Fig 1.
Time delay impacts for typical excavation practices with drilling and blasting [8].
Fig 2.
Relations of the instrument and its environment.
Fig 3.
Operations of mobile mining equipment in mine excavation.
Fig 4.
Operations of mobile mining equipment in mine production.
Fig 5.
Example diagram of obtaining T (hollow dots—not counted, solid dots—counted, the solid dots with red core—also added on the relevant moving time).
Fig 6.
Comparison of timespans with different sequences.
Fig 7.
Flow chart of grouping algorithm.
Fig 8.
Grouping result of a conceptual vertical long-side section of an underground mine (number: Face ID; black line: path; blue circle: group and sub-group).
Fig 9.
Flow chart of machine set algorithm.
Fig 10.
Clustering result of two machine sets (number: Face ID; black line: path; red border: mining area).
Fig 11.
Scheduling result of two machine sets.
Fig 12.
Flow chart of machine sharing algorithm.
Fig 13.
Scheduling result using machine sharing algorithm (assuming there are three sets of mining fleets, but one Machine 4 in one set is unavailable).
Fig 14.
Cross section of Kittilä underground mine [24].
Fig 15.
Layout of Kittilä mine with the locations of the working face used in the case.
Fig 16.
Scheduling output for the weekly plan of Kittilä mine.
Table 1.
Scenarios created for testing.
Fig 17.
Relation graph of inputs, algorithms and outputs.