GPS dispatching system to be difficult to play a role due to various factors, there is following problem: first, open-pit situation is among change, belt-conveying field data accurately and in time can not feed back to control room sometimes, brings difficulty to GPS car transferring system.The second, generally, gps system can be dispatched with shovel installing is standby vehicle automatically, if abnormal conditions appear in scene, dispatcher may make false judgment to field condition so that issue false command, causes production chaotic.3rd, vehicle and the standby driver of shovel installing sometimes violate instruction or misunderstand instruction so that scene causes confusion.4th, the on-the-spot dump truck speed of a motor vehicle is inconsistent, thus indirect rationally shunting to gps system has an impact; 5th, gps signal is unstable, and Internet Transmission has dead angle, has a direct impact dispatching system; Each hardware components, the intelligent terminal of the six, GPS mine car dispatching system break down, and scene of also causing causes confusion state.
For the above reasons, major part is produced or is adopted intercom more, manually installs standby allotment to vehicle, shovel.
In addition, in shovel dress-automotive-belt row rock operation process, it is many that belt-conveying relates to link, and no matter which bar belt goes wrong, all directly impact row rock operation; More importantly belt carrying capacity directly affects vehicle, shovels and install standby proportioning, and vehicle is joined how crowded, and shovel is installed and all do not played belt-conveying efficiency for joining to have lacked; In overturning place of row's rock disintegrating machine, operating personnel according to the density degree of vehicle regulate belt to ore deposit speed, ensure that disintegrating machine breaks the bottom bin-level in ore deposit about 50%; Sometimes, time without car, also need to stop belt running, make troubles to producers, reduce production efficiency simultaneously.
Therefore, the vehicle in research and development shovel dress-automotive-belt row rock operation process, shovel are installed standby proportioning and are automatically regulated the method for belt mine-supplying quantity to seem very necessary.
Summary of the invention
The object of this invention is to provide a kind of mine shovel, fortune, arrange dynamic platform effect optimization system and method, by GSP system, dynamic weighing system, disintegrating machine and strip control system are standby to shovel installing respectively, the various parameter acquisitions of automotive equipment and row's rock equipment, application waiting line theory theoretical informatics dynamic platform effect Optimized model, calculate car shovel proportioning, install for carrying out rational allocation by the dispatching system of gps system to car quantity and shovel, mine is made to shovel dress, automotive, the resource allocation that belt mixing row rock is produced is more reasonable, according to the density degree of car, automatic adjustment belt mine-supplying quantity, improve disintegrating machine and belt production efficiency.
The object of the invention is to be realized by following technical proposals:
A kind of mine is shoveled, transport, arrange dynamic platform effect optimization system, it is characterized in that comprising acquisition system becomes system with visualized graphs, the shovel position that acquisition system exports, truck position, loading time, time of unloading, carrying capacity, running status, the speed of belt and the material level of disintegrating machine, become in system to show at visualized graphs, and set up dynamic platform effect Optimized model thus, calculate car shovel proportioning;
Described acquisition system comprises the standby gps system of shovel installing, the dynamic weighing system of automotive equipment and the disintegrating machine of row's rock equipment and belt row rock control system.
A kind of mine is shoveled, transport, arrange dynamic platform effect optimization system and method, it is characterized in that comprising the steps:
(1) data acquisition
Adopt gps system collection shovel position, truck position, loading time, unload the time, realize Automatic dispatching according to the car shovel proportion optimizing calculated simultaneously;
Described dynamic weighing system provides every chassis to load the arrival car number of rock weight, time of arrival, row's rock disintegrating machine overturning mouth, and then calculates carrying capacity;
Described disintegrating machine and belt row rock control system provide the running status of belt and disintegrating machine, the speed of belt; The material level of disintegrating machine;
(2) modeling
Set up dynamic platform effect Optimized model, by gathering the data of gps system, dynamic weighing system and disintegrating machine and belt row rock control system, to vehicle, shovel installing, standby and belt carries out modeling to application waiting line theory, target meets maximum platform effect (carrying capacity t/h) of belt, the basic input of model is the charge capacity of the next unit interval sent after the belt free time, and to be corresponding queue theory model be corresponding queue theory model:
M
1/M
2/C/K；
Wherein:
M
1: the load requests sent after representing the belt free time send frequency (meet Poisson distribution, the charge capacity of each request is identical);
M
2: representative be vehicle, the standby Annual distribution (index of coincidence distribution) coordinated needed for a belt request of shovel installing;
C: representative be the standby unit number as a service unit of vehicle+shovel installing;
K: representative be the maximum freight volume of belt;
If M
1, C is constant, by the method for dynamic programming, can optimize M
2, thus pending queue length is reduced, optimize vehicle, the standby proportioning of shovel installing by waiting line theory;
(3) mathematical optimization
After the expectation load of given belt, according to the unloading time of lorry at belt, can obtain the mathematical expectation service time of all vehicles+standby service unit of shovel installing, its mathematical model is expressed as follows:
Wherein ε: represent our calculative target expected service time;
J: load-carrying vehicle number;
X: empty wagons;
K: total shovel dress number of devices;
Car
n position: representative be that certain amount empty wagons is in the GPS location of a special time;
Shovel
m position: representative be the standby GPS location of certain shovel installing;
represent certain empty wagons and install standby position to certain shovel;
Car
the n loading time: represent this car at this shovel installing standby place's loading required time (dead weight capacity of this time and car, the standby front lorry queuing quantity of this shovel installing is relevant);
represent this car after the standby loading of this shovel installing, arrive belt required time;
Car
n unloading time: represent the unloading time of this car at belt place;
(4) again optimize
According to expected service time, go out the optimal time of vehicle n to the standby m of shovel installing by formula dynamic calculation above, rank, again optimize vehicle, the standby proportioning of shovel installing.
Advantage of the present invention:
(1) mine of the present invention shovel, fortune, arrange dynamic platform effect optimization system and method adopts queue theory model to carry out the load queue length of system in the unit of account time, use the method for mathematical optimization simultaneously, calculate to reduce queue length as soon as possible, required vehicle, shovel dress number of devices and allocation strategy, system is become in conjunction with visualized graphs, gps system, dynamic weighing system, disintegrating machine and belt row rock control system, by meeting the maximum platform effect of belt, carrying capacity t/h, calculate vehicle, the standby optimum proportioning of shovel installing, realize the high-level efficiency that belt is stable within the unit interval, Automatic dispatching vehicle and shovel are installed standby, control the mine-supplying quantity of belt, enhance productivity, reduce the wastage, bring great convenience to production commander, there is very strong practicality.
(2) mine of the present invention shovel, fortune, arrange dynamic platform effect optimization system and method to shovel dress, automotive and belt row rock amount are considered as a whole, vehicle and shovel are installed standby, and disintegrating machine and belt Liang Ge transportation system combine, the vehicle that past is rule of thumb manually estimated and the standby proportioning of shovel installing change into intellectual analysis, automatic mixing, play belt efficiency to greatest extent, the row's of making rock is produced and is realized from the unknown to prophet, from passive to active, from artificially instructing to Based Intelligent Control, vehicle and shovel are installed standby discrete scheduling, the Whole Process Control becoming real-time continuous is combined with disintegrating machine and belt.
Accompanying drawing explanation
Fig. 1 is system chart of the present invention.
Embodiment
The specific embodiment of the present invention is further illustrated below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of mine is shoveled, transport, arrange dynamic platform effect optimization system and method, it is characterized in that comprising acquisition system becomes system with visualized graphs, the shovel position that acquisition system exports, truck position, loading time, time of unloading, carrying capacity, how many tons/hour, the speed of running status, belt and the material level of disintegrating machine, become in system to show at visualized graphs, and set up dynamic platform effect Optimized model thus, calculate car shovel proportioning;
Described acquisition system comprises the standby gps system of shovel installing, the dynamic weighing system of automotive equipment and the disintegrating machine of row's rock equipment and belt row rock control system.
Described gps system is made up of global location Intelligent GPS terminal, the standby data acquisition system (DAS) of shovel installing, Production Scheduling System, and global location Intelligent GPS terminal is arranged on every chassis and shovel, real-time positioning car shovel position; The standby data acquisition system (DAS) of shovel installing gathered the shovel position of global location Intelligent GPS terminal, truck position, loading time, the time of unloading, and realized Automatic dispatching according to the car shovel proportion optimizing calculated by Production Scheduling System simultaneously.
Described dynamic weighing system is arranged on disintegrating machine overturning mouth, to be made up of the short weighting platform of split, industrial computer of weighing, Intelligent Instrument of weighing, PLC control cabinet, RFID rf read-write device, traffic lights and giant-screen etc., comprise and adopt split to give short weight platform dynamic weighing mode, system identifies automatically to motor car number and vehicle, automatic Weighing, the management of round-the-clock unmanned can be realized, be mainly and the invention provides the arrival car number that every chassis loads rock weight, time of arrival, row's rock disintegrating machine overturning mouth, and then calculate carrying capacity, how many tons/hour;
Described disintegrating machine and belt row rock control system comprise disintegrating machine PLC control system, belt row rock PLC control system and PI real-time dataBase system, by the PI server of PIEnterpriseServer, gather the data of disintegrating machine and belt, belt data comprise running status, the instantaneous value of belt, the speed of belt; Disintegrating machine data comprise running status, the material level of disintegrating machine and row's rock total amount etc. of split run.
Described visualized graphs becomes system by geologic topographic map, car shovel allocation table, when regular bus freight volume, disintegrating machine and belt operational factor table form, the ruuning situation of car, shovel queuing situation and belt is very clear; Described geologic topographic map, together with the data of real-time display update, the lifelike image ground row's of demonstrating rock operational system state, substantially increases the efficiency of mine work.
A kind of mine of the present invention is shoveled, transport, arrange dynamic platform effect optimization system and method, it is characterized in that comprising the steps:
(1) data acquisition
Described gps system can collect shovel position, truck position, loading time, unload the time, realizes Automatic dispatching according to the car shovel proportion optimizing calculated simultaneously;
Described dynamic weighing system provides every chassis to load the arrival car number of rock weight, time of arrival, row's rock disintegrating machine overturning mouth, and then calculates carrying capacity (how many tons/hour);
Described disintegrating machine and belt row rock control system provide the running status of belt and disintegrating machine, the speed of belt; The material level of disintegrating machine;
(2) modeling
Set up dynamic platform effect Optimized model, by gathering the data of gps system, dynamic weighing system and disintegrating machine and belt row rock control system, to vehicle, shovel installing, standby and belt carries out modeling to application waiting line theory, target meets maximum platform effect (carrying capacity t/h) of belt, the basic input of model is the charge capacity of the next unit interval sent after the belt free time, and to be corresponding queue theory model be corresponding queue theory model:
M
1/M
2/C/K；
Wherein:
M
1: the load requests sent after representing the belt free time send frequency (meet Poisson distribution, the charge capacity of each request is identical);
M
2: representative be vehicle, the standby Annual distribution (index of coincidence distribution) coordinated needed for a belt request of shovel installing;
C: representative be the standby unit number as a service unit of vehicle+shovel installing;
K: representative be the maximum freight volume of belt;
If M
1, C is constant, by the method for dynamic programming, can optimize M
2, thus pending queue length is reduced, optimize vehicle, the standby proportioning of shovel installing by waiting line theory;
(3) mathematical optimization
After the expectation load of given belt, according to the unloading time of lorry at belt, can obtain the mathematical expectation service time of the standby service unit of all vehicles+shovel installing, this time is exactly the objective result of the mathematical optimization problem of the present invention's application, and mathematical model is expressed as follows:
Wherein ε: represent our calculative target expected service time;
J: load-carrying vehicle number;
X: empty wagons;
K: total shovel dress number of devices;
Car
n position: representative be that certain amount empty wagons is in the GPS location of a special time;
Shovel
m position: representative be the standby GPS location of certain shovel installing;
represent certain empty wagons and install standby position to certain shovel;
Car
the n loading time: represent this car at this shovel installing standby place's loading required time (dead weight capacity of this time and car, the standby front lorry queuing quantity of this shovel installing is relevant);
represent this car after the standby loading of this shovel installing, arrive belt required time;
Car
n unloading time: represent the unloading time of this car at belt place;
(4) again optimize
According to expected service time, go out the optimal time of vehicle n to the standby m of shovel installing by formula dynamic calculation above, rank, again optimize vehicle, the standby proportioning of shovel installing.
How example below, in order to illustrate in the present invention, optimizes vehicle+shovel dress number of devices by waiting line theory:
1) suppose the utilization factor in order to maximize belt, we wish in each hour, and belt can have the load of 3000 tons.Suppose that each lorry is 1 minute to the time that belt is unloaded, and within the same time, only have a lorry can be unloaded on belt.In one hour, 60 lorries can only be had to queue up and successively this belt to be unloaded.Therefore, the request of 3600 tons of loads in 1 hour, is just divided into the request of 60 50 tons.We obtain M thus
1distribution.That is, each minute, we wish that one has 50 tons of lorries delivered to the unloading of belt place, and after this car has been unloaded, have another lorry to be connected, waiting line theory is to shown in the application principle figure of car, shovel and belt at once;
2) based on 1 demand (namely within every 1 minute, have a lorry to unload 50 tons to belt, therefore we can draw shovel dig ore deposit+lorry to shovel+train to the time of belt in one hour on average at 1 minute.Install for having coordinated the mathematical expectation of the Annual distribution of a belt request to be 1 minute for waiting line theory vehicle, shovel in other words.Thus, by calculating based on the standby shipment amount of current all shovel installings, the position of all lorries, all lorries arrive the standby distribution then arriving the time of belt of shovel installing, we can calculate actual expectation value and whether be less than 1 minute (how to calculate this value, refer to Mathematics Optimization Method hereinafter).If this value equals 1 minute, then illustrate that current vehicle+standby cooperation of shovel installing just in time can complete the request of belt.Vehicle, standby and corresponding to belt the queue theory model of shovel installing can enter a stable state.If the mathematical expectation of reality is greater than 1 minute, then illustrate that vehicle+standby service unit number of shovel installing is too little, by the calculating to C, need to start new shovel installing standby, or send lorry.If the mathematical expectation of reality is far smaller than 1 minute, then illustrates and need to stop the standby work of shovel installing, or subtract and send lorry;
As mentioned above, in the position of load-carrying vehicle of special time, belt position, lorry is all known variables at the unloading time of belt, the mathematical modulo pattern (1) to below:
Solve, formula (2) can be reduced to:
Due to above all variate-value (cars
n position, shovel
m position, car
the n loading time, car
n unloading time) can by system acquisition of the present invention, so we can obtain in some moment, all empty wagons, install standby to any shovel, and then to the time needed for belt, the assembly time for m installed by all vehicle n and shovel in other words;
3) in conjunction with the real time data that software systems of the present invention gather, as follows to the derivation algorithm of formula (2):
First lock whole empty wagon position by GPS, and all shovels of loading that needs install standby position and cargo dead-weight;
To the empty lorry in every portion, substitute into formula (2), to the standby position calculation formula (2) of all shovel installings, and find out the empty lorry of minimum <, the pairing of shovel dress device location >.If same shovel dress device location output is high, multiple empty lorry can be distributed, now car
the n loading timecomputing method be: car
the n loading time=M* car
the loading time
The lorry quantity of shovel dress device location is waited in M representative before coming vehicle n;
By actual scene below, we comprehensively illustrate how this algorithm produces optimum vehicle, shovel dress apparatus preparing strategy:
1) known current mining site has truck 11 (maximum load 70 tons), and buggy 11 (maximum load 50 tons), digs according to shovel 5 (position is known), belt feeder one (position is known).Lorry according to route running, therefore at any time, the time of lorry and belt standby to each shovel installing, can be drawn by lorry position calculation in mining site;
2) suppose that the requirement of mining site is, belt needs the charge capacity of 3000 tons for each hour, according to the carrying capacity of mine car, we can know that the average freight volume of each lorry is 60 tons, if on average within every 1.2 minutes, just have a lorry to belt unloading, the freight volume of 3000 tons per hour of belt can be met.By efficient scheduling, we should guarantee within every 1.2 minutes, just have a lorry to arrive belt unloading;
3) at a time, we can obtain the loading condition of whole lorry, and its position, if lorry loading, then do not need to consider to carry out route scheduling to this lorry, because his target location must be belt.Suppose that, in this particular moment, whole lorry is all empty, we need for they find suitable shovel dress device location, and to shortening haulage time, the method for looking for shovel dress device location is as follows:
A. from first empty lorry, standby position is installed to each shovel according to this lorry of its position calculation, and (other lorries may be had to queue up because of before this car in the loading time that each shovel installing is standby required, the loading time is not a fixed value, because after calculating shovel dress device location to each lorry, need to upgrade the queuing time to shoveling dress device location, queue is longer, and the time is longer).Then standby to belt position from specific shovel installing after calculating loading, with unloading time.Calculated by this, we can obtain n*m < car n, and the pairing all consuming time (being 22x5 in this example) of shovel m> is individual.As following table:
| < car 1, shovel 1> | < car 1, shovel 2> | < car 1, shovel 3> | < car 1, shovel 4> | < car 1, shovel 5> |
| < car 2, shovel 1> | < car 2, shovel 2> | < car 2, shovel 3> | < car 2, shovel 4> | < car 2, shovel 5> |
| < car 3, shovel 1> | < car 3, shovel 2> | < car 3, shovel 3 > | < car 3, shovel 4> | < car 3, shovel 5> |
| … | … | … | … | … |
| < car 21, shovel 1> | < car 21, shovel 2> | < car 21, shovel 3> | < car 21, shovel 4> | < car 21, shovel 5> |
| < car 22, shovel 1> | < car 22, shovel 2> | < car 22, shovel 3> | < car 22, shovel 4> | < car 22, shovel 5> |
B. then we, by the method for dynamic programming, after finding the shortest time of all pairings consuming time of table, ask mathematical expectation to this time;
If c. revaluate closely 1.2, then illustrate, in one hour, current vehicle, the standby transmission demand that can be reached belt by path optimization of shovel installing;
If d. revaluate is far smaller than 1.2, current vehicle, shovel dress number of devices are described, for optimal path, quantity is too much, can consider that inactive shovel installing is standby or stop;
If e. revaluate is far longer than 1.2 current car is being described, shovel dress number of devices cannot meet the demand of belt, now needs to consider to increase shovel installing standby, or adds and send lorry.
Mine of the present invention shovel, fortune, arrange dynamic platform effect optimization system and method queue theory model carrys out the load (queue length) of system in the unit of account time, use the method for mathematical optimization simultaneously, calculate to reduce queue length as soon as possible, required vehicle, shovel dress number of devices and allocation strategy, system is become in conjunction with visualized graphs, gps system, dynamic weighing system, disintegrating machine and belt row rock control system, by meeting maximum platform effect (carrying capacity t/h) of belt, calculate vehicle, the standby optimum proportioning of shovel installing, realize the high-level efficiency that belt is stable within the unit interval, Automatic dispatching vehicle and shovel are installed standby, control the mine-supplying quantity of belt, enhance productivity, reduce the wastage, bring great convenience to production commander, there is very strong practicality.
Claims (2)
1. a mine is shoveled, transports, is arranged dynamic platform effect optimization system, it is characterized in that comprising acquisition system becomes system with visualized graphs, the shovel position that acquisition system exports, truck position, loading time, time of unloading, carrying capacity, running status, the speed of belt and the material level of disintegrating machine, become in system to show at visualized graphs, and set up dynamic platform effect Optimized model thus, calculate car shovel proportioning;
Described acquisition system comprises the standby gps system of shovel installing, the dynamic weighing system of automotive equipment and the disintegrating machine of row's rock equipment and belt row rock control system.
2. mine is shoveled, transports, is arranged dynamic platform effect optimization system and a method, it is characterized in that comprising the steps:
(1) data acquisition
Adopt gps system collection shovel position, truck position, loading time, unload the time, realize Automatic dispatching according to the car shovel proportion optimizing calculated simultaneously;
Described dynamic weighing system provides every chassis to load the arrival car number of rock weight, time of arrival, row's rock disintegrating machine overturning mouth, and then calculates carrying capacity;
Described disintegrating machine and belt row rock control system provide the running status of belt and disintegrating machine, the speed of belt; The material level of disintegrating machine;
(2) modeling
Set up dynamic platform effect Optimized model, by gathering the data of gps system, dynamic weighing system and disintegrating machine and belt row rock control system, to vehicle, shovel installing, standby and belt carries out modeling to application waiting line theory, target meets maximum platform effect (carrying capacity t/h) of belt, the basic input of model is the charge capacity of the next unit interval sent after the belt free time, and to be corresponding queue theory model be corresponding queue theory model:
M
1/M
2/C/K；
Wherein:
M
1: the load requests sent after representing the belt free time send frequency (meet Poisson distribution, the charge capacity of each request is identical);
M
2: representative be vehicle, the standby Annual distribution (index of coincidence distribution) coordinated needed for a belt request of shovel installing;
C: representative be the standby unit number as a service unit of vehicle+shovel installing;
K: representative be the maximum freight volume of belt;
If M
1, C is constant, by the method for dynamic programming, can optimize M
2, thus pending queue length is reduced, optimize vehicle, the standby proportioning of shovel installing by waiting line theory;
(3) mathematical optimization
After the expectation load of given belt, according to the unloading time of lorry at belt, can obtain the mathematical expectation service time of all vehicles+standby service unit of shovel installing, its mathematical model is expressed as follows:
Wherein ε: represent our calculative target expected service time;
J: load-carrying vehicle number;
X: empty wagons;
K: total shovel dress number of devices;
Car
n position: representative be that certain amount empty wagons is in the GPS location of a special time;
Shovel
m position: representative be the standby GPS location of certain shovel installing;
represent certain empty wagons and install standby position to certain shovel;
Car
the n loading time: represent this car at this shovel installing standby place's loading required time (dead weight capacity of this time and car, the standby front lorry queuing quantity of this shovel installing is relevant);
represent this car after the standby loading of this shovel installing, arrive belt required time;
Car
n unloading time: represent the unloading time of this car at belt place;
(4) again optimize
According to expected service time, go out the optimal time of vehicle n to the standby m of shovel installing by formula dynamic calculation above, rank, again optimize vehicle, the standby proportioning of shovel installing.
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| CN107680075A (en) * | 2017-08-11 | 2018-02-09 | 辽宁科技大学 | A kind of sublevel caving method without sill pillar ore removal effect remote real-time monitoring system and method |
| US10643159B2 (en) | 2017-11-20 | 2020-05-05 | Caterpillar Inc. | System and method for mining site production planning |
| CN109709908A (en) * | 2018-11-19 | 2019-05-03 | 华能伊敏煤电有限责任公司 | Power shovel production management-control method and system based on the analysis of power shovel data |
| CN109709908B (en) * | 2018-11-19 | 2020-07-10 | 华能伊敏煤电有限责任公司 | Electric shovel production control method and system based on electric shovel data analysis |
| CN110553644A (en) * | 2019-09-20 | 2019-12-10 | 鞍钢集团矿业有限公司 | Accurate positioning system and method for mining electric shovel |
| CN110764476A (en) * | 2019-10-23 | 2020-02-07 | 张占军 | Control method and device |
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| WO2021198318A1 (en) | 2020-04-01 | 2021-10-07 | Abb Schweiz Ag | Ore flow optimization |
| CN112037503A (en) * | 2020-08-31 | 2020-12-04 | 安徽海螺集团有限责任公司 | Mine intelligent scheduling system |
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