TECHNICAL FIELD

The present disclosure relates to a loading assembly for preparing boreholes for a blasting operation, and a method thereof. The present disclosure further relates to a method for controlling operation of the loading assembly.

BACKGROUND

Mining operations and construction work commonly utilize drilling and blasting techniques. During blasting operations, detonation of explosive charges needs to be precisely controlled for the sake of safety and productivity.

A mining operation requires drilling of a plurality of boreholes into a rock surface. The boreholes extend a proper depth into the rock and are filled with explosive charges. Due to the rough nature of rock the boreholes are usually not uniform, which is challenging for placing the explosive charges into the boreholes. It is necessary to invest extensive time, manpower and effort for preparing each borehole for a successful blasting operation. Current tools and methods for preparing boreholes need to be improved to reduce manual workload for operators thereby increasing work efficiency and productivity.

After filling the boreholes with explosive charges, the explosive charges may be detonated with an initiating detonator and an explosive booster at a controlled time and in a controlled sequence for breaking the adjacent rock. The broken rock is then removed and the newly formed rock surface is reinforced for a new blasting operation.

Mining is an inherently risky occupation. The mining environment is harmful for human health, with dangers ranging from rock collapses to inhalation of toxic particles. It should always be prioritized to minimize exposure of personnel to the harmful mining environment.

Telescopic, remote and/or automatic controls of preparing boreholes for a blasting operation have been applied to tackle the above mentioned problems. SUMMARY

In view of the above, a first object of the present disclosure is to provide a loading assembly for preparing a borehole for a blasting operation, which loading assembly comprises an outlet adapted for communication with the borehole; one or more inlets, wherein one inlet is in line with the outlet, the one or more inlets each is adapted for communication with a guide tube. The loading assembly further comprises a switch unit comprising a switch means and one or more slots, wherein each of the one or more slots is switchable to a first position in line with any of the one or more inlets or to a second position out of line with any of the one or more inlets, wherein each of the one or more slots has an open end adapted for communication with any of the one or more inlets at the first position, and wherein at least one of the slots has an open end adapted for communication with the outlet.

By providing improved mechanization, the loading assembly according to the present disclosure has the advantage of reducing manual workload for operators thereby increasing work efficiency and productivity.

By enabling remote and/or automatic controls of preparing a borehole for a blasting operation, the loading assembly according to the present disclosure has the advantage of reducing or even eliminating exposure of personnel to the harmful work environment.

The loading assembly as was described above may comprise at least two inlets, which has the advantage of shortening queue time at entrance of the loading assembly. It is desired that the rig spends as little time as possible on waiting which is non-productive.

The switch unit of the loading assembly as was described above may comprise at least two slots, which has the advantage of streamlining multiple deliveries that arrive at the loading assembly at different times. In some embodiment, the loading assembly as was described above comprises a first inlet configured to receive an initiating device or a packaged explosive product; a second inlet configured to receive an explosive delivery hose, wherein the second inlet is in line with the outlet; and a switch unit comprising a first slot and a second slot. With this specific configuration the loading assembly has the advantage of delivering an initiating device and a packaged or bulk explosive product simultaneously or sequentially into the borehole.

The first slot of the loading assembly as was described above may have an at least partially closed end configured to block communication with the outlet at the first position in line with the second inlet, the second slot has an open end adapted for communication with the outlet at the first position in line with the second inlet, and wherein the second inlet has a parking space configured to accommodate the initiating device or the packaged explosive product. The at least partially closed end of the first slot provides the advantage of ensuring proper operation of the switch means by retaining the initiating device or the packaged explosive product within the first slot. The parking space enables switching of the first and second slots after the initiating device or the packaged explosive product has been shuttled from the first slot into the parking space, which is required for shuttling the initiating device or the packaged explosive product into the borehole through the second slot with two open ends adapted for communication with the outlet and the second inlet respectively.

The loading assembly as was described above may further comprise at least one blocking member configured to retain the initiating device or the packaged explosive product within the first slot, wherein the at least one blocking member is arranged at the first inlet. The blocking means provides the advantage of ensuring proper operation of the switch means by retaining the initiating device or the packaged explosive product within the first slot when the first slot is in line with the first inlet. The blocking means further provides the advantage of protecting the initiating device or the packaged explosive product during switching of the first slot.

In some embodiments, the guide tube of the loading assembly as was described above may comprise a Y-shaped bifurcation. The Y-shaped bifurcation of guide tube has the advantage of providing a lean configuration of the loading assembly.

The loading assembly as was described above may further comprise at least one system selected from the group consisting of a mechanical system, a sensing system, an imaging system, a range finding system and a protractor system. Alternatively, the loading assembly as was described above may be connected to at least one system selected from the group consisting of a mechanical system, a sensing system, an imaging system, a range finding system and a protractor system. The mechanical, sensing, imaging, range finding or protractor system enables remote and/or automatic controls of operation of the loading assembly. Therefore, the loading assembly has the advantage of reducing or even eliminating exposure of personnel to the harmful work environment. It is a second object of the present disclosure to provide a rig comprising at least one loading assembly as was described above. The rig has all the advantages that have been described above in conjunction with the loading assembly.

It is a third object of the present disclosure to provide a method of preparing a borehole for a blasting operation, which method comprises the steps of positioning the outlet of the loading assembly as was described above in line with the borehole, switching a slot to the first position, and shuttling a device or tool into the slot, whereby the device or tool is able to enter the borehole by passing through the slot. The method has all the advantages that have been described above in conjunction with the loading assembly.

It is a fourth object of the present disclosure to provide a method performed by a control unit or a computer connected to the control unit for controlling operation of the loading assembly as was described above, which method comprises the actions of obtaining data and controlling operation of the switch unit.

In some embodiments, the method for controlling operation of the loading assembly as was described above further comprises the action of determining status of the one or more slots, and/or determining status of the switch means.

In some embodiments, the method for controlling operation of the loading assembly as was described above further comprises the action of controlling operation of the mechanical system, controlling operation of the sensing system, controlling operation of the imaging system, controlling operation of the range finding system, and/or controlling operation of the protractor system.

The method performed by a control unit or a computer connected to the control unit for controlling operation of the loading assembly has the advantage of at least partially automatizing operation of the loading assembly.

It is a fifth object of the present disclosure to provide a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method for controlling operation of the loading assembly as was described above.

According to some embodiments herein there is provided a computer program which comprises program code for causing a control unit or a computer connected to the control unit to carry out the method for controlling operation of the loading assembly as was described above. It is a sixth object of the present disclosure to provide a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the method for controlling operation of the loading assembly as was described above. According to some embodiments herein there is provided a computer-readable storage medium storing a computer program, wherein said computer program comprises program code for causing a control unit or a computer connected to the control unit to carry out the method for controlling operation of the loading assembly as was described above.

BRIEF DESCRIPTION OF THE DRAWINGS

With reference to the appended drawings, below follows a more detailed description of embodiments of the disclosure cited as examples.

In the drawings: Figure 1 is a schematic representation of a mining or construction work rig;

Figure 2 depicts a mounting device in a perspective view;

Figure 3 depicts a loading assembly in a perspective view;

Figure 4 depicts a loading assembly from a top view;

Figure 5 depicts a loading assembly from a side view; Figure 6 is a schematic representation of a guide tube with a Y-shaped bifurcation;

Figure 7 depicts the sequence of shuttling an initiating device into a parking space in a perspective view;

Figure 8 is a block diagram depicting a method of using the loading assembly for preparing a borehole for a blasting operation; Figure 9 is a block diagram depicting a method for controlling operation of the loading assembly;

Figure 10 is a block diagram illustrating a control unit and connections with the control unit. DETAILED DESCRIPTION

The present disclosure improves mechanization of preparing a borehole for a blasting operation, which cuts down manual workload for operators thereby increasing work efficiency and productivity. The present disclosure enables remote and/or automatic controls of preparing a borehole for a blasting operation thereby reducing or even eliminating exposure of personnel to the hazardous work environment.

According to a first aspect of the disclosure, there is provided a loading assembly 6 for preparing a borehole for a blasting operation, which loading assembly 6 comprises an outlet 13 adapted for communication with the borehole; one or more inlets 11, 12, wherein one inlet 12 is in line with the outlet 13, the one or more inlets 11, 12 each is adapted for communication with a guide tube 21. The loading assembly 6 further comprises a switch unit 9 comprising a switch means 10 and one or more slots 7, 8, wherein each of the one or more slots 7, 8 is switchable to a first position in line with any of the one or more inlets 11, 12 or to a second position out of line with any of the one or more inlets 11, 12, wherein each of the one or more slots 7, 8 has an open end adapted for communication with any of the one or more inlets 11, 12 at the first position, and wherein at least one of the slots 7, 8 has an open end adapted for communication with the outlet 13.

With “in line” is herein meant essentially concentrically arranged in a straight line, which is opposite to “out of line”. When a slot 7, 8 is at a first position in line with an inlet 11 , 12, passage is allowed between the slot 7, 8 and the inlet 11, 12. When a slot 7, 8 is at a second position out of line with an inlet 11, 12, passage is not allowed between the slot 7, 8 and the inlet 11, 12.

The term “slot” refers to a straight and elongated passage, thoroughfare, enclosure, groove or receptacle configured to park a device/tool or a packaged explosive product, and/or allow the same to pass through. Each of the one or more slots 7, 8 has an open end that is adapted for communication with any of the one or more inlets 11, 12 for receiving the incoming device, tool or packaged explosive product. At least one of the slots 7, 8 has an open end that is adapted for communication with the outlet 13. The guide tube 21 may be a tube, hose or pipe made of a material which is flexible enough to bend but still rigid enough to function as a supporting and guiding means.

The loading assembly 6 may be used for coordinating a process of delivering an initiating device 29 to an operative depth inside a borehole and subsequently at least partially filling the borehole with an explosive material. The explosive material may be packaged or bulk explosive products. An initiating device 29 is applied to initiate a blasting operation in a controlled manner. The initiating device 29 may comprise a booster and a detonator. Preferably, the initiating device 29 comprises electric initiating explosives. An induction of the detonator detonates the booster which in turn causes a larger body of explosives to explode. The initiating device 29 may be configured to receive a firing command through a cable harness or wirelessly. A wireless initiating device 29 is preferred which may further comprise a battery for power supply and a digital receiver for receiving a firing command in the form of radio signals.

The loading assembly 6 may also be used for deploying any other suitable devices or tools into a borehole and subsequently retracting the same from the borehole during a preparing process of blasting operation, which preparing process typically encompasses the tasks of sampling, analyzing, inspecting, imaging, cleaning, charging of the borehole, et cetera.

In some embodiments as illustrated in Figs. 3 - 5, the loading assembly 6 comprises at least two inlets 11, 12, wherein one inlet 12 is in line with the outlet 13, each of the at least two inlets 11, 12 is adapted for communication with a guide tube 21. Comparing with the loading assembly 6 with one inlet 12, the loading assembly 6 with at least two inlets 11, 12 has the advantage of shortening queue time at entrance of the loading assembly 6 thereby speeding up the deliveries into the borehole. Furthermore, the loading assembly 6 with at least two inlets 11, 12 may be adaptable to a plurality of booms 4 of a rig 1.

In some embodiments as illustrated in Figs. 3 - 5, the switch unit (9) comprises at least two switchable slots 7, 8. Comparing with the switch unit 9 with one switchable slot 7,

8, the switch unit 9 with at least two switchable slots 7, 8 is able to streamline multiple deliveries that arrive at the loading assembly 6 at different times thereby increasing the efficiency of preparing a borehole for a blasting operation.

The switch means 10 may comprise a connecting member configured to connect the at least two switchable slots 7, 8 such that the slots 7, 8 are able to move to switch position simultaneously. The switch means 10 with the connecting member provides the advantage of compact and yet flexible designs of the loading assembly 6.

In some embodiments, the switch means 10 comprises a sliding member configured to connect the at least two switchable slots 7, 8 such that the slots 7, 8 are able to slide to switch position. In some embodiments, the switch means 10 comprises a pivot member configured to connect the at least two switchable slots 7, 8 such that the slots 7, 8 are able to rotate around the pivot member to switch position.

In some embodiments as schematically illustrated in Figs. 3 - 5, the loading assembly 6 comprises an outlet 13 adapted for communication with a borehole; a first inlet 11 configured to receive an initiating device 29 or a packaged explosive product; a second inlet 12 configured to receive an explosive delivery hose 22, wherein the second inlet 12 is in line with the outlet 13, the inlets 11, 12 each is adapted for communication with a guide tube 21. The loading assembly 6 further comprises a switch unit 9 comprising a switch means 10, a first 7 and second 8 slot, wherein each of the slots 7, 8 is switchable to a first position in line with the first inlet 11 or the second inlet 12, or a second position out of line with any of the inlets 11, 12.

The explosive delivery hose 22 is usually used for pumping a bulk explosive product into a borehole. The bulk explosive product may be emulsion explosives such as ammonium nitrate emulsion (ANE). The explosive delivery hose 22 can be arranged on a beam 5 (Fig. 1) by means of a hose handling unit 28 as illustrated in Fig. 2. The hose handling unit 28 may comprise a pusher-puller assembly 26 and a winding member 27. The hose handling unit 28 facilitates delivery of the bulk explosive product into the borehole from a remotely located storage assembly S1 which the explosive delivery hose 22 is connected to (Fig. 6).

The explosive delivery hose 22 may also be configured to propel an initiating device 29 or packaged explosive product into a borehole. In some embodiments, the explosive delivery hose 22 may propel the initiating device 29 to an operative depth inside a borehole. Afterwards the explosive delivery hose 22 may withdraw continuously from the borehole while at least partially filling the borehole with a bulk explosive product. Thus, the borehole is loaded with the bulk explosive product from the inside out thereby ensuring that the borehole is loaded properly and evenly.

The explosive delivery hose 22 may comprise a gripping member configured to grip and release the initiating device 29 or packaged explosive product. The releasable gripping member enables two-way shuttling of the initiating device 29 or packaged explosive product in opposite directions.

The loading assembly 6 as illustrated in Figs. 3 - 5 has the advantage of delivering an initiating device 29 and an explosive material simultaneously or sequentially into a borehole through the same outlet 13 which needs to be aligned with the borehole in advance. Thus, loading of each borehole requires only a single alignment of the loading assembly 6 and the borehole, which significantly increases work efficiency.

In some embodiments as illustrated in Fig. 2, the loading assembly 6 may comprise a casing 14 that provides protection to at least a portion of the loading assembly 6. Preferably, the casing 14 is openable thereby providing easy access to the inside of the loading assembly 6 for the purpose of repair and maintenance.

In some embodiments as illustrated in Fig. 7, the first slot 7 has an at least partially closed end configured to block communication with the outlet 13 at the first position in line with the second inlet 12 (Fig. 7c), the second slot 8 has an open end adapted for communication with the outlet 13 at the first position in line with the second inlet 12 (Fig. 7a and b), and wherein the second inlet 12 has a parking space 25 configured to accommodate the initiating device 29 or packaged explosive product (Fig. 7d). The at least partially closed end of the first slot 7 is configured to block communication between the first slot 7 and the outlet 13 thereby preventing the initiating device 29 or the packaged explosive product from moving out of the first slot 7 towards the outlet 13 at the first position. The first slot 7 with the at least partially closed end provides the advantage of preventing crash stops or jams thereby ensuring proper operation of the switch means 10, which is achieved by retaining the initiating device 29 or the packaged explosive product within the first slot 7. The second slot 8 of the loading assembly as was described above has two open ends, one is adapted for communication with the second inlet 12 and the other one is adapted for communication with the outlet 13.

In some embodiments as illustrated in Fig. 7d, at the first position in line with the second inlet 12, the initiating device 29 or the packaged explosive product may be shuttled from the first slot 7 into the parking space 25 of the second inlet 12, which enables switching of the second slot 8 to the first position in line with the second inlet 12. The shuttling of the initiating device 29 or packaged explosive product from the first slot 7 to the parking space 25 of the second inlet 12 may be facilitated by an explosive delivery hose 22 that comprises a gripping member configured to grip the initiating device 29 or packaged explosive product. Subsequently, the explosive delivery hose 22 may propel the initiating device 29 and/or the packaged explosive product through the passage formed by the second inlet 12, the second slot 8 and the outlet 13 into the borehole. In some embodiments, the explosive delivery hose 22 may propel the initiating device 29 to an operative depth inside a borehole before releasing the initiating device 29 and retreating from the borehole while at least partially filling the borehole with a bulk explosive product. Thus, deliveries of the initiating device 29 and explosive material into the borehole may be streamlined which can be completed with minimum delay thereby increasing the efficiency of preparing a borehole for a blasting operation.

In some embodiments as schematically illustrated in Fig. 3, the loading assembly 6 further comprises at least one blocking member (15) configured to retain the initiating device 29 or the packaged explosive product within the first slot 7, wherein the at least one blocking member 15 is arranged at the first inlet 11. The at least one blocking member 15 is actuated once the initiating device 29 has made entry into the first slot 7, which prevents the initiating device 29 or the packaged explosive product from moving out of the first slot 7 toward the first inlet 11. The blocking member 15 has the advantage of preventing crash stops or jams thereby ensuring proper operation of the switch means 10.

In some embodiments as illustrated in Fig. 6, the guide tube 21 comprises a Y-shaped bifurcation. The guide tube 21 with a Y-shaped bifurcation has three open ends 21a, 21b, 21c, wherein a first open end 21a is adapted for communication with the inlet 12 in line with the outlet 13 of the loading assembly 6, a second open end 21b is adapted for communication with the explosive delivery hose 22 connectable to a storage assembly S1 for storing a bulk explosive product, and a third open end 21c is adapted for communication with a storage assembly S2 for storing a plurality of initiating devices 29. The bifurcation of guide tube 21 provides a lean configuration of the loading assembly 6 for charging a borehole with an initiating device 29 and a bulk explosive product, which configuration requires, at a minimum, only one inlet 12 and one slot 8 for charging the borehole. The lean configuration may also be utilized for delivering other suitable devices or tools into the borehole.

In some embodiments as schematically illustrated in Figs. 4, 5 and 10, the loading assembly 6 may further comprise at least one system selected from the group consisting of a mechanical system 30, a sensing system 40, an imaging system 50, a range finding system 60 and a protractor system 70. Alternatively, the loading assembly 6 is connected to at least one system selected from the group consisting of a mechanical system 30, a sensing system 40, an imaging system 50, a range finding system 60 and a protractor system 70.

The mechanical system 30 facilitates mechanical operation of the loading assembly 6. The mechanical system may comprise an actuating unit 31 responsible for imparting and controlling mechanical motion of the switch means 10. The actuating unit 31 may comprise at least one motor 20 and at least one brake means 19 (Fig. 5). The at least one motor 20 may be a hydraulic motor, a pneumatic motor, an electric motor or any other type of motor suitable for the intended use. The actuating unit 31 may further comprise a torque limiter for preventing any damage by mechanical overload due to crash stops or jams. The mechanical system 30 may receive a control signal from a control unit 16 (Fig. 10) and in response to the control signal the at least one motor 20 converts energy into mechanical motion. The mechanical system 30 may comprise at least one shuttling unit configured to deliver an explosive material, a device or tool into the one or more slots 7, 8, or into the parking space 25, or into a borehole during preparation for a blasting operation. The mechanical system 30 may further comprise a hose handling unit 28 for handling the explosive delivery hose 22 (Fig. 2).

The sensing system (40) is able to detect events or changes in its environment. The sensing system may comprise at least one sensor 17 configured to determine status of the switch means 10 and/or at least one sensor 18 configured to determine status of the one or more slots 7, 8 (Fig. 5). The sensor 17, 18 may be a Hall effect sensor, a capacitive sensor or any other type of sensor suitable for the intended use. The sensor 17 may be a Hall effect sensor configured to determine whether the switch means 10 is active. The sensor 18 may be a capacitive sensor 18 configured to determine loading state of the one or more slots 7, 8. The sensing system 40 is configured to send data to other electronics such as a control unit 16 that controls operation of the loading assembly 6 (Fig. 10).

The imaging system 50 facilitates targeting of a borehole and alignment of the loading assembly 6 with the borehole. The imaging system may comprise at least one camera configured to obtain image data of the borehole and its surroundings. The imaging system is configured to send the image data to other electronics such as a control unit 16 that controls operation of the loading assembly 6 (Fig. 10).

The range finding system 60 facilitates positioning of the loading assembly 6. The range finding system 60 may comprise at least one range finding device 23 arranged in close vicinity to the outlet 13 (Fig. 4), which range finding device 23 is configured to measure the distance between the outlet 13 and a borehole. A range finding device 23 may be a laser, lidar, radar, sonar, ultrasonic, or optical rangefinder. The range finding system 60 is configured to send the distance data to other electronics such as a control unit 16 that controls operation of the loading assembly 6 (Fig. 10). The protractor system (70) facilitates positioning of the loading assembly 6. The protractor system 70 comprises at least one protractor device arranged in close vicinity to the outlet 13, which protractor device is configured to measure the angle of inclination of a borehole, which is the angle between the vertical and a tangent line to the borehole axis at the measurement point. The protractor system 70 is configured to send the data about the angle of inclination of the borehole to other electronics such as a control unit 16 that controls operation of the loading assembly 6 (Fig. 10).

According to a second aspect of the disclosure, there is provided a rig 1 comprising at least one loading assembly 6 as was described above. The rig 1 may be a complex equipment intended for earth surface use or underground use. The rig 1 may be a mining or construction work rig adapted for various mining operations or construction work.

Fig. 1 shows schematically a mining or construction work rig 1 comprising a carrier 2, at least one boom 4 and a mounting device 3 attached to the at least one boom 4. Typically, the mounting device 3 comprises a beam 5 on which the loading assembly 6 may be arranged. Other devices or tools, e.g. a cleaning hose, may also be arranged on the same beam 5 as the loading assembly 6. An enlarged view of the beam 5 with the loading assembly 6 is provided in Fig. 2 which also shows an explosive delivery hose 22 supported by a hose handling unit 28 comprising a pusher-puller assembly 26 and a winding member 27.

A mining or construction work rig 1 may comprise a left-side boom and a right-side boom. The loading assembly 6 as illustrated in Fig. 4 may be arranged on the left- or right-side boom, which loading assembly 6 comprises a first inlet 11R configured to receive an initiating device or a packaged explosive product when arranged on the right-side boom, and a first inlet 11L configured to receive an initiating device or a packaged explosive product when arranged on the left-side boom.

According to a third aspect of the disclosure, there is provided a method of preparing a borehole for a blasting operation. Example embodiments of the method will be described in a general way by referring to Figs. 7 and 8 in which the optional method steps are marked with dashed lines. The method comprises the following steps, which steps may be taken in any suitable order.

Step 121: positioning the loading assembly 6

The step 121 of positioning the loading assembly 6 may comprise one or more sub steps of positioning the outlet 13 in line with a borehole. A precise and swift alignment of the outlet 13 with a borehole ensures smooth and efficient deliveries into the borehole.

In the state of art, drilling of a borehole usually precedes preparing the borehole for a blasting operation. In some embodiments according to the present disclosure, the step 121 of positioning the loading assembly 6 may overlap with the process of positioning a drill machine, wherein the loading assembly 6 and the drill machine may share the same positioning information in relation to the borehole. Thus, charging of the borehole may be performed directly after drilling without delay, which saves the time that would have been spent on a separate step of aligning the loading assembly 6 with the borehole.

Step 122: switching a slot 7, 8 to the first position

The step 122 of switching a slot 7, 8 to the first position in line with any inlet 11, 12 is performed by the switch means (10). At the first position the slot 7, 8 is able to receive an incoming device or tool, e.g. an initiating device 29, a packaged explosive product or an explosive delivery hose 22, through the inlet 11, 12 (Fig. 7).

Step 123: switching a slot 7, 8 to the second position

The optional step 123 of switching a slot 8 to the second position out of line with any inlet 11, 12 is also performed by the switch means (10). The second position is effectively a stand-by position at which the slot 8 is temporarily put out of action (Figs. 7c and 7d).

Preferably, the steps 122, 123 of switching a slot 7, 8 is synchronized when there are at least two slots (7, 8) connected by a connecting member as was described above.

Step 124: shuttling a device or tool into the parking space 25 The optional step 124 of shuttling a device or tool into the parking space 25 is facilitated by the explosive delivery hose 22 with a releasable gripping member (Fig. 7d). An initiating device or a packaged explosive product may be temporarily parked in the parking space 25 before being propelled into the borehole by the explosive delivery hose 22 which may eventually release the initiating device or packaged explosive product to complete the delivery.

Step 125: shuttling the device or tool into the slot 7, 8

The step 125 of shuttling the device or tool into the slot 7, 8 may be performed by the shuttling unit of the mechanical system 30 which is responsible for delivering an explosive material, a device or tool into the borehole. The slot 7, 8 is able to receive the device or tool at the first position, which device or tool is able to enter the borehole by passing through the receiving slot 7, 8 on the way to the delivery site.

In some embodiments, the step 125 may comprise one or more sub-steps of shuttling a packaged explosive product, an initiating device 29, or an explosive delivery hose 22 into the slot 7, 8, whereby the packaged explosive product, initiating device 29, or explosive delivery hose 22 is able to enter the borehole by passing through the receiving slot 7, 8 on the way to the delivery site.

In some embodiments as illustrated in Fig. 7, an initiating device 29 passes through a first receiving slot 7, the parking space 25 and a second slot 8 (not shown) of the loading assembly 6 before entering the borehole to reach the delivery site.

In some embodiments, the method of preparing a borehole for a blasting operation comprises one or more steps of allocating an amount of a bulk explosive product into the borehole, which is performed by the explosive delivery hose 22.

In some embodiments, the loading assembly 6 may be used in a method of preparing a borehole for a blasting operation, which method may comprise a first step of toe charging, wherein an explosive delivery hose 22 delivers a first amount of a bulk explosive product into the toe of a borehole; a second step of delivering an initiating device 29, wherein the explosive delivery hose 22 propels the initiating device 29 to an operative depth inside the borehole and subsequently a third step of column charging, wherein the explosive delivery hose 22 at least partially fills the borehole with a second amount of the bulk explosive product.

The first step of toe charging is also known as bottom charging which improves the effect of blasting at the bottom of the borehole, which facilitates controlled rock fragmentation and safe contours in mining and construction.

The second step as was described above comprises positioning 121 the outlet 13 of the loading assembly 6 in line with the borehole, switching 122 a slot 7, 8 to the first position for receiving the initiating device 29 or the explosive delivery hose 22, and shuttling 125 the initiating device 29 or the explosive delivery hose 22 into the slot 7, 8, whereby the initiating device 29 or the explosive delivery hose 22 is able to enter the borehole by passing through the receiving slot 7,8. In some embodiments, the loading assembly may comprise a control unit 16. Alternatively, the loading assembly may be connected to a control unit 16. As illustrated in Fig. 10, the control unit 16 may be connected with the mechanical system 30, the sensing system 40, the imaging system 50, the range finding system 60 and the protractor system 70 via the communication links 100a, 100b, 100c, 100d and 100e respectively. The control unit 16 comprises at least one processor 1601, at least one memory 1602 and at least one data port 1603. The at least one processor 1601 is usually an electronic processing circuitry that processes input data and provides appropriate output.

According to a fourth aspect of the disclosure, there is provided a method performed by a control unit 16 or a computer connected to the control unit 16 for controlling operation of the loading assembly 6. Example embodiments of the method will be described in a general way by referring to Fig. 9 in which the optional method actions are marked with dashed lines. The method comprises the following actions, which actions may be taken in any suitable order.

Action 101: obtaining data

The action 101 may comprise one or more sub-actions of obtaining data from the mechanical system 30, the imaging system 40, the sensing system 50, the range finding system 60 and/or the protractor system 70. The obtained data may be used for the action of determining 112 status of the one or more slots (7, 8), and/or determining 113 status of the switch means 10. The obtained data may also be used for the action of controlling 102 operation of the switch unit 9, controlling 114 operation of the mechanical system (30), controlling 115 operation of the imaging system 40, controlling 116 operation of the sensing system 50, controlling 117 operation of the range finding system 60, and/or controlling 118 operation of the protractor system 70.

Action 102: controlling operation of the switch unit 9

The action 102 of controlling operation of the switch unit 9 may comprise one or more sub-actions of controlling the switch means 10 based on the data obtained in the action 101 of obtaining data.

Action 112: determining status of the one or more slots 7, 8 The optional action 112 of determining status of the one or more slots 7, 8 may comprise one or more sub-actions of determining loading state of the one or more slots 7, 8 based on the data obtained in the action 101 of obtaining data from the sensing system 30. The data may provide information about proximity, pressure, force, position and/or displacement for the one or more slots 7, 8. The control unit 16 or a computer connected to the control unit 16 may use the obtained data to determine loading state of the one or more slots 7, 8 for controlling operation of the loading assembly 6.

Action 113: determining status of the switch means 10

The optional action 113 of determining status of the switch means 10 may comprise one or more sub-actions based on the data obtained in the action 101 of obtaining data from the sensing system 30. The data may provide information about proximity, pressure, speed, position and/or displacement for the switch means 10. The control unit 16 or a computer connected to the control unit 16 may use the obtained data to determine status of switch means 10 for controlling operation of the loading assembly 6.

Action 114: controlling operation of the mechanical system 30 The optional action 114 of controlling the mechanical system 30 may comprise one or more sub-actions of controlling the actuating unit 31 which is responsible for imparting and controlling mechanical motion of the switch means 10. The action of controlling the mechanical system 30 may also comprise one or more sub-actions of controlling the shuttling unit which may be configured to deliver an explosive material, a device or tool into the one or more slots 7, 8, or into the parking space 25, or into a borehole. The action of controlling the mechanical system 30 may further comprise one or more sub actions of controlling the hose handling unit 28 for handling the explosive delivery hose 22. The action of controlling the mechanical system 30 is based on the data obtained in the action 101 of obtaining data.

Action 115: controlling operation of the sensing system 40 The optional action 115 of controlling the sensing system 40 may comprise one or more sub-actions of controlling the at least one sensor 17, 18 based on the data obtained in the action 101 of obtaining data.

Action 116: controlling operation of the imaging system 50 The optional action 116 of controlling the imaging system 50 may comprise one or more sub-actions of controlling the at least one camera based on the data obtained in the action 101 of obtaining data.

Action 117: controlling operation of the range finding system 60 The optional action 117 of controlling the range finding system 60 may comprise one or more sub-actions of controlling the at least one range finding device 23 based on the data obtained in the action 101 of obtaining data. Action 118: controlling operation of the protractor system 70 The optional action 118 of controlling the protractor system 70 may comprise one or more sub-actions of controlling the at least one protractor device based on the data obtained in the action 101 of obtaining data.

According to a fifth aspect of the disclosure, there is provided a computer program product comprising instructions which, when executed on at least one processor 1601, cause the at least one processor 1601 to carry out the method for controlling operation of the loading assembly 6.

According to some embodiments herein there is provided a computer program which comprises program code for causing a control unit 16 or a computer connected to the control unit 16 to carry out the method for controlling operation of the loading assembly 6.

The computer program comprises routines for controlling operation of the loading assembly 6. The computer program may comprise routines for obtaining data from the mechanical system 30, the imaging system 40, the sensing system 50, the range finding system 60 and/or the protractor system 70. The computer program may comprise routines for determining 112 status of the one or more slots (7, 8), and/or determining 113 status of the switch means 10. The computer program may comprise routines for controlling 102 operation of the switch unit 9, controlling 114 operation of the mechanical system (30), controlling 115 operation of the imaging system 40, controlling 116 operation of the sensing system 50, controlling 117 operation of the range finding system 60, and/or controlling 118 operation of the protractor system 70.

According to a sixth aspect of the disclosure, there is provided a computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor 1601 , cause the at least one processor 1601 to carry out the method for controlling operation of the loading assembly 6.

According to some embodiments herein there is provided a computer-readable storage medium storing a computer program, wherein said computer program comprises program code for causing a control unit 16 or a computer connected to the control unit 16 to carry out the method for controlling operation of the loading assembly 6. The computer-readable storage medium may comprise non-volatile memory (NVM) for storing the computer program.

Although the invention has been described in terms of example embodiments as set forth above, it should be understood that the examples are given solely for the purpose of illustration and are not to be construed as limitations of the claims, as many variations thereof are possible without departing from the scope of the invention. Each feature disclosed or illustrated in the present disclosure may be incorporated in the claims, whether alone or in any appropriate combination with any other feature disclosed or illustrated herein.