Robot system for handling explosive charging of a borehole

Abstract

A robot system (1) for handling explosive charging of a borehole (100) using a detonator (3, 103) equipped with a wound cord (5, 105) having a free end (5a, 105a). The robot system comprises: a first robot (10) having at least a first gripper (17); a second gripper (18, 18'); a second robot (20) having at least a 5 receiver (27); and a controller (40) configured to implement robot system functionality. The robot system functionality includes instructions to: pick up the detonator with the wound cord by the first gripper, grip the free end of the wound cord by the second gripper; release the detonator into the receiver while holding on to the free end of the wound cord by the second gripper; 0 move the receiver with the detonator away from the second gripper such that the wound cord is unwound prior to charging the borehole with the detonator. (Fig. 1)

Description

[0001] ROBOT SYSTEM FOR HANDLING EXPLOSIVE CHARGING OF A BOREHOLE TECHNICAL FIELD

[0002] The present disclosure generally relates to a robot system and a method for handling explosive charging of a borehole using a detonator equipped with a wound cord, the wound cord having a free end.

[0003] BACKGROUND

[0004] In explosive operations, such as in underground mining, the explosive charging process is a critical step that is traditionally performed manually. The current process involves manually placing a detonator with an attached cord, potentially along with a booster (also referred to as primer), into the tip of a hose. The hose is then extended to the bottom of a borehole, and an emulsion explosive is deposited as the hose is retracted, leaving the booster and detonator at the bottom of the hole. This method, while effective, requires extensive manual labor, poses safety risks, and can result in inefficiencies, particularly in large-scale explosive operations.

[0005] The key challenge in automating this process is the reliable handling of detonators and their cords, which are prone to tangling. In manual operations, human operators can intuitively handle and manage the cords to prevent knots and ensure proper placement. However, replicating this precision in a robotic system is difficult because detonator cords are flexible and can twist, turn, or become entangled in ways that are hard for machines to detect and correct.

[0006] Automated systems for explosive charging using wireless detonators to bypass the cord-handling may not be feasible for all applications, especially where conventional wired detonators are preferred or required by operational constraints. SUMMARY

[0007] A general object of the present disclosure is to provide a system and a method for handling explosive charging of a borehole that solves or at least mitigates the problems of the prior art.

[0008] There is hence according to a first aspect of the present disclosure provided a robot system for handling explosive charging of a borehole using a detonator equipped with a wound cord, the wound cord having a free end, and wherein the robot system comprises: a first robot comprising a first manipulator with a base and a tool movable in relation to the base about a plurality of axes, the tool having at least a first gripper; a second gripper configured to hold the free end of the wound cord; a second robot comprising a second manipulator with a base and a tool movable in relation to the base about a plurality of axes, the tool having at least a receiver; and a controller configured to implement robot system functionality, the robot system functionality including instructions to: pick up the detonator with the wound cord by the first gripper, grip the free end of the wound cord by the second gripper and subsequently use the first gripper to release the detonator into the receiver of the second robot while holding on to the free end of the wound cord by the second gripper, wherein the robot system functionality further includes instructions to: subsequently to receiving the detonator in the receiver of the second robot, move the receiver with the detonator away from the second gripper such that the wound cord is unwound prior to charging the borehole with the detonator.

[0009] By providing a robot system functionality in which the free end of the wound cord is held onto by the second gripper as the receiver with the detonator moves away from the second gripper, the wound cord may be unwound with reduced, or even omitted, tangling of the cord. That is, by keeping track of the free end of the wound cord as the receiver with the detonator moves away from the second gripper, there is a reduced risk of tangling the cord, e.g. a reduced risk of forming cord knots. Thus, the present inventive concept mitigates the problem of the prior art by providing a robot system in which two robots work together to handle and manage detonator cords in a tangle-free manner, improving both safety and productivity in the operations. The first robot and the second robot may form part of a common main robot, or main robot arrangement, wherein the first robot and the first manipulator form a first main robot manipulator, and the second robot and the second manipulator form a second main robot manipulator. In such example, the first base and the second base may be at least partly shared by the first main robot manipulator and the second robot manipulator. In other words, the first base and the second base may together form a common robot base. As both the detonator end of the cord and the free end of the cord are secured by the first and second grippers, respectively, the wound cord maybe unwound with reduced, or even omitted, tangling of the cord, as the receiver with the detonator moves away from the second gripper, e.g. on its way to charge the borehole with the detonator. Thus, the receiver with the detonator typically moves away from the second gripper and towards the borehole. The borehole may be pre-drilled, or a robot of the robot system (e.g. the second robot) may comprise a driller for drilling the borehole just prior to, or while, charging the borehole with the detonator. The borehole may be charged with the detonator by the robot system, e.g. by the second robot, or by a third robot also comprised in the robot system. Thus, the robot system functionality further includes instructions to use the robot system to charge the borehole with the detonator. In such case, the robot system maybe referred to as a robot system for explosive charging of a borehole or a robot system for automated explosive charging of a borehole. However, the charging of the borehole may alternatively be performed manually after the detonator has been released into the received. The wound cord is of any type that maybe used to initiate the explosion of the detonator. For example, the wound cord may be a signal transmitter cord or a fuse cord. Examples of signals are: electrical signals, chemical signals, shock waves, fire signal. The detonator maybe referred to as a detonator cap. It should be understood that the free end of the wound cord is the opposite end of the cord which is embedded in, or arranged on, the detonator. Thus, the wound cord comprises the free end, a detonator end and a middle portion in between the free end and the detonator end, wherein the middle portion of the cord is wound or winded. The cord may e.g. be wound around a core. By winding the cord to provide the wound cord, the cord is gathered in an advantageous manner. Preferably, the wound cord is free of knots. For example, the cord may have been pre-winded around a core in a knot-free manner. The wound cord may e.g. be a coiled cord (i.e. the cord is gathered by being wound into a coil) or an encased cord (i.e. the cord is contained in some form of casing, housing or cassette to keep it gathered).

[0010] According to one embodiment, the robot system functionality further includes instructions to release the free end of the cord by the second gripper subsequently to that the wound cord is unwound in response to the receiver with the detonator moving away from the second gripper. Hereby, the detonator may be charged in the borehole such that the free end of the cord freely extends outside of the borehole. Thus, the cord maybe used to initiate the explosion of the detonator. For example, the robot system functionality may include instructions to release the free end of the cord by the second gripper subsequently to that the wound cord is unwound and prior to charging the borehole with the detonator.

[0011] According to one embodiment, the cord is wound using a fastening bond, wherein the instructions of the robot system functionality to move the receiver with the detonator away from the second gripper such that the wound cord is unwound is adapted for breaking such fastening bond. Hereby, the unwinding of the cord can be controlled by the movement of the receiver using the second manipulator. For example, the robot system functionality may include instructions to move the receiver away from the second gripper with a force that corresponds to exceeding the fastening bond of the wound cord. As the force exceeds the fastening bond of the wound cord, the wound cord will be unwound. In other words, the receiver is moved with sufficient force to break the fastening bond of the wound cord. The fastening bond may e.g. be an adhesive, possibly comprised in a tape, or the result of a clamp, a string, a zip tie or the like. Thus, as the receiver moves away from the second gripper with a force that corresponds to exceeding the fastening bond of the wound cord, the adhesive, tape, clamp, string, zip tie or the like is broken, resulting in an unwound cord.

[0012] According to one embodiment, the robot system functionality further includes instructions to use the second manipulator to charge the borehole with the detonator. Hereby, an efficient automated charging of the borehole with the detonator may be provided by the robot system.

[0013] According to one embodiment, the wound cord is a first wound cord, the detonator is a first detonator, wherein the robot system functionality further includes instructions to pick up a second detonator by the first gripper, grip the free end of the second wound cord by the second gripper, all while the second manipulator charges the borehole with the first detonator. Hereby, a time efficient handling of explosive charging of the borehole is provided. That is, as the second manipulator charge the borehole with the first detonator, the first gripper pick up the second detonator and the second gripper grip the free end of the second wound cord, respectively. Thereafter, the second manipulator may return to a receiving state in which the first gripper releases the second detonator into the receiver of the second robot while the second gripper holds on to the free end of the second wound cord, and the unwound scenario for the second wound cord is repeated in a similar manner as previously described for the first wound cord. Then, the second manipulator may charge the borehole with the second detonator. In other words, the robot system functionality may include instructions to: subsequently to receiving the second detonator in the receiver of the second robot, move the receiver with the second detonator away from the second gripper such that the second wound cord is unwound, and use the second manipulator to charge the borehole with the second detonator.

[0014] According to one embodiment, the robot system further comprises a detonator holder including a plurality of detonators equipped with a corresponding wound cord. Hereby, the robot system functionality may include instructions to pick up a pre-defined detonator with a wound cord among the plurality of detonators by the first gripper, and grip the free end of such pre-defined wound cord by the second gripper.

[0015] According to one embodiment, the second gripper is comprised in the first robot. Hereby, the same robot may hold, and keep track of, both ends of the wound cord, i.e. the detonator end of the wound cord by the first gripper and the free end of the wound cord by the second gripper. The second gripper is preferably comprised in the tool of the first robot. For example, the first gripper and the second gripper maybe arranged axially aligned along a longitudinal axis of the tool of the first robot. Such alignment may further improve handling of the wound cord.

[0016] According to one embodiment, the second gripper is arranged externally of the first robot and the second robot. For example, the robot system may comprise an external foundation or an external arm arranged externally of the first and second robots, wherein such external foundation or external arm comprises the second gripper.

[0017] According to one embodiment, the robot system functionality further includes instructions to arrange the detonator into a booster by the tool of the first robot to form a booster-detonator assembly, while holding on to the free end of the wound cord by the second gripper. Hereby, the detonator can be efficiently prepared, or primed, prior charging the booster-detonator assembly into the borehole. The booster may also be referred to as a primer or explosive booster or explosive primer. Typically, the robot system functionality includes instructions to arrange the detonator into the booster by the tool of the first robot (e.g. using the first gripper) prior to releasing the detonator, or booster-detonator assembly, into the receiver of the second robot while holding on to the free end of the wound cord by the second gripper, and / or subsequently to picking up the detonator, or boosterdetonator assembly, with the wound cord by the first gripper and gripping or grabbing the free end of the wound cord by the second gripper. Thus, for examples with the booster-detonator assembly, the receiver with the boosterdetonator assembly is moved away from the second gripper such that the wound cord is unwound prior to charging the borehole with the boosterdetonator assembly e.g. using the second manipulator. The previously mentioned second detonator may in a corresponding manner be primed and thus correspond to a second booster-detonator assembly.

[0018] According to one embodiment, the first robot comprises a first robot controller and the second robot comprises a second robot controller, the first and second robot controllers being governed by the controller, the controller being configured to divide the robot system functionality into first and second robot functionalities, wherein the controller is configured to control the first robot by instructing the first robot controller to implement the first robot functionality, and to control the second robot by instructing the second robot controller to implement the second robot functionality. Thus, at least for example in which the second gripper is comprised in the first robot, the first robot functionality comprises instructions to pick up the detonator with the wound cord by the first gripper, grip the free end of the wound cord by the second gripper and subsequently use the first gripper to release the detonator into the receiver of the second robot while holding on to the free end of the wound cord by the second gripper. The second robot functionality may thus comprise instructions to: subsequently to receiving the detonator in the receiver of the second robot, move the receiver with the detonator away from the second gripper such that the wound cord is unwound prior to charging the borehole with the detonator (e.g. by using the second manipulator to charge the borehole with the detonator). For examples in which the second gripper is arranged externally of the first and second robot, the controller may be further configured to divide the robot system functionality into a second gripper functionality comprising instructions to grip the free end of the wound cord by the second gripper, and hold on to the free end of the wound cord at least until the wound cord is unwound in response to the receiver with the detonator moving away from the second gripper. The second gripper may be associated with a specific second gripper controller, or be associated with the first or second robot controller. Thus, the controller may be configured to control the second gripper by instructing the specific second gripper controller, the first robot controller or the second robot controller to implement the second gripper functionality.

[0019] The controller may include processing circuitry, a microprocessor, microcontroller, programmable digital signal processor or another programmable device. The controller may also, or instead, include an application specific integrated circuit, a programmable gate array or programmable array logic, a programmable logic device, or a digital signal processor. Where the controller includes a programmable device such as the processing circuitry, microprocessor, microcontroller or programmable digital signal processor mentioned above, the processor may further include computer executable code that controls operation of the programmable device. The computer executable code may thus correspond to the robot system functionality. The controller may be referred to as a control unit.

[0020] The controller may further comprise a memory in which the computer executable code is stored. The memory may include any of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, etc.)), nonvolatile memory elements (e.g., ROM, hard drive, etc.), and combinations thereof. Moreover, the memory may incorporate electronic, magnetic, optical, and / or other types of storage media. Note that the memory may have a distributed architecture, where various components are situated remotely from one another, but can be accessed by the processor. The software in memory can include one or more software programs, each of which includes an ordered listing of executable instructions for implementing logical functions. The software in the memory includes a suitable operating system (0 / S) and programs. The operating system essentially controls the execution of other computer programs, and provides scheduling, inputoutput control, file and data management, memory management, and communication control and related services. The programs may include various applications, add-ons, etc. configured to provide end user functionality. The programs can include an application or “app” which provides various functionalities. There is according to a second aspect of the disclosure provided a method for handling explosive charging of a borehole using a detonator equipped with a wound cord, the wound cord having a free end, and the method comprising: picking up the detonator with the wound cord by a first gripper of a first robot; gripping the free end of the wound cord by a second gripper; subsequently releasing, by the first gripper, the detonator into a receiver of a second robot while holding on to the free end of the wound cord by the second gripper; subsequently to receiving the detonator in the receiver of the second robot, moving the receiver with the detonator away from the second gripper such that the wound cord is unwound; and charging the borehole with the detonator.

[0021] Effects and features of the second aspect of the disclosure are largely analogous to those described above in connection with the first aspect of the disclosure. Embodiments mentioned in relation to the first aspect are largely compatible with the second aspect, of which some are exemplified below, typically without repeating advantageous effects.

[0022] According to one embodiment, the method further comprises: releasing, by the second gripper, the free end of the cord subsequently to that the wound cord is unwound in response to the receiver with the detonator moving away from the second gripper.

[0023] According to one embodiment, the cord is wound using a fastening bond, wherein the method further comprises: moving the receiver with the detonator away from the second gripper such that the wound cord is unwound to break such fastening bond.

[0024] According to one embodiment, the borehole is charged with the detonator by the robot system, e.g. by the second robot, or by a third robot also comprised in the robot system. In such case, the method may be referred to as a method for explosive charging of a borehole or a method for automated explosive charging of a borehole. For example, the charging of the borehole with the detonator may be performed by the second manipulator. However, as mentioned in accordance with the first aspect, the charging of the borehole may alternatively be performed manually after the detonator has been released into the receiver.

[0025] According to one embodiment, the wound cord is a first wound cord, the detonator is a first detonator, wherein the method further comprises: while charging, e.g. by the second robot, the borehole with the detonator: picking up a second detonator by the first gripper of the first robot; and gripping the free end of a second wound cord by the second gripper. The method may further comprise: subsequently returning the second manipulator to a receiving state, subsequently releasing, by the first gripper, the second detonator into the receiver of the second robot while holding on to the free end of the second wound cord by the second gripper; subsequently to receiving the second detonator in the receiver of the second robot, moving the receiver with the second detonator away from the second gripper such that the second wound cord is unwound; and charging, e.g. by the second robot, the borehole with the second detonator. As mentioned in relation to the first aspect, the first detonator maybe comprised in a first boosterdetonator assembly and the second detonator maybe comprised in a second booster-detonator assembly.

[0026] According to one embodiment, the method further comprises: picking up the detonator with the wound cord from a detonator holder including a plurality of detonators equipped with corresponding wound cords, by the first gripper of the first robot.

[0027] According to one embodiment, the method further comprises: arranging the detonator into a booster by the first gripper to form a booster-detonator assembly while holding on to the free end of the wound cord by the second gripper.

[0028] According to one embodiment, the method further comprises: controlling, by a controller, the first robot by instructing a first robot controller to implement first robot functionality, and controlling, by the controller, the second robot by instructing a second robot controller to implement second robot functionality. Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a / an / the element, apparatus, component, means, etc. are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, etc., unless explicitly stated otherwise.

[0029] BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The specific embodiments of the inventive concept will now be described, by way of example, with reference to the accompanying drawings, in which:

[0031] Fig. i is a schematic side view of a robot system according to one example;

[0032] Fig. 2 illustrates various states of a robot system performing handling explosive charging of a borehole according to one example;

[0033] Fig. 3 is a flowchart of a method for handling explosive charging of a borehole according to one example.

[0034] DETAILED DESCRIPTION

[0035] The inventive concept will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplifying embodiments are shown. The inventive concept may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the inventive concept to those skilled in the art. Like numbers refer to like elements throughout the description.

[0036] Fig. i depicts a robot system i for handling explosive charging of a borehole using a detonator 3 equipped with a wound cord 5. The wound cord 5 comprises a free end 5a, a detonator end 5b on the opposite end of the wound cord 5 and embedded in, or arranged on, the detonator 3, and a middle portion 5c in between the free end 5a and the detonator end 5b. The middle portion 5c is the portion of the cord 5 which is wound or winded, e.g. around a core or simply gathered without a core as shown in Fig. 1. However, according to at least some examples, the cord 5 is wound using a fastening bond 5d. The fastening bond 5d may e.g. be an adhesive, possibly comprised in a tape, or be a clamp, a string, a zip tie or the like.

[0037] The robot system 1 comprises a first robot 10 comprising a first manipulator 13 with a base 14 and a tool 16 movable in relation to the base 14 about a plurality of axes. The base 14 may be referred to as a first robot base 14 and the tool 16 may be referred to as a first robot tool 16. The robot system 1 further comprises a second robot 20 comprising a second manipulator 23 with a base 24 and a tool 26 movable in relation to the base 24 about a plurality of axes. The base 24 of the second robot 20 maybe referred to as a second robot base 24 and the tool 26 of the second robot 20 maybe referred to as a second robot tool 26. The first robot base 14 and the second robot base 24 may be at least partly shared between the first manipulator 13 of the first robot 10 and the second manipulator 23 of the second robot 20.

[0038] As shown in Fig. 1, the first manipulator 13 is exemplified by a first manipulator arm 13a arranged closest to the base 14, and a second manipulator arm 13b connected to the first manipulator arm 13a by a joint. Opposite the joint, the second manipulator arm 13b is connected to the tool 16. Correspondingly, for the second robot 20, the second manipulator 23 is exemplified by a first manipulator arm 23a arranged closest to the base 24, and a second manipulator arm 23b connected to the first manipulator arm 23a by a joint. Opposite the joint, the second manipulator arm 23b is connected to the tool 26.

[0039] The tool 16 of the first robot 10 has at least a first gripper 17. The first gripper 17 is configured to pick up and hold the detonator 3 with the wound cord 5.

[0040] The robot system 1 further comprises a second gripper 18, 18’ configured to hold the free end 5a of the wound cord 5. The second gripper 18 may for example be arranged on the tool 16 of the first robot 10. As an alternative, the second gripper 18’ may be arranged externally of the first robot 10, and also externally of the second robot 20. For example, the robot system 1 may comprise an external foundation 30 (or external arm) arranged externally of the first and second robots 10, 20. In the example of Fig. 1, the external foundation 30 comprises an end portion being equipped with the second gripper 18’. For examples in which the second gripper 18’ is arranged externally of the first and second robots 10, 20, the second gripper 18’ is typically arranged in close proximity to the first robot 10 and the tool 16 of the first robot 10 in order to be able to hold the free end 5a of the wound cord 5 while the first gripper 17 hold the detonator 3. For example, the external foundation 30 maybe arranged side-by-side with the base 14 of the first robot 10.

[0041] The tool 26 of the second robot 20 has at least a receiver 27. The receiver 27 is configured to receive the detonator 3 from the first robot 10. The receiver 27 may be exemplified as a gripper (e.g. a third gripper of the robot system 1) or holder.

[0042] The robot system 1 further comprises a controller 40 configured to control the operation of the first robot 10, the second gripper 18, 18’ and the second robot 20. In more detail, the controller 40 is configured to implement robot system functionality of the robot system 1.

[0043] The first robot 10 may comprise a first robot controller 19 and the second robot 20 may comprise a second robot controller 28. For examples in which the second gripper 18’ is arranged externally of the first and second robots 10, 20, the second gripper 18’ maybe associated with a second gripper controller 32. However, in the following, it is assumed that the second gripper 18 is comprised in the tool 16 of the first robot 10.

[0044] The controller 40 maybe configured to divide the robot system functionality into the first and second robot functionalities. The controller 40 may be configured to control the first robot 10 by instructing the first robot controller 19 to implement the first robot functionality, and to control the second robot 20 by instructing the second robot controller 28 to implement the second robot functionality. The first robot functionality may thus correspond to operations of the first robot io controlled by the controller 40 and implemented by the first robot controller 19, and the second robot functionality to operations of the second robot 20 controlled by the controller 40 and implemented by the second robot controller 28. Thus, the first and second robot controllers 19, 28 are being governed by the controller 40. In the following, both the first and second robot functionalities are assumed to be included in the robot system functionality.

[0045] The controller 40 may include processing circuitry including computer executable code that controls operation of the robot system 1. The computer executable code may thus correspond to the robot system functionality. With further reference to Fig. 2, the robot system functionality will be described in more detail.

[0046] The robot system functionality includes instructions to pick up the detonator 3 with the wound cord 5 by the first gripper 17. Thus, the first gripper 17 is configured to pick up and hold the detonator 3 and the controller 40 is configured to correspondingly instruct the first gripper 17 to do so. The robot system 1 may further comprise a detonator holder 4 including a plurality of detonators 3’, each one equipped with a corresponding wound cord (only shown for one 103 of the plurality of detonators 3’ in the detonator holder 4). Hereby, the robot system functionality may include instructions to pick up a pre-defined detonator with a wound cord among the plurality of detonators 3’ by the first gripper 17.

[0047] The robot system functionality further includes instructions to grip (or grab) the free end 5a of the wound cord 5 by the second gripper 18 (or by second gripper 18’). Thus, the second gripper 18 is configured to grip and hold the free end 5a of the wound cord 5 and the controller 40 is configured to correspondingly instruct the second gripper 18 to do so. Typically, the first gripper 17 is instructed to pick up the detonator 3 with the wound cord 5 prior to that the second gripper 18 is instructed to grip the free end 5a of the wound cord 5. The second gripper 18, 18’ maybe configured to pick up the free end 5a of the wound cord 5 in corresponding manner to the first gripper 17 being configured to pick up the detonator.

[0048] The robot system functionality further includes instructions to, subsequently, use the first gripper 17 to release the detonator 3 into the receiver 27 of the second robot 20 while holding on to the free end 5a of the wound cord 5 by the second gripper 18. Thus, the first gripper 17 is configured to release the detonator 3 into the receiver 27 and the controller 40 is configured to correspondingly instruct the first gripper 17 to do so. Typically, the first manipulator 13 and the second manipulator 23 cooperate, and are configured to move the respective tool 16, 26 to enable the first gripper 17 to release the detonator 3 into the receiver 27.

[0049] Optionally, the robot system functionality may include instructions to, prior to releasing the detonator 3 into the receiver 27 by the first gripper 17, and after gripping the free end 5a of the wound cord 5 by the second gripper 18, arrange the detonator 3 into a booster 7 by the tool 16 of the first robot 10 to form a booster-detonator assembly 9, while holding on to the free end 5a of the wound cord 5 by the second gripper 18. Thus, the robot system functionality may include corresponding instructions to use the first gripper 17 to release the booster-detonator assembly 9 into the receiver 27 of the second robot 20 while holding on to the free end 5a of the wound cord 5 by the second gripper 18.

[0050] The robot system functionality further includes instructions to, subsequently to receiving the detonator 3 or booster-detonator assembly 9 in the receiver 27 of the second robot 20, move the receiver 27 with the detonator 3 or booster-detonator assembly 9 away from the second gripper 18. The receiver 27 is configured to be moved away from the second gripper 18 such that the wound cord 5 is unwound. Thus, the second robot 20 is configured to move the receiver 27 with the detonator 3 or booster-detonator assembly 9 away from the second gripper 18 and the controller 40 is configured to correspondingly instruct the second robot 20 to do so. Typically, the receiver 27 is moved towards the borehole 100. For examples in which a fastening bond 5d is used for the winding of the cord 5, the robot system functionality may include instructions to move the receiver 27 away from the second gripper 18 with a force that corresponds to exceeding that of the fastening bond 5d. As the force exceeds that of the fastening bond 5d, and the fastening bond breaks, the wound cord 5 will be unwind.

[0051] By providing a robot system functionality in which the free end 5a of the wound cord 5 is held onto by the second gripper 18 as the receiver 27 with the detonator 3 or booster-detonator assembly 9 moves away from the second gripper 18, the wound cord 5 maybe unwound with reduced, or even omitted, tangling of the cord 5. Thus, the second gripper 18 holds onto the free end 5a of the cord 5 from that it is gripped, at least until the receiver 27 with the detonator 3 or booster-detonator assembly 9 moves away from the second gripper 18 to unwound the wound cord 5.

[0052] Optionally, the robot system functionality may include instructions to release the free end 5a of the cord 5 by the second gripper 18 subsequently to that the wound cord 5 is unwound in response to the receiver 27 with the detonator 3 or booster-detonator assembly 9 is moved away from the second gripper 18. That is, after the wound cord 5 has been unwound, the second gripper 18 may be instructed to release the free end 5a of the cord 5. For examples in which a fastening bond 5d is used for the winding of the cord 5, the robot system functionality may include instructions to release the free end 5a of the cord 5 by the second gripper 18 in response to that the fastening bond 5d breaks.

[0053] The robot system functionality may further include instructions to, subsequently to that the receiver 27 is moved away from the second gripper 18 such that the wound cord 5 is unwound, use the robot system 1 to charge the borehole 100 with the detonator 3 or booster-detonator assembly 9. For example, the second manipulator 23 maybe used to charge the borehole 100 with the detonator 3 or booster-detonator assembly 9. Thus, the second robot 20 maybe configured to move the second manipulator 23 with the receiver 27 including the detonator 3 or booster-detonator assembly 9, and charge the borehole 100 with the detonator 3 or booster-detonator assembly 9, and the controller 40 may thus be configured to correspondingly instruct the second robot 20 to do so. The borehole 100 may e.g. be arranged in a horizontal or vertical surface, e.g. the roof or the wall of a chamber or a room.

[0054] The second robot 20 may comprise an extendable emulsion hose, wherein the detonator 3 or booster-detonator assembly 9 is arrangeable at the tip of such hose. For example, the tool 26 of the second robot 20 maybe configured to arrange the detonator 3 or booster-detonator assembly 9 at the tip of the hose. The hose may be configured to discharge an emulsion, such as a primary explosive emulsion. The second robot 20 maybe configured to insert the hose with the detonator 3 or booster-detonator assembly 9 into the borehole 100, typically to the bottom of the borehole, and thereafter discharge the emulsion from the hose while retracting the hose from the borehole 100. Hereby, the detonator 3 or booster-detonator assembly 9 is placed at the bottom of the borehole 100 while filling the borehole 100 with the emulsion. This process is typically repeated for every borehole that is to be charged with a detonator or booster-detonator assembly. Thus, the robot system functionality may comprise instructions to: optionally arrange the detonator 3 or booster-detonator assembly 9 at the tip of the hose; insert the hose with the detonator 3 or booster-detonator assembly 9 into the borehole 100, typically to the bottom of the borehole 100; and subsequently discharge the emulsion from the hose while retracting the hose from the borehole 100. In case a third robot is used for charging the borehole with the detonator 3 or booster-detonator assembly 9, a corresponding hose is provided in the third robot.

[0055] Thereafter, the explosion may be initiated by activating the cord 5. Typically the free end 5a of the cord 5 is arranged outside of the borehole during the charging, and the free end 5a of the cord 5 may thus be used for initiating the explosion. For example, the cord 5 maybe signal cord, and the robot system 1 may instruct the detonator to explode by sending a signal via the signal cord.

[0056] As previously described, the robot system 1 may handle a plurality of detonators 3’, each having a corresponding wound cord. For example, two detonators 3, 103 with a corresponding wound cord 5, 105 maybe at handled at least partly simultaneously by the robot system 1, such that a first detonator 3 with a wound cord 5 as previously described is first handled, whereafter a second detonator 103 with a wound cord 105 is handled at least partly simultaneously with the handling of the first detonator 3. For example, the first robot 10 (and the second gripper 18, 18’) may handle the second detonator 103 with the wound cord 105 while the second manipulator 23 charge the borehole 100 with the first detonator 3 (or corresponding first booster-detonator assembly 9). In more detail, the robot system functionality may thus include instructions to pick up the second detonator 103 by the first gripper 17, grip a free end 105a of the second wound cord 105 by the second gripper 18, 18’, all while the second manipulator 23 charges the borehole 100 with the first detonator 3 (or corresponding first booster-detonator assembly 9). Thereafter, the second manipulator 23 may return to a receiving state in which the first gripper 17 releases the second detonator 103 (or corresponding second booster-detonator assembly, described below) into the receiver 27 of the second robot 20 while the second gripper 18, 18’ holds on to the free end 105a of the second wound cord 105, and the unwound scenario for the second wound cord 105 is repeated in a similar manner as previously described for the first wound cord 5.

[0057] As a further example, the robot system functionality may include instructions to, prior to releasing the second detonator 103 into the receiver 27 by the first gripper 17, and after gripping the free end 105a of the second wound cord 105 by the second gripper 18, 18’, arrange the second detonator 103 into a booster 7 by the tool 16 of the first robot 10 to form a second booster-detonator assembly, while holding on to the free end 105a of the second wound cord 105 by the second gripper 18, 18’. This may e.g. be carried out while the second manipulator 23 charge the borehole 100 with the first detonator 3 (or corresponding first booster-detonator assembly 9). Thus, the robot system functionality may include corresponding instructions to use the first gripper 17 to release the second booster-detonator assembly into the receiver 27 of the second robot 20 while holding on to the free end 105a of the second wound cord 105 by the second gripper 18, 18’ (whereafter the same procedure as previously described is repeated).

[0058] A method for handling explosive charging of a borehole using a detonator equipped with a wound cord, the wound cord having a free end, will now be generally described with reference to Fig. 3. The robot system 1 described with reference to Figs. 1-2 may be used when implementing the method of Fig. 3-

[0059] In a first step, S10, the detonator with the wound cord is picked up by a first gripper of a first robot. As described with reference to Figs. 1-2, the first step S10 may include a sub-step Sioa of picking up the detonator with the wound cord from a detonator holder including a plurality of detonators equipped with corresponding wound cords, using the first gripper of the first robot. Even further, the first step S10 may include a sub-step of picking up a plurality of detonator with a corresponding wound cord from the detonator holder including a plurality of detonators equipped with corresponding wound cords, using the first gripper of the first robot.

[0060] In a second step, S20, the free end of the wound cord is grabbed gripped by a second gripper. The second step S20 may e.g. be performed subsequently to the first step S10. After the first and second steps S10, S20, the method typically comprises holding onto the detonator by the first gripper and holding on to the free end of the wound cord by the second gripper, until being instructed to release the detonator and free end of the wound cord, respectively. As described with reference to Figs. 1-2, the second gripper may be comprised in the first robot, or be arranged externally of the first robot.

[0061] Optionally, in a third step, S30, the detonator is arranged into a booster by the first gripper to form a booster-detonator assembly while, in a sub-step S35 to the third step S30, the free end of the wound cord is held by the second gripper.

[0062] In a fourth step, S40, the detonator is released, by the first gripper, into a receiver of a second robot while, in a sub-step S45 to the fourth step S40, the free end of the wound cord is held by the second gripper. As the detonator is released into the receiver, the detonator is also received by the receiver in a corresponding step 840a. The fourth step S40 is performed subsequently to the first and second steps S10, S20, and subsequently to the optional third step S30. If the optional third step S30 is performed, the fourth step S40 is performed by releasing the booster-detonator assembly in the receiver.

[0063] In a fifth step, S50, performed subsequently to receiving 840a the detonator in the receiver of the second robot, the receiver is moved with the detonator (or booster-detonator assembly) away from the second gripper such that the wound cord is unwound. As described with reference to Figs. 1-2, the cord may be wound using a fastening bond. Consequently, in an optional first substep 850a to the fifth step S50, the receiver with the detonator (or boosterdetonator assembly) is moved away from the second gripper to break such fastening bond such that the wound cord is unwound.

[0064] Optionally, in a second sub-step S55 to the fifth step S50, the free end of the cord is released by the second gripper subsequently to that the wound cord is unwound by that the receiver with the detonator has moved away from the second gripper. For example, the free end of the cord maybe released by the second gripper subsequently to that the fastening bond breaks.

[0065] In a sixth step, S60, performed subsequently to the fifth step S50 and optional sub-step S55 of the fifth step S50, the borehole is charged with the detonator. The charging process may be performed manually or by the robot system, preferably using the second robot. Typically, the borehole is charged with the detonator or booster-detonator assembly such that the free end of the cord is left outside of the borehole. Thereafter, the explosion may be initiated by activating the cord.

[0066] As described with reference to Figs 1-2, the wound cord may be a first wound cord, the detonator first detonator, and the method may further comprise: while performing the sixth step S60 of charging the borehole with the detonator, perform a seventh step S10’ of picking up a second detonator by the first gripper of the first robot; and perform an eight step S20’ of gripping the free end of a second wound cord by the second gripper. Correspondingly to the third step S30, the method may comprise a ninth step S3 o’, in which the second detonator is arranged into a booster by the first gripper to form a second booster-detonator assembly while, in a sub-step S35’ to the ninth step S30’, the free end of the second wound cord is held by the second gripper. Thereafter, corresponding steps S40 (and optionally 840a, S45), S50 (and optionally 850a, S55) and S60 maybe performed for the second detonator or second booster-detonator assembly. That is, a second borehole may be charged with the second detonator or second booster-detonator assembly. Thus, the second detonator or second booster-detonator assembly is sequentially charged in the second borehole subsequently to charging the first detonator or first booster-detonator assembly in the first borehole.

[0067] The inventive concept has mainly been described above with reference to a few examples. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the inventive concept, as defined by the appended claims.

Claims

22CLAIMS1. A robot system (i) for handling explosive charging of a borehole (ioo) using a detonator (3, 103) equipped with a wound cord (5, 105), the wound cord having a free end (5a, 105a), the robot system comprising:- a first robot (10) comprising a first manipulator (13) with a base (14) and a tool (16) movable in relation to the base (14) about a plurality of axes, the tool having at least a first gripper (17);- a second gripper (18, 18’) configured to hold the free end of the wound cord;- a second robot (20) comprising a second manipulator (23) with a base (24) and a tool (26) movable in relation to the base about a plurality of axes, the tool having at least a receiver (27); and- a controller (40) configured to implement robot system functionality, the robot system functionality including instructions to: pick up the detonator with the wound cord by the first gripper, grip the free end of the wound cord by the second gripper and subsequently use the first gripper to release the detonator into the receiver of the second robot while holding on to the free end of the wound cord by the second gripper,wherein the robot system functionality further includes instructions to: subsequently to receiving the detonator in the receiver of the second robot, move the receiver with the detonator away from the second gripper such that the wound cord is unwound prior to charging the borehole with the detonator.

2. The robot system of claim 1, wherein the robot system functionality further includes instructions to release the free end of the cord by the second gripper subsequently to that the wound cord is unwound in response to the receiver with the detonator moving away from the second gripper.

3. The robot system of any of claims 1-2, wherein the cord is wound using a fastening bond (sd) and wherein the instructions of the robot system functionality to move the receiver with the detonator away from the secondgripper such that the wound cord is unwound is adapted for breaking such fastening bond.

4. The robot system of any of claims 1-3, wherein the robot system functionality further includes instructions to use the second manipulator to charge the borehole with the detonator.

5. The robot system of any of claim 4, wherein the wound cord (5, 105) is a first wound cord (5), the detonator (3, 103) is a first detonator (3), and wherein the robot system functionality further includes instructions to pick up a second detonator (103) by the first gripper, grip the free end (105a) of the second wound cord (105) by the second gripper, all while the second manipulator charges the borehole with the first detonator.

6. The robot system of any of claims 1-5, further comprising a detonator holder (4) including a plurality of detonators (3’) equipped with a corresponding wound cord.

7. The robot system of any of claims 1-6, wherein the second gripper (18) is comprised in the first robot.

8. The robot system of any of claims 1-6, wherein the second gripper (18’) is arranged externally of the first robot and the second robot.

9. The robot system of any of claims 1-8, wherein the robot system functionality further includes instructions to arrange the detonator into a booster (7) by the tool of the first robot to form a booster-detonator assembly (9), while holding on to the free end of the wound cord by the second gripper.

10. The robot system of any of claims 1-9, wherein the first robot comprises a first robot controller (19) and the second robot comprises a second robot controller (28), the first and second robot controllers being governed by the controller, the controller being configured to divide the robot system functionality into first and second robot functionalities, and wherein the controller is configured to control the first robot by instructing the first robot controller to implement the first robot functionality, and to control the second robot by instructing the second robot controller to implement the second robot functionality.

11. A method for handling explosive charging of a borehole using a detonator equipped with a wound cord, the wound cord having a free end, the method comprising:picking up (Sio) the detonator with the wound cord by a first gripper of a first robot;gripping (S20) the free end of the wound cord by a second gripper; subsequently releasing (S40), by the first gripper, the detonator into a receiver of a second robot while holding on to (S45) the free end of the wound cord by the second gripper;subsequently to receiving (840a) the detonator in the receiver of the second robot, moving (S50) the receiver with the detonator away from the second gripper such that the wound cord is unwound; andcharging (S60) the borehole with the detonator.

12. The method of claim 11, further comprising:releasing (S55), by the second gripper, the free end of the cord subsequently to that the wound cord is unwound in response to the receiver with the detonator moving (S50) away from the second gripper.

13. The method of any of claims 11-12, wherein the cord is wound using a fastening bond and wherein the method further comprises:moving (850a) the receiver with the detonator away from the second gripper such that the wound cord is unwound to break such fastening bond.

14. The method of any of claims 11-13, wherein the wound cord is a first wound cord, the detonator is a first detonator, and wherein the method further comprises:while charging (S60) the borehole with the detonator:picking up (Sio’) a second detonator by the first gripper of the first robot; andgripping (S20’) the free end of a second wound cord by the second gripper.15- The method of any of claims 11-14, further comprising:picking up (Sioa) the detonator with the wound cord from a detonator holder including a plurality of detonators equipped with corresponding wound cords, by the first gripper of the first robot.

16. The method of any of claims 10-15, further comprising:arranging (S30) the detonator into a booster by the first gripper to form a booster-detonator assembly while holding on to (S35) the free end of the wound cord by the second gripper.

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