System and method for detonating explosives in a hole

Abstract

Systems, methods, and apparatus are disclosed that facilitate mechanization and / or automation of blasting processes in mining and civil engineering applications. The disclosure includes a trigger assembly for triggering an explosive in a rock cavity. The disclosure also includes a mining or civil engineering vehicle for working proximate to an end face. The vehicle includes a positioning unit for moving a functional unit to a selected position relative to the end face. The positioning unit may include (a) a coarse positioning module and a fine positioning module, and / or (b) a vision module that monitors the position of the functional unit to facilitate guiding the functional unit to the selected position, and / or (c) may be configured to independently move from an initial position to a second position closer to the selected position while the vehicle is stationary.

Description

[Technical Field]

[0001] The present invention relates to systems, methods, and vehicles for loading and triggering explosives in holes for underground and above-ground mining and civil engineering applications.

[0002] More particularly, but not exclusively, the systems, methods, and apparatus of the present invention facilitate mechanization and / or automation of blasting processes. [Background technology]

[0003] The following description of the invention is in the context of development tunneling for extending underground mine drives, for example at the mining level of a block cavern mine.

[0004] However, it is emphasized that the invention is not limited to this application and generally extends to loading and triggering explosives in holes in either surface or underground applications, examples including drill and blast mining on surface mine benches, over-hole and down-hole stone mining, and civil tunneling applications including development tunneling and production operations.

[0005] It is desirable to reduce the manual process and remove personnel from the task of loading and arming explosives in blast holes in underground mining drives.

[0006] The drive equipment in underground mines has limited space, and this space limitation has a significant impact on the development of the drive equipment, and traditional machines and automation methods are not suitable for reducing manual processes and reducing manpower.

[0007] Therefore, new methods and systems are needed for loading explosives into blast holes in rock and triggering said explosives to allow for mechanization of the blasting process.

[0008] Typically in underground drive fill developments, each blast can crush and / or displace up to 200-400 tons of rock. Each blast may require multiple separate blast holes in the end face, i.e., loading explosives toward the nose of the drive. Typically, 70-80 drill holes are required for blasting for larger drives. Fewer holes are usually required for smaller drives. The number of holes varies depending on factors including geology, mineralogy, and explosive selection. Typically in underground mining drive fills, blast holes range from 3-6 m deep with hole sizes of 45-50 mm diameter, but size and depth can be larger or smaller depending on the application and / or explosives used.

[0009] The speed of drive development is important: in a typical mining operation, it takes operators 45 minutes to place and connect the explosive triggers, such as detonators, and emulsions for each blast sequence along the drive's path.

[0010] One conventional approach to expanding underground mining drives is as follows: (a) Drilling multiple holes into the end face (i.e., head) of the drive. (b) Placing an explosive (typically, but not limited to, an emulsion explosive) into the drilled hole. (c) Connecting an electric and / or non-electric detonator to an explosive in the facial cavity. (d) Detonating the explosive via the detonation system to generate the explosive.

[0011] This process is typically repeated multiple times to establish the required length of drive.

[0012] This process typically requires several different operator-controlled vehicles at the end point. Taking multiple vehicles out of an established drive is a time-consuming process.

[0013] A further factor is that for safety reasons, vehicles working underground to carry out drilling and blasting operations must be located outside the high risk zone in relation to their heading, typically at least 5m from their heading.

[0014] Step (c) of the underground charge-up / blasting process described above generally involves either (i) a trigger cord (e.g., a physical connection via detonation cord, electrical wire, or non-electric shock ("nonel") tubing, e.g., in the form of a small diameter tube for transporting the detonation signal to the explosive by means of a shock wave traveling the length of the tube), or (ii) a chemical reaction connection between an external trigger system and a respective explosive trigger, such as a detonator.

[0015] The explosive trigger (also referred to herein as a "trigger unit") may be in any suitable form.

[0016] For example, the detonation trigger may be a detonator which may itself contain a small explosive, such as a booster, also placed in the hole. The term "small" means less than the main explosive unit of the blast-generated explosive. The detonator and small explosive may be separate components or a single assembly.

[0017] To produce the required detonation, the triggering of the explosive must be tightly controlled. This requires precise and careful location of the detonation trigger within the hole. The selected location of the detonation trigger in any situation may be at the end or midway along the length of the hole.

[0018] An example of an explosive trigger is a booster and detonator assembly.

[0019] The term "booster" is understood herein to mean a sensitive explosive that acts as a bridge between a relatively weak conventional detonator and a less sensitive mass explosive.

[0020] The challenge to mechanizing and / or automating the loading system is the physical placement of multiple explosive triggers in multiple holes at the required locations within the end face, i.e., without direct human intervention or with only minimal human intervention.

[0021] A further factor is that current standards stipulate that explosives of different classes must not be in close contact (assembled) until immediately prior to insertion into the hole. Typically, in situations where the explosive trigger is an assembly of a booster and detonator, these components are of different explosive classes and must be assembled immediately prior to insertion into the hole.

[0022] The insertion and connection of the detonation triggers to each explosive charge (typically a two-wire system for the detonation trigger, but may also be a non-electric shock tube or chemical reaction connection), as well as the interconnection of the detonation triggers to provide controlled blasting of explosives in multiple holes, is difficult with machine-based loading systems because a human operator does not have the dexterity typically required during a conventional loading process.

[0023] In addition, careful management of, for example, 40 to 60 loose detonating cords or other trigger cords protruding from the charged blast holes in the end faces of each detonation is difficult with machine-based loading systems for detonation triggers.

[0024] The present invention provides a method and apparatus for triggering explosives in holes in both underground and surface mines that is an alternative to current practice.

[0025] The above statements are not an admission of common general knowledge in Australia or elsewhere.

[0026] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although any methods, vehicles and other equipment and devices, and materials similar or equivalent to those described herein can also be used in the practice or testing of the present invention, a limited number of exemplary methods, vehicles and other equipment and devices, and materials are described herein. Summary of the Invention

[0027] The present invention is an improvement over conventional drilling and blasting operations in underground and surface mines, for example bench drilling and blasting in surface mines, uphole and downhole stope mining in underground mines, including development tunneling and production operations.

[0028] As noted above, the present invention extends to other underground and above ground applications, including, for example, civil engineering tunnel applications.

[0029] Conventional drilling and blasting operations in underground mines (e.g., block cave mines) involve forming holes for explosives at the head of the drive in the block cave mine, then placing the explosives and explosives in the holes, and then initiating the explosives to form development and production drives at the extraction level of the block cave mine.

[0030] The present invention mechanizes at least some of these conventional operations.

[0031] The present invention has several different aspects as follows:

[0032] 1. Use of at least one mining or civil engineering vehicle to perform operations necessary to facilitate the placement of explosives and / or explosive triggers, such as explosives, in holes drilled in a head, for example, with a vehicle having an arm, such as an articulated arm (although any other suitable element for the functional requirements may be used), forming the explosives, and supporting a functional unit on the end of the arm, the vehicle having a positioning unit including (a) a module (which may also be described as a system) for coarse positioning of the functional unit relative to the hole, and (b) a module (which may also be described as a system) on the end of the arm for fine positioning of the functional unit relative to the hole. The coarse and fine positioning modules enable the functional unit to be quickly and safely deployed to the required location so that it can perform the necessary operations for each hole. The coarse and fine positioning modules enable the functional unit to be positioned at a selected handover point, for example, a small, typically 20-50 mm (but may be larger), hole drilled in the head, while the operator remains a safe distance away, typically at least 5 m. At the handover point, the selected functional unit is operable to perform a heading-related operation, such as inserting a trigger assembly into a hole. The coarse positioning module typically has a large range of motion and operating range, allowing the functional unit(s) to be positioned proximate to the hole. The fine positioning module typically has a high resolution and a more limited range of motion, thus allowing the functional unit(s) to be aligned and positioned relative to the hole in the head. It should be noted that the coarse positioning module and the fine positioning module may be a single module having two functions, i.e., a coarse positioning function and a fine positioning function.

[0033] 2. As an alternative to item 1, the at least one mining or civil engineering vehicle may only need to operate with the fine positioning module to transport the functional unit(s) to a handover point, e.g., a location for performing a heading-related operation, such as inserting a trigger assembly into a hole.

[0034] 3. The configuration of the functional unit(s) allows for the handling and deployment of sensitive components, such as detonators and other types of explosive triggers, via the functional unit(s), while the vehicle's own coarse and fine positioning modules remain stationary or "parked." This may include picking up a trigger assembly from a storage compartment. This may also include inserting the trigger assembly into a hole in the head. This combination of coarse positioning, fine positioning, and handover via the functional units provides significant advantages over conventional explosive handling systems. For example, the applied torques and forces acting on the sensitive components are solely those of the functional unit(s) itself and are therefore much lower than those of the vehicle's own coarse and fine positioning modules.

[0035] 4. A trigger assembly for triggering an explosive in a blast hole to generate an explosive blast configured to be placed in an end face, i.e., a heading hole, the trigger assembly including a connection unit that simplifies the process for connecting an external explosive activation system to the detonator of the trigger assembly to initiate the explosive in said hole.

[0036] 5. A method and system for loading a trigger assembly into a blast hole and connecting the trigger assembly to an external explosive actuation system.

[0037] Aspects of the invention are further described below, although in a different order than the items listed above.

[0038] A. Trigger Assembly - Detonation Code

[0039] In one aspect, the present invention relates to a trigger assembly for triggering an explosive in a hole in rock to generate an explosive blast, the trigger assembly configured to be located in the hole in rock, for example, at an end face or nose of a driver, the trigger assembly including: (a) An explosive unit body configured to be placed at or near the open end of the hole; (b) a trigger unit (described above as an explosive trigger) at least partially positionable within the explosive unit body for triggering an explosive within the hole, the trigger unit including a trigger cord connected to a proximal end of the explosive unit body; (c) A connection unit for connecting the detonation cord of the external explosive actuation system to the trigger unit to facilitate triggering an explosion within the hole.

[0040] The term "trigger cord" is understood herein to include, for example, (a) a detonating cord, (b) an electrical wire, or (c) a non-electric shock tube (Nonel tube), e.g., in the form of a small diameter tube for conveying an initiation signal to an explosive by means of a shock wave traveling the length of the tube.

[0041] The connection unit may be configured to receive the detonation cord of an external explosive actuation system and, when coupled thereto, physically connect the detonation cord to the trigger cord.

[0042] In one embodiment, the connection unit may comprise an element, such as a resilient element, for receiving and connecting the detonation cord to the trigger cord.

[0043] The resilient element may be of any suitable form capable of receiving the detonation cord and connecting it to the trigger cord, and utilising the resilience of the element to facilitate connecting the detonation cord to the trigger cord.

[0044] By way of example, the resilient element may comprise a generally keyhole-shaped passageway having two opposing open sides and two opposing closed sides, the passageway having a circular base portion for receiving and connecting the detonation cord to the trigger cord, and a narrower elongated throat portion communicating with the circular base portion at one end and having an opening at the other end, so that in use the detonation cord can be moved into and along the throat portion to the circular base portion and into contact with the trigger cord.

[0045] The resilient element may include a base and a pair of opposing arms extending from the base that define a passageway, the base defining a circular base portion and the arms defining a throat portion.

[0046] The arm may be a resilient arm that forces the arm away from its original position against its elasticity by inserting the detonating cord into the opening and moving the detonating cord through the throat portion to the circular base portion, and that returns to its original position after the detonating cord is in the circular base portion, and that resists release of the detonating cord from the circular base portion and contributes to holding the detonating cord in contact with the trigger cord.

[0047] In another embodiment, the connection unit may be configured to be movable relative to the detonation unit body from a first, inactivated position in which the detonation cord of the external detonation activation system is not connected to the trigger unit, to a second, activated position in which the detonation cord is connected to the trigger unit, but not in other embodiments.

[0048] As an example, the connection unit can include a sleeve that fits over the proximal end of the trigger unit body, viewed from the hole, the sleeve configured to receive the detonation cord and, when coupled thereto, to physically connect the detonation cord to the trigger cord.

[0049] As an example, the sleeve may be movable relative to the detonation unit body from a first, inoperative position in which the detonation cord is not connected to the trigger cord, to a second, operative position in which the detonation cord is connected to the trigger cord of the trigger assembly.

[0050] When the sleeve is in the second operating position, the detonation cord may contact the trigger cord of the trigger assembly and be secured between the sleeve and the detonation unit body.

[0051] The connection unit and trigger unit body can include complementary mating members that can guide the connection unit and detonation cord from the first inoperative position to the second operative position and urge the trigger cord and detonation cord together to the second operative position.

[0052] The complementary mating members may include (i) a plurality of protruding members extending axially away from the proximal end of the sleeve and defining a plurality of channels therebetween for receiving the detonation cord, and (ii) a plurality of posts extending from the proximal end of the detonation unit body and defining slots therebetween, the channels and slots being axially aligned when the connection unit is in the first inoperative position.

[0053] Each protruding member may be shaped to taper from the tip of the protruding member, the width of the protruding member increasing with distance from the tip, the increasing width of the taper guiding the detonating cord into the channel.

[0054] The protruding members may be spade-shaped (or any other suitable shape).

[0055] The protruding member may include a notch for receiving the detonation cord when the connection unit is in the second operating position after being guided into the channel, the detonation cord being held in contact with the trigger cord of the trigger assembly when in the notch.

[0056] The post may be configured to cause rotational and axial movement of the connection unit relative to the detonation unit body when the connection unit is moved from a first inoperative position to a second operative position relative to the detonation unit body, which movement facilitates movement of the detonation cord located in one of the channels into contact with the trigger cord.

[0057] Each post may include a ramp defining a cam surface for the protruding member to move along when the connection unit is moved axially toward the detonation unit, the movement of the protruding member along the ramp causing rotational and axial movement.

[0058] In use, the detonation cord may be received between the first pair of protruding members and the second pair of protruding members of the connection unit and contact the trigger cord of the trigger assembly, and extend from the connection unit to the second connection unit of the second trigger assembly, where the trigger cord is received between the first pair of protruding members and the second pair of protruding members of the second connection unit and contacts the trigger cord of the second trigger assembly. These connections may be repeated so that the detonation cord connects multiple trigger assemblies together within the end face.

[0059] The connection unit and the explosive unit body may include complementary engagement members that couple the connection unit to the explosive unit body.

[0060] The engagement member may include a plurality of tabs on the connection unit that engage within grooves in the proximal end of the explosive unit body to form a one-way connection therewith when the connection unit is coupled thereto.

[0061] The tab may be located in an opening located at or towards the distal end of the connection unit.

[0062] The openings can facilitate insertion of the clip members to disengage the tab members from the grooves and allow decoupling of the connection unit from the explosive unit body.

[0063] B. Trigger Assembly - Wireless Receiver

[0064] In another aspect, the present invention relates to a trigger assembly for triggering an explosive in a hole in rock to generate an explosive blast, the trigger assembly configured to be located in the hole in rock, for example, in a drive end face or nose-on hole, the trigger assembly including: (a) An explosive unit body configured to be placed at or near the open end of the hole; (b) a trigger unit (also called an explosive trigger) at least partially positionable within the explosive unit body for triggering the explosive within the hole; (c) A connection unit for connecting an external explosive activation device to the trigger unit to facilitate triggering an explosion in the hole, said connection unit including a wireless receiver for communicating with the external activation means, which may be triggered by laser, WiFi, Bluetooth, or another communication medium.

[0065] The connection unit and / or the trigger assembly may include a power source, such as a battery, for powering the receiver.

[0066] C. Trigger Assembly - General

[0067] For both embodiments, the trigger unit body of the trigger assembly may include a compartment for housing the trigger unit of the trigger assembly.

[0068] As noted above, the trigger cord of the trigger assembly may include, for example, (a) a detonating cord, (b) an electrical wire, or (c) a non-electric shock tube in the form of a small diameter tube for conveying an initiation signal to the explosive, for example, by means of a shock wave traveling the length of the tube.

[0069] The trigger unit of the trigger assembly may also include (i) a booster including a small explosive, typically a booster including a small explosive relative to the rock mass to be blasted, and (ii) a detonator for detonating the small explosive. It is noted that the trigger unit (also described as an explosive trigger) may be any suitable trigger unit and is not limited to a detonator / booster device.

[0070] The booster may include an elongated chamber for receiving a detonator such that the booster can be inserted into the detonation unit body after the detonator has already been installed therein.

[0071] The trigger unit may include a carrier configured to mount the detonator, the booster, and the trigger cord within a compartment.

[0072] The carrier is configured to be inserted into and closed at the open end of the initiator body, with the initiator and booster disposed within the housing.

[0073] The carrier is removable from the detonation unit body, thereby enabling the compartment to open and release the trigger unit when a force exceeding a threshold force is applied thereto.

[0074] The trigger assembly may include an adapter that can cooperate with the carrier to facilitate use of the trigger assembly with any suitable trigger unit.

[0075] The trigger assembly may include a retaining means for retaining the explosive unit body in an initial position within the bore towards its open end.

[0076] The retaining means may include a wide diameter portion relative to the diameter of the explosive unit body.

[0077] In one embodiment, the retaining means may include a collar or other suitable member having a diameter wider than the diameter of the explosive unit body and configured to engage a portion of the interior wall of the hole near the open end of the hole.

[0078] The retaining collar may be disposed about the housing of the explosive unit body and configured to (a) engage the inner wall of the hole to prevent axial movement relative to the housing, and (b) allow the explosive unit body to rotate about the central longitudinal axis of the housing during use when the trigger cord is unwound as the carrier moves forward from its initial position in the hole away from the explosive unit body.

[0079] In another embodiment, the retaining means may be mounted on the detonation unit housing and may include a collar having (i) a locating flange that contacts a portion of the heading that defines the bore, and (ii) a resilient biasing element configured to contact a sidewall of the bore and hold the trigger assembly in place within the bore.

[0080] Alternatively, the collar may provide the biasing element only and the locating flange may be incorporated into the explosive unit body.

[0081] The collar may be mounted for relative rotational movement about the longitudinal axis of the explosive unit body so as to allow the body to rotate as the trigger cord is unwound as the carrier moves forward from an initial position in the hole away from the explosive unit body.

[0082] The trigger assembly may be configured such that the trigger unit can be moved forward into the blast hole to a desired blasting position such that the trigger cord (if present) is unwound to maintain a physical connection between the blasting unit body and the trigger unit and the trigger unit can be actuated by the actuation means, thereby triggering the explosives in the hole and generating an explosive blast.

[0083] The detonation unit body may include an elongated housing defining a compartment and extending into the bore and configured to receive and support the trigger unit within the compartment in an initial position of the trigger assembly within the bore.

[0084] The elongate housing may include a first housing portion that, in use, is positioned outside the hole and provides a sleeve-like (which may be described as spool-like) housing around which the trigger cord is wound.

[0085] The elongate housing may include a first housing portion that, in use, is positioned inside the bore and provides a sleeve-like (which may also be described as spool-like) housing around which the trigger cord is wound.

[0086] D. Methods of inducing an explosive blast

[0087] In another aspect, the present invention provides a method of inducing an explosive blast in rock, e.g., rock at the end of a drive unit, at an extraction level of an underground block cavern excavator, where a plurality of holes have been formed, comprising: (a) placing a detonation cord of an external explosive actuation system in association with the connection unit of said trigger assembly; (b) physically connecting the detonating cord and the trigger unit of the trigger assembly; Triggering the explosive within the trigger assembly, thereby initiating detonation of the explosive using an external actuation means.

[0088] The method may include repeating steps (a) and (b) successively with respect to a plurality of other trigger assemblies, thereby connecting the trigger assemblies together with the detonation cord, before performing step c).

[0089] E. Mining or civil engineering vehicles

[0090] In another aspect, there is provided a mining or civil engineering vehicle for working proximate to an end face, for example proximate to the end face, i.e. proximate to the head of a drive, the vehicle comprising a positioning unit for moving a functional unit, as further described below, to a selected location, for example a hole in the end face, the positioning unit including (i) a coarse positioning module (also referred to as a system) configured to position the functional unit proximate to the selected location, such as the hole in the end face, and (ii) a fine positioning module (also referred to as a system) configured to more accurately position the functional unit relative to the selected location, such as the hole.

[0091] In one embodiment, two vehicles are used, one optimized for hole and heading cleaning functions and the other optimized for trigger assembly and emulsion delivery and detonation cord tie-in functions.

[0092] In another embodiment, one vehicle is used.

[0093] The selected location may be the aforementioned hole in the end face. The selected location may be any other location within the end face. The selected location may also be any other desired location, such as a location for picking up a trigger assembly stored in a vehicle.

[0094] The positioning unit may include a control system capable of tracking selected locations such as holes, for example by video servo methods or similar hole monitoring options, and may operate a fine positioning module to typically continuously adjust the position of the functional unit. This feature allows the fine positioning module to "float" to the "correct" position if the vehicle moves for any reason, keeping the functional unit aligned with the selected location.

[0095] The positioning unit may further include a vision module for monitoring a position of at least one of the coarse positioning module and the fine positioning module to facilitate guiding the functional unit to a selected position.

[0096] The vision module may include a first range sensor mounted on the body of the vehicle.

[0097] The vision module may further comprise a second range sensor attached to the fine positioning module.

[0098] In one embodiment, the positioning unit comprises: a first vision-based system on the vehicle for monitoring the position of the coarse positioning module relative to the selected position; a second vision-based system on an end of the fine positioning module, the second vision-based system monitoring the position of the fine positioning module relative to the selected location; The image sensor may include a visual module including:

[0099] The fine positioning module may be coupled to the coarse positioning module.

[0100] The coarse positioning module may comprise an articulated arm.

[0101] The fine positioning module may comprise a hub configured to be coupled to the functional unit and a plurality of elongated links, each link connected at one end to the hub.

[0102] Each of the links may be independently movable such that the hub is translationally and rotationally movable relative to the vehicle.

[0103] The hub may include an opening that, in use, is coaxially aligned with the hole.

[0104] The positioning unit may be operator controlled, for example when in the cabin of the vehicle, or remotely, or autonomously or semi-autonomously controlled.

[0105] In some embodiments, the vehicle may include at least one functional unit configured to perform a series of tasks on the end face and holes in the end face, such as preparing a selected trigger assembly and loading it into a hole in the end face.

[0106] The at least one functional unit may be configured to move the trigger assembly relative to the end surface independent of a positioning unit of the vehicle.

[0107] At least one functional unit may be configured to move the trigger assembly relative to the end surface independent of the vehicle's coarse positioning module.

[0108] At least one functional unit may be coupled to the fine positioning unit and configured to move the trigger assembly relative to the end surface independent of the vehicle's coarse positioning unit.

[0109] The vehicle may typically include a first functional unit coupleable to the fine positioning module and may be configured, for example, to support a selected trigger assembly when the trigger assembly is moved to an aligned position relative to the hole and when the trigger assembly is moved to an initial position within the hole.

[0110] The vehicle may include a housing for storing a plurality of trigger assemblies.

[0111] The first functional unit may include (a) a housing for protecting the selected trigger assembly when the functional unit is in use and for positioning the selected trigger assembly within the hole, and (b) a gripper unit positioned in an opening in the housing, the gripper unit being movable between a closed position and an open position to enable insertion of the trigger assembly into the housing.

[0112] The first functional unit may include a movable member that moves coaxially with the bore in use to move a selected trigger assembly from a pre-insertion position adjacent the bore to an initial position within the bore.

[0113] The first functional unit may include an insertion mechanism operable to move a removable portion of a selected trigger assembly forward from an initial position to an operative position within the bore.

[0114] The insertion mechanism may include an emulsion-filled hose that unwinds to push the removable portion from the initial position to the operating position. The emulsion-filled hose may extend through an opening in the base of the precision positioning module.

[0115] The functional unit may be a second functional unit in the form of a tie-in module that is coupleable to the precision positioning module and configured to connect the detonation cord to the trigger assembly after the trigger assembly is placed in the hole.

[0116] The tie-in module may include a movable head engageable with a fixed portion of a selected trigger assembly, and in use, forward movement of the movable head may secure the detonating cord to the trigger assembly.

[0117] The head may include a guide through which the detonation cord is fed towards a fixed portion of a selected trigger assembly.

[0118] The head may be disc-shaped and may be centrally located with the guide so that, in use, the guide is coaxial with the hole when the detonating cord is connected to the trigger assembly.

[0119] The tie-in module may include a rotatable drum from which detonation cord may be selectively dispensed.

[0120] In some embodiments, the vehicle may be configured to clean and inspect the hole and / or rock face surface proximate the hole in preparation for insertion of the trigger assembly.

[0121] The functional unit may be a third functional unit, typically couplable to the fine positioning module, and may be configured to remove debris from a rock face surface proximate the hole.

[0122] The third functional unit may include a rake member configured to be dragged along the rock face surface, thereby wiping clean debris from the hole.

[0123] The functional unit may be a fourth functional unit coupleable to the fine positioning module and configured to remove debris from within the hole.

[0124] The fourth functional unit may include a first hose selectively fed from a rotatable spool into the hole to measure its depth. A terminal end of the first hose may provide an air jet for removing light debris from the hole. The air jet may be directed away from the terminal end of each hose, thereby propelling debris toward the opening of the hole.

[0125] The fourth functional unit may include a second hose having a terminal end configured to grip heavy debris and remove it from the hole.

[0126] The vehicle may further comprise separate storage compartments for storing each of the functional units.

[0127] In another aspect, there is provided a mining or civil engineering vehicle for working adjacent to an end face or head of a drive, the vehicle comprising a positioning unit for moving the functional unit described above relative to a selected location, the positioning unit including a vision module for monitoring the position of the functional unit to facilitate guiding the functional unit to the selected location.

[0128] In another aspect, there is provided a mining or civil engineering vehicle comprising a functional unit for working an end face, the vehicle configured to move said functional unit to an initial position proximate to a selected location, the functional unit being configured to move independently from the initial position to a second position closer to the selected location while the vehicle is stationary.

[0129] Various features, aspects, and advantages of the present invention will become more apparent from the following description of embodiments of the invention taken in conjunction with the accompanying drawings, in which like numerals represent like elements.

[0130] Embodiments of the present invention are illustrated by way of example, and not limitation, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0131] [Figure 1a] FIG. 1a shows a trigger assembly according to an embodiment of the present invention, showing its main components: an explosive unit body, a trigger cord, a connection unit, and a trigger unit housed within the explosive unit body. [Figure 1b] FIG. 1b shows a trigger assembly according to an embodiment of the present invention, showing its main components: an explosive unit body, a trigger cord, a connection unit, and a trigger unit housed within the explosive unit body. [Figure 2]FIG. 2 is a cross-sectional front view of the end face of an underground mine drive, illustrating multiple trigger assemblies of FIGS. 1a and 1b inserted into holes drilled in the end face, and multiple wiring connections in a daisy chain arrangement between the detonators of the trigger assemblies and an initiation system (not shown). [Figure 3a] FIG. 3a is a schematic cross-sectional view of the trigger assembly of FIG. 1 in use, showing the trigger unit being moved from an initial position within the bore to a detonation position along the bore. [Figure 3b] FIG. 3a is a schematic cross-sectional view of the trigger assembly of FIG. 1 in use, showing the trigger unit being moved from an initial position within the bore to a detonation position along the bore. [Figure 4a] FIG. 4a is a perspective view of the trigger unit body and its components of the trigger assembly as shown in FIG. 3a. [Figure 4b] FIG. 4b is a perspective view of the trigger unit body and its components of the trigger assembly as shown in FIG. 3a. [Figure 4c] FIG. 4c is a perspective view of the trigger unit body and its components of the trigger assembly as shown in FIG. 3a. [Figure 4d] FIG. 4d is a perspective view of the trigger unit body and its components of the trigger assembly as shown in FIG. 3a. [Figure 5] FIG. 5 is a perspective view of the detonation unit body of FIG. 4a, showing the trigger cord being fed through a passage therein as part of the process of assembling the trigger assembly shown in the figure. [Figure 6a] FIG. 6a is a perspective view of a collar that is fitted to the explosive unit body in use. [Figure 6b] FIG. 6b is a perspective view of the collar that is fitted to the explosive unit body when in use. [Figure 7a]FIG. 7a shows the process of assembling the trigger unit of the trigger assembly, which includes inserting a booster into the explosive unit body, the booster encasing a detonator pre-mounted therein. [Figure 7b] FIG. 7b shows the process of assembling the trigger unit of the trigger assembly, which process includes inserting a booster into the explosive unit body, the booster encasing a detonator pre-mounted therein. [Figure 7c] FIG. 7c shows the process of assembling the trigger unit of the trigger assembly, which process includes inserting a booster into the explosive unit body, the booster encasing a detonator pre-mounted therein. [Figure 7d] FIG. 7d shows the process of assembling the trigger unit of the trigger assembly, which includes inserting a booster into the explosive unit body, the booster encasing a detonator pre-mounted therein. [Figure 8a] FIG. 8a is a perspective view of a connection unit of a trigger assembly according to the embodiment. [Figure 8b] FIG. 8b is a perspective view of the connection unit of the trigger assembly according to the embodiment. [Figure 9a] FIG. 9a is a perspective view showing a clip member inserted into the opening of the connection unit of FIG. 10a, facilitating removal of the connection unit from the explosive unit body. [Figure 9b] FIG. 9b is a perspective view showing a clip member inserted into the opening of the connection unit of FIG. 10a, facilitating removal of the connection unit from the explosive unit body. [Figure 10a] FIG. 10a is a side view showing the process in which the connection unit is coupled to the trigger unit body. [Figure 10b] FIG. 10b is a side view showing the process in which the connection unit is coupled to the trigger unit body. [Figure 10c]FIG. 10c is a side view showing the process in which the connection unit is coupled to the trigger unit body. [Figure 11] FIG. 11 is an isometric view of an embodiment of a vehicle according to the present invention that can be used to prepare a rock face and blast hole to receive a trigger assembly. [Figure 12] FIG. 12 is an isometric view of another vehicle embodiment according to the present invention that can be used to insert a trigger assembly into a blast hole. [Figure 13a] FIG. 13a is a perspective view of a functional unit for use with the vehicle of FIG. 11, the functional unit including a scooping member for clearing rock faces. [Figure 13b] FIG. 13b is a perspective view of a functional unit for use with the vehicle of FIG. 11, the functional unit including a scooping member for clearing rock faces. [Figure 13c] FIG. 13c is a perspective view of a functional unit for use with the vehicle of FIG. 11, the functional unit including a scooping member for clearing rock faces. [Figure 14a] FIG. 14a is a perspective view of another functional unit for use with the vehicle of FIG. 11, including a hose used to remove debris from the blast hole. [Figure 14b] FIG. 14b is a perspective view of another functional unit for use with the vehicle of FIG. 11, including a hose used to remove debris from the blast hole. [Figure 14c] FIG. 14c is a perspective view of another functional unit for use with the vehicle of FIG. 11, including a hose used to remove debris from the blast hole. [Figure 15] FIG. 15 is an isometric view of the slider of the vehicle shown in FIG. 12 used to support and load the trigger assembly. [Figure 16a]Figure 16a shows another functional unit for use with the vehicle of Figure 12, including a gripper used to load the trigger assembly into the blast hole and a process by which the gripper is used to transport the trigger assembly from the vehicle to a detonation position within the hole. [Figure 16b] Figure 16b shows another functional unit for use with the vehicle of Figure 12, including a gripper used to load the trigger assembly into the blast hole and a process by which the gripper is used to transport the trigger assembly from the vehicle to a detonation position within the hole. [Figure 16c] Figure 16c shows another functional unit for use with the vehicle of Figure 12, including a gripper used to load the trigger assembly into the blast hole and a process by which the gripper is used to transport the trigger assembly from the vehicle to a detonation position within the hole. [Figure 16d] Figure 16d shows another functional unit for use with the vehicle of Figure 12, including a gripper used to load the trigger assembly into the blast hole and a process by which the gripper is used to transport the trigger assembly from the vehicle to a detonation position within the hole. [Figure 16e] Figure 16e shows another functional unit for use with the vehicle of Figure 12, including a gripper used to load the trigger assembly into the blast hole and a process by which the gripper is used to transport the trigger assembly from the vehicle to a detonation position within the hole. [Figure 17a] FIG. 17a illustrates another functional unit for use with the vehicle of FIG. 12, including a tie-in module used to connect multiple trigger assemblies together via detonation cord. [Figure 17b] FIG. 17b illustrates another functional unit for use with the vehicle of FIG. 12, including a tie-in module used to connect multiple trigger assemblies together via detonation cord. [Figure 18a] FIG. 18a illustrates the process by which ties within the modules of FIGS. 17a and 17b are used to physically connect the detonation cord to the trigger assembly. [Figure 18b] FIG. 18b illustrates the process by which ties within the modules of FIGS. 17a and 17b are used to physically connect the detonation cord to the trigger assembly. [Figure 18c] FIG. 18c illustrates the process by which ties within the modules of FIGS. 17a and 17b are used to physically connect the detonation cord to the trigger assembly. [Figure 18d] FIG. 18d illustrates the process by which ties within the modules of FIGS. 17a and 17b are used to physically connect the detonation cord to the trigger assembly. [Figure 19a] FIG. 19a shows the coupling in the module of FIGS. 17a and 17b being used to interconnect multiple trigger assemblies. [Figure 19b] FIG. 19b shows the coupling in the module of FIGS. 17a and 17b being used to interconnect multiple trigger assemblies. [Figure 20] FIG. 20 is a side view of a trigger assembly according to another embodiment, but not another embodiment, of the present invention. [Figure 21] FIG. 21 is a perspective view of a trigger assembly according to another embodiment, but not another embodiment, of the present invention. [Figure 22] FIG. 22 is a cross-sectional view of the trigger assembly shown in FIGS. 20 and 21 in an operational configuration and a pre-assembled configuration. [Figure 22a] FIG. 22a is a cross-sectional view of the trigger assembly shown in FIGS. 20 and 21 in an operational configuration and a pre-assembled configuration. [Figure 23] 23 is an enlarged perspective view of the connection unit at the end of the trigger assembly shown in FIGS. 21 and 22. FIG. [Figure 24]FIG. 24 is an enlarged perspective view of the connection unit shown in FIG. 22, with the detonation cord of an external explosive activation system carried by the connection unit. [Figure 25] FIG. 25 is a side view of the trigger assembly shown in FIGS. 20-24, showing the components of the trigger assembly. [Figure 26] FIG. 26 is a side view of the trigger assembly shown in FIGS. 20-25, positioned in the opening of a drilled hole in the end face of an underground mine drive. DETAILED DESCRIPTION OF THE INVENTION

[0132] DETAILED DESCRIPTION OF THE INVENTION The present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth below.

[0133] The present invention relates generally to the triggering of explosives in underground and surface mining holes and civil engineering applications such as drives.

[0134] The present invention is particularly, but not exclusively, concerned with detonating explosives in underground mine holes. a) the development of horizontal drives in underground mines for the purpose of extending the drives by blasting rock; or b) Mining production purposes (e.g. block cave development / infrastructure development) where a combination of diagonal, horizontal or vertical placement of explosives and detonators is required to blast rock.

[0135] The following description is in the context of underground block cave mining.

[0136] It will be appreciated that the vehicles, methods, and trigger assemblies described herein also have application in other civil engineering and mining applications, such as earth tunneling and stone mining.

[0137] term: "drive" - rear (i.e. roof), sides, shoulders where the sides transition to the roof, "Heading" - The end face of the drive that is drilled and blasted. "Burn" - The central section of the head explodes first. The rock expands and falls off the excavation face. The outer sections explode, causing rocks to fall inward.

[0138] Broadly speaking, the present invention has several different aspects, as follows:

[0139] 1. Use of at least one mining or civil engineering vehicle to perform the operations necessary to facilitate the placement of explosives and explosive materials in holes drilled in a head and then forming the explosive material, e.g., a vehicle having an arm, e.g., an articulated arm with a functional unit at the end of the arm, the vehicle having a positioning unit including (a) a module (which can also be described as a system) for coarse positioning of the functional unit relative to the hole, and (b) a module (which can also be described as a system) at the end of the arm for fine positioning of the functional unit relative to the hole. The functional unit is essentially a tool or end effector configured to perform a specific function or task related to operating / cleaning the head and / or loading trigger assemblies into drilled holes and connecting detonation cords to multiple trigger assemblies. The coarse and fine positioning modules enable the functional unit to be quickly and safely deployed to the required location so that it can perform the necessary operations for each hole. The functional units may, in some cases, be configured to be movable independently of the vehicle's fine and coarse positioning modules. The coarse and fine positioning modules enable the functional unit to align with a selected handover point, e.g., a small, typically 40-50 mm drill hole in the heading, while the operator maintains a safe distance outside the high-risk zone relative to the heading, typically at least 5 m away from the heading. At the handover point, the selected functional unit is operable to perform an action related to the heading, such as inserting a trigger assembly into the hole. The coarse positioning module typically has a large range of motion and operating range, enabling the functional unit(s) to be positioned in close proximity to the hole. The fine positioning module typically has high resolution and a more limited range of motion, thus enabling the functional unit(s) to be aligned and positioned relative to the hole in the head. It is understood that the coarse and fine positioning modules combine heavy "touch" and light "touch" movements.

[0140] 2. The functional unit configuration allows for sensitive components, such as detonators, to be handled and deployed through the functional units while the vehicle's own coarse and fine positioning modules remain stationary or "parked." This can include picking up a trigger assembly from a storage compartment. This may also include inserting the trigger assembly into a hole in the head. This combination of coarse positioning, fine positioning, and handover via the functional units offers significant advantages over conventional explosive handling systems. For example, the applied torques and forces acting on the sensitive components are only those of each functional unit itself and are therefore much lower than those of the vehicle's own coarse and fine positioning modules. In some cases, the forces and torques are several orders of magnitude lower to facilitate safe handling practices.

[0141] 3. A trigger assembly for triggering an explosive in a blast hole to generate an explosive blast configured to be placed in an end face, i.e., a heading hole, the trigger assembly including a connection unit that simplifies the process for connecting an external explosive actuation system to a detonator of the trigger assembly to initiate the explosive in said hole.

[0142] 4. A method and system for loading multiple trigger assemblies into a bore and connecting the trigger assemblies to the detonation cord of an external explosive actuation system.

[0143] Overview of Trigger Assembly Embodiments

[0144] The embodiment of the trigger assembly shown in Figures 1-10 and 20-26 is an improvement over the trigger assembly shown in International Publication No. 2020 / 232506, the disclosure of which is incorporated herein by cross-reference.

[0145] Trigger assembly embodiment shown in Figures 1-10

[0146] Overview - Figures 1 to 10

[0147] 1a-1b, the main components of the embodiment of an assembly for triggering explosives in a blast hole to generate an explosive blast wave (i.e., the "trigger assembly") shown in FIGS. 1-10 are as follows: (a) Detonation Body Unit 21 - In the assembled trigger assembly, a trigger cord 31 in the form of a nonel cord (or any other suitable trigger option) is wrapped around the detonation unit body. The detonation unit body includes a peripheral channel opening rearwardly at the proximal end of the detonation unit body for receiving a portion of the nonel cord. The nonel cord, when positioned to extend across the opening, extends around the entire periphery for contact at both ends with the detonation cord compartment of an external explosive activation system, regardless of the orientation of the detonation cord relative to the crown. (b) a booster 19, a detonator 15, and a trigger unit 17 in the form of the aforementioned Nonel cord forming the trigger cord 31. The Nonel cord is (i) connected at one end to the detonator 15 and (ii) connected at the other end to the proximal end of the explosive unit body, the Nonel cord being positioned to be contacted by the detonation cord of the aforementioned external activation system when the connection unit is moved from the initial position to the locked position, as further described below. The explosive unit body includes an opening in its wall and an internal channel for the portion of the Nonel cord extending between the portion of the Nonel cord wrapped around the explosive unit body and the portion of the Nonel cord connected to the connection unit. (c) Carrier 29 - Located at the front end of the trigger unit body and configured to mount the detonator and trigger cord, in this example a non-electric cord, connected to the detonator. (d) In the illustrated embodiment of Figures 1-10, the retaining means attached to the explosive unit body is provided, at least in part, by a collar. The collar can have (i) a positioning flange that contacts the heading defining the hole, and (ii) a resilient biasing element configured to contact the sidewall of the hole and hold the trigger assembly in place within the hole. In other embodiments, the flange may be incorporated into the explosive unit body itself. Additionally, the collar is mounted for relative rotational movement about the explosive unit body to allow the body to rotate when a trigger cord, such as a non-metallic cord, is unwound as the carrier moves forward from its initial position in the hole away from the explosive unit body—the collar accommodates the built-in resilience of the trigger cord, facilitating efficient unwinding of the trigger cord from the explosive unit body. (e) Connection unit 27—located at the rear end of the trigger assembly. The connection unit is configured to provide a connection between the trigger unit 17 and the external activation means used to trigger (i.e., fire) the booster. In the embodiment shown in FIGS. 1-10 , the connection unit is configured to respond to axial forward rotational movement about an axis from an initial position to a locked position, which movement moves the detonation cord into physical contact with the non-Nu ... In other embodiments (not shown), the connection unit may include a wireless receiver that provides a wireless connection between the trigger unit 17 of the trigger assembly 7 and the external activation means.

[0148] Trigger Assembly 7 - Figures 1-10

[0149] FIG. 2 is a front view of the exposed end face 3, i.e., nose-on portion, of a drive unit 5 at the extraction level of an underground block drilling mine having multiple trigger assemblies 7 in drill holes 9 (see FIGS. 3a and 3b) extending into rock mass 11 at end face 3 interconnected via detonation cords 14 in a daisy chain configuration to an actuation system (not shown).

[0150] It should be noted that the present invention is not limited to an arrangement of punched holes 9 and detonation cords 14 in a daisy chain arrangement, but extends to any suitable arrangement of punched holes 9 and detonation cords 14.

[0151] As will be explained in more detail below with reference to Figures 4a-4d, 6a-6b, 7a-7d and 8a-8b, each trigger assembly 7 is an assembly of the following components: a. The explosive unit body, generally identified by the reference number 21; b. Retaining collar 25; c. A trigger unit 17 in the form of a booster 19 and a detonator 15, and a trigger cord 31 (in the form of a nonel tube) connected at one end to the explosive unit body 21 and at the other end to the detonator 15; d. Carrier cap 29 supporting trigger unit 17; e. A connection unit 27 for connecting the trigger cord 31 to an external activation system either physically (i.e., via the detonation cord 13) or wirelessly.

[0152] The separate components that are assembled together to form the trigger assembly 7 may be made from any suitable material and by any suitable manufacturing method. By way of example, the components may be 3D printed from a polymer material.

[0153] Each trigger assembly 7 can be positioned at the open end of the bore 9, with the trigger assembly's initial position within the bore 9. In this initial position, the trigger assembly 7 houses the detonation unit body 21 and supports the trigger unit 17, with the trigger cord 31 in an assembled configuration, at least partially wrapped or wound around the detonation unit body 21.

[0154] Figure 18d shows, in more detail than Figure 1, the interconnection point between the trigger assembly 7 of one of the external actuation means and the detonation cord 14. As will be explained further below, the detonation cord 14 is arranged to extend across the trigger assembly 7 and is held in contact with the first end 31a of the trigger cord 31 by the connection unit 27. Thus, in use, when the trigger unit 17 is in the detonation position, the actuation means is actuated, triggering the explosives in the hole 11 and creating explosives in the rock formation 11.

[0155] The term "open end" is understood in this context to mean the exposed end of bore 9 that typically faces the operator when trigger assembly 7 is inserted therein.

[0156] Explosive Unit Body 21 - Figures 1-10

[0157] The explosion unit body 21 will now be described in detail, particularly with reference to Figures 4a to 4d.

[0158] The detonation unit body 21 is formed in three parts and includes a drum 24 (located at its proximal end) and an elongated housing 23 (see FIG. 4a) that extends into the bore 9 and is configured to receive and support the trigger unit 17 within a compartment 22 defined by the housing 23 in the initial position of the trigger assembly 7 within the bore 9. The trigger unit 17 is shown in compartment 22 in FIG. 1b.

[0159] The housing 23 is a tubular housing extending from a proximal end to a distal end. The tubular shape of the housing 23 facilitates easy insertion into the blast hole 9, which approximates the shape of a conventional drill hole and does not require any particular or specific rotational orientation. However, it is understood that other geometric shapes are possible. In this description, the term "proximal" end refers to the end closest to the operator when the trigger assembly 7 is inserted into the hole 11. In other words, the proximal end of the housing 23 is the proximal or forward end, while the distal end of the housing 23 is the distal or rearward end of the housing 23.

[0160] In the illustrated embodiment, the housing 23 is formed from two housing sections 23a, 23b joined together. The drum 24 is also joined to the first housing section 23a. The profiles of these sections are best shown in Figures 4b-4d. It will be appreciated that this is just one way of forming the housing 23 and the housing 23b, and that they may alternatively be formed as a single piece.

[0161] The drum 24 of the detonation unit body 21 is shown in Figure 4b and has a larger diameter than the housing 23. The drum 24 has a barrel-like shape and includes a plurality of open-ended slots 71 extending axially along its length. The slots are defined by posts 73. The upper ends of the posts 73 form ramps that are axially inclined from one side to the other and act as guides to assist in coupling the connection unit 27 to the detonation unit body 21. The drum 24 also includes a plurality of circumferential grooves 61. The grooves 61 form part of the coupling mechanism that couples the connection unit 27 to the detonation unit body 21.

[0162] The housing portions 23a and 23b of the housing 23 are shown in FIGS. 4c and 4d, respectively. These portions are tubular and together provide a sleeve-like housing 23 around which the trigger cord 31 can be wound. The first portion 23a can include features such as tabs configured to engage with the collar 25 and hold it in place around the housing 23. Alternatively, the collar 25 can be a friction fit with the first portion 23a. The second housing portion 23b is open-ended and serves as an end piece into which the carrier cap 29 (see, e.g., FIG. 1b) of the trigger unit 17 is received. The interior of the end of the second housing portion 23b is lined with raised protrusions 26 configured to engage with and retain the carrier cap 29 via a friction fit. Together, the two housing portions 23a and 23b define a compartment 22 in which the trigger unit 17 is received and housed.

[0163] 1a and 1b, the trigger cord 31 of the trigger unit 17 is connected at one end 31a to the detonator 15 of the trigger unit 17 and at the other end 31b to the proximal end of the detonator body 21, with the ends extending therefrom. When the trigger assembly 7 is in an assembled configuration, the trigger cord 31 is wrapped in a helical arrangement around at least a partial length of the trigger unit body 21. Specifically, in the illustrated embodiment, the trigger cord 31 is wrapped around the central portion 24b and rearward portion 24c of the housing 23.

[0164] 4c, first housing portion 23a includes an axially extending channel 47 that provides a passage for trigger cord 31 to pass through collar 25, as shown in FIG. 5. In this manner, first end 31a of trigger cord 31 is connected to detonator 15 of trigger unit 17 within bore 9, while second end 31b of trigger cord 31 is exposed outside bore 9, while trigger assembly 7 is retained within bore 9 via collar 25.

[0165] It will therefore be appreciated that the trigger cord 31 has a length selected to span the distance between the detonator 15 of the trigger unit 17 and the proximal end of the detonation unit body 21 when the trigger unit 17 is in the detonation position of the trigger assembly 7 within the bore 9, as shown in Figure 1b. Thus, when the trigger unit 17 is in the detonation position, it remains operably connected to the proximal end of the detonation unit body 21.

[0166] Retaining Collar 25 - Figures 1-10

[0167] 6a and 6b, the retaining collar 25 is disposed around the housing 23 of the detonation unit body 21 and is rotatable about the central longitudinal axis of the housing 23, but is restricted from axial movement relative to the housing 23. Specifically, the collar 25 is rotatably coupled around the housing 23.

[0168] The retaining collar 25 has two main functions.

[0169] Its primary function is to contact the inner wall of bore 9 to further limit insertion of housing 23 into bore 9. Collar 25 includes a plurality of protrusions in the form of flaps 26 for this function. Flaps 26 are arranged in a circular array around the outer surface of retaining collar 25. Flaps 26 are designed to engage with rock formations 11 on the inner wall of bore 9 to hold housing 23 axially in place and resist back and forth movement. Additionally, because retaining collar 25 is rotatably coupled to housing 23, trigger unit body 21 can rotate while being held axially in place during deployment.

[0170] It is understood that the geometric shape of the flap 26 in the illustrated embodiment is merely one possible configuration for the retaining collar 25. Other geometric shapes that provide similar functionality are possible and are contemplated within the scope of the present invention.

[0171] Another function is to limit the insertion of the trigger assembly 7 into the hole 9 in the housing 23. The retaining collar 25 may include a circumferential flange for this function. However, it should be noted that this second function may also be provided by the detonation unit body 21 itself, i.e., by incorporating a flange into the detonation unit body 21 itself. In the embodiment shown, a flange 24a is incorporated into the drum 24.

[0172] Trigger Unit 17 - Figures 1-10

[0173] Trigger unit 17 will now be described in more detail, with particular reference to Figures 7a to 7d.

[0174] In the embodiment shown in the figures, the detonator 15 of the trigger unit 17 is positioned in front of the booster 19 within the housing 23 in the direction that the trigger assembly 7 is inserted into the bore 9. It should be understood that the positions of the detonator 15 and booster 19 can alternatively be reversed, with the booster 19 positioned in front of the detonator 15.

[0175] The detonator 15 and booster 19 are configured to receive the detonator 15 and accommodate it within the booster 19. Specifically, the booster 19 includes an elongated chamber 39 (see FIGS. 7c and 7d) open at one end for receiving the detonator 15, which is pre-mounted within the trigger assembly 7 and attached to the carrier 29. The booster 19 can be inserted into the housing 23 and moved forward to encase the detonator 15 pre-mounted within the trigger assembly 7. Insertion may be performed by a T-shaped pusher device 28, as shown in FIG. 7a. At this point, the detonator 15 is fully accommodated within the booster 19, forming the trigger unit 17. In this manner, the explosive (i.e., the booster 19) is kept separate from the detonator 15 and is only placed within the trigger assembly 7 immediately prior to its use and insertion into the blast hole 11.

[0176] The detonation unit body 21 is configured to release the trigger unit 17 therefrom, and the trigger unit 17, including the booster 19 and the initiator 15, is separated from within the detonation unit body 21 and moved from an initial position within the bore 9 shown in FIG. 3a to an operating or detonation position within the bore 9 shown in FIG. 3b. As such, the trigger unit 17 is a removable portion of the trigger assembly 7. In this separated configuration of the trigger assembly 7, the initiator unit body 21 functions as a fixed portion of the trigger assembly 7, which remains at the open end of the bore 9, while the removable portion of the trigger unit 17 (i.e., the trigger unit 17) is positioned further within the bore 9 to detonate the explosive within the bore 9 in the detonation position. The detonation position is typically at or near the closed end of the bore 9. What is meant by the term "closed end" is the end or terminal end of the bore 9.

[0177] Release of the trigger unit 17 from the detonation unit body 21 is facilitated by a frangible wall 35 extending radially across the interior of the housing 23 toward its distal end. The frangible wall 35 defines the forward end of the compartment 22 and prevents forward movement of the trigger unit 17 into the bore 9. The frangible wall 35 is configured to detach or otherwise break when a force exceeding a threshold force is applied to the wall 35. In this configuration, when the trigger unit 17 is retained within the housing 23 at the initial position of the trigger assembly 7 within the bore 9, the wall 35 is a barrier to movement of the detonation trigger from within the compartment 22. Further forward movement of the trigger unit 17 to the detonation position requires breaking the frangible wall 35. In this manner, the trigger assembly is moved forward from the initial position of the trigger assembly 7 within the bore 9 to the detonation position of the trigger assembly 7 within the bore 9, for example, via application of an axial force.

[0178] Connection Unit 27 - Figures 1-10

[0179] The connection unit 27 will now be described in more detail with particular reference to the embodiment shown in Figures 8a and 8b.

[0180] The connection unit 27 is a cylindrical sleeve that, in use, is coupled to the proximal end of the explosive unit body 21. In the illustrated embodiment, the distal end of the connection unit 27 has an inner diameter that is larger than the dimensions of the proximal end of the housing 23 of the explosive unit body 21, allowing the connection unit 27 to fit around the housing 23 as a cuff.

[0181] The distal end of the connection unit 27 includes an engagement mechanism for mating with the proximal end of the explosive unit body 21. As best shown in FIG. 8b, the engagement mechanism is provided as a plurality of tabs 55 pivotally attached to the sleeve within openings 57 in the sleeve toward the distal end of the connection unit 27. In the illustrated embodiment, there are three tabs 55, located within three corresponding openings 57 evenly spaced around the circumference of the sleeve of the connection unit 27, although there may be more or fewer. The tabs 55 are removable and pivotally attached to the connection unit 27. This is beneficial, facilitating replacement of damaged and / or worn tabs 55 without requiring a complete replacement of the connection unit 27.

[0182] Each tab 55 includes a pair of lips (not shown) that protrude inward relative to the connection unit 27. The lips are configured to engage within a circumferential groove 61 disposed around the proximal end of the housing 23 of the explosive unit body 21 (shown in FIG. 4b). The lips define a V-shaped opening that is oriented toward the proximal end of the connection unit 27. Thus, engagement between the tabs 55 and the grooves 61 provides a ratchet-like, one-way coupling between the connection unit 27 and the explosive unit body 21. In this manner, the connection unit 27 can be engaged with the explosive unit body 21 by sliding the distal end of the connection unit 27 axially over and along the proximal end of the housing 23, but rearward axial movement is prevented once the tabs 55 are engaged within the grooves 61.

[0183] However, if desired, the connection unit 27 can be disengaged from the trigger unit body 21 by inserting a clip member 63 into the opening 57. The clip member 63 has a complementary profile to the tab 55 and, when inserted into the opening 57, moves the tab 55 outward relative to the force explosion unit body 21, thereby disengaging the lip 55 from the groove 61. The clip member is shown in Figures 9a and 9b.

[0184] In other embodiments not shown, the connection unit 27 may be coupled to the explosive unit body 21 by means other than the clip and groove connection described herein as the preferred embodiment of the secure coupling.

[0185] Returning to FIGS. 8a and 8b, the connection unit 27 includes a plurality of protruding members 65 extending from the proximal end of the connection unit 27. The protruding members 65 are configured to receive the detonation cord 13 of an external explosive activation system between them. Each of the protruding members 65 has a spade-like shape, tapering from a spike-like tip to either side of the base. The taper of the protruding members 65 guides the detonation cord 13 into channels 67 between adjacent protruding members 65. The channels provide a passageway for the detonation cord 13 to travel radially through the connection unit 27. In the illustrated embodiment, there are six protruding members 65, defining three channels 67 evenly spaced around the circumference of the connection unit 27, although more or fewer may be present.

[0186] It will be appreciated that in other embodiments the coupling unit 27 may include other shaped protruding members 65 and / or differently configured locating means for guiding the detonating cord 13 into position relative thereto.

[0187] Each protruding member 65 also includes a notch 69 disposed towards its base. The notch 69 is crescent-shaped and configured to capture the detonation cord 13 therein.

[0188] As best shown in FIG. 4b, the proximal end of the detonation unit body 21, i.e., the drum 24, includes the aforementioned plurality of open-ended slots 71 extending axially from its proximal end, each slot 71 being defined on either side by two concentric rows of upstanding posts 73. A trough 79 extends circumferentially around the proximal end of the housing 23 between the concentric rows of posts 73. The trough 79 provides a passageway around which the second end 31b of the trigger cord 31 is wrapped so that the trigger cord 31 extends completely around the proximal end of the housing 23. This wrapped portion of the trigger cord 31 is positioned to contact the detonation cord 13.

[0189] The slots 71 each have a profile complementary to that of the protruding members 65, thereby biasing them together to guide the connection unit 27 into a coupled configuration with the detonation unit body 21. Specifically, as described above, the end of each post 73 is formed as an inclined ramp 75 that provides a cam surface against which the base of the protruding members 65 move as the connection unit 27 moves from the inoperative position to the operative position. The inclined surface 75 defines a helical path that axially and rotationally aligns the protruding members 65 with their respective slots 71.

[0190] In other embodiments, where the connection point between the trigger assembly 7 and the external detonation means is not a physical connection point, the connection unit 27 may instead include a wireless receiver, which may be arranged such that when the connection unit 27 is coupled to the detonation unit body 21, the wireless receiver is operatively coupled to the trigger unit 17 via the trigger cord 31, providing functionality equivalent to the connection between the detonation cord and the trigger cord 31 as described above.

[0191] Connect the connection unit 27 to the explosion unit body 21 - Figures 1 to 10

[0192] With reference to Figures 10a to 10c, the method of coupling the connection unit 27 together with the explosive unit body 4 will now be described.

[0193] In a first coupling step, the connection unit 27 (see FIG. 10a), which is a separate component from the explosive unit body 21 at this stage, is coupled to the proximal end of the explosive unit body 21 in a first inoperative position. In this first inoperative position, the tabs 55 of the connection unit 27 are engaged in the first row of grooves 61 of the explosive unit body 21. The first inoperative position of the connection unit 27 is shown in FIG. 10b. In a second coupling step, the connection unit 27 is then moved axially along the explosive unit body 21 to a second operative position, in which the tabs 55 are engaged with the subsequent row of grooves 61, which are distal to the first row. The second operative position of the connection unit is shown in FIG. 10c. In both positions, the connection unit 27 is coupled to the explosive unit body 4, so that the trigger assembly 7 (including both the explosive unit body 21 and the connection unit 27) can be handled and moved together as an integrated unit.

[0194] When the connection unit 27 is in the second operative position, each of the protruding members 65 abuts one of the posts 73. In this position, each notch 69 and associated post 73 forms an opening in which the detonation cord 13 is restrained and held, the opening communicating with the trough 79. Thus, when the detonation cord 31 is captured within the notch 69 of the connection unit 27 and the connection unit 27 is in the second coupled position relative to the detonation unit body 21, the detonation cord 13 is physically connected to the trigger cord 31. This interconnection is best captured by FIG. 18d, which will be described in more detail below.

[0195] Furthermore, when it is necessary to connect a trigger unit 17 to a subsequent trigger unit 17, the free end of the detonation cord 13 can be fed through the gap 67 in the connection unit 27 towards the second or further connection unit 27' of the second or further trigger unit 17'. The detonation cord 13 can then be received by the connection unit 27' and the coupling step repeated, thereby operably joining the trigger units 17 together at the head.

[0196] Thus, explosive blasting within the hole 11 can be initiated in a subsequent step by actuating the boosters 19 of one or more respective trigger units 17 using actuation means, which are operatively connected to the boosters 19 via detonation cords 13 and trigger cords 31. This interconnection is best captured by Figure 19b, which will be described in more detail below.

[0197] Furthermore, if the connection unit is wirelessly connected to the external activation means, the first coupling step may be all that is required to operably connect the external activation means to the trigger unit 17 of the trigger assembly 7. A two-step coupling movement from a first inoperable position to a second operable position is still useful in such embodiments to allow the wireless connection unit 27 to be mated to the trigger assembly for handling / loading before being "activated."

[0198] Assembling the Trigger Assembly 7 - Figures 1-10

[0199] In summary, the trigger assembly 7 is assembled in a multi-step process, some or all of which steps may be performed off-site (i.e., before the trigger assembly is loaded onto a vehicle and transported to the job site).

[0200] The broad stages are as follows: - Attach one end of the trigger cord 31 to the connection unit 27. - placing the detonator 15 in the carrier cap 29; - Wind the trigger cord 31 around the housing 23. The connection unit 27 is placed in an initial position relative to the housing 23. The carrier cap 29 is inserted into the end of the housing 23 by means of an internal ratchet so that the detonator 15 is within the housing 23.

[0201] Mechanism of the blasting process - Figures 1-10

[0202] Although the trigger assembly 7 can be manually, i.e. manually inserted into the blast hole 9 by an operator, the design of the trigger assembly 7, and in particular the design of the connection unit 27, is driven with mechanization in mind.

[0203] 11 to 18, it is contemplated that the trigger assembly 7 is inserted into the blast hole 9 using at least one vehicle 70 equipped with at least one functional unit 100 specifically adapted to do so.

[0204] The vehicle 70 may be a specialised vehicle, or the vehicle 70 may be a modified standard mining vehicle, such as a mining jumbo, for example.

[0205] Trigger assembly embodiment shown in FIGS.

[0206] The following description highlights the main differences between the embodiments of trigger assembly 7 shown in Figures 1-10 and Figures 20-26, and the same reference numbers are used to describe the same structural features, using the same headings used above.

[0207] One of the main differences between the two embodiments is that the trigger cord 31 of the trigger assembly in the embodiment of FIGS. 20-26 is located at least substantially outside the bore 9 when the trigger assembly 7 is initially positioned within the bore 9, i.e., the initial position of the trigger assembly 7 within the bore 9 (see FIG. 26 ). This is a completely different arrangement from that of the embodiment of FIGS. 1-10 . This feature means that there are fewer components of the trigger assembly 7 within the bore 9, which simplifies manufacturing of the trigger assembly. Additionally, positioning the trigger cord 31 outside the bore 9 means that, in use, the trigger cord 31 unwinds as a straight length compared to the embodiment of FIGS. 1-10 . Specifically, the trigger cord 31 unwinds in a spiral motion as the emulsion hose pushes the trigger unit 17 into the bore, and then enters the bore as a straight length, rather than in a spiral motion as in the embodiment of FIGS. 1-10 . This is advantageous in that it minimizes the risk of the trigger cord 31 becoming soiled as it is unwound.

[0208] Another major difference between the two embodiments is the structure of the connection unit 27. In the embodiment of FIGS. 20-26, the connection unit 27 is a resilient element that receives and connects the detonation cord 13 of an external explosive actuation system (not shown) to the trigger cord 31. This is a completely different arrangement from the embodiment of FIGS. 1-10, which relies on the portion of the connection unit being configured to respond to axial forward rotational movement about the axis of the trigger assembly 7 from the initial position to the locked position. Note that the reference to an "resilient element" does not imply that the entire connection unit is formed from a resilient material, although this may be the case. This term is intended to focus on the actuating portion of the resilient element responsible for connecting the detonation cord 13 to the trigger cord 31.

[0209] 23 and 24, the connection unit 27 is generally crown-shaped and comprises a tubular body 97 which engages with the first housing portion 23a, and a circular array of arms 99 spaced about the proximal end of the body 97. The successive arms 99 define a generally keyhole-shaped passageway with two opposing open sides and two opposing closed sides (the open sides being positioned so that portions of the detonation cord 13 extend from one side to the other across the passageway), the passageway having a circular base portion 101 for receiving and connecting the detonation cord 13 to a trigger cord 31a (see FIG. 24) carried by the connection unit 27 (described further below), and a narrow, elongated pharyngeal portion 103 having an opening 105 at its other end, in use, to allow the detonation cord 13 to move into and along the pharyngeal portion 103 and into contact with the trigger cord 31a. 24 shows the detonation cord 13 in place on one circular base 101 and being moved to be inserted into the opposing circular base 101. The arm 99 is a resilient arm, and inserting the detonation cord 13 into the opening 105 and moving the detonation cord 13 through the throat 103 and into the circular base 101 pushes the arm away from its original position against its resilience. The arm 99 returns to its original position after the detonation cord 31 is in the circular base 101, and the returned arm resists release of the detonation cord 31 from the circular base 101 and helps to keep the detonation cord 13 in contact with the trigger cord 31a. It can be seen that the detonation cord 13 can be released from the circular base 101 by applying enough force to overcome the resilience of the arm 99 and remove the detonation cord 13 through the throat 103.

[0210] Another major difference is the construction of the explosive unit body 21 and retaining collar 25. This is due in part to the differences noted above.

[0211] The explosive unit body 21 supports a connection unit 27 at its distal end and includes an elongated housing 23 (see FIG. 22 ) configured to receive and support a trigger unit 17 at its proximal end within a compartment 22 defined by the housing 23, with the trigger assembly 7 in an initial position within the bore 9. The trigger unit 17 is shown in compartment 22 in FIG. 22 .

[0212] The retaining collar 25 is disposed around the housing 23 of the explosive unit body 21 and is configured to engage a portion of the inner wall of the bore 9 to prevent axial movement relative to the housing 23, and is also configured to allow the explosive unit body 21 to rotate about the central longitudinal axis of the housing 23.

[0213] Elongated housing 23 is a tubular housing extending from a proximal end to a distal end. The tubular shape of housing 23 facilitates easy insertion into bore 9, which approximates the shape of a conventional drilled bore and does not require any particular or specific rotational orientation. However, it is understood that other geometric shapes are possible.

[0214] In this description, the term "proximal" end refers to the end closest to the operator when trigger assembly 7 is inserted into bore 11. In other words, the proximal end of housing 23 is the proximal or forward end, while the distal end of housing 23 is the distal or rearward end of housing 23.

[0215] The housing 23 is formed from two housing sections 23a, 23b joined together. The profiles of these sections are best shown in Figures 22 and 22a. It will be appreciated that this is just one way of forming the housing 23 and the housing 23b, and that they may alternatively be formed as a single piece.

[0216] The housing portions 23a and 23b of the housing 23 are tubular.

[0217] The first housing portion 23a provides a sleeve-like housing 23 around which the trigger cord 31 can be wound. As noted above, unlike the embodiment shown in Figures 1-10, the trigger assembly shown in Figures 20-26 is formed such that, in use, the first housing portion 23a and the trigger cord 31 wound around the first housing portion 23a are outside the hole.

[0218] The second housing portion 23b is open ended and serves as an end piece into which a carrier cap 29 (see, e.g., FIG. 20) of the trigger unit 17 is received. The interior of the end of the second housing portion 23b is lined with raised protrusions (not shown) configured to engage the carrier cap 29 and retain it by a friction fit.

[0219] The housing portions 23a, 23b together define a compartment 22 in which the trigger unit 17 is housed and accommodated.

[0220] Additionally, housing portions 23 a, 23 b may include features such as tabs (not shown) configured to engage with retaining collar 25 to hold collar 25 in place about housing 23 .

[0221] As best seen in Figures 24 and 25, the trigger cord 31 of the trigger unit 17 is connected at one end 31a to the detonator 15 of the trigger unit body 17 (Figure 25) and at the other end 31b to the proximal end of the trigger unit body 21 (Figure 24).

[0222] 22 and 22a, housing portions 23a and 23b include axially extending channels (not shown, but can be inferred from the figures) that provide a passage for trigger cord 31 to traverse under retaining collar 25. Additionally, first housing portion 23a includes an axially extending channel (not shown) that provides a passage for trigger cord 31 to traverse under connection unit 27.

[0223] In this way, the first end 31a of the trigger cord 31 is connected to the detonator 15 of the trigger unit 17 within the hole 9, while the second end 31b of the trigger cord 31 is exposed outside the hole 9 and held in place by the connection unit 27, while the trigger assembly 7 is held within the hole 9 via the collar 25.

[0224] It will be appreciated that the trigger cord 31 has a length selected to span the distance between the detonator 15 of the trigger unit 17 and the proximal end of the trigger unit body 21 when the trigger unit 17 is in the detonation position of the trigger assembly 7 within the bore 9. Thus, when the trigger unit 17 is in the detonation position, it remains operably connected to the proximal end of the detonation unit body 21.

[0225] The trigger unit body 17 and carrier cap 29 of the embodiment of Figures 20-26 are essentially the same as those of the embodiment of Figures 1-10. The trigger unit body 17 includes an initiator 15 and a booster 19 configured to receive the initiator 15 and accommodate it within the booster 19. The carrier cap 29 includes a body 107 having a tapered forward end and a sleeve 109 for receiving and holding the trigger unit body 17.

[0226] The trigger assembly 7 of the embodiment of Figures 20-26 is configured for general use as described above in connection with the embodiment of Figures 1-10.

[0227] vehicle

[0228] The embodiment described in connection with the figures includes two vehicles, one optimized for hole and heading cleaning and the other optimized for trigger assembly and emulsion delivery and detonation cord tie-in.

[0229] Vehicle 70 shown at 11 is one embodiment of a "face inspection vehicle" configured to prepare hole 9 to receive trigger assembly 7. A face inspection vehicle is a dedicated mining vehicle designed to prepare, including cleaning and / or otherwise inspecting, blast hole 9 and / or the heading 11 surrounding hole 9.

[0230] 12 is an embodiment of a "delivery vehicle" or "explosive charging and detonation cord coupling vehicle" configured to (i) prepare and position trigger assembly 7 within blast hole 9, (ii) pump or otherwise deliver explosives into blast hole 9 for triggering via trigger assembly 7, and (iii) couple together all of the trigger assemblies 7 of an external explosive initiation system (not shown). Referring to step (iii), this coupling may be a physical coupling via detonation cord 14 (as in the illustrated embodiment) or may be wireless via a connection unit equipped with a wireless receiver.

[0231] Each vehicle 70 may have a cabin for an operator to perform surface inspection, trigger assembly location, explosive charging, and detonation code tie-in functions. Alternatively, it is contemplated that the vehicles 70 may be autonomous or semi-autonomous (i.e., remotely controlled) vehicles that do not require a passenger cabin.

[0232] The present invention is not limited to the use of two vehicles 70, another possible embodiment is a single vehicle embodiment carrying all necessary functional units 100 in any given situation.

[0233] Specifically, the functions of both the "surface inspection vehicle" and the "explosives charging vehicle" may be performed by a single combined multi-purpose mining vehicle, which is not shown in the figures.

[0234] There may also be situations where the first vehicle is not required, for example, where the functionality of the "surface inspection vehicle" is not required or can be performed via another option.

[0235] First car

[0236] An embodiment of the first vehicle 70 is a robotic excavator (REX) (see FIG. 11).

[0237] The first vehicle is a specialized excavator configured to clear the hole to remove blockages and debris, and to clean the nose face and floor by removing loose chips from the nose and pulling chips back from the nose. This is a basic quality issue.

[0238] The first vehicle is configured to support and operate functional units (described further below) configured to perform the hole cleaning and debris removal functions described above.

[0239] 11 has an articulated arm 68 that can move up and down, forward and backward, and left and right, and a fine positioning unit 100 attached to the front end of the arm 68 so as to rotate about an axis. The arm 68 functions as the vehicle's coarse positioning module.

[0240] The coarse positioning module 68 and the fine positioning module 100 together form part of the vehicle's positioning unit.

[0241] Coarse positioning module 68 is configured to position a functional unit (described below and shown as 100' in FIG. 12) proximate to a hole in the end face. Fine positioning module 100 is configured to more precisely position and align functional unit 100' with respect to the hole.

[0242] The positioning units of the first vehicle (and second vehicle) also include a control system (not shown) that can track the hole, for example, by video servo or similar hole monitoring options, and operate the fine positioning module 100 to adjust, typically continuously, the position of functional unit 100' (and any other selected functional units). This feature allows the fine positioning module to "float" to the "correct" position if the vehicles move for any reason, keeping the functional units aligned with the hole.

[0243] The positioning unit of the first vehicle (see Figure 11) (and the second vehicle) also includes a vision module which includes: - a vision-based system 76 on the vehicle to monitor the position of the coarse positioning module 68 relative to the hole and to facilitate guiding the functional unit 100' to the required position relative to the hole; - A second vision-based system 80 on the end of the fine positioning module 100, which monitors the position of the fine positioning module 100 relative to the hole and facilitates guiding the functional unit 100' to the required position relative to the hole.

[0244] For example, the first vehicle may have a +50mm Cartesian-based X, Y, Z vision system, which may facilitate coarse positioning of the functional unit 100' to within 100-200mm of the center of the hole.

[0245] Typically, a vision-based system in the first vehicle looks in all directions (lighting provided by the car).

[0246] A vision-based system on the first vehicle constructs a "live" image of the heading (or part of the heading), including the topology of the heading.

[0247] The vision-based system on the first vehicle is configured to present an image on a "touch screen" and allow the operator to point to the location of the hole on the screen and actuate movement of the vehicle arm 68 to roughly align the functional unit 100' on the end of the arm with the hole, i.e., position it within 100-200 mm of the center of the hole.

[0248] As described above, the fine positioning module 100 then more precisely positions and / or aligns the functional unit 100' with respect to the hole.

[0249] It should be noted that in the illustrated example, the fine positioning module 100 includes a delta positioning system robotic unit 74, although the present invention is not limited to the use of a delta positioning system.

[0250] The delta positioning system includes a hydraulic system that moves the adjustment arm of the delta system, although the present invention is not limited to the use of hydraulics.

[0251] The Delta System unit operates in three degrees of freedom: up, down, and forward and backward.

[0252] Other embodiments operate with six degrees of freedom—pitch, roll, and yaw—in addition to the three degrees of freedom mentioned above.

[0253] The Delta Systems unit incorporates a video-based vision system that uses AI-powered deep learning techniques to look for patterns in images. The applicant has adapted an open-source training package for use in underground block cave mining applications.

[0254] The Delta System unit is preferably driven by a servo motor and / or controller. In use, a video-based vision system allows the Delta System unit to track holes via video servo methods or similar hole monitoring and feedback techniques and continuously correct its position accordingly. This allows the fine positioning module 100 to "float" to the correct position (i.e., aligned with the hole) if the vehicle (or coarse positioning arm) is incorrectly moved. This is particularly useful in unstable terrain where the vehicle and coarse positioning arm may be subject to position fluctuations.

[0255] An alternative to using a video-based vision system to detect holes is to use a drill data log. This data is generated during drilling. It provides precise information about the location of the holes. There is an opportunity to use the information to enable precise positioning, rather than detecting the holes, the vision system simply checks and verifies that the holes are in the expected locations.

[0256] Cleaning the hole is very important to ensure that the hole is free of blockages or to identify blockages and select the emulsion explosion volume for the hole.

[0257] The currently preferred de-blocking system is an air / water nozzle - a nozzle aimed backwards, which first uses air if blocked, then fills with water, then uses air again to pull out the debris.

[0258] Second car

[0259] The second vehicle shown in Figure 12 is similar to the first vehicle in that it has an articulated arm and fine positioning module 100 on the end of the arm 68, the vehicle has the vision-based positioning system described above for monitoring the movement of the coarse positioning module 68 relative to the hole, and a delta positioning system unit on the end of the arm 68 for further monitoring the movement of the fine positioning module 100 closer to the hole.

[0260] The second vehicle is (a) an emulsion explosives disposal device and hose reel; (b) a trigger assembly storage unit 96a for storing a plurality of trigger assemblies 7 (without boosters 19), typically the number of trigger assemblies required for a given heading; (c) a booster storage unit 96b for storing a plurality of boosters 19 (typically the number of boosters required for the header); (d) a detonation cord tie-in module storage unit for storing a tie-in module, the detonation cord tie-in module storage unit having a length of detonation cord sufficient to tie in a trigger assembly in the head; Also includes.

[0261] The second vehicle is configured to perform the following functions: (a) Placing the trigger assembly into the hole; (b) filling the hole with emulsion explosives; (c) Secure the hole with a suitable detonation system, such as a detonating cord or other cord. See Trigger in the assembly portfolio. Note also that wireless can be used, and therefore no tie-in is required.

[0262] The above process will now be broadly described, with the caveat that further details will be provided later.

[0263] The procedure for placing the trigger assembly 7 (with booster 19) into the hole includes a first step in which an operator manually removes the booster 19 and trigger assembly 7 from their separate storage compartments 96a, 96b and uses a T-shaped pusher tool 28l to insert the booster 19 into the trigger assembly 7, as shown in Figure 7a. Note that this step may also be an automated step.

[0264] The process of assembling the trigger assembly 7 is preferably assisted via the vehicle's hand-off unit.

[0265] As shown in Figure 15, the hand-off unit includes a slider 91 which provides support in the form of a carriage for the assembled trigger assembly 7. Once the booster 19 is inserted into the detonation unit body, the carriage can be actuated to move the assembled trigger assembly 7 from an initial assembly position to an operational "hand-off" position where the trigger assembly 7 can be picked up by the functional unit 100' (Figures 16a-16d).

[0266] As best shown in FIG. 16a, one such functional unit 100′ includes (a) a housing 93 (with a booster) for protecting the trigger assembly during use of the functional unit 100′, and (b) a gripper unit 95 disposed in an opening in the housing 93, the gripper unit 95 being movable between a closed position and an open position to allow insertion of the trigger assembly 7 into the housing.

[0267] 16b, functional unit 100' is moved via the vehicle's positioning unit to a pick-up position adjacent slider 91. Gripper 95 is opened and then slider 91 is actuated again to insert the assembled trigger assembly 7 into housing 93 and move gripper unit 95 to the closed position. It can be seen that when in the closed position, functional unit 100' safely and securely holds the assembled trigger assembly 7 during movement into alignment with the hole.

[0268] In other embodiments, the hand-off unit 91 may incorporate a magazine-type structure that allows it to serially hold several trigger assemblies 7 and / or trigger units 17 simultaneously.

[0269] As shown, the positioning unit includes an articulated arm 68 forming a coarse positioning module 68, although it will be appreciated that other configurations are possible.

[0270] Once the assembled trigger assembly 7 is placed within the housing 93 of the functional unit 100', the articulated arm 68 then moves from a loading position adjacent the second vehicle to an unloading position where the assembled trigger assembly 7 is positioned adjacent the end face. This is shown in Figure 16c. This movement is understood to be a positioning movement of the coarse positioning module 68. Once this initial positioning movement is complete, the fine positioning module 100 of the positioning unit operates to align the functional unit 100' with the hole, and the positioning units, i.e., the coarse positioning module 100 and the fine positioning module 68, are "parked."

[0271] The assembled trigger assembly 7 is then inserted into the hole using the pusher mechanism of the functional unit 100' (shown in Figure 16d). The fine and coarse positioning units 68, 100 together form the positioning unit of the second vehicle.

[0272] In the unload position, after insertion of the assembled trigger assembly 7, the emulsion explosive disposal unit and hose reel delivers emulsion explosive to the hole 9, and the emulsion hose 86 moves the trigger unit 17 (with detonator 15 and booster 19) from the trigger assembly 7 to the required position in the hole (shown in Figure 16e). The emulsion explosive is injected into the hole as the hose retracts from the hole.

[0273] Once all of the trigger assemblies 7 are in place in the holes and in their detonation positions, another functional unit in the form of a tie-in module (or alternatively, a composite functional unit 100 having the same functionality as a gripper) is configured to connect the trigger cord of each trigger assembly 7 to an external activation means. In the case of physical connection points, the connection point module is aligned with a trigger assembly 7 in a first hole, moved to successive connection point locations where it connects the cord of that trigger assembly, moves to successive trigger assemblies 7, and repeats the connection point step. This step is best shown in Figures 18a and 18d and will be described in more detail below.

[0274] Various aspects of this process are now described in more detail below.

[0275] Positioning Unit

[0276] Each vehicle 70 includes a positioning unit configured to move and position the functional units 100' relative to an operational position, enabling the functional units to perform required functions, for example, in a bearing or relative to the hole 11. It should be noted that the functional units 100' themselves may be independently movable relative to the positioning unit, thus providing a third "level" or movement step.

[0277] The positioning unit comprises a coarse positioning module 68 and a fine positioning module 100 .

[0278] The different positioning modules 100, 68 are associated with different levels of applied force and torque, as well as range and resolution / accuracy. Specifically, the coarse positioning module 68 is designed for broad / heavy "positioning" movements, while the fine positioning module 100 is designed for light / soft "positioning" or "alignment" movements. Thus, the dexterity of the combined positioning units allows more movements to be handled by the coarse positioning module 68, while more positioning tasks retain the accuracy of the fine positioning module 100.

[0279] The coarse positioning module 68 is configured to position the functional unit proximate to the blast hole. In this sense, the term "proximate" refers to a rough or approximate positioning of the functional unit. The coarse positioning module 68 is an articulated arm. In some embodiments, the coarse positioning module 68 is an articulated arm or boom of a jumbo or other conventional mining vehicle.

[0280] The fine positioning module 100 is configured to adjust the position of the functional unit relative to the end face while the coarse positioning module 68 remains stationary or "parked." Specifically, such adjustments include positioning and aligning the functional unit 100' relative to the blast hole. Additionally, the fine module 100 is configured to maintain a "floating" alignment with the hole if the vehicle and / or the coarse positioning module 68 moves or drifts out of position.

[0281] To achieve "floating" positioning, the positioning unit tracks the holes, for example by video servo methods or similar hole monitoring options, and typically includes a control system capable of operating a precision positioning module to continuously adjust the position of the functional unit 100'.

[0282] The fine positioning module 100 comprises a plurality of elongated links or arms 75 pivotally mounted at one end to a base (or hub) 76, with each link coupled to a central hub or moving platform 77 to which functional units 100' are connectable. In the embodiment shown in the figures, the fine positioning module 100 comprises a delta robot. Each of the elongated links 75 is independently movable, and relative movement between the links 75 results in movement of the platform 77. The fine positioning module 100 is best shown in Figures 16 and 18.

[0283] The moving platform 77 is capable of both translational and rotational movement to align and position the functional unit relative to the bore 9. The moving platform 77 includes a central aperture 78. The central aperture 78 provides a passageway through which elements or portions of the functional unit can extend and pass. In use, the central aperture 78 is coaxially aligned with the bore 9.

[0284] The base 76 of the fine positioning module 100 is directly coupled to the coarse positioning module 68. In this manner, movement of the coarse positioning module 68 results in movement of the fine positioning module 100. This allows the fine positioning module 100 to reduce its total range of movement, allowing for increased movement and control resolution. This increased resolution allows the fine positioning module 100 to provide adjustments to the position of the functional unit coupled to it, while the coarse movement module 68 remains stationary or otherwise parked, such that the only applied forces and / or torques are those of the fine positioning module 100. It should thus be understood that the fine positioning module 100 and the coarse positioning module 68 cooperate to position the functional unit relative to the hole 9.

[0285] The vision module is used to monitor and guide the movement of each positioning module 100, 68. The vision module is a video-based system that utilizes sensors to provide feedback regarding the position of the blast hole 9. In this manner, the positioning units may be autonomous positioning units. Alternatively, the positioning units may be semi-autonomous positioning units, with an operator controlling the positioning units remotely via a camera.

[0286] The vision module includes a coarse range sensor 76 (see FIGS. 13 and 14) mounted on the body or chassis of the vehicle 70 and a fine range sensor 80 mounted on the fine positioning module 100. In this manner, the coarse range sensor 76 serves to monitor and guide the coarse positioning module 68, while the fine range sensor 80 monitors and guides the fine positioning module 100. The range sensor may be, for example, a 3D imaging sensor, a camera, a proximity sensor, etc.

[0287] Functional unit 100', 100''

[0288] The functional units 100 ′, 100 ″ are essentially tools or end effectors selectably coupleable to a positioning unit of the vehicle 70 .

[0289] Each functional unit 100', 100'' is configured to undertake a particular function or task related to working the rock face 9 and / or loading the trigger assembly 7 into the blast hole 9. The vehicle 70 may include a reservoir or container 78 for holding several different functional units.

[0290] The functional units 100', 100'' are configured to handle all movements that directly interact with the trigger assembly 7. In this way, the fine and coarse positioning modules 100, 68 do not directly interact with the trigger assembly 7.

[0291] It will be appreciated, therefore, that some of the functional units 100′, 100″ are configured to be independently movable relative to the vehicle positioning unit. In this manner, the functional units 100′, 100′ can, for example, move the trigger assembly 7 forward into a blast hole while the vehicle's positioning unit (i.e., the fine and coarse positioning modules 100, 68) remains parked. Thus, the forces and torques applied to the trigger assembly 7 by the vehicle's arms are limited to those of the functional units 100′, 100″ themselves. Such forces are significantly (in some cases, by orders of magnitude) lower than the forces of the respective positioning modules, protecting against inadvertent handling of explosives and / or other delicate components.

[0292] 13-14 show a functional section 100' of the first vehicle 70. This functional unit 100' is an integrated face and hole preparation unit. The functional unit 100' comprises a rake member 79 coupled to a precision positioning module 100 and at least one hose assembly 66. The rake member 79 may be hingedly attached to the positioning module such that it can move between an extended position operable for working the rock face 3 (shown in FIG. 13b) and a retracted or stowed position (shown in FIG. 13a) for when the rake member 79 is not in use.

[0293] In other embodiments (not shown), the surface and hole preparation units may be provided as separate functional units, i.e. a functional unit for preparing the lock surface 11 and a separate functional unit for cleaning the blast holes 9.

[0294] In use, the first vehicle (with the functional unit coupled to it) is driven into a position outside the safety hazard zone, typically at least 5 m from the heading direction. With the rake member extended (as shown in Figure 13b), it is slid, via the positioning module, along the rock face 11 adjacent to or adjacent to the blast hole 9. In this way, the rock face 11 is wiped clean of debris in preparation for inserting the trigger assembly or assemblies 7 into the respective blast hole 9. The cleaning step is shown in Figure 13(c).

[0295] 14a-14c, hose assembly 66 includes hose 82 fed through a rotatable spool of an integrated functional unit. Hose 82 is configured to clean debris from within borehole 9. Specifically, after debris is removed from rock face 3, rake member 79 is retracted, allowing the functional unit to be positioned proximate borehole 9. Hose 82 is then selectively fed into borehole 9. Hose 80 is an air hose and includes an air jet 81 disposed at its end. Activation of air jet 81 creates fluid pressure within borehole 9, loosening and removing debris from borehole 9. Air jet 81 is directed rearward, resulting in debris being blown toward and away from the open or proximal end of borehole 9. The components of hose assembly 66 are best shown in FIG. 14a.

[0296] Feeding the hose 82 into hole 9 is a selective feeding operation from a spool that has an encoder or other mechanism for determining the length of hose 82 fed into hole 9 from there. In this way, the length of hose 82 in hole 9 can be determined and compared to the known pre-drilled depth of hole 9. This acts as verification that hole 9 is free of debris or other obstructions and therefore the trigger assembly 7 is ready to be inserted therein, with the knowledge that its trigger unit 17 can be moved to a detonation position.

[0297] However, if an obstruction or debris is detected (i.e., if the length of hose to be dispensed into the hole is less than the known depth of the pre-drilled hose), functional unit second hose 83 may be required. Referring to FIGS. 14b and 14c, second hose 83 is used to remove heavy debris, such as rocks, from within hole 9. Second hose 83 includes claws 84 configured to grasp and remove the heavy debris from the hole. Once the heavy debris has been removed, first hose 82 is reinserted to ensure hole 9 is now cleared and ready to receive trigger assembly 7.

[0298] Once the holes 9 are cleared of debris, the same hole cleaning function is repeated for each of the holes 9. Once all of the holes 9 have been cleared, the first vehicle 70 is pulled out of the drive and the second vehicle 70 is pulled into a position outside the safety hazard zone.

[0299] The second vehicle includes another functional unit 100 ′ coupled to the precision module 74 .

[0300] This alternative functional unit 100' is shown in Figures 16a to 16d. Functional unit 100' includes housing 93 as described above and gripper unit 95 configured to hold and support trigger assembly 7 disposed within bore 9.

[0301] As mentioned above, the procedure for placing the trigger assembly 7 (with booster 19) in the hole involves a first step in which an operator manually removes the booster 19 and trigger assembly 7 from their separate storage compartments 96 a, 96 b and inserts the booster 19 into the trigger assembly 7. Note that this step may be automated in the future.

[0302] The assembled trigger assembly 7 is then loaded into the housing 93 of the functional unit 100' and is held by the housing 93 and by the closed gripper arm unit 95 in the loading position of the functional unit adjacent the second vehicle. This loading step is shown in Figure 16b.

[0303] Once the trigger assembly 7 is within the housing 93, the articulated arm is operable to move the trigger assembly 7 from the assembly area on the vehicle 70 and position the functional unit 100' in an aligned position relative to the bore 8, which is then operable to move the trigger assembly within the bore 9 to an initial deployed position within the bore 9. To do so, the coarse positioning module 68 is actuated to transport the functional unit 100' (and housed trigger assembly 7) to a pre-insertion position adjacent the bore 9, as shown in FIG. 16c. Next, the fine positioning module 100 is actuated so that the trigger assembly 7 is coaxially aligned with the bore 9. Finally, the pusher 86 is actuated and extends through the opening in the gripper unit 95, forcing the trigger assembly 7 into the bore 9 to an initial position, with the collar 25 engaging the rock face 3 and retaining the trigger assembly 7 therein. This initial position is best shown in FIG. 16c.

[0304] Once the trigger assembly 7 is in its initial position proximate the opening of the bore 9, the trigger unit 7 is pushed forward within the bore 9 to the detonation position via an insertion mechanism 87. As best shown in FIGS. 16d and 16e, this is accomplished by an emulsion-filled hose 86. In use, the emulsion-filled hose 86 is threaded through an opening 78 in the platform 77 of the precision positioning module 100, through an opening at the proximal end of the detonation unit body 21, and out through the housing 23. As the hose 86 passes through the housing 23, it pushes on the trigger unit 17, urging it forward against the frangible wall. The force of the trigger unit 17 against the frangible wall is sufficient to displace the wall 35, such that the trigger unit 17 is pushed into the detonation position by the hose 86. At this point, the emulsion-filled hose 86 can be withdrawn, ready to deliver explosive emulsion to the bore and trigger it via the trigger unit 17.

[0305] Referring now to Figures 17a and 17b, which show a further functional unit 100'' coupled to the precision module 100 of the second vehicle, the functional unit 100'' includes a tie-in module 85 configured to physically interconnect a plurality of deployed trigger assemblies 7 to one another via detonation cords 13. In use, the tie-in module 85 is connected to the precision positioning module 100 once each of the required trigger assemblies 7 has been installed within its respective blast hole 9.

[0306] The tie-in module 85 comprises a disk-shaped movable head 88 and a rotatable drum 89. The rotatable drum 89 provides a supply of detonation cord 13. As best shown in FIG. 17a, the movable head 82 includes a guide 90 through which the detonation cord 13 can be selectively dispensed. The head 88 is attached to a telescopic tube 92, providing independent forward and rearward movement while the positioning unit itself remains stationary. FIG. 17b shows the extension of the telescopic tube 92, resulting in the head 82 being driven forward toward the trigger assembly 7.

[0307] 18a-18d, the movable head 88 is configured to engage the connection unit 27 of the trigger assembly 7. Specifically, in use, the movable head 88 is configured to apply an axial force to the connection unit 27, causing the connection unit 27 to move from a first, inoperative position to a second, operative position. As shown in FIGS. 18a and 18b, the head 88 is moved towards the connection unit 27 by a telescoping tube 92.

[0308] Upon contacting the connection units 27, the detonating cord 13 is selectively dispensed from the rotatable drum 89 and threaded through the opposing channels 67 of the connection units 27 of the trigger assemblies 7. After the detonating cord 13 is dispensed, the head 88 again advances, pushing the connection units 27 axially along the detonating unit body 27 from the first inoperative position to the second operative position. As the connection unit 27 is driven forward, it rotates into position, aligning the protruding members 65 with the slots 71 and locking the detonating cord 13 within its notches 69. In this manner, the detonating cord 13 is physically locked in place within the notches of the respective connection units 27 of each trigger assembly 7. The head 88 is then retracted, leaving the detonating cord 13 in place on the connection assemblies, as shown in FIG. 18c.

[0309] As shown in Figure 18d, the detonation cord 13 is physically connected to the trigger cord 31 of the trigger assembly. Thus, the trigger unit 17 of each trigger assembly 7 is now operatively connected to an actuation means and ready for controlled blasting.

[0310] 19a and 19b, this tie-in process is then repeated, with the detonation cord 13 being successively threaded through the connection unit 27 of each trigger assembly 7 in the rock face 11, and the vehicle's positioning unit moving the functional unit 100'' into alignment with each subsequent trigger assembly 7. In this manner, each of the trigger assemblies 7 in the rock face 11 are operably coupled to the actuation means via the detonation cord 13.

[0311] It should be noted that the described tie-in module 85 is used when the connection point of the trigger unit 17 to the external activation means is a physical connection point. If the connection point is a wireless connection point, the tie-in module 85 need not comprise a rotatable drum and associated detonation cord. Rather, the tie-in module 85 is limited to a mechanical means for moving the connection unit into an operative position such that the external connection means is operatively connected with the trigger unit 17 of the trigger assembly 7.

[0312] Operation and work of vehicle 70

[0313] A preferred or exemplary work process will now be described involving two vehicles 70. Generally speaking, the process includes the following steps or stages: i. Inspection of the rock face at heading 11; ii. Cleaning debris from rock surfaces 11; iii. Inspection of the hole 9 in which the trigger assembly 7 is installed; iv. cleaning the bore 9 in preparation for receiving the trigger assembly 8; v. Assembly of the detonation system for each trigger assembly; vi. Installing / positioning the trigger assembly in hole 9; vii. Delivery of emulsion explosives to hole 9; viii. Tie-in of the detonation system of each of the trigger assemblies 7.

[0314] The above steps are somewhat similar to those of conventional blasting methods of powered advance. The difference with this method lies in the fact that each of the above steps (i) to (viii) is mechanized with the use of a vehicle 70. In this way, the worker / person can be kept a safe distance from the head 9, while the efficiency of automation results in faster progress.

[0315] Without being limited to this preferred method, it is understood that steps (i)-(iv) utilize a "head-on inspection" or first vehicle 70, and steps (v)-(viii) utilize an "explosive charge" or second vehicle 70.

[0316] During step (i), the face inspection vehicle 70 is driven or moved along its drive mechanism to a position proximate to the head 11. This may be an autonomous or semi-autonomous process, whereby the vision module provides position-related feedback to the operator or controller or vehicle 70. In particular, the coarse range sensor 76 is used for this purpose. Once in position, the articulated arm of the vehicle 70 is extended so that the fine range sensor 80 is moved to a position close to or adjacent to the head 11. The coarse positioning module 68 is then activated, and the articulated arm is moved across the surface of the heading 11. During this movement, the vision module 80 is used to perform a preliminary surface scan of the heading 11. This scan is used to determine the presence of surface debris, etc., and any specific areas requiring smoothing and removal. During this movement, the vision module 80 also scans the rock face of the head 11 to identify and locate pre-drilled holes 9 within the surface. This position data is stored within the controller of the vehicle 70. The scanning operation relies on algorithms within the controller to identify holes within the surface. Alternatively, the controller may already have predetermined hole location data stored, in which case a scanning operation is used to confirm or verify the location of the hole 9. Note that this identification / locating of the hole location may also occur after the heading 11 has been cleared as part of step (iii).

[0317] Once scanning of the rock face 11 is complete, step (ii) begins. During this step, debris is removed from the rock face or heading 11. Step (ii) utilizes the rake member 79 of the integrated functional unit 100. In particular, the rake member 79 is extended to an operable position, and the coarse movement module 68 is actuated to move the articulated arm of the vehicle 70 in a sweeping motion across the rock face. The sweeping motion may be a substantially vertical or horizontal motion. This sweeping motion brushes debris from the rock face 11. Debris removal is a quality issue and is important to enable safe and accurate placement of the trigger assembly within the hole 9. The ground surface of the drive adjacent the heading 11 is also leveled and removed by the rake member 79 in a similar process.

[0318] Once the heading orientation 11 is cleared of debris, it is time for step (iii), in which the hole 9 is inspected for debris. Specifically, the fine positioning module 100 is activated and used to position the opening 78 of the platform 77 coaxially with the hole 9. A first hose 80 is then selectively fed from the spool 82 through the opening 78 and into the hole 9. As the hose 80 is fed into the hole 9, the length of the hose is determined via an encoder or the like on the spool 82. The hose 9 is fed until resistance is encountered. The resistance may be, for example, the end of the hole 9. The length of the unspooled hose 80 is then compared to the known depth or length of the hole 9. The known depth of the hole 9 is stored in the controller of the vehicle 70 or on a chart available to its operator. If the length of the hose 80 is substantially the same as the known length, the hole is determined to be clear. However, if the length of the dispensed hose is less than the known length of the hole, it may be determined that an obstruction requiring removal is present. It is important to clear such obstructions, and the trigger assembly should be located at a known position, nominally towards the end of the hole 9.

[0319] Step (iv) involves removing debris and obstructions from hole 9. A first aspect of step (iv) is performed simultaneously with the depth measurement of step (iii). Specifically, an air jet 81 is incorporated into the end or head of hose 80. As hose 80 retracts toward the front or proximal end of hole 9, air jet 81 is activated, blowing loose or small debris, such as sand and pebbles, toward the hole face. However, a second aspect of removing debris from hole 9 involves a separate or distinct cleaning step. This cleaning step is performed when an obstruction is detected during step (iii). Specifically, after retracting first hose 80, second hose 83 is fed into hole 9. Upon encountering the previously detected obstruction, claw 84 is activated, gripping the obstruction (i.e., stone, rock, debris) therein. Hose 83 is then retracted, taking the debris with it. This can be repeated several times as needed. Step (iii) may be repeated after the second hose 83 is used to ensure that the blockage has been cleared.

[0320] Once steps (i) through (iv) are complete, it is time for trigger assemblies 7 to be prepared and inserted into all holes 9 in heading 11. The first vehicle 70 is driven or driven clear with the second vehicle 70 driven or driven into position adjacent to heading 11. The second vehicle includes a first storage compartment or housing 96a in which a plurality of pre-assembled trigger assemblies 7 are housed (the boosters 19 are housed in a separate compartment or housing 96b of the second vehicle 70). The connection units 27 of the pre-assembled assemblies 7 are in a first inoperative position, i.e., only partially engaged with the detonation units.

[0321] Pre-assembled trigger assemblies 7 are fitted with color-coded connection units 27. The color coding is used to assist the vehicle 70 operator / controller in placing the correct trigger assembly 7 into the correct hole 9. For example, the color coding may indicate the type of booster to be installed therein or the length of the wrapped non-ellipse cord (i.e., determining the depth to which each trigger assembly should be placed). Alternatively, or additionally, the color coding may indicate the timing of detonation in the case of trigger units 17, i.e., the "order" in which the trigger assemblies 7 are fired after activation via an external activation means. Alternatively, the trigger assemblies 7 may be programmable, with firing timing based on the position of the hole 9 into which the trigger assembly 7 is inserted, such that placement of a specific trigger assembly into a specific hole based on firing timing / sequence is no longer necessary.

[0322] Step (v) involves assembling the trigger unit 17 of each of the trigger assemblies 7. Specifically, the booster 19 is inserted into the compartment 22 of the trigger assembly. Once positioned within the compartment 22, the detonator 15 (previously installed within the trigger assembly 7) is at least partially enclosed within the chamber 39 of the booster 19. Notably, prior to this step, the trigger unit 17 of each of the trigger assemblies 7 is not operational / assembled with the explosive (i.e., the booster 19) positioned separately from the detonator 15. This step may be a manual step performed by an operator, who may use a T-shaped insertion tool to push the booster through the connection unit 27 and housing 23 into position within the compartment 22. Alternatively, this may be an automated step performed by the functional unit 100' of the second vehicle 70. In either case, during assembly, the trigger assembly 7 is preferably supported on the hand-off slider 91 in an assembly position remote from the vehicle's positioning unit / articulated arm. When the trigger unit 17 is assembled to the booster, the carriage 91a of the hand-off slider 91 is actuated, and the assembled trigger assembly 7 moves to the hand-off position.

[0323] When the assembled trigger assembly 7 is in the hand-off position, it is time for the trigger assembly 7 to be placed into the bore 9. During step (vi), the gripper 95 of the functional unit 100' is first moved to a loading position adjacent to the hand-off slider 91. In this loading position, the opening of the housing 93 is aligned concentrically with the connection unit 27 of the trigger assembly 17. The carriage of the hand-off slider 91 is once again actuated, opening the gripper 95 and feeding the trigger assembly 7 into the housing 93. The gripper 95 is then closed so that the trigger assembly 7 is secured within the housing 93. The carriage of the slider 91 is then retracted away from the gripper 95. The coarse movement module 68 is then actuated, and the articulated arm moves the gripper 95 to an unloading position adjacent to the bore 9. The fine positioning module 100 is then actuated so that the gripper 95 (and the trigger assembly 7 within its housing 93) is aligned concentrically with the bore 9. At this point, the jaws of gripper 95 open and pusher 86 inserts trigger assembly 7 into the hole 9 to its initial position. In this initial position, each connection unit 27 protrudes outward from hole 9, while housing 23 of trigger assembly 7 extends into the hole and is held in place relative to the hole via collar 25 that engages the side of hole 9.

[0324] Once in the initial position, the trigger unit 7 is moved forward toward its operating or detonation position via the emulsion charging hose 86. Specifically, the charging hose 86 is fed through an opening in the connection unit 27 and contacts the proximal end of the booster 19. Continued feeding of the charging hose 86 pushes the trigger unit 17 of the trigger assembly 7 toward the detonation position, away from the housing 23, which is held against the proximal end of the bore 9 via the collar 25.

[0325] With the trigger unit 17 now in the detonation position, step (vii) involves pumping emulsion explosives into the bore 9 via the charging hose 86. Advantageously, because the charging hose 86 is used to position the trigger unit in the detonation position, the charging hose 86 is already in place in the bore 9, saving the time and effort that would otherwise be required to feed the hose therein. Once the emulsion explosives have been fed into the bore, the hose 86 is retracted.

[0326] Steps (i) to (vii) are then repeated for all trigger assemblies 7 so that each hole 9 in the heading 11 receives a trigger assembly 7 .

[0327] Finally, step (viii) involves "tying in" the detonation cord of each of the trigger assemblies 7. This step is performed via the coupling module 85 of the functional unit 100c. It is understood, therefore, that an intermediate step of modifying or "swapping out" the functional unit 100' may be necessary in order for the functional unit 100 to be coupled to the articulated arm, or alternatively, the functional unit 100 may be adapted to operate with the functional unit 100'. For example, the tie-in module 85 may be adapted to be receivable around the outside of the housing 93 of the functional unit 100'. In such an embodiment, the tie-in module may be installed in place via the slider unit 91 in a manner similar to the way the trigger assembly 7 is received within the housing 93.

[0328] The tie-in module 85 is then moved to an operable tie-in position adjacent the first connection unit 27 of the trigger assembly 7. As previously described, in the case of a physical connection between the external activation means and the trigger unit 17, the detonation cord 13 is selectively dispensed from the rotatable drum 89 and threaded through the opposing channel 67 of the first connection unit 27 of the trigger assembly 7. The connection unit 27 is then moved from the inoperable position to the operable position via the movable head 88 of the tie-in module 85.

[0329] The process is then repeated, with the tie-in module 85 being moved to a second tie-in position and the detonation cord 13 being successively threaded through the connection units 27 of each of the trigger assemblies 7 in the rock face 11. In this manner, each of the trigger assemblies 7 in the rock face 11 are operatively coupled together via the detonation cord 13 to the actuation means in a state ready for detonation.

[0330] In summary, it can be seen that the present invention provides an apparatus for installing protective linings on underground drives, such as mining drives, that offers significant safety and productivity improvements over existing manual methods. Conventional industrial practice requires workers to work underground to manually deploy and secure the protective mesh on the drive surface, a difficult task that carries a high level of injury risk. The present invention overcomes these problems by providing an assembly that allows this task to be performed by an otherwise conventional rock drilling jumbo. The assembly includes a pair of arms coupleable to the jumbo's boom for holding a roll of protective lining between them. The arms are configured so that the roll of lining is held away from the boom and the rest of the jumbo throughout the installation process, reducing the possibility of damage to both the jumbo and the lining itself.

[0331] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although any methods and materials similar or equivalent to those described herein can also be used in the practice or testing of the present invention, a limited number of exemplary methods and materials are described herein.

[0332] Where any prior art publication is referred to herein, it will be understood that such reference does not constitute an acknowledgement that the publication forms part of the common general knowledge in the art in Australia or any other country.

[0333] In the following claims and in the foregoing description of the invention, unless the context requires otherwise by express words or necessary implication, the words "comprise" or variations such as "comprises" or "comprising" are used in an inclusive sense, i.e., to specify the presence of stated features but not to exclude the presence or addition of further features in various embodiments of the invention.

[0334] Many changes may be made to the embodiments described above with reference to the figures without departing from the spirit and scope of the present invention.

[0335] By way of example, the invention is not limited to a two-vehicle solution, another possible embodiment is a single-vehicle embodiment, with separate arms carrying functional units, for example for hole cleaning etc.

Claims

1. 1. A trigger assembly for triggering an explosive in a hole in rock to generate an explosive blast, comprising: the trigger assembly is configured to be positioned within a hole in the rock, e.g., toward the end face or nose of the drive; The trigger assembly (a) a detonation unit body configured to be positioned at or near the open end of the hole; (b) a trigger unit at least partially positionable within the detonation unit body for triggering an explosive within the bore, the trigger unit including a trigger cord connected to a proximal end of the detonation unit body; (c) a connection unit for connecting a detonation cord of an external explosion actuation system to said trigger unit to facilitate triggering an explosion within the hole; Trigger assembly.

2. The trigger assembly of claim 1 , wherein the connection unit is configured to receive the detonation cord of the external explosive actuation system and, when coupled thereto, physically connect the detonation cord to the trigger cord.

3. 3. The trigger assembly of claim 2, wherein the connection unit may comprise a resilient element for receiving and connecting the detonation cord to the trigger cord.

4. 4. The trigger assembly of claim 3, wherein the resilient element comprises a keyhole-shaped passageway having two opposing open sides and two opposing closed sides, the passageway having a circular base portion for receiving the detonation cord and connecting it to the trigger cord, and a narrower elongated throat portion communicating with the circular base portion at one end and having an opening at the other end, wherein, in use, the detonation cord can move into and along the throat portion and into the circular base portion to contact the trigger cord.

5. 5. The trigger assembly of claim 4, wherein the resilient element comprises a base and a pair of opposing arms extending from the base that define the passageway, the base defining the circular base portion and the arms defining the throat portion.

6. 6. The trigger assembly of claim 5, wherein the arm is a resilient arm, and when the detonation cord is inserted into the opening and moved through the throat to the circular base, the arm is pressed away from its original position against the resilience of the arm, and the arm returns to its original position after the detonation cord enters the circular base, and the returned arm resists release of the detonation cord from the circular base, holding the detonation cord in contact with the trigger cord.

7. 3. The trigger assembly of claim 2, wherein the connection unit is configured to be movable relative to the detonation unit body from a first inoperative position in which the detonation cord is not connected to the trigger unit, to a second operative position in which the detonation cord is connected to the trigger unit.

8. 8. The trigger assembly of claim 7, wherein the connection unit includes a sleeve that fits over the proximal end of the detonation unit body from the hole, the sleeve configured to receive the detonation cord and physically connect the detonation cord to the trigger cord when coupled thereto.

9. 9. The trigger assembly of claim 8, wherein the sleeve is movable relative to the detonation unit body from the first inactivated position in which the detonation cord is not connected to the trigger cord, to the second activated position in which the detonation cord is connected to the trigger cord.

10. 10. The trigger assembly according to claim 7, wherein the connection unit and the detonation unit body include complementary mating members that can guide the connection unit and the detonation cord from the first inoperative position to the second operative position and urge the trigger cord and the detonation cord together to the second operative position.

11. 11. The trigger assembly of claim 10, wherein the complementary mating members comprise: (i) a plurality of protruding members extending axially away from the proximal end of the sleeve and defining a plurality of channels therebetween for receiving the detonation cord; and (ii) a plurality of posts extending from the proximal end of the detonation unit body and defining slots therebetween, the channels and the slots being axially aligned when the connection unit is in the first, inoperative position.

12. 12. The trigger assembly of claim 11, wherein each protruding member is shaped to taper from a tip of the protruding member, the width of the protruding member increasing with distance from the tip, the increasing width of the taper guiding the detonating cord into the channel.

13. a trigger assembly for triggering an explosive in a hole in the rock to generate an explosive blast, said trigger assembly configured to be located in the hole in the rock, for example, in a hole at the end face or nose of the drive; The trigger assembly (a) a detonation unit body configured to be positioned at or near the open end of the hole; (b) a trigger unit positionable at least partially within the detonation unit body, the trigger unit for triggering an explosive within the borehole; (c) a connection unit for connecting an external explosion actuation system to said trigger unit to facilitate triggering an explosion in said hole, said connection unit including a wireless receiver in communication with an external actuation means, which may be triggered by laser, WiFi, Bluetooth, or another communication medium; Trigger assembly.

14. The trigger assembly of claim 13 , wherein at least one of the connection unit and the trigger assembly includes a power source, such as a battery, for powering the receiver.

15. A trigger assembly according to any one of claims 1 to 14, wherein the explosive unit body includes a compartment for accommodating the trigger unit.

16. 16. The trigger assembly of claim 15, wherein the detonation unit body includes an elongated housing defining the compartment and extending into the bore and configured to receive and support the trigger unit within the compartment in an initial position of the trigger assembly within the bore.

17. 17. The trigger assembly of claim 16, wherein the elongated housing includes a first housing portion that, in use, is positioned outside the hole and provides a sleeve-like housing around which the trigger cord is wound.

18. 17. The trigger assembly of claim 16, wherein the elongated housing includes a first housing portion that, in use, is positioned inside the hole to provide a sleeve-like housing around which the trigger cord is wound.

19. 19. A trigger assembly as claimed in any one of claims 1 to 18, wherein the trigger unit comprises: (i) a booster comprising a small explosive charge, typically small compared to the rock mass to be exploded; and (ii) a detonator for detonating the small explosive charge.

20. 20. The trigger assembly of claim 19, wherein the booster includes an elongated chamber for receiving the detonator such that the booster is insertable into the detonation unit body after the detonator is already installed therein.

21. 21. The trigger assembly of claim 19 or claim 20, wherein the trigger unit includes a carrier configured to mount at least one of the detonator and the booster and the trigger cord within the compartment.

22. 22. The trigger assembly of claim 21, wherein the carrier is configured to be inserted into and closed at an open end of the detonation unit body so that the detonator and the booster are disposed within the housing.

23. 23. A trigger assembly as claimed in claim 21 or claim 22, wherein the carrier is removable from the explosive unit body, thereby opening the compartment and releasing the trigger unit when a force exceeding a threshold force is applied to the explosive unit body.

24. A trigger assembly as claimed in any preceding claim, including retaining means for retaining the initial explosive unit body in the blast hole towards its open end.

25. 25. The trigger assembly of claim 24, wherein said retaining means comprises a wider diameter portion of said explosive unit body.

26. 26. The trigger assembly of claim 25, wherein the retaining means includes a collar having a diameter wider than a diameter of the explosive unit body and configured to engage a portion of an inner wall of the bore near the open end of the bore.

27. The retaining collar is disposed around the housing of the explosive unit body; (a) engaging the portion of the inner wall of the bore to prevent axial movement relative to the housing; and (b) allowing the explosive unit body to rotate about the central longitudinal axis of the housing during use when the trigger cord is unwound as the carrier moves forward from the initial position of the hole away from the explosive unit body; 27. The trigger assembly of claim 26, configured to:

28. 25. The trigger assembly of claim 24, wherein the retaining means includes a collar attached to the explosive unit body and having a resilient biasing element configured to abut the sidewall of the hole and to hold the trigger assembly in place within the hole.

29. 29. A trigger assembly as described in claim 28, wherein the collar is mounted for relative rotational movement about the longitudinal axis of the explosive unit body, allowing the body to rotate as the trigger cord unwinds when the initiator / booster carrier moves forward from an initial position in the bore away from the explosive unit body.

30. the trigger unit is configured such that it can be moved forward into the blast hole to a desired detonation position while the detonation unit remains in its initial position, and the trigger cord, if present, maintains a physical connection between the detonation unit body and the trigger unit and is unwound so that the trigger unit can be actuated by the actuation means, thereby triggering an explosive charge in the hole and generating an explosive blast; A trigger assembly according to any one of claims 1 to 29.

31. 1. A method of creating an explosive blast in rock, the method comprising forming a plurality of holes in the rock, the method comprising: (a) positioning a detonation cord of an external explosive actuation system relative to a connection unit of a trigger assembly according to any one of claims 1 to 12; (b) physically connecting the detonation cord and the trigger unit of the trigger assembly; (c) triggering an explosive within said trigger assembly, thereby initiating detonation of the explosive using an external actuation means; A method comprising:

32. 32. The method of claim 31, further comprising sequentially repeating steps (a) and (b) for a plurality of other trigger assemblies, thereby connecting the trigger assemblies together with a detonation cord before performing step (c).

33. A mining or civil engineering vehicle for working close to an end face of a drive unit, for example close to an end face, the vehicle includes a positioning unit for moving the functional unit to a selected position; The positioning unit (i) a coarse positioning module configured to position a functional unit proximate a selected location; (ii) a precision positioning module configured to facilitate adjustment of the position of the functional unit to more precisely position and align the functional unit relative to a selected position; vehicle.

34. 34. The vehicle of claim 33, wherein the positioning unit further includes a control system capable of operating the fine positioning module to track the selected position and adjust the position of the functional unit, typically continuously, for example by video servo or similar hole monitoring options.

35. 35. The vehicle of claim 33 or claim 34, wherein the positioning unit further comprises a system for monitoring the position of at least one of the coarse positioning module and the fine positioning module.

36. 36. The vehicle of claim 35, wherein the system comprises a first range sensor mounted on a body of the vehicle.

37. 37. The vehicle of claim 36, wherein the system further comprises a second range sensor attached to the fine positioning module.

38. A vehicle according to any one of claims 33 to 37, wherein the fine positioning module is coupled to the coarse positioning module.

39. A vehicle as claimed in any one of claims 33 to 38, wherein the coarse positioning module comprises an articulated arm.

40. 40. A vehicle as claimed in any one of claims 33 to 39, wherein the fine positioning module comprises a hub configured to be coupled to the functional unit and a plurality of elongated links, each link connected at one end to the hub.

41. 41. The vehicle of claim 40, wherein each of the links is independently movable such that the hub is translatable and rotatable relative to the vehicle.

42. 42. A vehicle as claimed in claim 40 or claim 41, wherein the hub includes an opening which, in use, is coaxially aligned with a hole or other selected location in the end face.

43. A vehicle according to any one of claims 33 to 42, further comprising at least one functional unit configured to prepare and load a selected trigger assembly into a hole in said end face.

44. 44. The vehicle of claim 43, wherein the at least one functional unit is configured to move the trigger assembly relative to the end surface independently of the positioning unit of the vehicle.

45. 44. The vehicle of claim 43, wherein the at least one functional unit is configured to move the trigger assembly relative to the hole independent of the coarse positioning module of the vehicle.

46. 44. The vehicle of claim 43, wherein the at least one functional unit is coupled to the fine positioning unit and configured to move the trigger assembly relative to the hole independently of the coarse positioning unit of the vehicle.

47. a first functional unit, said first functional unit comprising: (a) a housing for protecting the selected trigger assembly and locating the selected trigger assembly within the hole when the functional unit is in use; (b) a gripper unit disposed in the opening of the housing; the gripper unit being movable between a closed position and an open position to allow insertion of a trigger assembly into the housing; A vehicle according to any one of claims 44 to 46.

48. 48. The vehicle of claim 47, further comprising a housing for storing a plurality of said trigger assemblies.

49. 49. A vehicle as claimed in any one of claims 44 to 48, wherein the first functional unit is typically connectable to the fine positioning module and is configured to support the trigger assembly when the trigger assembly is moved to the initial position within the hole.

50. 50. The vehicle of claim 49, wherein the first functional unit includes a movable member that, in use, moves coaxially with the hole to move the selected trigger assembly from a pre-insertion position adjacent the hole to the initial position within the hole.

51. 51. A vehicle as claimed in claim 49 or claim 50, wherein the first functional unit includes an insertion mechanism operable to move a removable portion of the selected trigger assembly forward from the initial position to an operative position within the hole.

52. 52. The vehicle of claim 51, wherein the insertion mechanism comprises an emulsion-filled hose that unwinds to push the removable portion from the initial position to the operating position.

53. 53. The vehicle of claim 52 when dependent on claim 42, wherein the emulsion-filled hose extends through the opening in the hub of the precision positioning module.

54. 43. A vehicle as claimed in any one of claims 33 to 42, including a second functional unit, typically in the form of a tie-in module, coupleable to the fine positioning module and configured to connect the detonation cord to the trigger assembly after the trigger assembly has been placed in the hole.

55. 55. The vehicle of claim 54, wherein the tie-in module includes a movable head engageable with a fixed portion of the selected trigger assembly, and in use, forward movement of the movable head can secure the detonation cord to the trigger assembly.

56. 56. The vehicle of claim 55, wherein the head is mounted on a telescoping tube to facilitate forward movement.

57. 57. A vehicle as claimed in claim 55 or claim 56, wherein the head includes a guide through which the detonation cord is fed towards the fixed portion of the selected trigger assembly.

58. the head is disk-shaped and the guide is centrally located with the guide such that, in use, when the detonation cord is connected to the trigger assembly, the guide is coaxially located with the hole; 58. The vehicle of claim 57.

59. 59. A vehicle as claimed in any one of claims 54 to 58, wherein the tie-in module comprises a rotatable drum from which the detonation cord is selectively dispensable.

60. 60. The vehicle of claim 59, wherein the rotatable drum is housed within the precision module when the tie-in module is coupled to the precision module.

61. 43. The vehicle of any one of claims 33 to 42, further comprising at least one functional unit configured to clean and inspect at least one of the hole and the rock face surface proximate the hole in preparation for insertion of the trigger assembly.

62. 62. The vehicle of claim 61, comprising a third functional unit coupleable to the fine positioning module and configured to remove debris from the rock face surface proximate the hole.

63. 63. The vehicle of claim 62, wherein the third functional unit includes a scooping member configured to be dragged along the rock face, thereby wiping clean debris from the hole.

64. 62. The vehicle of claim 61, comprising a fourth functional unit coupleable to the fine positioning module and configured to remove debris from within the hole.

65. 65. The vehicle of claim 64, wherein the fourth functional unit includes a first hose selectively fed from a rotatable spool into the hole to measure its depth.

66. 66. The vehicle of claim 65, wherein the terminal end of the first hose provides an air jet to clear light debris from the hole.

67. 67. The vehicle of claim 66, wherein the air jets are directed away from the terminal ends of each of the hoses so as to propel debris toward the opening of the hole.

68. 68. A vehicle as claimed in any one of claims 65 to 67, wherein the fourth functional unit comprises a second hose having a terminal end configured to grip and remove heavy debris from the hole.

69. A vehicle according to any one of claims 43 to 68, further comprising a separate storage compartment for storing the or each of the functional units.

70. 1. A mining or civil engineering vehicle for working in proximity to an end face, e.g., an end face, of a drive arrangement, the vehicle comprising a positioning unit for moving a functional unit relative to a selected location, the positioning unit including a vision module for monitoring the position of the functional unit to facilitate guiding the functional unit to the selected location.

71. 1. A mining or civil engineering vehicle comprising a functional unit for working an end face, the functional unit being configured to move to an initial position proximate a selected position within the end face, the functional unit being configured to move independently from the initial position to a second position closer to the selected position while the vehicle is stationary.

Images