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Gold Science and Technology >

2021 , Vol. 29 >Issue 1: 43 - 52

DOI: https://doi.org/10.11872/j.issn.1005-2518.2021.01.165

Research on Trajectory Planning of Electric Shovel in Open-pit Mine

  • Fanbo GONG , 1, 2 ,
  • Lin BI , 1, 2
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  • 1. School of Resources and Safety Engineering，Central South University，Changsha 410083，Hunan，China
  • 2. Digital Mine Research Center，Central South University，Changsha 410083，Hunan，China

Received date: 2020-09-16

  Revised date: 2021-01-19

  Online published: 2021-03-22

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Highlights

Intelligent mining is the mainstream direction of the future development of open-pit mines.Eelectric shovel is the main production equipment of open-pit mines，so the study of electric shovel autonomous shoveling technology is one of the core steps to realize the intelligent mining of open-pit mines in the future.During the autonomous shoveling process，the electric shovel uses its excavation mechanism，shovels the ore out of the mine and dumps the ore into a transport truck that the ore has been parked at the dump position.When the shovel has finished loading the ore shovel in the corresponding mining area of the current working position，it will slowly move through its moving mechanism to the next position point and continue to shovel the ore pile in the target area.Because of the huge volume of the electric shovel itself，the continuous work of the excavation mechanism and the moving mechanism consume a lot of electric energy. In order to improve the efficiency of the electric shovel in the process of autonomous shoveling，reduce the energy consumption of the electric shovel work，this paper proposed a method of optimizing the moving route of the shovel，by planning the electric shovel moving route and digging area，shortening the length of the electric shovel moving route.A method for optimizing the mobile route of electric shoveling was proposed.On the basis of the known electric shovel working area，in order to excavate all the ore piles in the working area and the electric shovel moves the least number of times，greedy algorithm was used to plan the set of job locations where the shovel moves the least number of times.By increasing the transition point and other ways to further optimize the electric shovel movement path and adjust the corresponding mining area planning，to form the optimal trajectory of the final electric shovel operation.Selecting the ore pile after blasting in an area in a mine aerial map as an electric shovel to be shoveled，based on the above method， the mobile route of electric shovel loading was optimized.The results show that the total distance of the generated electric shovel moving path is short，and the planned excavation area meets the actual production requirements，which proves that the method can provide guidance for the movement trajectory planning of the autonomous shovel.

Cite this article

Fanbo GONG , Lin BI . Research on Trajectory Planning of Electric Shovel in Open-pit Mine[J]. Gold Science and Technology, 2021 , 29(1) : 43 -52 . DOI: 10.11872/j.issn.1005-2518.2021.01.165

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全球最大铜矿商：铜供应将长时间趋紧未来8~10年内难现新供应

随着伦敦金属交易所（LME）铜矿升破9 000美元/t，创下9年新高，全球铜矿企业可能也因此蠢蠢欲动，打算加速新矿项目开发进程，以尽快获得高昂利润。全球最大的铜业公司之一南方铜业公司（Sou-thern Copper Corp.）首席财务长劳尔·雅各布（Raul Jacob）表示，目前铜矿价格已经远高于新开矿项目的激励水平，这将有助于通过扩产来缓解供应紧张。然而，现在建矿所需的时间可能会是过去的2倍，这意味着市场要在8~10年后才会看到新的供应。

南方铜业公司的前身可以追溯到墨西哥铜生产商MineraMéxico在2005年收购秘鲁南方铜业公司，公司目前在纽交所上市，市值近600亿美元。墨西哥矿业集团（GrupoMéxico）拥有南方铜业公司88.9％的股份。

南方铜业无意加速开发矿产项目。南方铜业公司拥有该行业最大的铜储备，他们计划到2028年将产量提高近一倍，并有可能成为全球最大的铜生产商。目前，南方铜业在秘鲁和墨西哥的项目已经忙得不可开交，不打算以任何有意义的方式加速建设。但雅各布称，鉴于目前铜价突破每磅4美元，远高于去年的均价2.80美元，其他企业可能会因此加速项目建设。他预计，各家矿企开发新矿项目的激励价格大约为每磅3.25美元至3.50美元。

铜价近日高涨。雅各布表示：“如果（铜矿）这个价格水平保持不变，我们应该会看到有新项目进入市场。但从决策到生产的滞后，将使铜价周期比过去稍微长一点。” 雅各布指出，下一代铜矿可能不得不解决矿石质量下降的问题，同时又要遵守更高的环境和社会标准，这可能会导致项目的时间成本和资金成本被拉高。 这也是南方铜业放弃通过加快扩张计划以尽快获利的部分原因。

公司有意寻找收购项目。和其他同行一样，南方铜业公司目前现金充裕。雅各布称，按照目前的铜价，公司今年利润将在50亿美元左右，创下了历史纪录。他说，虽然公司目前的投资重点仍是自身项目管理，但南方铜业也将寻找收购机会。雅各布表示，南方铜业的资产负债表“可能未得到充分利用”，其市盈率为24倍，远高于同行的市盈率中值。他表示，至于该公司可能感兴趣的机会类型，这一切都将取决于资产质量，并表示：“我们对拉美市场感到放心，对铜市场也非常放心和乐观。”

（来源：上海有色网）

http://www.goldsci.ac.cn/article/2021/1005-2518/1005-2518-2021-29-1-43.shtml

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