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SkyLinks - GPS system for mine transport monitoring and control
Place of imple-mentation - openpit copper mine Assarel-Medetin Bulgaria
SkyLinks - GPS system for mine transport monitoring and control
Copper mine Assarel
up to 1 million tons of ore monthly
trucks over 40 tons - 25
up to 200 courses for 8 hours
ore concentration 0.2% to 5%. Average 0.5%
off-highway trucks - Belaz-90, Belaz-110, Belaz-120, Caterpillar-90, О&К-90
ore excavators - 3-5, up to 2000 tons per hour
earth excavators 2-5
SkyLinks - GPS system for mine transport monitoring and control
change of concentration
dependency of concentration of the metal from time
time for reaching the needed concentration
solution of equation to Cy
CyVш
QCav
Vш
Q
dt
dCav
CyCyCav
CyCaCyCavtCav
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CyCav
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SkyLinks - GPS system for mine transport monitoring and control
Sources of noise in concentration trend
change in excavators productivityfails of carsfails of excavatorsfails of drivers to fulfil the destinationdelays in transport from excavatorsother
SkyLinks - GPS system for mine transport monitoring and control
mass balance of ore flows
base equation
limitation of concentration of load points
limitation of performance of excavators
N
i
iCiqttCyQ1
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N
i
iqiCCy1
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))(max())(min( iCCyiC
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SkyLinks - GPS system for mine transport monitoring and control
criteria for equal loading of excavators
criteria for maximal loading of excavators
maximum flow criteria
min*
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iviqmvqfr
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1
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i
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i
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i
iM
iviqiMvqfq
SkyLinks - GPS system for mine transport monitoring and control
criteria for proportional real performance
criteria for proportional nominal performance
criteria for loding according dispatcher preferences
min
)(*)(
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),%( 1
2
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iviR
iq
vqfr
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i
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i
SkyLinks - GPS system for mine transport monitoring and control
complex optimization criteria
quality of ore mix
mix equations for sulphure
0.1)(0.0 iW
W7*fs%W6*fpriW5*fm%W4*fr%W3*fqW2*fRW1*fr W)v,(q, F
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SkyLinks - GPS system for mine transport monitoring and control
Screen for parameters of ore mix
SkyLinks - GPS system for mine transport monitoring and control
Ore concentration trend on the screen of dispatcher station
SkyLinks - GPS system for mine transport monitoring and control
On-board microcomputer type BMK
SkyLinks - GPS system for mine transport monitoring and control
GPS sensor and UHF antenna mounted on truck type Belaz-120
SkyLinks - GPS system for mine transport monitoring and control
On-board microcomputer, mounted in the compartment
SkyLinks - GPS system for mine transport monitoring and control
Wheel loader, controlled by the system
SkyLinks - GPS system for mine transport monitoring and control
GPS sensor, 12 channels,.Accursy: 15 m possition,0.1 км/ч velocity, 1 µS time.Manufacturer Garmin
SkyLinks - GPS system for mine transport monitoring and control
Dispatch station of the system SkyLinks
SkyLinks - GPS system for mine transport monitoring and control
Communications diagram
SkyLinks - GPS system for mine transport monitoring and control
Main screen of the dispatch station
SkyLinks - GPS system for mine transport monitoring and control
Screen for route permis-sions management
SkyLinks - GPS system for mine transport monitoring and control
Used information and communication technologies (ICT):
GPS - global navigation system NavStar
language for dispetch station programming - Java
embedded programming on high level language - C
high reliable OS for dispatch station - SCO OpenServer
real time operation
packet radio data exchange - protocol AX.25
on the shelf IT tools - Intel processors
proprietary DBMS
SkyLinks - GPS system for mine transport monitoring and control
Dependency of fuel consumption from velocity and load
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