System for dispensing primers in mining blastholes

Abstract

The present invention relates to a system (1000) and method for dispensing primers in mining blastholes, which comprises a primer vehicle (100) and a priming device (200), which is carried by the primer vehicle (100), the vehicle (100) being able to operate autonomously, semi-autonomously or by remote control, wherein the priming device (200) comprises: at least two trays (250, 251) for placing reel elements (220); at least two dispensers (260, 261) of booster-type explosive devices (210); an overhead crane (230); a system for positioning detonators inside the booster-type explosive device; an antenna positioner; a cable brake dispenser (270); and a cable unwinding system (290) with a well depth gauge for inspecting the wells before loading.

Description

SYSTEM FOR DISPENSING PREMIUMS IN MINING BLASTING HOLES SCOPE

[0001] The present invention pertains to the field of the explosives industry, primarily used in the mining industry. In particular, the present invention relates to a system for dispensing raw materials into mining blastholes. BACKGROUND

[0002] In the assembly of explosives, the priming process consists of the introduction of one or more detonators into a high-power explosive device, and then introducing the explosive device together with the detonator into wells, holes or perforations.

[0003] Currently, to carry out priming in surface or open-pit mining operations, a detonator is installed in an explosive device such as a booster or initiator and this is manually unwound, to subsequently be lowered into the shaft until the prime, as the booster and detonator assembly is called, is located at a predefined distance from the bottom of the shaft, for example, approximately 1 m from the bottom of the shaft, where shafts are usually between 12 and 25 meters or more deep and have a diameter of 15 to 40 cm.

[0004] After this operation, the cable on the surface is wrapped around some element, such as a pole, cane, or rod (e.g., a branch of a colihue tree or similar) placed across the borehole to prevent the free end of the cable from falling into the hole. When the cable is cut, or the cable falls into the hole and communication is lost, this can cause a serious incident because it becomes an explosive element rigged to detonate but lacking control elements. When explosives fail to detonate as planned during a blast, this is known as dead shots. The accidental detonation of misfires is a frequent cause of bodily injury, damage to materials and equipment, and the resulting loss of production.

[0005] On the other hand, the priming operation, although carried out safely, is exposed to external conditions that make it a risky operation. For example, some risky conditions include operations in areas with geomechanical instabilities, subsidence, or operations at the bottom of the mine or near vertical walls, which carry inherent risks to personnel.

[0006] Furthermore, in a manual priming operation, there is room for error in low-visibility conditions, such as at night, which is why this task is restricted to daylight hours. Relieving this restriction would significantly increase time in the production process, thus increasing overall productivity. In this way, the state of the art has sought to address these types of deficiencies by reducing risks during the priming operation.

[0007] For example, document US20210223018 A1 , which describes an explosives delivery vehicle for delivering an initiator for initiating an explosion of an explosive material in a hole in the floor of a trench to an operational depth in the hole. The vehicle comprises: (a) a storage assembly for storing a plurality of impellers; (b) an impeller loading assembly for (i) supporting the impeller in a delivery position above the hole and (ii) moving the impeller down into the hole and inserting the impeller to an operational depth in the hole; and (c) a delivery assembly for transporting the impeller from the storage assembly to the loading assembly.However, the technology described in this document requires the detonation cables to be connected manually and requires manually securing or anchoring a reel around the blast hole, exposing operators to external hazards at the blast site and preventing the release of the restriction on operating at night.

[0008] A similar solution is disclosed in document US1 1473892B2, which describes a delivery vehicle for depositing explosives in a blasting pit, comprising: an emulsion storage tank; a vertical translation platform; and a robotic arm; the explosives storage tank is provided with at least one sealing container; the at least one sealing container is capable of containing explosive substances in liquid or particulate form; the vertical translation platform is configured so that the robotic arm is located at the ideal working height from the ground, and the robotic arm is horizontal to counteract the ground being uneven; the robotic arm comprises at least two movable axes and sensors; the robotic arm is configured to: enable analysis of the inner portion of the hole, to guide the sensor near the upper edge of the hole; guide the first explosive discharge; mount a detonator; deposit a newly installed detonator into the hole; guide the explosive to the second discharge from the hole; and cushion the hole at the end of the explosive deposition process; the vehicle further comprises: a GPS device, a propulsion element, and an electronic processor, which is configured to independently guide the vehicle, the vehicle further comprises: at least three grippers, the at least three grippers being coupleable to the free end of the robotic arm, each of the grippers having different functions and purposes.However, the technology described in this document lacks active redundancies and the hard-wired connection of the detonators still needs to be done manually.

[0009] Document WO201 1 106830A1 relates to a blasthole loading system having a charge delivery module with two motors, one driving a drive wheel to draw a hose from a reel and allow the hose to advance down into the blasthole, and the other motor rotating the reel to retrieve the hose onto the reel, wherein a hose drive assembly comprises a detonator tube into which a detonator can be loaded for transport to the blasthole. However, the technology described in this document relies heavily on manual interaction both to assemble the explosive charges and to connect them once installed at the blast site, exposing operators to the external hazards of the blast site and preventing the release of the restriction of operating at night hours.

[0010] Document W02021080514 A1 discloses a loading apparatus including a first loader and a second loader. The first loader is configured to contain, transport, and dispense components of the first initiation device. The second loader is configured to contain, transport, and dispense components of the second initiation device. The first loader and the second loader are configured to dispense the components of the first initiation device and the components of the second initiation device. correspondingly, so that one dispensed from the components of the first initiation device and one correspondingly dispensed from the components of the second initiation device can be assembled to form a structurally complete unified initiation device for charging into a hole. However, the technology described herein lacks safety redundancies and relies heavily on manual interaction to connect the charges once installed at the blast site, where the charges are pushed horizontally.

[0011] Another solution is that shown by document US20210270590 A1 , which describes a booster assembly for use in a drilling and blasting operation, comprising in coaxial alignment: (a) a booster for initiating an explosion of an explosive material in a hole in the floor of a pit as part of a drilling and blasting operation; (b) a spool and a detonating cord wrapped around the spool in a storage position outside the hole and connected to the spool and the detonator, with the spool provided to allow the detonating cord to be unwound from the spool when the detonator is moved from the storage position to an operating depth in the hole and the spool remains in the storage position; and (c) a stake for locating the spool on the floor of the pit near the hole after the booster is at the operating depth in the hole;and with one end of the spool formed to receive and locate one end of the driver such that the driver is seated on the spool when the driver assembly is in the upright position in the stowed position prior to moving the driver to operating depth in the hole. However, the technology described herein requires detonation cables to be manually connected and requires manually securing or anchoring a spool around the blast hole, exposing operators to the external hazards of the blast site and preventing the release of the restriction on operating at night hours.

[0012] Document US201901 19066 A1 relates to an apparatus for use in a blasting system including a reel with a hub, a first and second disc which are mounted on the hub, an elongated flexible signal transmission conductor having a first end and a second end and which is wound on the hub, between the discs, at least a first detonator that is connected to the signal transmission conductor at or near the first end, a connector device that is connected or exposed to the signal transmission conductor at or near the second end, wherein the signal transmission conductor includes spaced-apart markings or formations and wherein the spool includes a sensor, responsive to passage of a marking or formation past the sensor to produce a measure of the length of the signal transmission conductor being unwound from the hub and a release mechanism that, in use, allows a degree of rotation of the spool or movement of the conductor when a tensile force exerted on the conductor increases above a predetermined level, thereby to reduce the level of the tensile force exerted on the conductora transmitter / receiver module, a battery and a processor, and, on one of the discs, connector arrays adapted to communicate with a control device. However, the technology described herein requires the detonation cables to be connected manually and requires manually securing or anchoring a reel around the blast hole, exposing operators to external hazards at the blast site and preventing the release of the restriction on operating at night.

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

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

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

[0016] The present invention seeks to solve, among other things, the problem of exposure to risks for operators, also allowing flexible operating hours, allowing nighttime operation and allowing both reaching and working in areas previously inaccessible due to their risks for humans, in an efficient and rapid manner, thus increasing production.

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

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

[0019] The system also consists of an overhead crane capable of picking up at least one starter and one reel element, which are arranged in a respective dispenser. The overhead crane picks up both products in no predetermined order.

[0020] Once the overhead crane positions an initiator and a reel element on the priming equipment, the priming is carried out by a vertical movement of the priming mechanism. Subsequently, using a cable unwinding system, the priming is positioned in the passage area of ​​each well.

[0021] To deliver the raw material to the passing zone, the system uses a cable brake, preferably configured with a rod element, which is actuated by a cable tie system, which in turn prevents the raw material from falling into the wellbore without the required control. The system then allows the reel element to be positioned in a safe area relative to the wellbore layout.

[0022] The dispensing subsystem is composed of an overhead crane located at the top of the machinery, and has the capacity for Cartesian movements on the X, Y and Z axes. This overhead crane is equipped with a gripping element capable of holding, moving and positioning both the reel and starter elements from their dispensing point to the priming point.

[0023] At least one reel element tray is arranged beneath the overhead crane, divided into right and left trays. Both trays hold at least fifteen reel element units each in a defined position. Additionally, below the reel element trays are the left and right starter dispensers, each capable of dispensing at least fifteen starters.

[0024] Each reel element includes flexible supports that adapt to the ground and allow the reel element to always stand upright without tipping over. A reel element attaches to the dispenser tray. in a fixed position due to the tension produced by the flexible supports, deformed within their elastic deformation range. The flexible supports are deployed when the reel element is removed.

[0025] Thus, the present invention has several advantages over known technologies. In particular, with respect to US20210223018 A1, the invention contemplates an internal priming system instead of carrying pre-loaded raw materials. Furthermore, the reel element includes ground-adaptable supports that maintain the verticality of said reel element, while the document has a stake, which depends on the hardness of the ground for its support. With respect to CN107957224 B, the operating principle is completely different, as it is based on a manipulator arm with different couplings instead of an explosive dispenser. The invention considers a more reliable cable brake mooring and a wireless activation system. Document WO201 1 106830 mentions a system for loading "bombeadles" explosives into shafts / wells (a step after raw material dispensing), so the operating principle and characteristics do not overlap with the invention.On the other hand, with respect to W02021080514 A1, the present invention has a defined dispensing system, in which the detonator, initiator and rod element are coupled and primed inside the system by quick couplings, allowing the complete set of elements necessary for detonation to be dispensed. DESCRIPTION OF THE FIGURES

[0026] Figure 1 represents a side view of the system of the invention in operation, arranged on a well cutting.

[0027] Figure 2 represents a side view of the system of the invention.

[0028] Figure 3 represents a perspective view of a reel element of the system of the invention, in the position of priming a starter.

[0029] Figure 4 represents a perspective view of a cable brake of the system of the invention.

[0030] Figure 5 represents a diagram of the high-level control architecture of the system of the invention.

[0031] Figure 6 represents a diagram of the low-level control architecture of the system. DETAILED DESCRIPTION OF THE INVENTION

[0032] The present invention relates to a system (1000) and method for dispensing premiums in mining blast holes.

[0033] The system (1000) is preferably formed by a pharm vehicle (100) which comprises a priming device (200), in which a plurality of detonating devices, a plurality of initiating devices are arranged, where each detonator and initiator make up a prime, and a plurality of reel elements.

[0034] The vehicle (100) corresponds to an explosives dispensing vehicle, which is either configured to operate autonomously, or is primarily configured as a robotic vehicle, primarily designed to handle loads. The vehicle (100) comprises the priming equipment (200), which allows the priming and dispensing stages to be carried out for the development of tunnels in open-pit mining.

[0035] In this way, the priming vehicle (100) has the capacity to operate autonomously, semi-autonomously and by remote control. This vehicle (100) transports the priming equipment (200), which comprises means for priming, dispensing and automatically lowering a prime into the well. Additionally, it allows a wireless module to be charged to initiate the detonation.

[0036] The system (1000) has the capacity to process at least thirty units of primes, by dispensing at least thirty units of initiators (210), preferably of 450 grams, and at least thirty units of reel elements (220) containing two electronic detonators, each, where each initiator (210) and its respective reel element (220) are linked by twenty meters of cable and their respective communication antennas at the end opposite the detonator. The priming equipment comprises an antenna positioner (300), which allows controlling the location of the reel element (220)

[0037] The priming equipment (200) is composed of an overhead crane (230) capable of taking an initiator (210) and subsequently a reel element (220) from their respective dispensers. This overhead crane (230) moves the initiator (210) and the respective reel element (220) towards a primer (400) in that respective order.

[0038] Once the bridge crane positions an initiator (210) and a reel equipment (220) in the primer (400), the prime is made by a vertical movement of the priming mechanism. Subsequently, by means of a cable unwinding system (290), the prime is positioned in the passage area of ​​each well.

[0039] In order to leave the premium in the passing area, the priming equipment (200) comprises a tray for dispensing (270) and a cable brake (271), which is activated by a cable tie system (280). After that, the priming equipment allows the reel element (220) to be positioned in a safe sector relative to the area where the well is located.

[0040] The bridge crane (230), which is arranged on the upper part of the priming equipment (200), has the capacity for Cartesian movements on the X, Y axes, and a third movement on the Z axis. This bridge crane is provided with a gripping element (240), capable of holding, moving and positioning both a reel element (220) and its respective starter (210) from its dispensing point to the priming point (290).

[0041] Beneath the overhead crane (230) there is at least one tray (250, 251) for placing the reel elements (220), which are preferably distributed symmetrically on a right tray (250) and a left tray (251). Each tray (250, 251) holds at least fifteen reel element units (220) in a defined position.

[0042] Additionally, below the trays (250, 251) of reel elements (220), there are dispensers (260, 261) of starters (210), which are distributed in a left dispenser (261) and a right dispenser (260), where each of said dispensers (260, 261) has the capacity to dispense at least fifteen starters (210).

[0043] The dispensers (260, 261) are configured based on a moving caterpillar with a respective tensioner, which distributes the high explosives (initiators) by means of a controlled linear advance, where said advance is produced by the action of a caterpillar motor. At both ends of each dispenser (260, 261) laser sensors are located to determine the quantity of initiators that are in the priming equipment (200), while at the ends of the lateral face two inductive sensors are located, to indicate that the caterpillar blades are in the correct position. Additionally, there is at least one plate to separate the dispenser (260, 261) from its respective tray (250, 251).

[0044] The dispensers (260, 261) are removable, so they include propellers at the base and a handle at the end to be able to pull and remove the priming equipment (200).

[0045] The dispensers (260, 261) require electrical components, which are arranged towards the outside for greater accessibility when performing maintenance and / or inspection.

[0046] Each reel element (220) comprises flexible legs or supports (221) that adapt to the ground and allow it to always fall upright without tipping over. The flexible supports (221) are collected by elastic deformation and couple with hooks when the reel element is stored in its respective tray (250, 251) and are deployed when said reel element is removed. The reel element (220) comprises receiving antennas (222) for carrying out wireless detonation, at least two reels (223), at least one lower base (224) and a detonation assembly, consisting of a detonator support (225) and a central support (226). This product is made entirely of any material suitable for post-blasting processes, such as plastics, with the exception of the antennas.

[0047] As described above, the trays (250, 251) of reel elements (220), consisting of the right tray (250) and the left tray (251), are capable of storing a quantity of fifteen units each, giving a total capacity of thirty units to the system (1000). Each tray It is located on the side areas of the priming equipment (200). The trays have stainless steel telescopic rails to provide better reach when loading and unloading reel elements (220) between the operator and the system (200).

[0048] Each tray (250, 251) is designed entirely with 6061 structural aluminum and, to a lesser extent, with 3D printed ABS plastic and / or plastic injection in the same material, for parts supporting sensors and some connectors.

[0049] Each tray includes two identical mechanical sensors that identify the correct position of the reel element in its designated location on the tray and its permanence in the designated place. In addition, there is an inductive sensor, preferably one per tray, to indicate whether the system is closed to begin operation.

[0050] The system (1000) further comprises a well detection subsystem comprising means for measuring the physical characteristics and geometric properties of the well.

[0051] The system (1000) further comprises an autonomous navigation subsystem, which allows the vehicle (100) to navigate with the ability to avoid obstacles, and position itself with orientation towards the area where the well is located. Navigation is carried out by means of sensors, which deliver a point cloud of the 3D environment. This point cloud is processed and with that, unevenness, cuttings, obstacles in general can be distinguished and with the GPS the position where the obstacle was detected at some point is saved. These sensors can correspond to lidar sensors (acronym for LiDAR, Light Detection and Ranging or Laser Imaging Detection and Ranging), configured by means of an algorithm used for obstacle detection.

[0052] The system (1000) further comprises an autonomous fine positioning subsystem so that the vehicle (100) positions the priming equipment over the well to be loaded. The autonomous fine positioning subsystem corresponds to a complement to the autonomous navigation subsystem, and allows the vehicle (100) to be correctly positioned with respect to the wells of a well grid. of blasting. In this case, if the vehicle (100) is located near a well, the autonomous navigation subsystem will pass control of the movement of the equipment to the autonomous fine positioning subsystem, whereby the priming equipment (200) will be in the correct position for loading the corresponding well, preferably placing the priming equipment over 20 cm from the cutting of the well.

[0053] To position the priming equipment (200) precisely over each well, information from 3D lidar sensors is used to detect the hole that makes up the well.

[0054] The system (1000) further comprises a wireless detonation subsystem comprising means for detonating the explosives loaded into the wells.

[0055] The system (1000) further comprises a control subsystem that communicates with and manages each of the other subsystems. Said control subsystem comprises the interaction of multiple devices, both controllers and sensors.

[0056] The high-level architecture includes the processing algorithms that enable the vehicle's autonomous navigation along a grid, inspection, and loading of wells.

[0057] The teams involved in high-level control are: • PC Control Cabin • PC GUI • PC Control Room • Tablet PC

[0058] The high-level control architecture is broadly composed of three subsystems: autonomous navigation / teleoperation, fine positioning, and well loading.

[0059] Assisted teleoperation is handled by the GUI PC. This PC provides the operator with the monitoring and control interface for the control room or using the Tablet PC. This system provides the operator with a set of possible actions, thereby guiding the vehicle's actions.

[0060] Additionally, the control room has the additional option of remote control of the equipment (without assistance), which is intended to be used to reach the fences. In this case, operator control only allows the equipment to be moved outside the fences, without the possibility of performing any priming actions.

[0061] In the case of autonomous operation, the main high-level component is the control PC located in the cockpit. This PC is responsible for processing the navigation algorithms, fine-tuning the positioning, and high-level coordination of the wellbore loading system.

[0062] The low-level architecture corresponds to the controllers that perform processing towards the actuators, for the operation of the equipment.

[0063] A programmable logic controller (PLC) is used to control the vehicle (100) and the priming equipment (200). These perform low-level processing and control of the system, enabling control of the vehicle's movements (including a telescopic manipulator arm), as well as the priming and well loading equipment.

[0064] The vehicle can be used in all types of open-pit mining operations that involve priming to initiate a detonation with a wireless electronic initiation system.

[0065] Thus, the operation of the system (1000) begins with the Planning System receiving the drilling and blasting work order. This order defines the mesh to be prioritized, as well as the topographic map for planning routes and visiting wells. Each task includes a destination and the route the vehicle will use.

[0066] Task assignment and system monitoring information will be available through a user interface in the Control Room.

[0067] Once the routes have been defined, the system approaches each well using a dual positioning system, where it approaches each well first using GNSS or GPS positioning and then the final approach fine adjustment is performed by lidar sensors, the wells are detected by means of a reinforced learning algorithm. Subsequently, the system inspects the well, detects its depth and presence of water, and begins the priming process. Finally, it loads the initiator (210) primed with detonators (225) into the well by means of an unwinding process, and positions the cable brake rod (271), in the cutting that prevents the cables from going into the well, and thus continue with the next well.

[0068] After priming all wells, the system returns to each well to perform a global activation of wireless initiation modules. This allows the modules to be activated to begin the blasting process. This activation can be done, for example, using Li-Fi (light fidelity). REFERENCE NUMBERS [0069JAs a list with the components of the invention and their respective reference numbers is included in the figures below. 1000 System 100 Phmador Vehicle 200 Primate Team 210 Starter 220 Reel Element 221 Flexible support 222 Receiving antenna 223 Reel 224 Lower base 225 Detonator Holder 226 Central support 230 Bridge crane 240 Crane bridge gripping element 250 Right tray for reel elements 251 Left tray for reel elements 260 Right starter dispenser 261 Left starter dispenser 270 Cable Brake Dispenser 271 Cable brake 280 Cable Tie System 290 Primacy Point 300 Antenna Positioner 400 Phmador

[0070] Finally, it should be noted that various specific parameters of the invention, such as dimensions, choice of materials, and specific aspects of the preferred configurations described above, may vary or be modified depending on operational requirements. Consequently, the specific configurations described above are not intended to be limiting, and such variations and / or modifications are within the spirit and scope of the invention.

Claims

CLAIMS 1. A system (1000) for dispensing raw materials in mining blasting pits, CHARACTERIZED in that it comprises a phmador vehicle (100) and priming equipment (200), which is transported by the phmador vehicle (100), said vehicle (100) operating autonomously, semi-autonomously and by remote control; where the priming equipment (200) comprises: a. At least one tray (250, 251) for placing reel elements (220), which are distributed in a right tray (250) and a left tray (251); b. at least one dispenser (260, 261) of detonating explosive devices (210), arranged under the trays (250, 251), c. an overhead crane (230) arranged on the upper part of the priming equipment (200) capable of taking a booster type initiator explosive (210) from its dispenser and subsequently a reel element (220) from its tray, moving the initiator (210) and the respective reel element (220) towards a phmator (400); d.an antenna positioner (300), which allows controlling the location of the reel element (220); e. a dispenser (270) for dispensing a cable brake (271), which is actuated by a cable tie system (280); and f. a cable unwinding system (290), which allows positioning the premium in each well.

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

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

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

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

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

7. The system according to any of the previous claims, CHARACTERIZED in that each reel element (220) comprises flexible supports (221) with an aerodynamic configuration, where said flexible supports (221) adapt to the ground and allow it to always fall upright without tipping over, which are elastically deformed, and coupled with hooks when the reel element is stored in its respective tray and are deployed when said reel element is removed.

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

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

10. The system according to any of the preceding claims, CHARACTERIZED in that it comprises a well detection subsystem comprising means for performing a measurement of the physical characteristics and geometric properties of the well and an autonomous navigation subsystem, which allows the vehicle (100) to navigate with the ability to avoid obstacles, and position itself with orientation towards the area where the well is located. 1 1. The system according to claim 10, CHARACTERIZED in that it further comprises an autonomous fine positioning subsystem so that the vehicle (100) positions the priming equipment over the well to be loaded.

12. A method for dispensing raw materials in mining blasting pits by means of the system of claim 1, CHARACTERIZED in that it comprises the steps of: a. placing the initiators (210) and spool elements (220) in the priming equipment (200) of the system (1000); b. bringing the system (1000) closer to each pit by means of a GPS positioning reference, c. taking an initiator (210) from its dispenser and subsequently a spool element (220) from its tray by means of the bridge crane (230), moving the initiator (210) and the respective spool element (220) towards a primer (400); d. moving an actuator of the priming system (400) such that the detonators (225) present in the spool element (220) are inserted into the booster type initiator (210); e. Load the primed booster with detonator into the well by a controlled unwinding process, and position the cable brake in the cutting to continue with the next well; and f. returning the system (1000) to perform a global activation of wireless initiation modules.

13. The method according to claim 12, CHARACTERIZED comprises the step of defining a mesh of the area to be primed, the topographic map to plan the routes and visit the wells, prior to placing the initiators (210) and reel elements (220) in the priming equipment (200).

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

15. The method according to any of claims 12 to 14 CHARACTERIZED because the approach of the system (1000) to each well includes positioning using lidar type sensors.