System for dispensing primers in mining blastholes

Abstract

The present invention relates to a system (1000) and method for dispensing primers into blast holes in mining sites comprising a priming vehicle (100) and priming equipment (200), which is transported by the priming vehicle (100), being said vehicle (100) capable of operating autonomously or semi-autonomously and by remote control; wherein the priming equipment (200) comprises: at least two trays (250, 251) for placing reel elements (220); at least two dispensers (260, 261) for booster-type explosive devices (210), a gantry crane (230); a system for positioning detonators inside the booster-type explosive device; an antenna positioner; a cable brake dispenser (270); and a cable unwinding system (290). with a hole meter to inspect the holes before loading the same.

Description

FIELD OF APPLICATION

[0001] The present invention corresponds to the field of explosives used primarily in the mining industry. In particular, the present invention relates to a system for dispensing primers into blast holes in mining sites.BACKGROUND OF THE INVENTION

[0002] In the assembly of explosives, the priming process consists of inserting one or more detonators into a high-powered explosive device and then inserting the explosive device together with the detonator into shafts, blast- or drilling holes.

[0003] Currently, to carry out the priming in surface or open-pit mining operations, a detonator is installed in a booster or initiator type explosive device and this is manually unwound, to be subsequently lowered into the hole until the primer - as the assembly consisting of the booster and the detonator is called, is located at a predefined distance from the bottom of the hole, for example, approximately 1 m from the bottom of the hole, where the depth of the holes usually ranges from 12 to 25 meters and the diameter thereof ranges from 15 to 40 cm.

[0004] Subsequently, the cable on the surface is wound around an object such as a stick, cane or rod (for example, a colihue branch or similar) stuck in the hole so as to prevent the free end of the cable from falling into the same. When the cable is cut or the cable falls into the hole and communication is lost, it can cause a serious incident, since it turns into an explosive device ready to detonate, but without any control elements. When explosives do not detonate as planned during a blast, they are known as misfires, where accidental detonation of ignition failures is a frequent cause of bodily injury, damage to materials and equipment, and consequent production losses.

[0005] On the other hand, although the priming operation is conducted safely, it is exposed to external conditions that make it a risky one. For example, some risk conditions include operations in areas with geomechanical instability, sub-cavities or operations at the bottom of the mine or near vertical walls, which carry inherent risks for people.

[0006] Furthermore, in a manual priming operation, there is room for error in conditions of poor visibility, such as at night, which is why this task is restricted to daytime hours. The release of this restriction would allow a significant increase in production time, thereby increasing overall productivity. Thus, the state of the art has sought to address these types of deficiencies by reducing the risks during priming operations.

[0007] For example, document US20210223018 A1 describes an explosives delivery vehicle for delivering a booster for initiating an explosion of an explosive material in a hole in a floor of a mine pit to an operative depth in the hole. The vehicle comprises: (a) a storage assembly for storing a plurality of the boosters, (b) a booster loading assembly for (i) supporting the booster in a delivery position above the hole and (ii) moving the booster downwardly into the hole and inserting the booster at an operative depth in the hole; and (c) a delivery assembly for transporting the booster from the storage assembly to the loading assembly. However, the technology described in this document requires detonation cables to be connected manually and requires manually securing or anchoring a reel around the blasting hole, exposing operators to external risks at the blasting site and preventing the release of night operation.

[0008] A similar solution is disclosed in document US11473892B2, which describes a vehicle configured for the deposition of explosives in blast holes comprising: an explosive storage tank; a vertical translation platform; and a robotic arm; the explosive storage tank comprising at least one airtight container capable of holding explosive in liquid or granular form therein; the vertical translation platform being configured to position the robotic arm in an ideal work height regarding the ground, and levelling the robotic arm to offset ground unevenness; the robotic arm comprising at least two movement axes, a gripper and a sensor, the robotic arm configured to analyze the inside of the hole, and guide a sensor near to the upper edge of the hole; guide a first discharge of explosive; mount a detonator; deposit the recently-mounted detonator into the hole; guide a second discharge of explosive into the hole; and buffer the hole at the end of an explosive deposit process; the vehicle further comprising: a GPS device, a propulsion system, and an electronic processor, configured to guide the vehicle independently. The vehicle further comprises at least three claws that can engage to the free end of robotic arm, each of the claws with a different function and purpose. However, the technology described in this document lacks active redundancies and the wired connection of the detonators must still be conducted manually.

[0009] Document WO2011106830A1 relates to a system for loading a blast hole, which has a charge delivery module with two motors, one driving a drive wheel to pull a hose from a reel and allowing the hose to advance down the blast hole, and the other motor rotates the reel to retrieve the hose onto the reel, where a hose drive assembly comprises a detonator tube into which a detonator can be loaded for transport to the blast hole. However, the technology described in this document relies heavily on manual interaction both to assemble the explosive charges and to connect them once installed at the blasting site, exposing operators to the external risks of the blasting site and preventing the release of night operation.

[0010] Document WO2021080514 A1 discloses a magazine apparatus including a first magazine and a second magazine. The first magazine is configured for holding, carrying and dispensing first initiation device components. The second magazine is configured for holding, carrying and dispensing second initiation device components. The first magazine and the second magazine are configured to dispense the first initiation device components and the second initiation device components in a corresponding manner such that a dispensed one of the first initiation device components and a correspondingly dispensed one of the second initiation device components can be assembled together to form a structurally complete, unified initiation device for loading into a hole. However, the technology described in this document lacks safety redundancies and relies heavily on manual interaction to connect the charges once installed at the blasting site, where the charges are pushed horizontally.

[0011] Another solution is shown in document US20210270590 A1, which describes a booster assembly for use in a drill and blast operation, which comprises in co-axial alignment: (a) a booster for initiating an explosion of an explosives material in a hole in a pit floor as part of a drill and blast operation, (b) a spool and a detonation cord wrapped around the spool in a storage position outside the hole and connected to the spool and to the booster, with the spool being provided for allowing the detonation cord to be unwound from the spool as the booster is moved from the storage position to an operative depth in the hole and the spool remains in the storage position; and (c) a stake for locating the spool in the pit floor proximate the hole after the booster is at the operative depth in the hole; and with an end of the spool being formed to receive and locate an end of the booster such that the booster is seated on the spool when the booster assembly is in an upright orientation in the storage position before moving the booster to the operative depth in the hole. However, the technology described in this document requires that detonation cables be connected manually and requires manually securing or anchoring a reel around the blast hole, thus exposing operators to external risks at the blasting site and preventing the release of night operation.

[0012] Document US20190119066 A1 relates to an apparatus for use in a blasting system which includes a spool with a hub, first and second discs which are mounted to the hub, an elongate flexible signal-transmitting conductor which has a first end and a second end and which is coiled on the hub between the discs, at least a first detonator which is connected to the signal-transmitting conductor at or near the first end, a connector device which is connected or exposed to the signal-transmitting conductor at or near the second end, wherein the signal-transmitting conductor includes spaced-apart markings or formations and wherein the spool includes a sensor, responsive to passage of a marking or formation past the sensor to produce a measure of a length of the signal-transmitting conductor which is uncoiled from the hub and a release mechanism which, in use, permits a degree of rotation of the spool or movement of the conductor when a tensile force exerted on the conductor increases above a predetermined level, thereby to reduce the level of the tensile force exerted on the conductor characterized in that the connector device includes, wholly located inside the hub, a transmitter / receiver module, a battery and a processor and, on one of the discs, connector formations which are adapted to establish communication with a control device. However, the technology described in this document requires that detonation cables be connected manually and requires a reel to be manually secured or anchored around the blasting hole, exposing operators to the external risks of the blasting site and preventing the release of night operation.

[0013] On the other hand, document US10724371 B2 describes a method comprising: obtaining with a robotic camera system one or more image representations of a mining wall having a plurality of drill holes, including one or more image representations of 3D point cloud image data; comparing a drill map characterizing the mining wall with the one or more image representations to identify a drill hole from the drill map not detected in the one or more image representations; and in response to the identification of a drill hole from the drill map not detected in one or more image representations, an activation operation in which a robot system, based on one or more inputs from an operator, designates image data from one or more image representations as representative of the drill hole. However, the technology described in this document lacks safety redundancies and relies heavily on manual interaction to connect the charges once installed at the blasting site, where the charges are pushed horizontally.

[0014] Accordingly, most of the proposed solutions are mainly related to the automation of the priming operation to reduce the external risks to which operators are exposed.

[0015] In general, the above-described solutions comprise different technical solutions, which are mainly based on the implementation of automated elements such as, for example, manipulator arms or on compensating for deficiencies related to securing the device to the application site, as they are not applicable to different types of soil.SUMMARY OF THE INVENTION

[0016] The present invention intends to solve, among other things, the problem of exposure to risks for operators, while also allowing more flexible operating schedules by enabling night-time operation and allowing both access to and work in areas previously inaccessible due to risks to humans, in an efficient and rapid manner, thereby increasing production.

[0017] The invention relates to a system for dispensing primers into blast holes in mining sites. Said system is configured as an autonomous vehicle, which comprises priming equipment, in which a plurality of explosive initiator devices are arranged, a plurality of detonating devices, which together form a primer, and a plurality of reel elements, where each reel element comprises at least one antenna, at least one reel, at least one cable line, at least one detonator, and at least two pairs of flexible supports. In this way, the detonator is assembled with the respective initiator.

[0018] In a preferred configuration, each reel element is configured in a symmetrical arrangement of its components comprising at least one pair of antennas, at least one pair of reels, at least one pair of cable lines, at least one pair of detonators, and at least two pairs of flexible supports. Both detonators are inserted into the same explosive initiator device, thus each reel element has active redundancy in its most important communication components, improving the reliability thereof.

[0019] The system further comprise a gantry crane that can pick up at least one initiator and one reel element, which are arranged in a respective dispenser. The gantry crane picks up both products without a pre-established order.

[0020] As soon as the gantry crane positions an initiator and a reel element in the priming equipment, priming is performed by means of a vertical movement of the priming mechanism. Subsequently, by means of a cable unwinding system, the primer is positioned in the passage zone of each hole.

[0021] In order to leave the primer in the passage zone, the system has a cable brake preferably configured by a rod element, which is activated by a cable support system, which in turn prevents the primer from falling into the hole without the required control. After that, the system allows the reel element to be positioned in a safe area regarding the layout of the hole.

[0022] The dispensing subsystem consists of a gantry crane located at the top of the machinery, which is capable of Cartesian movements on the X, Y, and Z axes. This gantry crane is equipped with a gripping element capable of holding, moving, and positioning both the reel elements and initiators from their dispensing point to the priming point.

[0023] At least one tray of reel elements is located under the gantry crane, which are divided into right and left trays. Both trays hold at least fifteen-reel element units each in a defined position. Additionally, under the reel element trays are the left and right initiator dispensers, which can dispense at least fifteen initiators per tray.

[0024] Each of the reel elements comprises flexible supports that adapt to the ground and allow the reel element to always fall upright without turning over. A reel element is attached to the dispensing tray in a fixed position due to the tension produced by the flexible supports, which are deformed within their elastic deformation range. The flexible supports unfold when the reel element is removed.

[0025] Thus, the present invention provides several advantages over known technologies. In particular, regarding US20210223018 A1 the invention supplies an internal priming system instead of carrying pre-loaded primers. In addition, the reel element includes supports that can be adapted to the ground to keep the reel element in a vertical position, whereas said document involves a stake that depends on the hardness of the ground for the support thereof. Concerning CN107957224 B, the operating principle is completely different, as it is based on a manipulator arm having different couplings instead of an explosive dispenser. The invention comprises a more reliable cable brake support and a wireless activation system. Document WO2011106830 mentions a system for loading "pumpable" explosives into pits / holes (a step subsequent to the dispensing of primers) so the operating principle and characteristics do not overlap with the invention. On the other hand, regarding WO2021080514 A1 the present invention involves a defined dispensing system, in which the detonator, initiator and rod element are coupled and primed inside the system by quick couplings, thus allowing the complete set of elements necessary for detonation to be dispensed.DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 shows a side view of the invention system in operation arranged on a hole cutting. Figure 2 shows a side view of the system of the invention. Figure 3 shows a perspective view of a reel element of the invention system, which is ready to prime an initiator. Figure 4 shows a perspective view of a cable brake of the invention system. Figure 5 shows a diagram of the high-level control architecture of the system of the invention. Figure 6 shows a diagram of the low-level control architecture of the system. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention relates to a system (1000) and method for dispensing primers into blast holes in mining sites.

[0028] The system (1000) is preferably comprised of a priming vehicle (100) which comprises priming equipment (200), in which a plurality of detonator devices and a plurality of initiator devices are arranged, wherein each detonator and initiator configure a primer, and a plurality of reel elements.

[0029] The vehicle (100) corresponds to an explosive dispensing vehicle, which is configured to operate autonomously and is primarily configured as a robotic vehicle, mainly designed for handling loads. The vehicle (100) comprises priming equipment (200), which allows the priming and dispensing stages to be conducted for the development of tunnels in open-pit mining.

[0030] Thus, the priming vehicle (100) has the ability to operate autonomously or semi-autonomously, and by remote control. This vehicle (100) transports the priming equipment (200), which comprises means for automatically priming, dispensing, and lowering a primer into the hole. Additionally, it allows a wireless module to be loaded to initiate the detonation.

[0031] The system (1000) has the capacity to process at least thirty units of primers by dispensing at least thirty units of initiators (210), preferably 450 grams, and at least thirty units of reel elements (220) containing two electronic detonators each, where each initiator (210) and its respective reel element (220) are joined by twenty meters of cable and their respective communication antennas at the opposite end to the detonator. The priming equipment comprises an antenna positioner (300), which allows the location of the reel element (220) to be controlled.

[0032] The priming equipment (200) consists of a gantry crane (230) capable of picking up an initiator (210) and then a reel element (220) from their respective dispensers. This gantry crane (230) moves the initiator (210) and the respective reel element (220) to a priming device (400) in that respective order.

[0033] As soon as the gantry crane positions an initiator (210) and a reel assembly (220) in the priming device (400), priming is performed by means of a vertical movement of the priming mechanism. Subsequently, by means of a cable unwinding system (290), the primer is positioned in the passage zone of each hole.

[0034] In order to leave the primer in the passage zone, the priming equipment (200) includes a tray for dispensing (270) a cable brake (271), which is activated by a cable support system (280). Subsequently, the priming equipment allows the reel element (220) to be positioned in a safe area regarding the zone where the hole is located.

[0035] The gantry crane (230), which is located at the top of the priming equipment (200), has Cartesian movement capabilities on the X, Y, and Z axes, as well as a third movement on the Z axe . This gantry crane is equipped with a gripping element (240), capable of holding, moving, and positioning both a reel element (220) and its respective initiator (210) from its point of dispensing to the priming point (290).

[0036] Below the gantry crane (230) there is at least one tray (250, 251) for placing the reel elements (220), which are preferably distributed symmetrically in a right tray (250) and a left tray (251). Each tray (250, 251) holds at least fifteen-reel element units (220) in a defined position.

[0037] Furthermore, below the trays (250, 251) for reel elements (220), there are dispensers (260, 261) for initiators (210), which are distributed in a left dispenser (261) and a right dispenser (260), where each of said dispensers (260, 261) has the capacity to dispense at least fifteen initiators (210).

[0038] The dispensers (260, 261) are configured on the basis of a displacement caterpillar with a respective tensioner, which distributes the high explosives (initiators) by means of a controlled linear advance, where said advance is produced by the action of a caterpillar motor. Laser sensors are located at both ends of each dispenser (260, 261) to determine the number of initiators in the priming equipment (200), while two inductive sensors are located at the ends of the side face to indicate that the caterpillar tracks are in the correct position. Additionally, there is at least one plate to separate the dispenser (260, 261) from its respective tray (250, 251).

[0039] The dispensers (260, 261) are removable, so rails are included on the base and a handle at the end to pull and remove them from the priming equipment (200).

[0040] The dispensers (260, 261) require electrical components, which are located on the outside for greater accessibility when performing maintenance and / or inspection.

[0041] Each reel element (220) comprises flexible legs or supports (221) that adapt to the ground and allow it to always fall upright without turning over. The flexible supports (221) are retracted by elastic deformation and engage with hooks when the reel element is stored in its respective tray (250, 251) and unfold when the reel element is removed. The reel element (220) comprises receiving antennas (222) for wireless detonation, at least two reels (223), at least one lower base (224), and a detonation assembly consisting of a detonator holder (225) and a central holder (226). This product is made entirely of any material suitable for blasting processes, such as plastics, with the exception of the antennas.

[0042] As described above, the reel element trays (250, 251) consisting of the right tray (250) and the left tray (251) are capable of storing fifteen units each, giving the system (1000) a total capacity of thirty units. Each tray is located on the sides of the priming equipment (200). The trays have stainless steel telescopic rails to be easily reachable when loading and unloading reel elements (220) between the operator and the system (200).

[0043] Each tray (250, 251) is entirely designed of 6061 structural aluminum and, to a lesser extent, of 3D-printed ABS plastic and / or plastic injection molding of the same material for sensor support parts and some connectors.

[0044] Each tray comprises two identical mechanical sensors that identify the correct position of the reel element in its designated position on the tray and ensure that it remains in place. Additionally, it has an inductive sensor - preferably one per tray, to indicate whether the system is closed to start operation.

[0045] The system (1000) further comprises a hole detection subsystem that includes means for measuring the physical characteristics and geometric properties of the hole.

[0046] The system (1000) also includes an autonomous navigation subsystem, which allows the vehicle (100) to navigate with the ability to avoid obstacles and position itself facing the area where the hole is located. Navigation is performed using sensors, which provide a point cloud of the 3D environment. This point cloud is processed, thus allowing the detection of uneven surfaces, cuttings, and obstacles in general, and the GPS records the position where the obstacle was detected at any given moment. These sensors may correspond to LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) sensors, configured using an algorithm used for obstacle detection.

[0047] The system (1000) further comprises an autonomous fine positioning subsystem for the vehicle (100) to position the priming equipment over the hole to be loaded. The autonomous fine positioning subsystem complements the autonomous navigation subsystem and allows the vehicle (100) to be correctly positioned regarding the holes in a blasting hole grid. In this case, if the vehicle (100) is near a hole, the autonomous navigation subsystem will pass control of the equipment's movement to the autonomous fine positioning subsystem, whereby the priming equipment (200) will be in the correct position for loading the corresponding hole, preferably placing the priming equipment above 20 cm of the hole's cutting.

[0048] In order to position the priming equipment (200) accurately over each hole, information from 3D lidar sensors is used to detect the hole that forms the pit.

[0049] The system (1000) further comprises a wireless detonation subsystem that includes means for detonating the explosives loaded into the holes.

[0050] The system (1000) also includes a control subsystem that communicates with and manages each of the other subsystems. This control subsystem involves the interaction of multiple devices, including both controllers and sensors.

[0051] The high-level architecture comprises the processing of algorithms that enable autonomous navigation of the vehicle through a grid, inspection, and loading of the holes.

[0052] The equipment involved in high-level control is: PC Cabin Control PC GUI PC Control Room PC Tablet

[0053] The high-level control architecture broadly consists of three subsystems: the autonomous navigation / teleoperation, the fine positioning, and the hole loading.

[0054] Assisted teleoperation is handled by the PC GUI. This PC provides the operator with a supervision and control interface for the control room or using the PC Tablet. This system provides the operator with a set of possible actions, thus guiding the actions performed by the vehicle.

[0055] Additionally, the control room has the additional option of remote control of the equipment (without assistance), which is planned to be used to reach the grids. In this case, the operator's control only allows the equipment to be moved outside the grids, without the possibility of performing any priming action.

[0056] In the case of autonomous mode operation, the main high-level component is the PC control located in the cabin. This PC is responsible for the processing of navigation algorithms, fine positioning, and high-level coordination of the hole loading system.

[0057] The low-level architecture corresponds to the controllers that perform the processing to the actuators for the operation of the equipment.

[0058] A programmable logic controller is used to control the vehicle (100) and the priming equipment (200). These perform low-level processing and control of the system, enabling control of the vehicle's movements (including a telescopic manipulator arm), as well as the priming and hole loading equipment.

[0059] The vehicle can be used in all types of open-pit mining operations that involve priming to initiate detonation with a wireless electronic initiation system.

[0060] Thus, the operation of the system (1000) begins by receiving the drilling and blasting work order from the Planning System, which defines the grid to be primed, the topographic map for planning routes, and visiting the holes. Each task includes a destination and the route the vehicle will follow.

[0061] Task assignment and operating system monitoring information will be available through a user interface in the Control Room.

[0062] As soon as the routes are defined, the system approaches each hole using a dual positioning system, where it first approaches each hole using GNSS or GPS positioning and then the fine-tuning of the final approach using lidar sensors is performed and the holes are detected by using a reinforced learning algorithm. The system then inspects the hole, detects the depth thereof and the presence of water, and begins the priming process. Finally, it loads the primed initiator (210) with detonators (225) into the hole using an unwinding process and positions the cable brake rod (271) in the cutting, which prevents the cables from falling into the hole, and thus it continues with the next hole.

[0063] After priming all the holes, the system returns to each one of them to perform a global activation of wireless initiation modules. This allows the modules to be activated to start the blasting process. Such activation can be performed, for example, using Li-Fi (light fidelity).REFERENCE NUMBERS

[0064] Hereunder is a list of the components of the invention and their respective reference numbers in the Figures. 1000System 100Priming vehicle 200Priming equipment 210Initiator 220Reel element 221Flexible support 222Receiving antenna 223Reel 224Lower base 225Detonator holder 226Central support 230Gantry crane 240Gripping element of the gantry crane 250Right tray for reel elements 251Left tray for reel elements 260Right initiator dispenser 261Left initiator dispenser 270Cable brake dispenser 271Cable brake 280Cable support system 290Priming point 300Antenna positioner 400Primer

[0065] Finally, it should be noted that various particular parameters of the invention, such as dimensions, choice of materials, and specific aspects of the above-described preferred configurations may vary or be modified depending on operational requirements. Consequently, the above-described specific configurations and / or modifications are not intended to be limiting, and such variations are within the spirit and scope of the present invention.

Examples

Embodiment Construction

[0027]The present invention relates to a system (1000) and method for dispensing primers into blast holes in mining sites.

[0028]The system (1000) is preferably comprised of a priming vehicle (100) which comprises priming equipment (200), in which a plurality of detonator devices and a plurality of initiator devices are arranged, wherein each detonator and initiator configure a primer, and a plurality of reel elements.

[0029]The vehicle (100) corresponds to an explosive dispensing vehicle, which is configured to operate autonomously and is primarily configured as a robotic vehicle, mainly designed for handling loads. The vehicle (100) comprises priming equipment (200), which allows the priming and dispensing stages to be conducted for the development of tunnels in open-pit mining.

[0030]Thus, the priming vehicle (100) has the ability to operate autonomously or semi-autonomously, and by remote control. This vehicle (100) transports the priming equipment (200), which comprises means for ...

FIELD OF APPLICATION

[0001] The present invention corresponds to the field of explosives used primarily in the mining industry. In particular, the present invention relates to a system for dispensing primers into blast holes in mining sites.BACKGROUND OF THE INVENTION

[0002] In the assembly of explosives, the priming process consists of inserting one or more detonators into a high-powered explosive device and then inserting the explosive device together with the detonator into shafts, blast- or drilling holes.

[0003] Currently, to carry out the priming in surface or open-pit mining operations, a detonator is installed in a booster or initiator type explosive device and this is manually unwound, to be subsequently lowered into the hole until the primer - as the assembly consisting of the booster and the detonator is called, is located at a predefined distance from the bottom of the hole, for example, approximately 1 m from the bottom of the hole, where the depth of the holes usually ranges from 12 to 25 meters and the diameter thereof ranges from 15 to 40 cm.

[0004] Subsequently, the cable on the surface is wound around an object such as a stick, cane or rod (for example, a colihue branch or similar) stuck in the hole so as to prevent the free end of the cable from falling into the same. When the cable is cut or the cable falls into the hole and communication is lost, it can cause a serious incident, since it turns into an explosive device ready to detonate, but without any control elements. When explosives do not detonate as planned during a blast, they are known as misfires, where accidental detonation of ignition failures is a frequent cause of bodily injury, damage to materials and equipment, and consequent production losses.

[0005] On the other hand, although the priming operation is conducted safely, it is exposed to external conditions that make it a risky one. For example, some risk conditions include operations in areas with geomechanical instability, sub-cavities or operations at the bottom of the mine or near vertical walls, which carry inherent risks for people.

[0006] Furthermore, in a manual priming operation, there is room for error in conditions of poor visibility, such as at night, which is why this task is restricted to daytime hours. The release of this restriction would allow a significant increase in production time, thereby increasing overall productivity. Thus, the state of the art has sought to address these types of deficiencies by reducing the risks during priming operations.

[0007] For example, document US20210223018 A1 describes an explosives delivery vehicle for delivering a booster for initiating an explosion of an explosive material in a hole in a floor of a mine pit to an operative depth in the hole. The vehicle comprises: (a) a storage assembly for storing a plurality of the boosters, (b) a booster loading assembly for (i) supporting the booster in a delivery position above the hole and (ii) moving the booster downwardly into the hole and inserting the booster at an operative depth in the hole; and (c) a delivery assembly for transporting the booster from the storage assembly to the loading assembly. However, the technology described in this document requires detonation cables to be connected manually and requires manually securing or anchoring a reel around the blasting hole, exposing operators to external risks at the blasting site and preventing the release of night operation.

[0008] A similar solution is disclosed in document US11473892B2, which describes a vehicle configured for the deposition of explosives in blast holes comprising: an explosive storage tank; a vertical translation platform; and a robotic arm; the explosive storage tank comprising at least one airtight container capable of holding explosive in liquid or granular form therein; the vertical translation platform being configured to position the robotic arm in an ideal work height regarding the ground, and levelling the robotic arm to offset ground unevenness; the robotic arm comprising at least two movement axes, a gripper and a sensor, the robotic arm configured to analyze the inside of the hole, and guide a sensor near to the upper edge of the hole; guide a first discharge of explosive; mount a detonator; deposit the recently-mounted detonator into the hole; guide a second discharge of explosive into the hole; and buffer the hole at the end of an explosive deposit process; the vehicle further comprising: a GPS device, a propulsion system, and an electronic processor, configured to guide the vehicle independently. The vehicle further comprises at least three claws that can engage to the free end of robotic arm, each of the claws with a different function and purpose. However, the technology described in this document lacks active redundancies and the wired connection of the detonators must still be conducted manually.

[0009] Document WO2011106830A1 relates to a system for loading a blast hole, which has a charge delivery module with two motors, one driving a drive wheel to pull a hose from a reel and allowing the hose to advance down the blast hole, and the other motor rotates the reel to retrieve the hose onto the reel, where a hose drive assembly comprises a detonator tube into which a detonator can be loaded for transport to the blast hole. However, the technology described in this document relies heavily on manual interaction both to assemble the explosive charges and to connect them once installed at the blasting site, exposing operators to the external risks of the blasting site and preventing the release of night operation.

[0010] Document WO2021080514 A1 discloses a magazine apparatus including a first magazine and a second magazine. The first magazine is configured for holding, carrying and dispensing first initiation device components. The second magazine is configured for holding, carrying and dispensing second initiation device components. The first magazine and the second magazine are configured to dispense the first initiation device components and the second initiation device components in a corresponding manner such that a dispensed one of the first initiation device components and a correspondingly dispensed one of the second initiation device components can be assembled together to form a structurally complete, unified initiation device for loading into a hole. However, the technology described in this document lacks safety redundancies and relies heavily on manual interaction to connect the charges once installed at the blasting site, where the charges are pushed horizontally.

[0011] Another solution is shown in document US20210270590 A1, which describes a booster assembly for use in a drill and blast operation, which comprises in co-axial alignment: (a) a booster for initiating an explosion of an explosives material in a hole in a pit floor as part of a drill and blast operation, (b) a spool and a detonation cord wrapped around the spool in a storage position outside the hole and connected to the spool and to the booster, with the spool being provided for allowing the detonation cord to be unwound from the spool as the booster is moved from the storage position to an operative depth in the hole and the spool remains in the storage position; and (c) a stake for locating the spool in the pit floor proximate the hole after the booster is at the operative depth in the hole; and with an end of the spool being formed to receive and locate an end of the booster such that the booster is seated on the spool when the booster assembly is in an upright orientation in the storage position before moving the booster to the operative depth in the hole. However, the technology described in this document requires that detonation cables be connected manually and requires manually securing or anchoring a reel around the blast hole, thus exposing operators to external risks at the blasting site and preventing the release of night operation.

[0012] Document US20190119066 A1 relates to an apparatus for use in a blasting system which includes a spool with a hub, first and second discs which are mounted to the hub, an elongate flexible signal-transmitting conductor which has a first end and a second end and which is coiled on the hub between the discs, at least a first detonator which is connected to the signal-transmitting conductor at or near the first end, a connector device which is connected or exposed to the signal-transmitting conductor at or near the second end, wherein the signal-transmitting conductor includes spaced-apart markings or formations and wherein the spool includes a sensor, responsive to passage of a marking or formation past the sensor to produce a measure of a length of the signal-transmitting conductor which is uncoiled from the hub and a release mechanism which, in use, permits a degree of rotation of the spool or movement of the conductor when a tensile force exerted on the conductor increases above a predetermined level, thereby to reduce the level of the tensile force exerted on the conductor characterized in that the connector device includes, wholly located inside the hub, a transmitter / receiver module, a battery and a processor and, on one of the discs, connector formations which are adapted to establish communication with a control device. However, the technology described in this document requires that detonation cables be connected manually and requires a reel to be manually secured or anchored around the blasting hole, exposing operators to the external risks of the blasting site and preventing the release of night operation.

[0013] On the other hand, document US10724371 B2 describes a method comprising: obtaining with a robotic camera system one or more image representations of a mining wall having a plurality of drill holes, including one or more image representations of 3D point cloud image data; comparing a drill map characterizing the mining wall with the one or more image representations to identify a drill hole from the drill map not detected in the one or more image representations; and in response to the identification of a drill hole from the drill map not detected in one or more image representations, an activation operation in which a robot system, based on one or more inputs from an operator, designates image data from one or more image representations as representative of the drill hole. However, the technology described in this document lacks safety redundancies and relies heavily on manual interaction to connect the charges once installed at the blasting site, where the charges are pushed horizontally.

[0014] Accordingly, most of the proposed solutions are mainly related to the automation of the priming operation to reduce the external risks to which operators are exposed.

[0015] In general, the above-described solutions comprise different technical solutions, which are mainly based on the implementation of automated elements such as, for example, manipulator arms or on compensating for deficiencies related to securing the device to the application site, as they are not applicable to different types of soil.SUMMARY OF THE INVENTION

[0016] The present invention intends to solve, among other things, the problem of exposure to risks for operators, while also allowing more flexible operating schedules by enabling night-time operation and allowing both access to and work in areas previously inaccessible due to risks to humans, in an efficient and rapid manner, thereby increasing production.

[0017] The invention relates to a system for dispensing primers into blast holes in mining sites. Said system is configured as an autonomous vehicle, which comprises priming equipment, in which a plurality of explosive initiator devices are arranged, a plurality of detonating devices, which together form a primer, and a plurality of reel elements, where each reel element comprises at least one antenna, at least one reel, at least one cable line, at least one detonator, and at least two pairs of flexible supports. In this way, the detonator is assembled with the respective initiator.

[0018] In a preferred configuration, each reel element is configured in a symmetrical arrangement of its components comprising at least one pair of antennas, at least one pair of reels, at least one pair of cable lines, at least one pair of detonators, and at least two pairs of flexible supports. Both detonators are inserted into the same explosive initiator device, thus each reel element has active redundancy in its most important communication components, improving the reliability thereof.

[0019] The system further comprise a gantry crane that can pick up at least one initiator and one reel element, which are arranged in a respective dispenser. The gantry crane picks up both products without a pre-established order.

[0020] As soon as the gantry crane positions an initiator and a reel element in the priming equipment, priming is performed by means of a vertical movement of the priming mechanism. Subsequently, by means of a cable unwinding system, the primer is positioned in the passage zone of each hole.

[0021] In order to leave the primer in the passage zone, the system has a cable brake preferably configured by a rod element, which is activated by a cable support system, which in turn prevents the primer from falling into the hole without the required control. After that, the system allows the reel element to be positioned in a safe area regarding the layout of the hole.

[0022] The dispensing subsystem consists of a gantry crane located at the top of the machinery, which is capable of Cartesian movements on the X, Y, and Z axes. This gantry crane is equipped with a gripping element capable of holding, moving, and positioning both the reel elements and initiators from their dispensing point to the priming point.

[0023] At least one tray of reel elements is located under the gantry crane, which are divided into right and left trays. Both trays hold at least fifteen-reel element units each in a defined position. Additionally, under the reel element trays are the left and right initiator dispensers, which can dispense at least fifteen initiators per tray.

[0024] Each of the reel elements comprises flexible supports that adapt to the ground and allow the reel element to always fall upright without turning over. A reel element is attached to the dispensing tray in a fixed position due to the tension produced by the flexible supports, which are deformed within their elastic deformation range. The flexible supports unfold when the reel element is removed.

[0025] Thus, the present invention provides several advantages over known technologies. In particular, regarding US20210223018 A1 the invention supplies an internal priming system instead of carrying pre-loaded primers. In addition, the reel element includes supports that can be adapted to the ground to keep the reel element in a vertical position, whereas said document involves a stake that depends on the hardness of the ground for the support thereof. Concerning CN107957224 B, the operating principle is completely different, as it is based on a manipulator arm having different couplings instead of an explosive dispenser. The invention comprises a more reliable cable brake support and a wireless activation system. Document WO2011106830 mentions a system for loading "pumpable" explosives into pits / holes (a step subsequent to the dispensing of primers) so the operating principle and characteristics do not overlap with the invention. On the other hand, regarding WO2021080514 A1 the present invention involves a defined dispensing system, in which the detonator, initiator and rod element are coupled and primed inside the system by quick couplings, thus allowing the complete set of elements necessary for detonation to be dispensed.DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 shows a side view of the invention system in operation arranged on a hole cutting. Figure 2 shows a side view of the system of the invention. Figure 3 shows a perspective view of a reel element of the invention system, which is ready to prime an initiator. Figure 4 shows a perspective view of a cable brake of the invention system. Figure 5 shows a diagram of the high-level control architecture of the system of the invention. Figure 6 shows a diagram of the low-level control architecture of the system. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention relates to a system (1000) and method for dispensing primers into blast holes in mining sites.

[0028] The system (1000) is preferably comprised of a priming vehicle (100) which comprises priming equipment (200), in which a plurality of detonator devices and a plurality of initiator devices are arranged, wherein each detonator and initiator configure a primer, and a plurality of reel elements.

[0029] The vehicle (100) corresponds to an explosive dispensing vehicle, which is configured to operate autonomously and is primarily configured as a robotic vehicle, mainly designed for handling loads. The vehicle (100) comprises priming equipment (200), which allows the priming and dispensing stages to be conducted for the development of tunnels in open-pit mining.

[0030] Thus, the priming vehicle (100) has the ability to operate autonomously or semi-autonomously, and by remote control. This vehicle (100) transports the priming equipment (200), which comprises means for automatically priming, dispensing, and lowering a primer into the hole. Additionally, it allows a wireless module to be loaded to initiate the detonation.

[0031] The system (1000) has the capacity to process at least thirty units of primers by dispensing at least thirty units of initiators (210), preferably 450 grams, and at least thirty units of reel elements (220) containing two electronic detonators each, where each initiator (210) and its respective reel element (220) are joined by twenty meters of cable and their respective communication antennas at the opposite end to the detonator. The priming equipment comprises an antenna positioner (300), which allows the location of the reel element (220) to be controlled.

[0032] The priming equipment (200) consists of a gantry crane (230) capable of picking up an initiator (210) and then a reel element (220) from their respective dispensers. This gantry crane (230) moves the initiator (210) and the respective reel element (220) to a priming device (400) in that respective order.

[0033] As soon as the gantry crane positions an initiator (210) and a reel assembly (220) in the priming device (400), priming is performed by means of a vertical movement of the priming mechanism. Subsequently, by means of a cable unwinding system (290), the primer is positioned in the passage zone of each hole.

[0034] In order to leave the primer in the passage zone, the priming equipment (200) includes a tray for dispensing (270) a cable brake (271), which is activated by a cable support system (280). Subsequently, the priming equipment allows the reel element (220) to be positioned in a safe area regarding the zone where the hole is located.

[0035] The gantry crane (230), which is located at the top of the priming equipment (200), has Cartesian movement capabilities on the X, Y, and Z axes, as well as a third movement on the Z axe . This gantry crane is equipped with a gripping element (240), capable of holding, moving, and positioning both a reel element (220) and its respective initiator (210) from its point of dispensing to the priming point (290).

[0036] Below the gantry crane (230) there is at least one tray (250, 251) for placing the reel elements (220), which are preferably distributed symmetrically in a right tray (250) and a left tray (251). Each tray (250, 251) holds at least fifteen-reel element units (220) in a defined position.

[0037] Furthermore, below the trays (250, 251) for reel elements (220), there are dispensers (260, 261) for initiators (210), which are distributed in a left dispenser (261) and a right dispenser (260), where each of said dispensers (260, 261) has the capacity to dispense at least fifteen initiators (210).

[0038] The dispensers (260, 261) are configured on the basis of a displacement caterpillar with a respective tensioner, which distributes the high explosives (initiators) by means of a controlled linear advance, where said advance is produced by the action of a caterpillar motor. Laser sensors are located at both ends of each dispenser (260, 261) to determine the number of initiators in the priming equipment (200), while two inductive sensors are located at the ends of the side face to indicate that the caterpillar tracks are in the correct position. Additionally, there is at least one plate to separate the dispenser (260, 261) from its respective tray (250, 251).

[0039] The dispensers (260, 261) are removable, so rails are included on the base and a handle at the end to pull and remove them from the priming equipment (200).

[0040] The dispensers (260, 261) require electrical components, which are located on the outside for greater accessibility when performing maintenance and / or inspection.

[0041] Each reel element (220) comprises flexible legs or supports (221) that adapt to the ground and allow it to always fall upright without turning over. The flexible supports (221) are retracted by elastic deformation and engage with hooks when the reel element is stored in its respective tray (250, 251) and unfold when the reel element is removed. The reel element (220) comprises receiving antennas (222) for wireless detonation, at least two reels (223), at least one lower base (224), and a detonation assembly consisting of a detonator holder (225) and a central holder (226). This product is made entirely of any material suitable for blasting processes, such as plastics, with the exception of the antennas.

[0042] As described above, the reel element trays (250, 251) consisting of the right tray (250) and the left tray (251) are capable of storing fifteen units each, giving the system (1000) a total capacity of thirty units. Each tray is located on the sides of the priming equipment (200). The trays have stainless steel telescopic rails to be easily reachable when loading and unloading reel elements (220) between the operator and the system (200).

[0043] Each tray (250, 251) is entirely designed of 6061 structural aluminum and, to a lesser extent, of 3D-printed ABS plastic and / or plastic injection molding of the same material for sensor support parts and some connectors.

[0044] Each tray comprises two identical mechanical sensors that identify the correct position of the reel element in its designated position on the tray and ensure that it remains in place. Additionally, it has an inductive sensor - preferably one per tray, to indicate whether the system is closed to start operation.

[0045] The system (1000) further comprises a hole detection subsystem that includes means for measuring the physical characteristics and geometric properties of the hole.

[0046] The system (1000) also includes an autonomous navigation subsystem, which allows the vehicle (100) to navigate with the ability to avoid obstacles and position itself facing the area where the hole is located. Navigation is performed using sensors, which provide a point cloud of the 3D environment. This point cloud is processed, thus allowing the detection of uneven surfaces, cuttings, and obstacles in general, and the GPS records the position where the obstacle was detected at any given moment. These sensors may correspond to LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) sensors, configured using an algorithm used for obstacle detection.

[0047] The system (1000) further comprises an autonomous fine positioning subsystem for the vehicle (100) to position the priming equipment over the hole to be loaded. The autonomous fine positioning subsystem complements the autonomous navigation subsystem and allows the vehicle (100) to be correctly positioned regarding the holes in a blasting hole grid. In this case, if the vehicle (100) is near a hole, the autonomous navigation subsystem will pass control of the equipment's movement to the autonomous fine positioning subsystem, whereby the priming equipment (200) will be in the correct position for loading the corresponding hole, preferably placing the priming equipment above 20 cm of the hole's cutting.

[0048] In order to position the priming equipment (200) accurately over each hole, information from 3D lidar sensors is used to detect the hole that forms the pit.

[0049] The system (1000) further comprises a wireless detonation subsystem that includes means for detonating the explosives loaded into the holes.

[0050] The system (1000) also includes a control subsystem that communicates with and manages each of the other subsystems. This control subsystem involves the interaction of multiple devices, including both controllers and sensors.

[0051] The high-level architecture comprises the processing of algorithms that enable autonomous navigation of the vehicle through a grid, inspection, and loading of the holes.

[0052] The equipment involved in high-level control is: PC Cabin Control PC GUI PC Control Room PC Tablet

[0053] The high-level control architecture broadly consists of three subsystems: the autonomous navigation / teleoperation, the fine positioning, and the hole loading.

[0054] Assisted teleoperation is handled by the PC GUI. This PC provides the operator with a supervision and control interface for the control room or using the PC Tablet. This system provides the operator with a set of possible actions, thus guiding the actions performed by the vehicle.

[0055] Additionally, the control room has the additional option of remote control of the equipment (without assistance), which is planned to be used to reach the grids. In this case, the operator's control only allows the equipment to be moved outside the grids, without the possibility of performing any priming action.

[0056] In the case of autonomous mode operation, the main high-level component is the PC control located in the cabin. This PC is responsible for the processing of navigation algorithms, fine positioning, and high-level coordination of the hole loading system.

[0057] The low-level architecture corresponds to the controllers that perform the processing to the actuators for the operation of the equipment.

[0058] A programmable logic controller is used to control the vehicle (100) and the priming equipment (200). These perform low-level processing and control of the system, enabling control of the vehicle's movements (including a telescopic manipulator arm), as well as the priming and hole loading equipment.

[0059] The vehicle can be used in all types of open-pit mining operations that involve priming to initiate detonation with a wireless electronic initiation system.

[0060] Thus, the operation of the system (1000) begins by receiving the drilling and blasting work order from the Planning System, which defines the grid to be primed, the topographic map for planning routes, and visiting the holes. Each task includes a destination and the route the vehicle will follow.

[0061] Task assignment and operating system monitoring information will be available through a user interface in the Control Room.

[0062] As soon as the routes are defined, the system approaches each hole using a dual positioning system, where it first approaches each hole using GNSS or GPS positioning and then the fine-tuning of the final approach using lidar sensors is performed and the holes are detected by using a reinforced learning algorithm. The system then inspects the hole, detects the depth thereof and the presence of water, and begins the priming process. Finally, it loads the primed initiator (210) with detonators (225) into the hole using an unwinding process and positions the cable brake rod (271) in the cutting, which prevents the cables from falling into the hole, and thus it continues with the next hole.

[0063] After priming all the holes, the system returns to each one of them to perform a global activation of wireless initiation modules. This allows the modules to be activated to start the blasting process. Such activation can be performed, for example, using Li-Fi (light fidelity).REFERENCE NUMBERS

[0064] Hereunder is a list of the components of the invention and their respective reference numbers in the Figures. 1000System 100Priming vehicle 200Priming equipment 210Initiator 220Reel element 221Flexible support 222Receiving antenna 223Reel 224Lower base 225Detonator holder 226Central support 230Gantry crane 240Gripping element of the gantry crane 250Right tray for reel elements 251Left tray for reel elements 260Right initiator dispenser 261Left initiator dispenser 270Cable brake dispenser 271Cable brake 280Cable support system 290Priming point 300Antenna positioner 400Primer

[0065] Finally, it should be noted that various particular parameters of the invention, such as dimensions, choice of materials, and specific aspects of the above-described preferred configurations may vary or be modified depending on operational requirements. Consequently, the above-described specific configurations and / or modifications are not intended to be limiting, and such variations are within the spirit and scope of the present invention.

Examples

Embodiment Construction

[0027]The present invention relates to a system (1000) and method for dispensing primers into blast holes in mining sites.

[0028]The system (1000) is preferably comprised of a priming vehicle (100) which comprises priming equipment (200), in which a plurality of detonator devices and a plurality of initiator devices are arranged, wherein each detonator and initiator configure a primer, and a plurality of reel elements.

[0029]The vehicle (100) corresponds to an explosive dispensing vehicle, which is configured to operate autonomously and is primarily configured as a robotic vehicle, mainly designed for handling loads. The vehicle (100) comprises priming equipment (200), which allows the priming and dispensing stages to be conducted for the development of tunnels in open-pit mining.

[0030]Thus, the priming vehicle (100) has the ability to operate autonomously or semi-autonomously, and by remote control. This vehicle (100) transports the priming equipment (200), which comprises means for ...

Claims

1. A system (1000) for dispensing primers into blast holes in mining sites, CHARACTERIZED in that said system comprises a priming vehicle (100) and a priming equipment (200), which is transported by the priming vehicle (100), said vehicle (100) operates autonomously or semi-autonomously, and by remote control; wherein the priming equipment (200) comprises: a. at least one tray (250, 251) for placing reel elements (220), which are distributed in a right tray (250) and a left tray (251); b. at least one dispenser (260, 261) for detonating explosive devices (210), arranged under the trays (250, 251), c. a gantry crane (230) arranged at the top of the priming equipment (200) capable of picking up a booster-type explosive initiator (210) from its dispenser and then a reel element (220) from its tray, moving the initiator (210) and the respective reel element (220) towards a primer (400); d. an antenna positioner (300), which allows the location of the reel element (220) to be controlled; e. a dispenser (270) for dispensing a cable brake (271), which is activated by a cable support system (280); and f. a cable unwinding system (290), which allows the primer to be positioned in each hole.

2. The system according to claim 1, CHARACTERIZED in that the gantry crane is equipped with a gripping element (240), capable of holding, moving, and positioning both a reel element (220) and its respective booster (210) from its dispensing point to the priming point (290).

3. The system according to any of the preceding claims, CHARACTERIZED in that the dispensers (260, 261) are configured on the basis of a displacement caterpillar with a respective tensioner, which distributes explosive initiators by means of a controlled linear advance, where said advance is produced by the action of a motor.

4. The system according to claim 3, CHARACTERIZED in that laser sensors are located at both ends of each dispenser (260, 261) to determine the amount of booster in the priming equipment (200), while two inductive sensors are located at the ends of the side face to indicate that the caterpillar tracks are in the correct position.

5. The system according to any of the preceding claims, CHARACTERIZED in that at least one plate is provided to separate the dispenser (260, 261) from its respective tray (250, 251).

6. The system according to any of the preceding claims, CHARACTERIZED in that the dispensers (260, 261) are removable, so that rails are included on the base and a handle at the end to be able to pull them out and remove them from the priming equipment.

7. The system according to any of the preceding claims, CHARACTERIZED in that each reel element (220) comprises flexible supports (221) with an aerodynamic configuration, wherein said flexible supports (221) adapt to the ground and allow it to always fall upright without turning over, which deform elastically, and engage with hooks when the reel element is stored in its respective tray and unfold when said reel element is removed.

8. The system according to claim 7, CHARACTERIZED in that the reel element (220) comprises receiving antennas (222) for wireless detonation, at least two reels (223), at least one lower base (224), and a detonation assembly, consisting of a detonator support (225) and a central support (226).

9. The system according to any of the preceding claims, CHARACTERIZED in that each tray comprises two identical mechanical sensors that identify the correct positioning of the reel element in its determined position in the tray and its permanence in the designated place, and at least comprises one inductive sensor, preferably one per tray, to indicate whether the system is closed to begin operation.

10. The system according to any of the preceding claims, CHARACTERIZED in that said system comprises a hole detection subsystem involving means for measuring the physical characteristics and geometric properties of the hole and an autonomous navigation subsystem, which allows the vehicle (100) to navigate with the ability to avoid obstacles and position itself with orientation towards the area where the hole is located.

11. The system according to claim 10, CHARACTERIZED in that said system further comprises an autonomous fine positioning subsystem for the vehicle (100) to position the priming equipment over the hole to be loaded.

12. A method for dispensing primers into blast holes in mining sites using the system of claim 1, CHARACTERIZED in that said method comprises the steps of: a. placing the initiators (210) and reel elements (220) in the priming equipment (200) of the system (1000); b. approaching the system (1000) to each hole using a GPS positioning reference, c. taking an initiator (210) from its dispenser and then a reel element (220) from its tray using the gantry crane (230), moving the initiator (210) and the respective reel element (220) towards a priming device (400); d. move an actuator of the priming system (400) so that the detonators (225) present in the reel element (220) are inserted into the booster-type initiator (210) ( ); e. loading the booster primed with detonator into the hole using a controlled unwinding process, and positioning the cable brake on the cutting so as to continue with the next hole; and f. returning the system (1000) to perform a global activation of wireless initiation modules.

13. The method according to claim 12, CHARACTERIZED in that said method comprises the step of defining a grid of the area to be primed, the topographic map for planning the routes and visiting the holes, prior to placing the initiators (210) and reel elements (220) in the priming equipment (200).

14. The method according to any of claims 12 or 13, CHARACTERIZED in that the approach of the system (1000) to each hole includes positioning by means of GNSS or GPS positioning.

15. The method according to any of claims 12 to 14, CHARACTERIZED in that the approach of the system (1000) to each hole includes positioning by means of lidar sensors.

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