AU2022364581A1 - Method and apparatus for remotely or autonomously depositing explosives into a blast hole - Google Patents

Method and apparatus for remotely or autonomously depositing explosives into a blast hole Download PDF

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Publication number
AU2022364581A1
AU2022364581A1 AU2022364581A AU2022364581A AU2022364581A1 AU 2022364581 A1 AU2022364581 A1 AU 2022364581A1 AU 2022364581 A AU2022364581 A AU 2022364581A AU 2022364581 A AU2022364581 A AU 2022364581A AU 2022364581 A1 AU2022364581 A1 AU 2022364581A1
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Australia
Prior art keywords
blast hole
vehicle
container
loading
lead line
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AU2022364581A
Inventor
David Kelly
Gregory Patching
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Aquirian Technology Pty Ltd
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Aquirian Technology Pty Ltd
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Priority claimed from AU2021903271A external-priority patent/AU2021903271A0/en
Application filed by Aquirian Technology Pty Ltd filed Critical Aquirian Technology Pty Ltd
Publication of AU2022364581A1 publication Critical patent/AU2022364581A1/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42D—BLASTING
    • F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
    • F42D1/08—Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42D—BLASTING
    • F42D1/00—Blasting methods or apparatus, e.g. loading or tamping
    • F42D1/08—Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor
    • F42D1/10—Feeding explosives in granular or slurry form; Feeding explosives by pneumatic or hydraulic pressure
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
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    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G01—MEASURING; TESTING
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    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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    • G01S2013/9318—Controlling the steering
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    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9319—Controlling the accelerator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Engineering & Computer Science (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a system for loading a blast hole including one or more vehicles, each supporting a container for receiving a bulk material for loading into a blast hole. The vehicle is configured to manoeuvre under autonomous or remote control to the location of the blast hole. The container includes an outlet for discharging a quantity of the bulk material from the container into a blast hole.

Description

METHOD AND APPARATUS FOR REMOTELY OR AUTONOMOUSLY
DEPOSITING EXPLOSIVES INTO A BLAST HOLE
TECHNICAL FIELD
[001] The present invention relates to the field of blasting, particularly although not exclusively in blasting operations for mining and quarrying.
BACKGROUND
[002] Minerals can be recovered with a variety of methods including above ground open cut mining. Such methods can involve the use of blasting to dislodge bulk quantities of ore for excavation and recovery.
[003] In any mining operation, and in large open cut mines, efficient use of materials and safety are critically important. Blasting operations in large open cut mines can often involve the drilling of many blast holes to depths of up to 50 metres or more. These blast holes are charged with an explosive, typically ANFO or an emulsion explosive.
[004] An initiating system, which provides the initial energy required to detonate an explosive, is deployed into the blast hole. The initiating system includes a primer which is lowered or pushed into place in the bottom of the blast hole. A lead line or wire attached to the primer extends upwards and out of the open end of the blast hole. The explosive charge is then loaded into the blast hole on top of the primer.
[005] The explosive material is covered or “stemmed” with an inert material such as aggregate, gravel, sand or drill cuttings. The height or depth of the stemming is determined according to the blasting plan or model and depends on various factors ranging from the power of explosives, burden, spacing, geology, the material being blasted and the material being used as the stemming. The stemming confines the explosive gases released by the explosive long enough for them to do their work to achieve the desired fragmentation and heave. After the blast hole is charged and stemmed the primer is activated electrically via the lead line, or in some cases can be activated non-electrically or by some other means, to cause the explosive to detonate.
[006] Often terrain can be unsuitable for standard drill and blast equipment and processes. Drilling platforms which have caterpillar tracks can access nonlevel terrain. However, mobile processing units (MPUs) that transport and blend bulk explosives typically comprise a wheeled vehicle or truck and these can have difficulty traversing non-level surfaces. This can be exacerbated where the surface is comprised of a top layer of preconditioned or fragmented rock.
[007] The loading of explosive and stemming into blast holes on non-level terrain, typically referred to as contoured terrain, is presently carried out using small, tracked vehicles supporting a container and hopper. The container is used to hold a store of explosive material or stemming and an operator, controlling the vehicle manually, who locates the vehicle on the contoured terrain so that an outlet of the hopper is adjacent or aligned with the blast hole. The operator physically stands on the terrain adjacent to the vehicle and the blast hole and operates the hopper to discharge a desired quantity of the explosive or the stemming into the blast hole.
[008] Accordingly, existing practices for charging blast holes on contoured terrain are characterised as being: manually intensive; potentially hazardous due to the risk of landslide or collapse or due to the potential for heavy vehicles to tip over onto operators located nearby.
[009] It is desirable to minimise the extent to which operators are required to be physically present on the ground adjacent to a blast hole. This is the case when the blast hole is located on level terrain and is particularly the case when the blast hole is located on contoured terrain as the risk of accident or injury can be heightened due to land-slide or slippage or uncontrolled movement of vehicles. It is desirable to measure quantities of explosive and stemming material that are discharged into blast holes accurately and efficiently to provide a greater degree of conformity between blasting models and their implementation.
[0010] Any discussion of background art throughout the specification should in no way be considered as an admission that any of the documents or other material referred to was published, known or forms part of the common general knowledge.
SUMMARY OF THE INVENTION
[001 1 ] Accordingly, in one aspect, the invention provides a system for loading a blast hole, the system including: one or more vehicles each supporting a container for receiving a bulk material for loading into a blast hole; the vehicle being configured to manoeuvre under autonomous or remote control to the location of the blast hole; and an outlet for discharging a quantity of the bulk material from the container into a blast hole.
[0012] In use, one of the vehicles manoeuvres under autonomous or remote control to a location adjacent to the reload unit, or the mobile processing unit, where it is loaded with explosive material such as ANFO or an emulsion explosive or stemming material. Once loaded, the loaded vehicle manoeuvres to the location of a blast hole, which may be on a non-level or uneven surface, so that the outlet is aligned with the blast hole. The vehicle is configured to discharge a predetermined amount of the explosive material into the blast hole followed by the stemming material into the blast hole. In an embodiment in which the vehicle includes containers for holding explosive material and stemming material, the vehicle can load the blast hole in a single pass.
[0013] In embodiments, the container includes a hopper comprising a wide opening for receiving a load of the bulk material and side walls that taper towards a narrow bottom opening forming the outlet.
[0014] In embodiments, the container may include two sections, wherein one section is for containing an amount of ANFO and the other is for containing an amount of stemming. [0015] Preferably, the vehicle includes an autonomous or remotely controlled closure for selectively opening and closing the outlet and thereby controlling the discharge of the bulk material from the container into the blast hole.
[0016] In embodiments wherein the vehicle includes a container in two sections, the outlet is configured to selectively discharge either an amount of ANFO or an amount of stemming material. Such embodiments are adapted to load a blast hole with ANFO and subsequently with stemming in a single pass.
[0017] Preferably, the vehicle includes one or more load sensors for determining the weight of the bulk material in the container.
[0018] In embodiments, the one or more load sensors are configured for outputting load data for determining the weight of the bulk material discharged into the blast hole, preferably for controlling the amount of the bulk material discharged from the container into the blast hole.
[0019] In embodiments, the vehicle includes a support mechanism for supporting the container at an orientation independent of the orientation of the surface on which the vehicle is supported.
[0020] Preferably, the support mechanism is adapted for maintaining the container in a horizontal orientation.
[0021 ] Preferably, a controller is operable to receive data from a position sensor (e.g. accelerometer) indicating the orientation of the container relative to the horizontal.
[0022] In embodiments, the bulk material includes explosive material such as ANFO or an emulsion.
[0023] Preferably, the bulk material including stemming material such as gravel or aggregate. [0024] In embodiments, the one or more vehicles include an on-board controller for controlling navigation of the vehicle.
[0025] Preferably, the controller includes a positioning module (e.g. a GPS module) for determining the position of the vehicle relative to one or more blast holes, and a processor for controlling a system for propelling the vehicle (e.g. drive means/wheels/tracks) to manoeuvre the vehicle to the location of the blast hole.
[0026] In embodiments, the controller is configured to receive and to process data from sensors for sensing the terrain or obstacles around the vehicle and providing the sensor data as an input to the navigation control module.
[0027] Preferably, a sensor includes a laser light emitting and detection sensor (e.g. LIDAR) for surveying the terrain around the vehicle and providing survey data as an input to the navigation control module.
[0028] Preferably, a sensor includes a radio wave emitting and detection sensor (e.g. RADAR) for identifying and determining the distance, angle or velocity of objects relative to the vehicle and providing object data as an input to the navigation control module.
[0029] Preferably, a sensor includes a camera for generating an image of the area around the vehicle and providing image data as an input to the navigation control module.
[0030] In embodiments, the controller is configured to process data from the sensors and to control the navigation of the vehicle to avoid a collision with any surrounding object and/or to generate a collision alarm.
[0031 ] In embodiments, the system includes a reload unit comprising a store of explosive material for loading into the container of the vehicle. [0032] Preferably, the reload unit comprises a store of ammonium nitrate based explosive or an emulsion explosive and an auger for loading the explosive material into the container of the vehicle.
[0033] In embodiments, the system includes a mobile processing unit comprising a store of precursor explosive materials and a mixer for mixing the precursor materials together and loading the mixed materials into the container of the vehicle.
[0034] Preferably, the mobile processing unit comprises a store of ammonium nitrate and fuel oil that is mixed together to create an ANFO mixture and an auger for loading the ANFO into the container of the vehicle.
[0035] In embodiments, the reload unit or the mobile processing unit comprises a store of stemming material such as gravel or aggregate and an auger for loading the stemming material into the container of one of the vehicles.
[0036] Preferably, the vehicle is configured to manoeuvre under autonomous or remote control to the location of the reload unit or the mobile processing unit for loading the container of the vehicle.
[0037] In embodiments, the system includes a lead line engaging device for engaging with a lead line that is connected to a primer located in the blast hole and that extends upwards and out of the open end of the blast hole, wherein the lead line engaging device engages with the lead line during loading of the blast hole for preventing the lead line from falling into the blast hole.
[0038] Preferably, the lead line engaging device includes a wedge-shaped body (e.g. chock) that is positioned adjacent to the blast hole and contains a length of the lead line. [0039] Preferably, the vehicle includes a mechanism for engaging and maintaining the position of the lead line engaging device and locks the lead line during loading of the blast hole.
[0040] In an alternative embodiment, the lead line engaging device is an annular ground engaging member that is coupled to the vehicle and that is deployed downwardly onto the ground surrounding the blast hole, whereby the lead line is compressed between the ground engaging member and the ground surrounding the blast hole to thereby lock the lead line during loading of the blast hole.
[0041 ] The lead line engaging device is disposed around the outlet from which the ANFO or the stemming material is discharged and is moved upwards and downwards relative to the outlet by an actuator.
[0042] In embodiments, the system includes a base for receiving and recharging on board power storage units on each one of the vehicles.
[0043] Preferably, the base includes a generator and/or solar array for generating power to recharge the power storage units.
[0044] Preferably, the base is incorporated in a truck or a trailer for receiving and transporting the one or more vehicles to the location in proximity to the site at which the blast hole is located.
[0045] In another aspect, the invention includes a method for loading a blast hole, the system including: loading a vehicle supporting a container with bulk explosive material; manoeuvering the vehicle autonomously or via remote control to the location of the blast hole; and discharging a quantity of the bulk explosive material from the container into the blast hole.
[0046] Preferably the method includes loading a vehicle supporting a container with stemming material; manoeuvering the vehicle autonomously or via remote control to the location of the blast hole containing the bulk explosive material; and discharging a quantity of the stemming from the container into the blast hole.
BRIEF DESCRIPTION OF THE FIGURES
[0047] The present invention will now be described in more detail with reference to preferred embodiments illustrated in the accompanying figures, wherein:
[0048] Figure 1 illustrates a side view of a system for loading a blast hole in accordance with an embodiment of the invention including one or more remotely controlled and/or autonomous vehicles for receiving bulk materials including ANFO and stemming for loading into blast holes on an inclined terrain and a mobile processing unit (MPU) for mixing the ANFO and for loading the materials onto the one or more vehicles;
[0049] Figure 2 illustrates a side view of an embodiment of the system of Figure 1 wherein one of the remotely controlled and/or autonomous vehicles containing ANFO is located above a blast hole containing a primer located in the blast hole and a wire lead extending therefrom and connected to a chock for preventing the lead from falling to the blast hole during loading of the ANFO;
[0050] Figure 3 illustrates a side view of an embodiment of the system of Figure 1 wherein one of the remotely controlled and/or autonomous vehicles containing stemming is located above a blast hole containing a primer and ANFO and wherein the wire lead extending therefrom is connected to the chock;
[0051 ] Figure 4 illustrates an enlarged view of the opening of the blast hole and the chock of Figures 2 and 3 located adjacent to the blast hole and wherein a length of the lead line is wound around or within the chock;
[0052] Figures 5, 6 and 7 illustrate embodiments of a base for storing, transporting and charging a plurality of the vehicles using a combustion engine powered generator or a photovoltaic solar array or a combination thereof; and [0053] Figure 8 illustrates an embodiment of vehicle including another form of the lead line engaging device including an annular ground engaging member that is coupled to the vehicle and that is deployed downwardly onto the ground surrounding the blast hole to engage and to lock the lead line during loading of the blast hole.
[0054] The invention will now be described in further detail with reference to the embodiments illustrated in the Figures.
DETAILED DESCRIPTION
[0055] Referring to Figure 1 , there is shown a system 10 for charging one or more blast holes on non-level terrain including loading explosive material and stemming without needing an operator physically present at the blast hole. The system 10 is adapted to charge the blast hole with an explosive, typically ANFO or an emulsion explosive, and for subsequently loading an amount of stemming into the blast hole.
[0056] In the embodiment illustrated in Figure 1 , the system 10 includes one or more vehicles 20 each supporting a container 30 for receiving a bulk material for loading into a blast hole 5. The vehicles 20 are adapted to manoeuvre under autonomous or remote control to the location of the blast hole 5. The vehicles 20 each include an outlet 40 for discharging a quantity of the bulk material from the container 30 into a blast hole 5.
[0057] The bulk materials that are provided in the container 30 of the vehicle 20 includes either ANFO or stemming for loading into the blast hole 5. Embodiments of the system 10, as illustrated in Figure 1 , include a mobile processing unit (MPU) 50 for mixing the ANFO and for loading the materials onto the one or more vehicles 20.
[0058] The mobile processing unit 50 comprises a store of precursor explosive materials and a mixer for mixing the precursor materials together and loading the mixed materials into the container 30 of the vehicle 20. The mobile processing unit 50 comprises a store of ammonium nitrate and fuel oil that is mixed together to create an ANFO mixture and an auger 55 for loading the ANFO into the container 30 of one of the vehicles 20.
[0059] In another embodiment, not illustrated in the figures, the system includes a reload unit comprising a store of explosive material for loading into the container of the vehicle, such as an ammonium nitrate based explosive or an emulsion explosive.
[0060] The mobile processing unit 50 or the reload unit comprises a store of stemming material such as gravel or aggregate and another auger for loading the stemming material into the container 30 of another one of the vehicles 20. The stemming material includes any suitable stemming material which is typically gravel or aggregate.
[0061 ] Each one of the vehicles 20 is configured to manoeuvre under autonomous or remote control to the location of the mobile processing unit 50 or the reload unit for loading in the manner described above.
[0062] Referring to Figures 1 to 3, each one of the vehicles 20 includes an onboard navigation controller for controlling navigation of the vehicle 20. The controller includes a positioning module, such as a GPS module, for determining the position of the vehicle 20 relative to one or more blast holes 5, and a processor for controlling a system for propelling the vehicle 20 comprised of an electric motor (or an internal combustion engine motor) driving one or more of a set of wheels 22 or tracks for propelling the vehicle 20 to manoeuvre the vehicle 20 to the location of the blast hole 5.
[0063] Referring to Figures 2 and 3, each one of the vehicle 20 includes a frame 25 supported on the set of wheels 22 or tracks. The frame 25 supports other components of the vehicle 20 the container 30. The container 30 of each one of the vehicles 20 includes a hopper 35 comprising a wide, upwards facing opening 36 for receiving a load of the bulk material and side walls 37 that taper towards a narrow bottom opening 38 forming the outlet 40. The vehicle 20 includes an autonomous or remotely controlled closure 42 for selectively opening and closing the outlet 40 and thereby controlling the discharge of the bulk material from the container 30 into the blast hole 5.
[0064] In another embodiment, the container 30 may include two sections wherein one section is for containing an amount of ANFO and the other section is for containing an amount of stemming. The outlet 40 is configured to selectively discharge either an amount of ANFO or an amount of stemming material. Accordingly, the outlet 40 may include a Y-shaped inlet section for channelling material from each one of the container sections to the same outlet 40. In another embodiment, each container section includes a completely separate outlet wherein the two outlets are arranged side by side. The autonomous or remotely controlled closure 42 is configured to selectively open and close the outlet or outlets to selectively discharge ANFO or stemming into the blast hole 5 to load a blast hole with ANFO and subsequently with stemming in a single pass.
[0065] The frame 25 includes a support mechanism 26 for supporting the container 30 at an orientation independent of the orientation of the surface on which the vehicle 20 is supported. The support mechanism 26 can include a pivotal connection between the frame 25 and the container 30 that allows the container 30 to pivot relative to the frame 25. The pivotal connection may be a connection that enables pivotal motion about a single axis. Alternatively, the pivotal connection may be a connection that enables the container 30 to pivot omnidirectionally relative to the frame 25. The omnidirectional pivotal connection can be comprised of two axial pivotal couplings with axes that are at 90 degrees to each other.
[0066] The support mechanism 26 is adapted for maintaining or stabilising the container 30 in a horizontal orientation regardless of the orientation of the frame 25. The vehicle 20 includes a container orientation control module that is operable for receiving data from a position sensor (e.g. an accelerometer) indicating the orientation of the container 30 relative to the horizontal. The support mechanism 26 includes one or more drive motors, controlled by the orientation control module, for pivoting the container 30 about the one or more pivotal connections relative to the frame 25 to maintain the container 30 horizontal. When the container 30 of Figures 1 to 3 is horizontal, the opening 36 faces upwards.
[0067] The vehicle 20 includes one or more load sensors 23. The load sensors 23 are mounted to the frame 25 either on legs 24 to which the wheels
22 are mounted or between the one or more pivotal couplings of the support mechanism 26 that supports the container 30. The load sensors 23 are configured for outputting load data indicative of the weight of the container 30 including any material in the container 30. The load data is received by a load control module that is operable to process the load data from the load sensors
23 to determine the weight of the load in the container 30. Information indicating the weight of the load in the container 30 is used for determining the weight of the bulk material, either ANFO or stemming, that is discharged into the blast hole 5. Load control module is adapted to control directly, or indirectly, opening and closing of the closure 42 of the outlet 40 to thereby control the amount by weight of the bulk material, namely ANFO or stemming, that is discharged from the container 30 into the blast hole 5.
[0068] The vehicle 20 includes a laser light emitting and detection sensor (e.g. LIDAR) that outputs terrain data to the navigation controller. The navigation controller processes the terrain data to survey and generate a three dimensional map of the terrain around the vehicle 30. The map of the terrain surrounding the vehicle 20 is used as an input by the navigation control module, in conjunction with other navigation data such as positioning data from the GPS module, to plot a path to one or more waypoints corresponding to the locations of one or more blast holes 5. The terrain data from the laser light emitting and detection sensor is processed to determine the slope and contour of the terrain around the vehicle 20 and the presence of any obstacles that the navigation control module uses to calculate an optimal path between waypoints.
[0069] The vehicle 20 includes a radio wave emitting and detection sensor (e.g. RADAR) that outputs distance, angle or velocity of objects data to the navigation controller. The navigation controller processes and uses the distance, angle or velocity of objects data as an input to plot a path to avoid any stationary or moving objects and/or to generate a proximity alarm or a collision alarm.
[0070] The vehicle 20 includes a camera for generating an image of the area around the vehicle 20 that outputs image data that is used as an input by the navigation control module. The image data is used to augment or to correlate the survey and three dimensional map of the terrain data generated by the navigation controller and to augment and correlate the location, distance, angle or velocity of objects data.
[0071 ] Figures 2 to 4 illustrate a lead line engaging device 60 for engaging with a lead line 65 that is connected to a primer 67 located in the blast hole 5. The lead line 65 extends upwards from the primer 67 and out of the open end of the blast hole 5. The lead line engaging device 60 engages with the lead line 65 during loading of the blast hole 5 with ANFO and stemming for preventing the lead line 65 from falling into the blast hole 5.
[0072] In an embodiment illustrated in Figure 8, the lead line engaging device 60 is an annular ground engaging member 69 that is coupled to the vehicle 20 and that is deployed downwardly onto the ground surrounding the blast hole 5, whereby the lead line 65 is compressed between the ground engaging member 69 and the ground surrounding the blast hole 5 to thereby lock the lead line 65 during loading of the blast hole 5. The ground engaging member 69 is disposed coaxially around the outlet 40 from which the ANFO or the stemming material is discharged and is moved upwards and downwards relative to the outlet 40 by an actuator.
[0073] In the embodiment illustrated in Figures 2 to 4, the lead line engaging device 65 includes a wedge shaped body 62 (e.g. a chock) that is adapted to be positioned adjacent to the blast hole 5 and that contains a length of the lead line 65. As illustrated in Figure 4, the body 62 includes a central channel 68 about which a length of the lead line 65 is wound to protect the lead line 65 during loading of ANFO and stemming. The vehicle 20 includes a mechanism for engaging and maintaining the position of the lead line engaging device 60 against the terrain surface adjacent to the blast hole 5. The mechanism includes an elongated arm 70 that is pivotally coupled to the frame 25. When the vehicle 20 is located adjacent to the blast hole 5 an on-board control module causes an actuator to pivot the arm 70 into engagement with the lead line engaging device 60 against the terrain surface adjacent to the blast hole 5 to thereby lock the lead line 65 during loading of the blast hole with ANFO and stemming. After loading is completed, the arm 70 is disengaged from the lead line engaging device 60 and the vehicle 20 manoeuvres to the location of another blast hole 5.
[0074] Figures 5 to 7 illustrate a base 80 incorporated in a trailer 82 of a truck 85 that is configured for receiving and transporting the one or more vehicles 20 to a location in proximity to the site at which the one or more blast holes 5 are located. The trailer 82 includes an internal cavity 83 and a ramp 84 that enables the vehicles 20 to enter and to exit the trailer 82. The trailer 82 also includes a charging station 87 for recharging on-board power storage units (e.g. batteries) of each one of the vehicles 20. The charging station 87 includes a combustion engine powered generator 88 or a photovoltaic solar array 89 or a combination thereof to generate the power needed to recharge the vehicles 20. In another embodiment, the charging station 87 is connected to a mains electrical power source for recharging he vehicles 20.
[0075] Figures 1 to 5 illustrate steps in a method in which the system 10 is used. In Figure 5 the vehicles 20 are transported in the trailer 82 to a location in proximity to the site at which the one or more blast holes 5 are located. The vehicles 20 alight from the trailer 82 and as illustrated in Figure 1 , the vehicles move either autonomously or via remote control to a location adjacent to the MPU 50 where they are respectively loaded with ANFO or stemming material. The MPU 50 may include an on-board positioning module (e.g. a GPS module) for determining the position of the MPU 50 and the position data may be transmitted from the MPU 50 to each one of the vehicles 20 to enable the vehicles 20 to autonomously manoeuvre into position adjacent to the MPU 50. [0076] As illustrated in Figure 1 , one of the vehicles 20 that is loaded with ANFO manoeuvres to the location of a blast hole 5 so that an outlet 40 of the hopper 35 is aligned with the blast hole 5. The arm 70 is actuated into engagement with the lead line engaging device 60 to lock the lead line 65. The closure 42 is opened to discharge the ANFO into the blast hole 5. The load control module is adapted to directly, or indirectly, close the closure 42 when a desired weight of the ANFO has been discharged into the blast hole 5 according to the predetermined blast design. In addition or alternatively, the vehicle 20 may include a camera or a laser device to determine if the ANFO material has reached a desired height within the blast hole 5. The load control module may autonomously change the predetermined weight of the ANFO that is to be loaded into the blast hole 5 or may transmit data to a remote operator control module to prompt an operator to determine if the load control module may change the weight of the ANFO to be loaded into the blast hole 5. The arm 70 is actuated to disengage the lead line engaging device 60 and the vehicle 20 autonomously or remotely manoeuvres to the next blast hole 5 according to a predetermined or a dynamically determined navigation plan.
[0077] As illustrated in Figure 1 , another one of the vehicles 20 that is loaded with stemming manoeuvres to the location of the blast hole 5 that has previously been filled with ANFO so that an outlet 40 of the hopper 35 is aligned with the blast hole 5. The arm 70 is actuated into engagement with the lead line engaging device 60 to lock the lead line 65. The closure 42 is opened to discharge the stemming into the blast hole 5. The load control module is adapted to directly, or indirectly, close the closure 42 when a desired weight of the stemming has been discharged into the blast hole 5 according to the predetermined blast design. In addition or alternatively, the vehicle 20 may include a camera or a laser device to determine if the stemming material has reached a desired height within the blast hole 5. The load control module may autonomously change the predetermined weight of the stemming that is to be loaded into the blast hole 5 or may transmit data to a remote operator control module to prompt an operator to determine if the load control module may change the weight of the stemming to be loaded into the blast hole 5. The arm 70 is actuated to disengage the lead line engaging device 60 and the vehicle 20 autonomously or remotely manoeuvres to the next blast hole 5 according to a predetermined or a dynamically determined navigation plan.
[0078] The vehicles 20 will return to the MPU 50 from time to time to reload if the load control module determines that the weight of the ANFO or the stemming on the vehicle 20 is inadequate to load successive blast holes 5. After the blast holes 5 are loaded with ANFO and stemming the vehicles 20 return to the trailer 82 and remotely or autonomously load onto the trailer 82.
[0079] Although the disclosure has been described with reference to specific examples, it will be appreciated by those skilled in the art that the disclosure may be embodied in many other forms, in keeping with the broad principles and the spirit of the disclosure described herein.

Claims (28)

Claims:
1 . A system for loading a blast hole, the system including: one or more vehicles each supporting a container for receiving a bulk material for loading into a blast hole; the vehicle being configured to manoeuvre under autonomous or remote control to the location of the blast hole; an outlet for discharging a quantity of the bulk material from the container into a blast hole.
2. The system of claim 1 , wherein the container includes a hopper comprising a wide opening for receiving a load of the bulk material and side walls that taper towards a narrow bottom opening forming the outlet.
3. The system of claim 1 or claim 2, including an autonomous or remotely controlled closure for selectively opening and closing the outlet and thereby controlling the discharge of the bulk material from the container into the blast hole.
4. The system of any one of the preceding claims, wherein the vehicle includes one or more load sensors for determining the weight of the bulk material in the container.
5. The system of claim 4, wherein the one or more load sensors are configured for outputting load data for determining the weight of the bulk material discharged into the blast hole, preferably for controlling the amount of the bulk material discharged from the container into the blast hole.
6. The system of any one of the preceding claims, wherein the vehicle includes a support mechanism for supporting the container at an orientation independent of the orientation of the surface on which the vehicle is supported.
7. The system of claim 6, wherein the support mechanism is adapted for maintaining the container in a horizontal orientation.
8. The system of claim 7, wherein a controller is operable receiving data from a position sensor (e.g. accelerometer) indicating the orientation of the container relative to the horizontal.
9. The system of any one of the preceding claims, wherein the bulk material includes explosive material such as ANFO or an emulsion.
10. The system of any one of the preceding claims, wherein the bulk material includes stemming material such as gravel or aggregate.
1 1 . The system of any one of the preceding claims, wherein the one or more vehicles include an on-board controller for controlling navigation of the vehicle.
12. The system of claim 1 1 , wherein the controller includes a positioning module (e.g. a GPS module) for determining the position of the vehicle relative to one or more blast holes, and a processor for controlling a system for propelling the vehicle (e.g. drive means/wheels/tracks) to manoeuvre the vehicle to the location of the blast hole.
13. The system of claim 1 1 or 12, wherein the controller is configured to receive and to process data from sensors for sensing the terrain or obstacles around the vehicle and providing the sensor data as an input to the navigation control module.
14. The system of claim 13, wherein a sensor includes a laser light emitting and detection sensor (e.g. LIDAR) for surveying the terrain around the vehicle and providing survey data as an input to the navigation control module.
15. The system of claim 13, wherein a sensor includes a radio wave emitting and detection sensor (e.g. RADAR) for identifying and determining the distance, angle or velocity of objects relative to the vehicle and providing object data as an input to the navigation control module.
16. The system of claim 13, wherein a sensor includes a camera for generating an image of the area around the vehicle and providing image data as an input to the navigation control module.
17. The system of any one of claims 13 to 16, wherein the controller is configured to process data from the sensors and to control the navigation of the vehicle to avoid a collision with any surrounding object and/or to generate a collision alarm.
18. The system of any one of the preceding claims, wherein the system includes a reload unit comprising a store of explosive material for loading into the container of the vehicle.
19. The system of claim 18, wherein the reload unit comprises a store of stemming material such as gravel or aggregate and an auger for loading the stemming material into the container of one of the vehicles.
20. The system of claim 18, wherein the vehicle is configured to manoeuvre under autonomous or remote control to the location of the reload unit for loading the container of the vehicle.
21. The system of any one of the preceding claims, including a lead line engaging device for engaging with a lead line that is connected to a primer located in the blast hole and that extends upwards and out of the open end of the blast hole, wherein the lead line engaging device engages with the lead line during loading of the blast hole for preventing the lead line from falling into the blast hole.
22. The system of claim 21 , wherein the lead line engaging device includes a wedge-shaped body (e.g. chock) that is positioned adjacent to the blast hole and contains a length of the lead line.
23. The system of claim 21 , wherein the vehicle includes a mechanism for engaging and maintaining the position of the lead line engaging device against the terrain surface adjacent to the blast hole to thereby lock the lead line during loading of the blast hole.
24. The system of any one of the preceding claims, including a base for receiving and recharging on board power storage units on each one of the vehicles.
25. The system of claim 24, wherein the base includes a generator and/or solar array for generating power to recharge the power storage units.
26. The system of claim 24, wherein the base is incorporated in a truck or a trailer for receiving and transporting the one or more vehicles to the location in proximity to the site at which the blast hole is located.
27. A method for loading a blast hole, the system including: loading a vehicle supporting a container with bulk explosive material; manoeuvering the vehicle autonomously or via remote control to the location of the blast hole; discharging a quantity of the bulk explosive material from the container into the blast hole.
28. The method of claim 27, including loading a vehicle supporting a container with stemming material; manoeuvering the vehicle autonomously or via remote control to the location of the blast hole containing the bulk explosive material; and discharging a quantity of the stemming from the container into the blast hole.
19
AU2022364581A 2021-10-11 2022-10-11 Method and apparatus for remotely or autonomously depositing explosives into a blast hole Pending AU2022364581A1 (en)

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US7971534B2 (en) * 2005-09-19 2011-07-05 Waldock Kevin H Mobile platform for the delivery of bulk explosive
CA2684654C (en) * 2007-05-14 2014-09-02 African Explosives Limited Loading of explosives
DE102008060684B4 (en) * 2008-03-28 2019-05-23 Volkswagen Ag Method and device for automatic parking of a motor vehicle
US8583361B2 (en) * 2011-08-24 2013-11-12 Modular Mining Systems, Inc. Guided maneuvering of a mining vehicle to a target destination
WO2015135986A1 (en) * 2014-03-11 2015-09-17 Ecole Polytechnique Federale De Lausanne (Epfl) Vehicle having a high clearing capability
BR102016024215B1 (en) * 2016-10-17 2019-10-08 Vale S.A. VEHICLE FOR DEPOSITING EXPLOSIVES IN DISASSEMBLING HOLES AND METHOD OF USE
CN115783085A (en) * 2018-03-14 2023-03-14 联邦快递服务公司 Method and system for navigating to designated shipping location as part of multi-route logistics
CA3111018C (en) * 2018-08-27 2023-07-25 Detnet South Africa (Pty) Ltd Method of and apparatus for establishing a blasting system

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