WO2025219640A1

WO2025219640A1 - Charging system for charging at least one charging hole

Info

Publication number: WO2025219640A1
Application number: PCT/FI2025/050176
Authority: WO
Inventors: Harri PUUMALAINEN; Kalle MÄÄTTÄ
Original assignee: Normet Oy
Current assignee: Normet Oy
Priority date: 2024-04-17
Filing date: 2025-04-09
Publication date: 2025-10-23
Anticipated expiration: 2026-10-17
Also published as: FI20245485A1

Abstract

The application relates to a charging system (100) for charging at least one charging hole (H1, H2) The charging system 100 comprises a charging boom (108), a charging head (118) at an end (119) of the charging boom, at least one boom sensor (378) for sensing position information relating to the charging head, and a controller (122) for controlling the charging boom. The controller is configured to determine (246) an autonomous movement (M, M1, M2, M4) of the charging head from a current position (P0, PM, P1) to a next position (P0, PM, P1, P2) on the grounds of at least the position in-formation. The controller is further configured to cause (235, 251) the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head. The controller is further configured to cause (247) the charging boom at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current position information or a manual control of an operator.

Description

CHARGING SYSTEM FOR CHARGING AT LEAST ONE CHARGING HOLE

Technical field of the invention

The application relates generally to a charging system for charging at least one charging hole.

Background of the invention

Blasting of rock structures in underground mines and tunnels requires drilling of blasting holes into the rock structures and charging of these drilled blasting holes. The charging method is carried out by means of mobile charging machines according to a predesigned charging map.

The charging machines comprise a designed place for boosters and detonators and a tank for liquid explosive. The charging machines further comprise a charging hose to carry out the hosing of the liquid explosive into the blasting holes, a hose feeding system to feed the charging hose, and a movable, telescopic basket boom to lift as well as to support the charging hose and an operator.

The operator carries out the charging of the blasting holes in a vicinity of a tunnel face. A basket installed at the end of the basket boom enables the operator to charge the blasting holes by installing a booster with a detonator and hosing the liquid explosive into each blasting hole even if the blasting holes locate several meters above a floor level of a tunnel and a charging machine has been supported by means of its support legs far, e.g., 4-6 meters, from the tunnel face, which comprises the rock structures to be blasted.

One solution to make the charging system safer to the operator is a safety roof on the basket of the basket boom. The safety roof is configured to prevent rocks to fall from the tunnel face and the tunnel vault into the basket and thus causing injuries to the operator.

Another solution to make the charging system safer to the operator is a semi-automatic charging system, wherein the operator controls operations of the charging boom remotely from a safety area, which is apart from the vicinity of the tunnel face, and the charging boom has a boom area to operate, which does not overlap with the safety area. The boom area is positioned between the safety area and the tunnel face. Summary

One object of the invention is to withdraw the drawbacks of known solutions and to improve an adaptive control of autonomous movements of a charging boom, which are configured to move a charging head at an end of the charging boom from one position to another position autonomously, in a semi-automatic charging system to avoid collisions to obstacles in an underground tunneling environment as well as to guide a charging mechanism of a charging hose to avoid the charging hose to become stuck, bend, crack, or bend around the charging boom during the autonomous movements.

One object of the invention is fulfilled by providing a charging system, charging method, controller, controlling method, computer program, and computer-readable medium according to the independent claims.

Embodiments of the invention are disclosed in the independent claims.

One charging system for charging at least one charging hole comprises a charging boom, a charging head at an end of the charging boom, at least one boom sensor for sensing position information relating to the charging head, and a controller for controlling the charging boom. The controller is configured to determine an autonomous movement of the charging head from a current position to a next position on the grounds of at least the position information. The controller is further configured to cause the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head. The controller is further configured to cause the charging boom at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current position information or a manual control of an operator.

One charging method for charging at least one charging hole comprises a following step of sensing, by at least one boom sensor, position information relating to a charging head at an end of a charging boom. The charging method further comprises following steps of, determining, by a controller, an autonomous movement of the charging head from a current position to a next position on the grounds of at least the position information and causing, by the controller, the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head. The charging boom is further caused, by the controller, at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current sensed position information or a manual control of an operator.

One controller for controlling a charging boom comprises a processor and a communicator. The communicator is configured to receive position information relating to a charging head at an end of a charging boom from at least one boom sensor. The processor is configured to determine an autonomous movement of the charging head from a current position to a next position on the grounds of at least the position information. The processor is further configured to cause the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head. The controller is further configured to cause the charging boom at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current position information or a manual control of an operator.

One controlling method for controlling a charging boom comprises a following step of receiving, by a communicator, position information relating to a charging head at an end of a charging boom from at least one boom sensor. The controlling method further comprises following steps of determining, by a processor, an autonomous movement of the charging head from a current position to a next position on the grounds of at least the position information and causing, by the processor, the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head. The charging boom is further caused, by the controller, at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current position information or a manual control of an operator.

One computer program comprises instructions, which, when the computer program is executed by a controller (processor, computer), which is in accordance with the previous controller embodiment, cause the controller to carry out at least the steps of the previous controlling method embodiment.

One tangible, non-volatile computer readable medium comprises the computer program, which is in accordance with the previous computer program embodiment. Brief description of the figures

The exemplary embodiments are explained with reference to the accompanying figures: fig. 1 a-1 c present a charging system when a charging head is in home, intermediate, and hole positions fig. 2 presents a flowchart of a charging method fig. 3 presents operational parts of a controller belonging to the charging system

Detailed description of the figures

Fig. 1 a-1 c present a semi-automatic charging system 100 for charging at least one charging (drill, blasting) hole H1 , H2 in a charging environment 101 , comprises e.g., a mining environment, a quarry environment, or an underground tunneling environment according to the figure.

The at least one charging hole H1 , H2 comprises one, two, three, four, or more charging holes, which locate on a surface structure 102, e.g., a tunnel surface, which comprises, e.g., a tunnel face, a tunnel floor, tunnel roof (ceiling), and tunnel walls in an underground tunnel 104.

The charging system 100 comprises a charging machine (charger) 106 to prepare the surface structure 102 ready for blasting, i.e., to charge the at least one charging hole H1 , H2.

The charging machine 106 comprises, e.g., a mobile charging machine that is configured to operate in the underground mining and tunnelling environment 101. The charging machine 106 is further configured to operate outside the mining and tunnel environment 101 in other environments, e.g., in an above ground environment.

The charging system 100 further comprises a charging boom 108, e.g., a joints- connected boom according to the figure or a combination boom having joints-con- nected parts attached to a telescopic structure. The charging boom 108 is a part of the charging machine 106. The charging boom 108 is connected (attached, installed) to the charging machine 106 by means of a connection mechanism 110 to move the charging boom 108, e.g., to lift and to lower a charging head 118 at a head end 119 of the charging boom 108, to move the charging head 118 linearly in a some direction and to rotate (turn around) the charging head 118 and the whole charging boom 108 according to a movement R by means of its movement mechanism 374 in relation to the connection mechanism 110 (connection point 111 ).

The structure of the charging boom 108 comprises at least several boom parts 114, e.g., two, three, four, five, or more boom parts, connected consecutively to each other by means of joints 116 and the previously mentioned, joints-connected charging head 118 at the head end 119 of a structure of the charging boom 108 to charge the charging hole(s) H1 , H2. The joints 116 and connection mechanism 110 is configured to allow to move the charging boom 108, i.e., the boom parts 114 and the charging head 118. The charging head 118 is configured to attach a charging hose (not presented) to which is installed detonators and boosters and through which a bulk explosive, e.g. a liquid explosive (emulsion), is fed (pumped) into the charging hole(s) H1 , H2. The below description discloses the use of the liquid explosive, but the bulk explosive may alternatively comprise an ammonium nitrate/fuel oil (ANFO) explosive, whereupon the bulk explosive is correspondingly fed by means of the charging head 118 into the charging hole(s) H1 , H2.

The charging boom 108 further comprises several installed boom sensors 378 for sensing (detect, obtain) position information that is used for controlling the charging boom 108 and the charging head 118. The charging head 118 may comprise at least one installed boom sensor 378, e.g., one, two, three, four, or more boom sensors. Each joint 116 in the charging boom 108 may comprise at least one installed boom sensor 378, e.g., one, two, three, four, or more boom sensors. The boom sensors 378 are configured to enable a determination of a position and orientation of boom parts 114 and charging head 118, whereupon it is possible to determine (define) a position and orientation of the charging head 118 when positions, orientation, and dimensions of each boom part 114 is known. An operator (not presented) of the charging boom 108 uses the boom sensors 378 to obtain at least position information of each charging hole (hole position, hole point) H1 , H2 to be charged when the operator drives the charging boom 108 so that a tip of its charging head 118 is positioned in a close vicinity of (near) a charging hole H1 , H2. The operator uses the boom sensors 378 to further obtain at least one of position information of a home (home position, zero position, zero point) HO of the charging boom 108, detonator magazine (not presented) of the charging machine 106, and at least one intermediate position (intermediate home, intermediate point) HM of charging boom 108, e.g., one according to the figures, two, three, four, or more intermediate positions, when the operator drives the charging boom 108 so that a tip of its charging head 118 is positioned in the desired positions P0, PM, if the charging machine 106 lacks some or all of the previously mentioned position information.

The charging system 100 further comprises at least one proximity sensor 375, e.g. one, two, three, four, or more proximity sensors, in at least one of the charging boom 108 and the charging head 118 to sense proximity information that is used to obtain a distance from a current position P0, PM, P1 , P2 of the charging boom 108 or the charging head 118 to a sensed (detected, observed) obstacle, e.g., the tunnel surface 102, e.g., the tunnel face, other surface structure in the underground tunnel 104, outer limits of a boom area BA in a tunnel model, the operator, or other mining or tunneling machine.

The charging system 100 further comprises a controller 122 configured to control the charging machine 100, e.g., movements M, M1 , M2, M4 and operations of the charging boom 108. The controller 122 is operated by the operator.

Fig. 2 together with fig. 1 a-1 c presents a charging method 228 of the charging hole(s) H1 , H2, and the movements M, M1 , M2, M3, M4 of the charging boom 108 on the grounds of the determined home, intermediate position(s), and charging hole(s) HO, HM, H1 , H2 during a blasting method.

Before the actual charging operation, the charging hole(s) H1 , H2 have been drilled into the tunnel surface 102, e.g., the tunnel face, according to a designed charging map (charging design, charging plan), which describes, e.g., a pattern formed by the charging holes H1 , H2 and distances between the charging holes H1 , H2. The charging hole(s) H1 , H2 may also be positioned in other parts of the tunnel 104, e.g., in its vault or floor. The charging map further describes, e.g., a designed amount of the explosive for each charging hole H1 , H2 and a designed delay to be used for each charging hole H1 , H2.

The controller 122 is configured to receive the information of the charging map through a data communication connection or from the operator, who inputs the information through a user interface of wireless remote controller 376 or a user interface 377 of controller 122 if such exists. The controller 122 is further configured to maintain the charging map and to update it when necessary by means of information received through the data communication connection or from the operator.

The operator fills a tank 123 of the charging machine 106 with the liquid explosive, if necessary, and equips the charging machine 106 with a required number of detonators and boosters. The operator then drives the charging machine 106 in a vicinity of (near) the tunnel face 102 to be blasted and positions the charging machine 106 so that a boom end 109 of the charging boom 108 have a certain distance, e.g., about 4-6 meters, from the tunnel face 102 as well as the charging boom 108 points to the tunnel face 102 and extends support legs 130 of the charging machine 106.

The operator combines manually, the charging machine 106 combines automatically, or the operator and the charging machine 106 in co-operation combine the required number of boosters with the detonators and the prepared combinations are put on the charging machine 106, e.g., in the detonator magazine, or its vicinity so that it is possible to pick up a correct detonator according to the charging map during the charging method 228.

If a part of the charging holes H1 , H2 are blocked e.g. by rocks, the operator uses a basket boom (not presented) of the charging machine 106 and opens manually the blocked charging holes H1 , H2 by removing the rocks. The operator then folds the basket boom in its transport position so that the charging boom 108 has free space to operate and the charging of the charging holes H1 , H2 can be carried out. Alternatively, the operator uses mechanical means, e.g., a steel-cable, pumped-wa- ter, pressured-air, or vacuum-suction means, which are configured to open the blocked charging holes H1 , H2 before the basket boom. Alternatively, the opening of the blocked charging holes H1 , H2 is possible by means of the charging boom 108.

At a step 230, the controller 122 presents and maintains a configured three-dimensional (3D) co-ordinate system 132, which comprises an origin O that locates in the connection point 111 , i.e., in the connection mechanism 110, of the charging boom 108.

The controller 122 together with the position information from the boom sensors 378 is configured to position the tip of charging head 118 in relation to the connection mechanism 110, to determine position P0, PM, P1 , P2 of the home, intermediate position(s), and charging hole(s) HO, HM, H1 , H2, and to calculate the required movements M, M1 , M2, M4 between the home, intermediate position(s), and charging hole(s) HO, HM, H1 , H2 to carry out the charging of hole(s) H1 , H2 on the tunnel face 102.

At the step 230, the controller 122 further presents the charging map for the charging hole(s) H1 , H2. At a step 234, the controller 122 establishes a tunnel model (not presented) that defines a boom area BA for the charging boom 108 and the charging head 118 by means of the co-ordinate system 132. The boom area BA defines an area for the structures 114, 116, 118 of the charging boom 108 to move and its outer limits establish an obstacle for the charging boom 108 and the charging head 118 in the tunnel model. The boom area BA comprises the area between the support legs 130 in a rear end of the charging machine 106, where the charging boom 108 exists, and tunnel face 102, where the charging boom 108 is configured to move and the operator, for one, is not allowed to enter.

The controller 122 further applies (establishes) autonomously, or alternatively the operator instructs, by means of the remote controller 376 or the user interface 377, the controller 122 to apply, a safety area SA for the operator by means of the coordinate system 132 into the tunnel model. The safety area SA defines a safe area for the operator to be when the charging boom 108 is operated and to which the structures 114, 116, 118 of the charging boom 108 are not allowed to enter because of a safety of the operator. The safety area SA comprises an area between the support legs 130 in the rear end of the charging machine 106 and a front end of the charging machine 106, e.g., a cabin 107, on one side or both sides of the charging machine 106 according to fig. 1 b.

The operator may further instruct, by means of the remote controller 376 or the user interface 377, the controller 122 to store the determination of the safety area SA into its memory 382.

After the establishment of the tunnel model with the boom area BA and the safety area SA, the controller 122 prevents the movement mechanism 374 to move the charging boom 108 and the charging head 118 to exceed the outer limits of the boom area BA as well as to enter to the safety area SA.

At a step 235, the operator, who stands on the safety area SA, instructs remotely, by means of the remote controller 376, the controller 122 to cause the movement mechanism 374 to drive autonomously (automatically) the charging head 118 from its transportation position to its previously configured (predetermined) home position P0, i.e., the previously configured home HO, by means of the co-ordinate system 132 in the tunnel model. Alternatively, the operator drives (moves) manually, by means of the remote controller 376 and the movement mechanism 374, the charging head 118 from its transportation position to the previously configured home HO. If the charging head 118 has no previously configured home HO, the operator drives manually, by means of the remote controller 376 and the movement mechanism 374, the charging head 118 from its transportation position to a desired home HO. When the charging head 118 is positioned in the desired home HO, the controller 122 determines a position P0 (xO, yO, zO) of home HO for the co-ordinate system 132 on a grounds of the position information from the boom sensors 378 and the operator instructs, by means of the remote controller 376, the controller 122 to store this determined home position P0 in the tunnel model into its memory 382.

The determined home position P0 comprises a position in a vicinity of the rear part of the charging machine 106 in the boom area BA, a position in a vicinity of the detonator magazine, or other position in the boom area BA near the safety area SA and the operator.

At a step 237, when the charging head 118 is positioned in the home position P0 and a charging hole H1 , H2 to be charged is a first charging hole H1 , the operator stands on the safety area SA, near the charging machine 106, where it is possible to reach the charging head 118, i.e., the charging hose (not presented), safely without entering the boom area BA. The operator then picks up a detonator from the detonator magazine, if necessary, and inserts (installs, mounts) a correct booster with the detonator to the charging hose. The insertion may be alternatively carried out before the entry to the home position P0 at the step 235.

At a step 238, the operator drives manually, by means of the remote controller 376 and the movement mechanism 374, the charging head 118 according to a movement M from its home HO near the first charging hole H1 so that the charging head 118 is in a vicinity of the charging hole H1 . The manual driving is carried out correspondingly as explained at the step 235, i.e., the operator instructs, by means of the remote controller 376, the controller 122 to cause the movement mechanism 374 to move the charging head 118 according to instructions from the remote controller 376. The manual driving is further carried out by controlling the movement M of the charging head 118, i.e., by so-called “tip control”, by controlling the joints 116, i.e., by so called “joint control”, or by a combination of the tip and joint controls.

If the charging head 118 has been configured to carry out autonomously a movement M1 from the home HO to the intermediate position(s) HM, e.g., to one intermediate position HM according to the figures, which has a previously configured position PM (xH, yH, zH) in the co-ordinate system 132 and a certain configurable distance, e.g., about 2-4 meters, e.g., 2, 2,5; 3, 3,5; or 4 meter, from the boom end 109, the operator instructs, by means of the remote controller 376, the controller 122 to cause the movement mechanism 374 to drive autonomously the charging head 118 from its home position P0 to the configured intermediate position PM according to the autonomous movement M1 . The operator then drives manually, by means of the remote controller 376 and the movement mechanism 374, the charging head 118 from its intermediate position PM near the first charging hole H1 so that the charging head 118 is in the vicinity of the charging hole H1 .

At a step 242, the operator instructs by means of the remote controller 376, the controller 122 to control a camera 379, which is mounted in the charging head 118, to present a visual image from the vicinity of the charging hole H1 on a display (screen, not presented) for the operator. The display is in the remote controller 376, in the user interface 377, in the cabin 107, or in some other position. The camera 379 may comprise at least one machine-vision sensor, e.g., one, two, three, four, or more machine-vision sensors, whereupon the movement mechanism 374 moves the charging head 118 during the step 242 on the grounds of sensor information received from the at least one machine-vision sensor.

The visual image presentation on the display helps the operator to position the charging holes H1 , H2 and to observe theirs surroundings more clearly in the dark and dim tunneling environment, whereupon the operator can control the charging head 118 remotely from the safety area SA.

The operator drives manually by means of the remote controller 376 and the camera 379, the charging head 118 on an opening of the charging hole H1 , halts it, and feeds the charging hose inside the charging hole H1 by a charging mechanism (feeding mechanism, not presented) of the charging hose until it reaches a bottom of the charging hole H1 . The charging mechanism is integrated in at least one of the charging head 118, the structure of the charging boom 108, and the charging machine 106. The driving is carried out correspondingly as explained at the step 235.

When the charging hose has reached the bottom of the charging hole H1 and the mounted booster with its detonator are inserted in the charging hole H1 , the operator then instructs, by means of the remote controller 376, the charging machine 106 to charge the designed amount of the liquid explosive in the charging hole H1 according to the charging map.

After the charging of the liquid explosive has been completed, the operator extracts (takes out, drives) manually, by means of the remote controller 376, the charging hose outside from the charging hole H1 and restrains the halted charging head 118 in the vicinity of hole H1. The extraction of the charging hose halts automatically when its end reaches a predetermined distance from the charging head 118 or it alternatively halts manually according to instructions from the operator. The extraction is carried out correspondingly in opposite direction as the previously explained feeding.

At a step 244, when the halted charging head 118 is in a desired position near the hole H1 , the controller 122 determines a position P1 (x1 , y1 , z1 ) of the first charging hole H1 for the co-ordinate system 132 on a grounds of the position information from the boom sensors 378 and the operator then instructs by means of the remote controller 376, the controller 122 to store the determined hole position P1 in the tunnel model into the memory 382.

The controller 122 may further update the charging map in the memory 382 by marking the first charging hole H1 as charged and possibly other additional information into the charging map.

At a step 245, after the storage operation of the hole position P1 has been completed, the operator commands (instructs), by means of the remote controller 376, the controller 122 to cause the movement mechanism 374 to drive autonomously the charging head 118 from the hole position P1 directly to the home position P0 according to the movement M or via the intermediate position(s) PM to the home position P0 according to the movements M1 and M2, if such intermediate position PM exists between the home position P0 and the tunnel face 102.

At a step 246, the controller 122 determines and optimizes the movement(s) M, M1 , M2 of the charging head 118, i.e., the movement(s) M, M1 , M2 of the charging boom 108, that drives the charging head 118 from the hole position P1 to the home position P0 autonomously on the grounds of the position information relating to at least the charging head 118, e.g., the structures 114, 116, 118 of the charging boom 118, from the boom sensor(s) 378, the home and hole positions P0, P1 , the intermediate position(s) PM if such exists, and the tunnel model.

The charging system 100 is kinematically redundant so the predetermination of the movement(s) M, M1 , M2 of the charging head 118 further comprises that the controller 122 is configured to further optimize the movement(s) M, M1 , M2 of the charging boom 108 on the grounds of at least one further optimization criterion, e.g., one, two, three, four, or more optimization criterions, the movement(s) M, M1 , M2 of the charging head 118 to move the charging head 118 from the home position P0 to the hole position P1 directly or via the intermediate position(s) PM if such exists. The at least one further optimization criterion comprises, e.g., at least one of a task-specific optimization, obstacle avoidance, smooth and natural motion of the boom parts 114, energy efficiency, constraints of the boom joints 116, and redundancy resolution.

When the predetermination of the movement(s) M, M1 , M2 of the charging head 118 has been completed, the controller 122 causes the movement mechanism 374 to operate the structures 114, 116, 118 of the charging boom 108 according to predetermined movement(s) M, M1 , M2 so that the charging head 118 moves from the first charging hole H1 to the home HO.

The controller 122 then causes the movement mechanism 374 to move the charging head 118 on the grounds of at least the position information from the boom sensors 378 and the predetermined autonomous movement(s) M, M1 , M2 of the charging boom 108.

The controller 122 is configured to change a predetermined position of at least one boom joint 116 of the charging boom 108 in the predetermined movement(s) M, M1 , M2 of the charging head 118 without changing the predetermined movement(s) M, M1 , M2 from the current position to the next position, i.e., the positions of boom parts 114 and boom joints 116 can change from the predetermined positions, which cause the predetermined movement(s) M, M1 , M2, without changing the predetermined movement(s) M, M1 , M2 of the charging head 118.

The outer limits of the 3D boom area BA establish an observable (detectable) obstacle for the movement(s) M, M1 , M2 of the charging boom 108 and the charging head 118 as previously has been explained as well as a manual termination (halt) of the predetermined autonomous movement M, M1 , M2 of the charging head 118 establishes a “non-observable” obstacle. The manual termination is carried out by the operator by means of the remote controller 376. The proximity sensor(s) 375 operates correspondingly as the boom sensor(s) 378 during the operation of the charging boom 108 and senses obstacles to produce the proximity information that indicates a distance to any sensed obstacle, e.g., the tunnel face 102 or other surface structure, the operator inside the boom area BA, or other mining or tunneling machine inside the boom area BA.

Irrespective of which position the charging head 118 is and which predetermined autonomous movement M, M1 , M2 and direction the moving mechanism 374 moves the charging boom 108 to move the charging head 118, the controller 122 controls (monitors) a distance from the structure(s) 114, 116, 118 of the charging boom 108 to each sensed obstacle.

If the controller 122 does not detect any obstacles, which comprise the observable and non-observable obstacles, and each sensed observable obstacle is sufficiently far from the charging boom 108 and the charging head118 on the grounds of the tunnel model and the position information or the proximity information, the controller 122 causes the movement mechanism 374 to drive autonomously the charging head 118 to its home position P0 according to the redetermined movement(s) M, M1 , M2 of the charging head 118 according to the step 235.

At a step 247, if the controller 122 detects on the grounds of the tunnel model and the position information or the proximity information that the distance to the sensed observable obstacle is equal or smaller than a first predetermined threshold distance, i.e., the obstacle is too close to the structure(s) 114, 116, 118 of the charging boom 108, the controller 122 causes the movement mechanism 374 to discontinue the predetermined autonomous movement M, M1 , M2 of the charging head 118. Alternatively, if the operator manually instructs, by means of the remote controller 376, the controller 122 to terminate (stop, cancel) the predetermined movement(s) M, M1 , M2 of the charging head 118, e.g., to avoid a collisions to an obstacle or to guide the charging hose to avoid the charging hose to become stuck, bend, crack, or bend around the charging boom 108 during the predetermined movement(s) M, M1 , M2, the controller 122 causes the movement mechanism 374 to discontinue the predetermined autonomous movement M, M1 , M2 of the charging head 118. A continuation of the predetermined autonomous movement M, M1 , M2 of the charging head 118 is prevented to avoid a collision to the sensed obstacle or to guide the charging hose, whereupon the controller 122 discontinues the predetermined autonomous movement M, M1 , M2 of the charging head 118 on the grounds of at least one of the current position information P0, PM, P1 , P2 from the boom sensors 378, the proximity information from the proximity sensor(s) 375, the tunnel model, or a manual control (termination) of the operator. The discontinuing of the predetermined autonomous movement M, M1 , M2 of the charging head 118 comprises a deceleration, a stopping, or a stopping after a deceleration of the predetermined autonomous movement M, M1 , M2 of the charging head 118 before the distance to the sensed obstacle equal or smaller than a second predetermined threshold distance, which is smaller than the first predetermined threshold distance. The predetermined autonomous movement M, M1 , M2 of the charging head 118 is stopped at the latest when the distance to the sensed obstacle equal to the second predetermined threshold distance.

If the predetermined autonomous movement M, M1 , M2 of the charging head 118 is prevented, the method returns back to the step 246. The controller 122 redetermines and optimizes the movement(s) M, M1 , M2 of the charging head 118 from a current position to the home position P0 autonomously on the grounds of the position information relating to at least the charging head 118 from the boom sensor(s) 378, the current and home positions HO, the intermediate position(s) PM if such exists, and the tunnel model. The current position comprises a position where the charging head 118 is when the discontinued movement M, M1 , M2 has stopped or where the charging head 118 is after the operator cancels the manual control. When the controller 122 has completed the redetermination of the movement(s) M, M1 , M2, the controller 122 then causes the movement mechanism 374 to operate the structures 114, 116, 118 of the charging boom 108 according to redetermined movements) M, M1 , M2 so that the charging head 118 can move from the current position to the home HO.

If the controller 122 does not detect any further observable obstacles, which are too near, on the grounds of the tunnel model and the position information or the proximity information, or the manual termination of the predetermined movement(s) M, M1 , M2 of the charging head 118, the controller 122 causes the movement mechanism 374 to drive autonomously the charging head 118 to its home position P0 according to the redetermined movement(s) M, M1 , M2 of the charging head 118 correspondingly as previously has been explained.

When the charging head 118 is positioned in the home position P0 and all necessary charging holes H1 , H2 have been charged, the operator drives manually, by means of the remote controller 376, the charging boom 108 from its home position HO back to its transportation position or the operator commands, by means of the remote controller 376, the controller 122 to drive the charging boom 108 autonomously back to the transportation position.

When the charging boom 108 is in its transportation position, the operator uses the basket boom and binds detonator cords of the installed detonators in the charged holes H1 , H2 to bunches. After the binding operation has been completed, the operator drives the basket boom back to its transport position, whereupon the method 228 is completed and the rest of operations belonging to the blasting method can be carried out. At a step 249, if all necessary charging holes H1 , H2 have not been charged, the operator inserts a next correct booster with its detonator to the charging hose correspondingly as explained at the step 237.

At a step 250, the operator commands, by means of the remote controller 376, the controller 122 to cause the movement mechanism 374 to drive autonomously the charging head 118 from the home position P0 directly to the previous stored hole position P1 , P2, i.e., in this case the hole position P1 , according to the movement M or via the intermediate position(s) PM to the home position P0 according to the movements M1 and M2, if such intermediate position(s) PM exists.

The controller 122 determines the movement(s) M, M1 , M2 of the charging head 118 that drives the charging head 118 from the home position P0 to the hole position P1 autonomously on the grounds of the previously carried-out, opposite movements M, M1 , M2 of the charging head 118 from the hole position P1 to the home position P0 or on the grounds of the position information relating to at least the charging head 118 from the boom sensor(s) 378, the home and hole positions P0, P1 , the intermediate position(s) PM if such exists, and the tunnel model correspondingly as explained at the step 246. The controller 122 then causes the movement mechanism 374 to operate the structures 114, 116, 118 of the charging boom 108 according to predetermined movement(s) M, M1 , M2 so that the charging head 118 moves from the home HO to the first charging hole H1 correspondingly as previously has been explained.

The detection of the distance to a sensed obstacle(s), the discontinuation of the predetermined movement(s) M, M1 , M2 of the charging head 118, and the redetermination of the movement(s) M, M1 , M2 of the charging head 118, if such needed, are carried out correspondingly as explained at the steps 246, 247.

At a step 251 , the controller 122 causes the movement mechanism 374 to drive autonomously the charging head 118 to the previously stored hole position P1 according to the predetermined or redetermined movement(s) M, M1 , M2 of the charging head 118 correspondingly as in the step 235, when the controller 122 does not detect any obstacles on the grounds of the tunnel model and the position information or the proximity information.

When the controller 122 detects on the grounds of the tunnel model and the position information that a distance to the previously stored hole position P1 is equal or smaller than a third predetermined threshold distance, i.e., the charging head 118 is close to the previously stored hole position P1 , the controller 122 causes the movement mechanism 374 to decelerate the predetermined autonomous movement M, M2 of the charging head 118 and then to stop the predetermined autonomous movement M, M2 of the charging head 118 when the controller 122 detects on the grounds of the tunnel model and the position information that the charging head 118 approaches the previously stored hole position P1 .

At a step 252, when the charging head 118 has approached the previously stored hole position P1 or it approaches the charging hole H1 in its vicinity after exceeding the third predetermined threshold distance, i.e., before the charging head reaches the hole position P1 , the operator takes the control of the charging boom 108, by means of the remote controller 376, and drives manually, by means of the remote controller 376 and the movement mechanism 374, the charging head 118 according to a movement M3 from the previously stored hole position P1 or from its vicinity near a next charging hole H1 , H2, i.e., in this case the second charging hole H2, so that the charging head 118 is in a vicinity of the charging hole H2. The manual driving is carried out correspondingly as explained at the step 238, i.e., the operator instructs, by means of the remote controller 376, the controller 122 to cause the movement mechanism 374 to move the charging head 118 according to instructions from the remote controller 376.

At a step 255, the operator instructs by means of the remote controller 376, the controller 122 to control a camera 379 to present a visual image from the vicinity of the charging hole H2 on the display. The operator then drives manually by means of the remote controller 376 and the camera 379, the charging head 118 on an opening of the charging hole H2, halts it, and feeds the charging hose inside the charging hole H2 by the charging mechanism of the charging hose until it reaches a bottom of the charging hole H2. The driving is carried out correspondingly as explained at the step 242.

When the charging hose has reached the bottom of the charging hole H2 and the mounted booster with its detonator are inserted in the charging hole H2, the operator then instructs, by means of the remote controller 376, the charging machine 106 to charge the designed amount of the explosive in the charging hole H2 according to the charging map correspondingly as explained in the step 242.

After the charging of the explosive has been completed, the operator extracts manually, by means of the remote controller 376, the charging hose outside from the charging hole H2 and restrains the halted charging head 118 in the vicinity of hole H2. The extraction of the charging hose halts automatically or manually according to instructions from the operator. The extraction is carried out correspondingly in opposite direction as the previously explained feeding.

At a step 258, when the halted charging head 118 is in a desired position near the hole H2, the controller 122 determines a position P2 (x2, y2, z2) of the second charging hole H2 for the co-ordinate system 132 on a grounds of the position information from the boom sensors 378 and the operator then instructs by means of the remote controller 376, the controller 122 to store the determined hole position P2 in the tunnel model into the memory 382.

At the step 245, the operator then commands, by means of the remote controller 376, the controller 122 to cause the movement mechanism 374 to drive autonomously the charging head 118 directly to the home position P0 according to the movement M from the hole position P2 to the home position P0 or via the intermediate position(s) PM to the home position P0 according to the movements M1 and M4 if such intermediate position PM exists.

Then, the controller 122 drives the charging head 118 autonomously from the hole position P2 back to the home position P0 correspondingly as explained at the steps 235, 246, 27 and the method 228 continues, if all charging holes H1 , H2 have not been charged.

If all charging holes H1 , H2 have been charged, the operator drives manually the charging boom 108 from its home position HO back to its transportation position or the operator commands the controller 122 to drive the charging boom 108 autonomously back to the transportation position correspondingly as previously has been explained.

Then, the operator binds the detonator cords of the installed detonators in the charged holes H1 , H2 to bunches to complete the method 228 and the method 228 ends correspondingly as previously has been explained.

Fig. 3 presents the controller 122 and other operational parts to control the previously explained operations of the charging system 100.

The controller 122 comprises a processor 370 that is configured to carry out operator-initiated, computer program-initiated instructions, or both, and to process information (data) to execute (run, carry out) computer programs. The processor part 370 comprises at least one processor, e.g., one, two, three, four, or more processors.

The controller 122 further comprises a memory 382 to store and to maintain information. The information comprises instructions, computer programs, and information files. The memory 382 comprises at least one memory, e.g., one, two, three, four, or more memories.

The controller 122 further comprises a communicator 372 that the controller 122 is configured to control to send commands and information to, e.g., at least one of the operating parts 374, 375, 376, 378, 379 in the charging system 100. The controller 122 is further configured to control the communicator 252 to receive instructions and the information, e.g., the position and proximity information, from, e.g., at least one of the operating parts 374, 375, 376, 378, 379. The communication between the communicator 372 and at least one of the operating parts 374, 375, 376, 378, 379 in the charging system 100 is carried out through a wired connection(s), wireless connection(s), or both connections.

The communicator 372 comprises an antenna (not presented), when the communicator 372 is configured to communicate with at least one of the operating parts 374, 375, 376, 378, 379 through the wireless connection(s).

The controller 122 further comprises a user interface 377 that the controller 122 is configured to control to receive instructions, requests, or information, e.g., from the operator or other persons. The controller 122 is further configured to control the user interface 377 to present instructions, requests, or information, e.g., to the operator or other persons.

The communicator 122 further comprises a power supplier 380 that the controller 122 is configured to control to power the operation of the controller 122. The power supplier 380 comprises at least one supplier part to power the controller 122, e.g., a connection to electric plugs, battery, regulator, or other supplier part.

The memory 382 is configured to store at least a communicator program 384 to operate (control) together with the controller 122 the communicator 372, a user interface program 390 to operate together with the controller 122 the user interface 377, and a power supplier program 392 to operate together with the controller 122 the power supplier 380. The memory 350 is further configured to store a computer program 394 that the controller 122 is configured to execute to control the operation of the charging system 100 as previously has been explained. The computer program 394 comprises computer readable code instructions.

The computer program 266 may be stored in a tangible, non-volatile (non-transitory) computer-readable medium, e.g. a Compact disc (CD) or Universal Serial Bus (USB) storage device.

The invention has been now explained above with reference to the previous exemplary embodiments and its several advantages have been demonstrated. The invention is not only restricted to these embodiments, but it comprises all possible embodiments within the scope of the following claims.

Claims

1 . A charging system (100) for charging at least one charging hole (H1 , H2), comprising a charging boom (108), a charging head (118) at an end (119) of the charging boom, at least one boom sensor (378) for sensing position information relating to the charging head, and a controller (122) for controlling the charging boom, wherein the controller is configured to determine (246) an autonomous movement (M, M1 , M2, M4) of the charging head from a current position (P0, PM, P1 ) to a next position (P0, PM, P1 , P2) on the grounds of at least the position information, wherein the controller is further configured to cause (235, 251 ) the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head, and characterized in that the controller is further configured to cause (247) the charging boom at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current position information or a manual control of an operator.

2. The charging system according to the previous claim, wherein the at least deceleration of the determined autonomous movement of the charging boom comprises a deceleration, stopping, or stopping after a deceleration of the determined autonomous movement of the charging boom when the movement is prevented on the grounds of the position information.

3. The charging system according to any of the previous claims, wherein the controller is further configured to establish a tunnel model (234) that determines a safe movement area for the charging boom with the charging head, wherein outer limits of the safe movement area in the tunnel model is configured to establish an obstacle for the charging boom and the charging head.

4. The charging system according to any of the previous claims, wherein the next position comprises the home, hole, or an intermediate position (P0, PM, P1 , P2) so that next position is different than the current position.

5. The charging system according to claim 4, wherein the current position comprises a home position (P0) of the charging head, a hole position (P1 , P2) close to each charging hole (H1 , H2), or an intermediate position (PM) or other position between the home and hole positions (P0, P1 , P2).

6. The charging system according to any of the previous claims, wherein the controller is further configured to establish a tunnel model (234), wherein the current and next positions comprise at least a home position (P0) of the charging head and a hole position (P1 , P2) close to each charging hole (H1 , H2).

7. The charging system according to any of the previous claims, wherein the controller is configured to at least decelerate the determined autonomous movement of the charging head on the grounds of a distance between the charging boom or the charging head and a sensed obstacle or a distance between the charging head and the next position.

8. The charging system according to any of the previous claims, which further comprises at least one proximity sensor (375) configured to sense proximity information relating to the charging head or the charging boom, wherein the proximity information comprises a distance from the current position of the charging boom or the charging head to a sensed obstacle.

9. The charging system according to any of the previous claims, wherein the controller is further configured to determine (246) a new autonomous movement (M, M1 , M2, M4) of the charging head from the current position to the next position on the grounds of at least the current position information and a sensed obstacle after the determined autonomous movement of the charging head has been prevented by a sensed obstacle.

10. The charging system according to any of the previous claims, wherein the controller is further configured to determine (246) a new autonomous movement (M, M1 , M2, M4) of the charging head from the current position to the next position on the grounds of at least the current position information after the determined autonomous movement of the charging head has been prevented by the manual control from the operator.

11 . The charging system according to any of the previous claims, wherein the controller is further configured to establish at least one intermediate position (PM) between a home position (P0) of the charging head and a tunnel surface (102), which comprises the at least one charging hole, to move the charging head autonomously and safely from the tunnel surface to the home position and vice versa.

12. The charging system according to any of the previous claims, wherein the at least one boom sensor is configured to sense the position information of each current and next positions (P0, PM, P1 , P2) and the controller is configured to determine (244, 258) the current and next positions of the charging head in a co-ordinate system (132) of the charging boom on the grounds of the position information.

13. The charging system according to any of the previous claims, wherein the controller is configured to establish (234) a three-dimensional co-ordinate system (132) comprising an origin (O) at a connection mechanism (110) at another end (109) of the charging boom, whereupon each of current and next positions (P0, PM, P1 , P2) in the co-ordinate system locates in relation to the connection mechanism.

14. The charging system according to any of the previous claims, which further comprises a connection mechanism (110) at another end (109) of the charging boom, wherein the connection mechanism is configured to connect the charging boom to other structures of the charging system.

15. The charging system according to any of the previous claims, wherein the controller is configured to change a predetermined position of at least one joint (116) of the charging boom without changing the autonomous movement of the charging head from the current position to the next position.

16. A charging method (228) for charging at least one charging hole (H1 , H2) by means of the charging system (100) according to any of the previous claims, comprising at least following steps of sensing, by at least one boom sensor (378), position information relating to a charging head (118) at an end (119) of a charging boom (108), determining (246), by a controller, an autonomous movement (M, M1 , M2, M4) of the charging head from a current position (P0, PM, P1 ) to a next position (P0, PM, P1 , P2) on the grounds of at least the position information, and causing (235, 251 ), by the controller, the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head, wherein the charging boom is further caused (247), by the controller, at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current sensed position information or a manual control of an operator.

17. A controller (122) for controlling a charging boom (108), comprising a processor (370) and a communicator (372), wherein the communicator is configured to receive position information relating to a charging head (118) at an end (119) of a charging boom (108) from at least one boom sensor (378), wherein the processor is configured to determine (246) an autonomous movement (M, M1 , M2, M4) of the charging head from a current position (P0, PM, P1 ) to a next position (P0, PM, P1 , P2) on the grounds of at least the position information, wherein the processor is further configured to cause (235, 251 ) the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head, and characterized in that the controller is further configured to cause (247) the charging boom at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current position information or a manual control of an operator.

18. A controlling method (228) for controlling a charging boom (108) by means of the controller (122) according to claim 17, comprising at least following steps of receiving, by a communicator (372), position information relating to a charging head (118) at an end (119) of a charging boom (108) from at least one boom sensor (378), determining (246), by a processor (370), an autonomous movement (M, M1 , M2, M4) of the charging head from a current position (P0, PM, P1 ) to a next position (P0, PM, P1 , P2) on the grounds of at least the position information, and causing (235, 251 ), by the processor, the charging boom to move the charging head on the grounds of at least the position information and the determined autonomous movement of the charging head, wherein the charging boom is further caused (247), by the controller, at least to decelerate the determined autonomous movement of the charging head when a continuation of the determined autonomous movement of the charging head is prevented at least on the grounds of current position information or a manual control of an operator.

19. A computer program (394) comprising instructions, which, when the computer program is executed by the controller (122) that comprises the processor (370), cause the controller to carry out at least the steps of the controlling method according to claim 18.

20. A tangible, non-volatile computer readable medium comprising the computer program (394) according to claim 19.