CN110905519A - Strip mine dumping method - Google Patents
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- CN110905519A CN110905519A CN201911064611.1A CN201911064611A CN110905519A CN 110905519 A CN110905519 A CN 110905519A CN 201911064611 A CN201911064611 A CN 201911064611A CN 110905519 A CN110905519 A CN 110905519A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
- E21C47/02—Machines for obtaining or the removal of materials in open-pit mines for coal, brown coal, or the like
Abstract
A method for dumping in strip mine relates to the technical field of strip mining. The method has the advantages that the surface soil within the compaction range of the external dump is pre-dug, the waste of surface soil resources is avoided, the problems of short covering soil resources of strip mines, high surface soil long-distance transportation cost, lagging covering soil and the like are solved, the pre-digging depth, the pre-digging construction progress and the surface soil stacking height are reasonably determined, the stacking time of the pre-dug surface soil is shortened, the retention degree of organic matters and nutrients in the surface soil is improved, the vegetation recovery effect during the reclamation of the dump is improved, the surface soil pre-digging cost can be reduced to the minimum by reasonably determining the stacking position and the reasonable stacking height of the pre-dug surface soil, the base elevation of the dump is reduced by pre-digging the surface soil with a certain depth, the value is reduced to be equal to the pre-digging depth value, the purchasing cost of mines is reduced, and the economic and environmental benefits are very obvious.
Description
Technical Field
The invention relates to the technical field of open-pit mining, in particular to a method for dumping in an open-pit mine.
Background
The dumping engineering is an important component of surface mining, and is constrained by coal seam occurrence conditions and stripping-mining-dumping space-time relationship, and strippings are dumped outside a stope in the initial mining stage, so that the dumping stope is required to be arranged at a proper section outside the surface boundary of the surface mining field of the surface mine to accommodate the externally-discharged strippings. Finally, an external soil discharge field with a certain height and shape is formed on the ground surface, and soil covering and vegetation recovery must be carried out on the external soil discharge field after the service period of the external soil discharge field is expired. According to the process of forming the external waste disposal site, stripped objects such as rocks excavated in the deep part of the strip mine stope are often discharged to the uppermost part of the waste disposal site. Because the components such as organic matters in the rock stripping materials are very deficient and do not have the growth conditions of plants and various microorganisms, the first step of reclamation is to complete the soil covering of the waste dump, namely to cover the top of the waste step with humus soil with a certain thickness to create substrate conditions for the growth of the plants and the microorganisms.
The key of the covering soil is to solve the problem of the source of the surface soil. For open-pit mines with sufficient top soil resources, the source of the casing soil is often top soil stacked separately at the early stage of stripping or top soil transported over long distances from the mining face. The singly piled surface soil has a great loss of organic matters and nutrients due to the influences of excavation disturbance, long-term stockpiling weathering and the like, the soil is seriously barren, and long-term improvement and curing are required to meet the requirement of subsequent reclamation. The earth covering cost is very high due to the fact that the transport distance of surface soil transported from a working face of a digging field is long, the economic burden of mine reclamation is greatly increased, and even some enterprises cannot bear high reclamation cost, the standard of reclamation is reduced, even the reclamation of a dumping field is not carried out, and the problem of serious ecological environment damage is caused. For the open-pit mine with deficient surface soil resources, the source of covering soil is more limited, the cost is quite high, and even enterprises have to invest a large amount of capital and time to research and develop surface soil substitute materials so as to solve the problem of 'covering without soil'.
No matter whether the surface soil resources are sufficient or not, the prior open pit dumping faces the problems of high earth covering cost, long period, poor timeliness and the like of an external dumping field.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for dumping in an open pit.
The technical scheme adopted by the invention is as follows: a method for dumping open-pit mine technically features that according to the position development of dumping engineering, the surface soil of the base in the boundary of dumping site is pre-excavated in time-space sequence, temporarily stored in the area not yet stripped in the boundary of dumping site, and pre-stripped to form a new base of dumping site; the method comprises the following steps:
step 1: and determining the pre-digging depth. Performing pre-excavation operation by adopting a hydraulic back-hoe, and performing surface soil pre-excavation from the soil discharging initial position to the soil discharging working line advancing direction, wherein the pre-excavation depth is comprehensively determined according to the surface soil thickness and the soil covering demand, the pre-excavation construction plan is comprehensively determined according to the soil discharging engineering plan, and the pre-excavation construction plan and the soil discharging working line are kept synchronous in principle; if the pre-excavation surface soil stockpiling quantity meets the required soil covering quantity when the engineering position of the pre-excavation construction does not reach the final boundary of the waste dump, the pre-excavation construction can be stopped in advance; when the soil is discharged at a pre-digging section, only the lowest 1 st soil discharging step is discarded on the original ground surface;
step 2: and determining the surface soil stacking starting position. Adopting a dump truck to transport surface soil to a preset place for unloading, piling the pre-stripped surface soil to an un-stripped area in a soil discharging boundary for temporary storage, determining the transport distance of the dump truck, and ensuring that the temporary storage position of the pre-excavated surface soil does not influence the construction of a pre-excavation project; carrying out whole pile by using a bulldozer, wherein the pile height is comprehensively determined according to the surface soil pre-excavation height and the soil covering construction speed;
and step 3: and determining a soil discharging construction process. When the empty area formed by pre-excavation meets the requirement of the dumping operation, the dumping of strip mines can be carried out in the pre-excavated area, the initial position of the 1 st step at the bottom needs to adopt a dumping truck-bulldozer dumping mode, a truck unloads materials from the top of the pre-excavated step to the pre-excavated area, the bulldozer assists in operation to gradually form a dumping step with standard height and a slope angle, and a safety retaining wall is arranged at the edge of the top of the dumping step to ensure the operation safety of the dumping truck; the dumping truck-bulldozer dumping mode or the dumping machine dumping mode can be adopted from the 2 nd step at the bottom, and the concrete dumping mode can be determined according to the stripping process;
and 4, step 4: when the soil discharging steps have soil covering operation conditions, a front loader or a hydraulic back shovel is adopted to load the piled surface soil to a dump truck, the truck is transported to a soil covering operation area through a soil discharging step transportation passage to be unloaded, a bulldozer is adopted to assist in leveling, soil covering operation is completed, and the soil covering parameters are based on the requirement of vegetation recovery on the soil covering thickness.
In the above scheme, the process of performing pre-excavation operation by using the hydraulic backhoe in the step 1 is as follows:
adopting a horizontal backward operation mode, namely, the backhoe and the truck are positioned at the same platform elevation, the backhoe excavates surface soil below the platform elevation, the bucket is lifted up to horizontally install the truck, and the backhoe performs backward operation; the pre-digging depth is determined after calculation according to the following formula:
d≥min(t，q·ks/s)
in the formula, d is the surface soil pre-excavation depth m; t is the thickness of the original surface soil layer, m; q is the total amount of the covering soil of the refuse dump, m3；ksTaking the coefficient of the surface soil abundance as 1.05; s is the total area of the earth covered by the refuse dump, m2；
The slope bottom line position of the surface soil pre-digging step and the slope bottom line position of the lowest soil discharging step are always kept at an advance distance of more than 3m in the advancing direction of the working line.
In the above scheme, the transport distance of the dump truck in the step 2 is determined after calculation according to the following formula:
D≥v0·t0+b+dS
in the formula, D is the transport distance of the dump truck for pre-excavating surface soil, and m; v. of0The advancing speed of the soil discharging working line is m/d; t is t0The time from pre-digging to earthing up is month; b is the width of the pre-digging strip, m; dsThe safe distance, m, between the top line of the surface soil pre-dug step and the bottom line of the surface soil stockpiling lowest step is generally 5 m.
In the scheme, the strip mine is subjected to dumping in the pre-excavated area in the step 3, when the 1 st step at the bottom is subjected to dumping, the width of a flat plate at the top of a dumping step must meet the minimum platform width required by truck shunting, and the minimum distance between a slope bottom line of the dumping step and a slope bottom line of the pre-excavated step is kept to be more than 3 m; when the dumping of the 2 nd and above steps is carried out, the width of the flat plate of the lower step is ensured to meet the requirement of the minimum working flat plate width of the dumping site of the strip mine, and the top edge of each dumping step is provided with a safety retaining wall, wherein the height of the retaining wall is not less than 2/5 of the diameter of a truck tire.
In the above solution, the soil discharging step in step 4 has soil covering operation conditions, which means that soil covering operation can be performed on the uppermost part of the partial soil discharging area, and the following conditions should be satisfied: (1) the top mark height of the waste dump is higher than the design final waste elevation; (2) the width of the flat plate of the soil discharging step on the uppermost part is larger than or equal to the width of the minimum working flat plate required by soil covering operation; (3) the slope angle of the step of the refuse dump and the final slope angle are equal to the design angle; when the front loader or the hydraulic backhoe loads the piled surface soil to the dump truck, a flat-loading and front-pushing type operation mode is adopted, namely the front loader or the hydraulic backhoe and the dump truck are positioned at the same platform elevation, the front loader or the backhoe excavates the piled surface soil above the platform elevation, the bucket is lifted to flatly load the truck, and the front loader or the hydraulic backhoe performs front-pushing type operation.
The invention has the beneficial effects that: compared with the prior art, the method for dumping the strip mine comprises the following steps:
(1) the surface soil in the compaction range of the external dumping field is pre-dug, so that the waste of the surface soil resource is effectively avoided, and the problems of short covering soil resource, high long-distance surface soil transportation cost, lagging covering soil and the like of the strip mine are solved;
(2) by reasonably determining the pre-excavation depth, the pre-excavation construction progress and the surface soil stockpiling height, the stockpiling time of the pre-excavation surface soil is obviously shortened, the retention degree of organic matters and nutrients in the surface soil is greatly improved, and the vegetation recovery effect during the reclamation of the dump can be obviously improved;
(3) by reasonably determining the stockpiling position and the reasonable stockpiling height of the pre-dug surface soil, the cost of the pre-dug surface soil can be reduced to the minimum, and the coordination and unification of the pre-dug surface soil and the dumping engineering can be ensured;
(4) the elevation of the base of the dump is reduced by pre-digging surface soil with a certain depth, and the reduction value is equal to the pre-digging depth value, so that the dumping capacity of the dump is increased, the floor area of the dump is reduced, the ground purchasing cost of a mine is reduced, and the economic benefit and the environmental benefit are very obvious on the premise of not improving the final dumping elevation of the dump.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram (I) of the evolution process of a strip mine dumping project in the embodiment of the invention;
FIG. 2 is a schematic diagram (II) of the evolution process of the strip mine dumping project in the embodiment of the invention;
FIG. 3 is a schematic diagram (III) of the evolution process of the strip mine dumping project in the embodiment of the invention;
FIG. 4 is a schematic view of a construction strip sequence in an embodiment of the present invention;
FIG. 5 is a schematic view of the backward operation of the hydraulic backhoe 5 pre-digging loader according to the embodiment of the present invention;
FIG. 6 is a schematic view of a stowing face truck and a stowing face hydraulic backhoe flat-loader push-forward operating mode in an embodiment of the present invention;
the numbers in the figure illustrate the following: in the figure, 1-outer soil discharge field ground surface boundary, 2-pre-excavation dead zone, 3-surface soil stacking step, 4-self-dumping truck, 5-hydraulic backhoe, 61-pre-excavation surface soil to stacking point path, 62-pre-excavation surface soil to earthing point path, 63-stacking surface soil to earthing point path, 7-to-be-pre-excavated strip, 8-soil discharging working line advancing direction, 9-stacking step ramp, 10-soil discharging step, 11-earthing step, 12-pre-excavation step advancing distance, 13-stacking working surface truck and 14-stacking working surface hydraulic backhoe.
Detailed Description
The above objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention with reference to the accompanying drawings, which are illustrated in fig. 1 to 6, and the accompanying drawings.
In the present embodiment, the same engineering sites are denoted by the same reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular engineering site.
The total discharge amount of the open pit waste discharge site in the embodiment is 6600 ten thousand meters 3, the service life is 4 years, and the occupied area is 1.67km2The final discharge elevation is +640m, the final discharge height is 90m, the final loosening coefficient is 1.15, the capacity reserve coefficient is 1.20, the average thickness of the original surface soil of the waste dump area is 3.0m, the covering soil thickness of the waste dump is 1.0m, and the final slope angle of the waste dump is 22 degrees. The strip mine stripped objects are discharged into an outer discharge soil yard ground surface boundary 1, the outer discharge soil yard ground surface boundary is in a rectangular shape of 2000m multiplied by 800m, the strip-by-strip discharge is started from the leftmost side of the outer discharge soil yard ground surface boundary 1, the height of a soil discharge step is 30m, the slope angle of the step is 32 degrees, the final step flat disc width is 40m, and the working flat disc width is 80m, the soil discharge engineering is implemented by applying the strip mine soil discharge method of the embodiment, and the concrete steps are as follows, and are shown in figure 1:
step 1: and determining the pre-digging depth. In the engineering example, the hydraulic backhoe 5 is adopted to gradually carry out surface soil pre-excavation operation from the left-most soil discharging initial position of the outer soil discharge field 1, as shown in fig. 1. Firstly, according to the total covering soil quantity q and the occupied area s of the external soil discharge field 1, the theoretical pre-excavation depth is calculated and determined to be 1.1m, the calculation result is less than the original surface soil layer thickness by 3.0m, and then the actual pre-excavation depth d is 1.1 m. The pre-digging operation is carried out in different strips, the width of the strip 7 to be pre-dug is 4 times of the maximum digging radius of the hydraulic backhoe 5, the strip is 40m, the hydraulic backhoe is pre-dug and the flat car is operated in a retreating mode, and the strip 7 to be pre-dug one by one is sequentially pre-dug. The construction plan of the sub-strip pre-excavation should be kept synchronous with the dumping project plan, the project example requires pre-excavation of surface soil in the final boundary of the whole dumping yard, otherwise, the required amount of covering soil cannot be met, if the project position of the pre-excavation construction in other projects does not reach the final boundary of the dumping yard, the required amount of the covering soil is met, and the pre-excavation operation can be stopped at the position. The strip construction sequence is shown in fig. 4, and the backward operation mode of the hydraulic backhoe 5 pre-cutting flat loader is shown in fig. 5.
Step 2: and determining the surface soil stacking starting position. The calculated result of the advancing speed of the soil discharging working line in the embodiment is v0When the width of the top of the uppermost soil discharging step is 80m, the soil covering can be started. Calculated, the actual soil discharge amount at this time is 1568 ten thousand m3, the daily average soil discharge amount of the engineering example is 20 ten thousand m3, and the time t from pre-digging to earthing-up is01568/20 d, covering soil on the 78 th day of soil discharge. Calculating the minimum transport distance D of the pre-dug surface soil of the dump truck according to the related parameters to be more than or equal to v0·t0+b+dSThe distance between the starting position of the surface soil stockpile and the left boundary of the dump is 360m, wherein D is 360m in consideration of construction unevenness. The truck 4 transports the pre-dug surface soil to the surface soil stockpiling step 3 for stockpiling through the pre-dug surface soil to stockpiling point path 61 and the stockpiling step ramp 9. And (4) utilizing a bulldozer to carry out whole pile leveling, and determining the pile height to be 1.1m according to the principle that the pre-excavation construction plan and the dumping project plan are kept synchronous.
And step 3: and determining a soil discharging construction process. Namely, when the width of the bottom below the pre-excavated area is larger than 80m, the soil discharging operation of the lowest step can be started, the soil discharging mode is a dump truck-bulldozer soil discharging mode, the height of the soil discharging step is 30m, the slope surface angle of the step is 22 degrees, the advance distance 12 between the top soil pre-excavated step slope bottom line and the lowest pre-excavated step is always kept above 3m in the advancing direction 8 of the soil discharging working line, the edge of the top of the step is provided with a safety retaining wall, the height of the retaining wall is 0.8m, and the top width is 0.5 m. When the top width of the lower 1 st step is more than 80m, the 2 nd step can be discarded thereon. The engineering example adopts a dumping truck-bulldozer dumping mode, and if other engineering proves that the dumping mode of the dumping machine is reasonable and feasible after technical and economic demonstration, the dumping mode of the dumping machine can also be adopted. By analogy, the 3 rd soil discharging step (the uppermost soil discharging step) is discarded when the conditions are met, and the soil discharging step 10 is finally formed.
And 4, step 4: and (3) when the condition of starting earthing in the step (2) is met, earthing operation is started on the upper part of the 3 rd step and the slope surface of the boundary slope from the refuse dump until the earthing operation of the whole refuse dump is completed, wherein the earthing thickness is 1.0 m. The surface soil needed by the covering soil is from two sources, namely surface soil of a pre-dug working surface and stockpiled surface soil. In order to reduce the top soil carrying distance, a double-ring truck transport system is adopted, and an upper transport loop is used for transporting the pre-digging working face truck 4 (stockpiling working face truck 13) to one side of the upper part of the soil covering step 11 through a path 62 from top pre-digging top soil to a soil covering point and a path 63 from stockpiling top soil to a soil covering point; the lower transport loop is that the pre-digging working face truck 4 (stockpiling working face truck 13) is transported to one side of the lower part of the soil covering working face 11 through a path 62 from pre-digging surface soil to soil covering point and a path 63 from stockpiling surface soil to soil covering point at the lower part, the upper part of the soil covering step is leveled by a bulldozer, and the step flatness meets the relevant regulations of the design standard of the coal industry open pit mine land reclamation engineering. In the present engineering example, the dump surface soil is loaded onto the dump truck 13 by the hydraulic backhoe 14 on the dump working surface, and the flat-bed forward-pushing type operation is adopted, as shown in fig. 6.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (5)
1. A method for dumping soil in strip mine is characterized in that according to the development of the position of a dumping project, the surface soil of a base in the boundary of the dumping project is pre-excavated in a time-space sequence, temporarily stored to an area which is not yet stripped in the boundary of the dumping project, a new dumping project base is formed by pre-stripping, the dumping project is started when a vacant area formed by pre-excavation meets the dumping working condition, and the pre-stripped surface soil is covered on a dumping step in time when the dumping step meets the earthing working condition, so that the earthing of the dumping project is completed; the method comprises the following steps:
step 1: performing pre-excavation operation by adopting a hydraulic back-hoe, and performing surface soil pre-excavation from the soil discharging initial position to the soil discharging working line advancing direction, wherein the pre-excavation depth is comprehensively determined according to the surface soil thickness and the soil covering demand, the pre-excavation construction plan is comprehensively determined according to the soil discharging engineering plan, and the pre-excavation construction plan and the soil discharging working line are kept synchronous in principle; if the pre-excavation surface soil stockpiling quantity meets the required soil covering quantity when the engineering position of the pre-excavation construction does not reach the final boundary of the waste dump, the pre-excavation construction can be stopped in advance; when the soil is discharged at a pre-digging section, only the lowest 1 st soil discharging step is discarded on the original ground surface;
step 2: adopting a dump truck to transport surface soil to a preset place for unloading, piling the pre-stripped surface soil to an un-stripped area in a soil discharging boundary for temporary storage, determining the transport distance of the dump truck, and ensuring that the temporary storage position of the pre-excavated surface soil does not influence the construction of a pre-excavation project; carrying out whole pile by using a bulldozer, wherein the pile height is comprehensively determined according to the surface soil pre-excavation height and the soil covering construction speed;
and step 3: when the empty area formed by pre-excavation meets the requirement of the dumping operation, the dumping of strip mines can be carried out in the pre-excavated area, the initial position of the 1 st step at the bottom needs to adopt a dumping truck-bulldozer dumping mode, a truck unloads materials from the top of the pre-excavated step to the pre-excavated area, the bulldozer assists in operation to gradually form a dumping step with standard height and a slope angle, and a safety retaining wall is arranged at the edge of the top of the dumping step to ensure the operation safety of the dumping truck; a dump truck-bulldozer dumping mode or a dumping machine dumping mode can be adopted from the 2 nd step at the bottom, and the concrete dumping mode can be determined according to the stripping process;
and 4, step 4: when the soil discharging steps have soil covering operation conditions, soil covering can be carried out on the steps at the uppermost part and the slope surface of the side slope reaching the boundary, and surface soil required by soil covering can be taken from surface soil of a pre-dug working surface or stockpiled surface soil; the method comprises the following steps of loading the piled surface soil to a dump truck by adopting a front loader or a hydraulic back shovel, transporting the truck to a soil covering operation area through a soil discharging step transportation channel for unloading, adopting a bulldozer to assist in leveling, completing soil covering operation, and taking the vegetation recovery requirement on the soil covering thickness as a standard for soil covering parameters.
2. The strip mine dumping method of claim 1 wherein said pre-excavation with said hydraulic backhoe of step 1 is performed by:
adopting a horizontal backward operation mode, namely, the backhoe and the truck are positioned at the same platform elevation, the backhoe excavates surface soil below the platform elevation, the bucket is lifted up to horizontally install the truck, and the backhoe performs backward operation; the pre-digging depth is determined after calculation according to the following formula:
d≥min(t，q·ks/s)
in the formula, d is the surface soil pre-excavation depth m; t is the thickness of the original surface soil layer, m; q is the total amount of the covering soil of the refuse dump, m3；ksTaking the coefficient of the surface soil abundance as 1.05; s is the total area of the earth covered by the refuse dump, m2；
The slope bottom line position of the surface soil pre-digging step and the slope bottom line position of the lowest soil discharging step are always kept at an advance distance of more than 3m in the advancing direction of the working line.
3. The method of discharging strip mine soil according to claim 1 wherein the haul distance of the dump truck in step 2 is determined by calculating the following equation:
D≥v0·t0+b+dS
in the formula, D is the transport distance of the dump truck for pre-excavating surface soil, and m; v. of0The advancing speed of the soil discharging working line is m/d; t is t0The time from pre-digging to earthing up is month; b is the width of the pre-digging strip, m; dsThe safe distance, m, between the top line of the surface soil pre-dug step and the bottom line of the surface soil stockpiling lowest step is generally 5 m.
4. The strip mine dumping method of claim 1, wherein the strip mine dumping is carried out in the pre-excavated area in step 3, and when the 1 st step at the bottom is dumped, the width of a flat plate at the top of the dumping step must meet the minimum platform width required by truck shunting, and the minimum distance between the slope bottom line of the dumping step and the slope bottom line of the pre-excavated step should be kept to be more than 3 m; when the dumping of the 2 nd and above steps is carried out, the width of the flat plate of the lower step is ensured to meet the requirement of the minimum working flat plate width of the dumping site of the strip mine, and the top edge of each dumping step is provided with a safety retaining wall, wherein the height of the retaining wall is not less than 2/5 of the diameter of a truck tire.
5. The method for discharging the soil in the open pit according to claim 1, wherein the soil discharging step in the step 4 has a soil covering operation condition that the soil covering operation can be performed on the uppermost portion of the partial soil discharging area while satisfying the following conditions: (1) the top mark height of the waste dump is higher than the design final waste elevation; (2) the width of the flat plate of the soil discharging step on the uppermost part is larger than or equal to the width of the minimum working flat plate required by soil covering operation; (3) the slope angle of the step of the refuse dump and the final slope angle are equal to the design angle; when the front loader or the hydraulic backhoe loads the piled surface soil to the dump truck, a flat-loading and front-pushing type operation mode is adopted, namely the front loader or the hydraulic backhoe and the dump truck are positioned at the same platform elevation, the front loader or the backhoe excavates the piled surface soil above the platform elevation, the bucket is lifted to flatly load the truck, and the front loader or the hydraulic backhoe performs front-pushing type operation.
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| CN201911064611.1A CN110905519A (en) | 2019-11-04 | 2019-11-04 | Strip mine dumping method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112324440A (en) * | 2020-11-01 | 2021-02-05 | 中煤科工集团沈阳设计研究院有限公司 | Method for automatically identifying and acquiring process unloading area of strip mine single-bucket truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112324440A (en) * | 2020-11-01 | 2021-02-05 | 中煤科工集团沈阳设计研究院有限公司 | Method for automatically identifying and acquiring process unloading area of strip mine single-bucket truck |
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