BLASTHOLE LOADING

Description

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority to Australian Patent Application No. 2024904047, filed Dec. 6, 2024, and titled BLASTHOLE LOADING, the entire content of which is incorporated herein by reference in its entirety.

FIELD

The present invention relates to blasthole loading. More particularly, the present disclosure relates to delivery of a primer or an explosive to an operative position in a blasthole.

BACKGROUND

An existing system for loading a blasthole with a primer uses an initiating wire to which the primer is attached. The primer is lowered into the blasthole by feeding the initiating wire into the blasthole. As the primer is lowered into the blasthole, the initiating wire can get tangled. In addition, the primer tends to sway as it is lowered into the blasthole, which could result in the primer scraping against internal surfaces of the blasthole thereby damaging the primer. The swaying experienced by the primer increases as the primer travels deeper into the blasthole.

SUMMARY OF INVENTION

Preferred embodiments of the invention seek to address the disadvantages described above and/or to at least provide the public with a useful choice.

An aspect provides a system for loading a blasthole, the system including: an elongate delivery portion for delivering a primer or explosive into the blasthole, the elongate delivery portion being reinforced at least along a portion of the elongate delivery portion to provide directional stability while the elongate delivery portion is in the blasthole including while the elongate delivery portion is moved within the blasthole.

The elongate delivery portion may be a hose, tube or conduit for example.

The directional stability provided to the elongate delivery portion preferably includes longitudinal stability and/or angular stability. In one example, the directional stability provided to the elongate delivery portion prevents the elongate delivery portion from swaying laterally. Additionally or alternatively, the directional stability provided to the elongate delivery portion preferably includes torsional resistance.

The system preferably includes an opening from which the primer or explosive can be deployed. The primer or explosive can be provided to the system via the same opening or a different opening. The opening(s) may be provided at or near a free end of the elongate delivery portion. Preferably, the opening(s) may be provided in carrier that is connected to the elongate delivery portion. By way of the directional stability provided to the elongate delivery portion, an orientation of the opening(s) can preferably be maintained or controlled as or when the elongate delivery portion is elongated (or deployed) into the blasthole.

According to some examples, an orientation the opening(s) can be maintained or controlled when the elongate delivery portion travels or remain stationary in the blasthole. Preferably, a robotic arm is configured to provide the primer or explosive to the system, wherein the opening allows for a passage of a robotic hand after releasing the primer or explosive in the system.

The system may further include a carrier for carrying the primer or explosive, wherein the carrier is provided on the elongate delivery portion. The carrier may be configurable to deploy the primer or explosive when it reaches a desired operative position in the blasthole. The desired operative position may be an end of the blasthole or anywhere along a depth of the blasthole. The carrier is preferably also provided with directionally stability when the carrier is located in the blasthole. An orientation of the carrier in the blasthole can preferably be maintained or controlled. In particular, an orientation of an opening of the carrier, leading to the primer or explosive and/or from which the primer or explosive can be deployed, can preferably be maintained or controlled.

A further aspect provides a system for delivering a primer or explosive into a blasthole, including: a carrier for carrying the primer or explosive and a flexibly resilient elongate delivery portion attached to the carrier for lowering the carrier into the blasthole, wherein the elongate delivery portion is resistant to torsional forces when the carrier is in, and travels within, the blasthole.

In one or more embodiments, the elongate delivery portion resists torsional forces such that the carrier is kept in a downward orientation as it travels within the blasthole. In one or more embodiments, the elongate delivery portion resists torsional forces such that the elongate delivery portion limits lateral movement of the carrier relative to a longitudinal axis of the blasthole as it travels within the blasthole.

In one or more embodiments, the elongate delivery portion is resistant to torsional forces along its length. In one or more embodiments, the system may include a plurality of elongate delivery portions. Preferably, each of the plurality of elongate delivery portions is resistant to torsional forces.

The elongate delivery portion may be resistant to twisting by up to 180°. The elongate delivery portion may be resistant to twisting by up to 90°. The elongate delivery portion may be resistant to twisting by up to 45°. The elongate delivery portion is preferably substantially resistant to any twisting.

In a preferred embodiment, the elongate delivery portion is reinforced by way of a reinforcing member extending along a length of the portion of the elongate delivery portion. In one example, the reinforcing member spans an entire length of the elongate delivery portion. In this example, the reinforcing member has one end that may be anchored to a reel portion and/or the reinforcing member may extend to, or has another end that is provided at, a carrier that carries the primer or explosive. In another example, the reinforcing member spans a section of a length of the elongate delivery portion. In this other example, the reinforcing member may extend to, or has another end that is provided at, a carrier that carries the primer or explosive. The reinforcing member may have a length of between about 2 m and 10 m.

The reinforcing member has a stiffness that is preferably greater than a stiffness of the elongate delivery portion. By way of example, the reinforcing member may be an elongate member, such as a rod, or a weighted member for stabilising the elongate delivery portion within the blasthole. In one example, the reinforcing member may be a stiffening rod. For example, the reinforcing member may be a fiberglass rod. The reinforcing member may be composed of a metal, fibreglass, plastic, polymeric material or any combination thereof. In another example, the reinforcing member may have a coil, serpentine or helical shape that wraps around the elongate delivery portion or a space within the elongate delivery portion. In yet a further example, the reinforcing member may be a sleeve. In one example, the sleeve is provided inside the elongate delivery portion. In another example, the sleeve is spaced apart from the elongate delivery portion. In a further example, the sleeve engages an inner wall of the elongate delivery portion.

Preferably, the elongate delivery portion is reinforced internally. For example, the elongate delivery portion is reinforced by way of a reinforcing member that is located within the elongate delivery portion. The reinforcing member is preferably centrally located in the elongate delivery portion. The reinforcing member may be spaced apart from an inner wall of the elongate delivery portion. In another example, the reinforcing member may be laterally offset from a central longitudinal axis of the elongate delivery portion. In another example, the elongate delivery portion is reinforced by way of reinforcement provided or embedded within a wall of the elongate delivery portion. The reinforcing member may be adjacent to or attached to the elongate delivery portion. For example the reinforcing member may be attached to, or provided within a sleeve attached to, a wall of the elongate delivery portion.

In yet a further example, the elongate delivery portion is reinforced externally. For example, the elongate delivery portion may be reinforced by a sleeve that embraces or encircles the elongate delivery portion.

In one embodiment, the elongate delivery portion includes one reinforcing member for reinforcing the elongate delivery portion. In another embodiment, the elongate delivery portion may have two or more reinforcing members. In this other embodiment, the two or more reinforcing members may be laterally and/or longitudinally spaced apart from each other within the elongate delivery portion.

The reinforcing member has a width that may be between about 30% to 80% of an internal width of the elongate delivery portion. Preferably, the width of the reinforcing member is about 50% of the internal width of the elongate delivery portion. The internal width of the elongate delivery portion may be between about 15 mm to 30 mm. Preferably, the internal width of the elongate delivery portion is about 20 mm. Preferably, the width of the reinforcing member is about 8 mm to 12 mm, further preferably about 9 mm to 10 mm. Preferably, the width of the reinforcing member is the same along a length of the reinforcing member. In other examples, the width of the reinforcing member may vary along the length of the reinforcing member. Preferably, the reinforcing member shares a space within the elongate delivery portion with one or more electrical conductors.

The system preferably further includes a reel for carrying the elongate delivery portion. The directional stability is preferably at least provided to section(s) of the elongate delivery portion that is/are elongated (or deployed) from the reel. The reinforcing member may have some longitudinal flexibility to allow a section of the elongate delivery portion having the reinforcing member to be wound around the reel. In another example, the reinforcing member may be substantially rigid such that sections of the elongate delivery portion with the reinforcing member cannot be wound around the reel. The reinforcing member may be tensioned such that the elongate delivery portion is dispensed from the spool into the blasthole substantially along or parallel to a transverse axis to a rotational axis of the reel.

The system may further include a tether for the primer or explosive. The tether is preferably for maintaining a position of the primer or explosive, once deployed, at the desired operative position in the blasthole. Preferably, one end of the tether is attached to the primer or explosive and another end of the tether is locatable at or near an opening of the blasthole. The tether may be an initiating (or signal) wire for carrying an electronic signal to detonate the primer or explosive, a wire, a rope, cable or line. Preferably, the tether is externally located from the elongate delivery portion. The tether is preferably provided on a spool. The primer or explosive preferably faces a forward direction from the elongate delivery portion, wherein the spool is forwardly located relative to the elongate delivery portion. The primer or explosive may be provided for the elongate delivery portion and/or deployed from the elongate delivery portion from the forward direction. In a preferred embodiment, as the primer or explosive is inserted into the blasthole, a direction of deployment for the primer or explosive is maintained in the forward direction due to the directional stability provided to the elongate delivery portion. Further preferably, a deployment direction for the primer or explosive can be controlled. Further according to the preferred embodiment, as the primer or explosive is inserted into the blasthole with the spool containing the tether being forwardly located relative to the elongate delivery portion above the blasthole and, due to the directional stability provided to the elongate delivery portion, the tether from the spool is not likely to get caught by, e.g. wrap around, the elongate delivery portion.

In one example, the primer or explosive may be detonated via the tether. In this example, the tether is an initiating wire for carrying an electrical signal to detonate the primer or explosive. Additionally, in this example, the tether may be provided to maintain the primer or explosive, once deployed, at the desired operative position.

In other examples, the primer or explosive may be wirelessly detonated. In this example, the tether may be provided to maintain the primer or explosive, once deployed, at the desired operative position. Additionally or alternatively, the tether may be an initiating wire that is connected to a wireless receiver that is located at or near a mouth of the blasthole.

The elongate delivery portion may have a wall thickness of between about 3 mm and 10 mm. Preferably, the wall thickness of the elongate delivery portion is about 5 mm.

The elongate delivery portion has an internal wall surface that may be substantially frictionless. The internal wall surface may additionally or alternatively have an anti-static friction layer or coating. In one or more embodiments, the internal wall surface of the elongate delivery portion includes an anti-static layer or coating. In one or more embodiments, the inner wall of the elongate delivery portion includes a combined anti-friction and anti-static layer or coating.

The elongate delivery portion has an exterior wall that may comprise synthetic rubber. Preferably, the exterior wall of elongate delivery portion may comprise neoprene.

The carrier, in one example, may be a capsule. In the preferred embodiment, the carrier is configured to deploy the primer or explosive when the carrier is determined to have reached a desired operative position (or location) within the blasthole. The determination is preferably made by a controller based on input from a sensor arrangement. The controller is preferably located above the blasthole. The controller may cause the carrier to deploy the primer or explosive via a wired or wireless communication.

Preferably, the elongate delivery portion contains one or more electrical conductors for communicating signals to one or more electronic components. The system may further include a controller locatable above the blasthole in wired communication with the electronic component(s) via the electrical conductor(s). In another example, the controller may be in wireless communication with the electronic component(s). In one or more embodiments, the carrier houses the one or more electronic components. Preferably, the carrier includes one or more apertures each for a passage of one or more electrical conductors to one or more electrical components in the carrier. The apertures may be provided in an end or a collar portion of the carrier.

The one or more electronic components may include a sensor arrangement for detecting a location of the carrier in the blasthole. The one or more electronic components may include an electronic component that is coupled to a deployment mechanism of the carrier, wherein the deployment mechanism is configurable by an electronic signal from the controller to deploy the primer or explosive into the blasthole. The one of more electronic components may include a sensor for measuring torsional forces. The one or more electronic components may include an electronic component coupled to one or more trapping portions that trap the primer or explosive in the carrier, wherein the electronic component is configured to retract the one or more trapping portions from an extended position to allow the primer or explosive to be deployed from the carrier. The one or more electronic components may further include a sensor arrangement for detecting any obstructions in the blasthole. The one or more electronic components of the carrier are preferably physically and/or electrically isolated from a compartment where the primer or explosive is locatable. Further preferably, the one or more electronic components are thermally isolated from the primer or explosive to minimise any heat dissipation from the one or more electronic components to the primer or explosive when located in the carrier.

Additionally or alternatively, the elongate delivery portion contains, or is used as, a conduit for delivering pressurized fluid for pneumatically operating a deployment mechanism of a carrier to deploy the primer or explosive. Additionally or alternatively, the deployment mechanism may be hydraulically operated.

Once the controller determines that the primer or explosive has reached a desired operative position in the blasthole based on measurements of the sensor arrangement, the controller is preferably configured to cause the deployment mechanism to deploy the primer or explosive into the blasthole. The desired operative position may be an end of the blasthole or anywhere along a depth of the blasthole.

The carrier preferably engages the elongate delivery portion such that the carrier is restricted from movement relative to the elongate delivery portion. In a preferred example, the carrier is substantially rigidly connected to the elongate delivery portion. Preferably, the carrier is inhibited from bending and/or twisting relative to the elongate delivery portion. Further preferably, the carrier is restricted from any unwanted movement relative to the elongate delivery portion. In one example, the carrier is connected to the elongate delivery portion such that an orientation of the carrier can be maintained and/or controlled.

Another aspect provides a system for loading a blasthole, the system including: an elongate delivery portion; and a carrier for carrying a primer or explosive, wherein the carrier engages the elongate delivery portion such that the carrier is restricted from at least unwanted movement relative to the elongate delivery portion.

The carrier is preferably provided at a free end or distal end of the elongate delivery portion. The carrier may be the carrier described above.

The elongate delivery portion may include a reinforcing member for reinforcing the elongate delivery portion. The reinforcing member preferably extends from the carrier. The reinforcing member provides directional stability to the elongate delivery portion and to the carrier. The elongate delivery portion and the reinforcing member may have features of the elongate delivery portion and reinforcing member, respectively, described above.

The directional stability provided to the elongate delivery portion and the carrier preferably prevents the elongate delivery portion and the carrier from swaying laterally.

Additionally or alternatively, the elongate delivery portion and the carrier are together preferably resistant to torsion forces. The elongate delivery portion and the carrier may be together resistant to twisting by up to 180°. The elongate delivery portion and the carrier may be together resistant to twisting by up to 90°. The elongate delivery portion and the carrier may be together resistant to twisting by up to 45°. The elongate delivery portion and the carrier is preferably together substantially resistant to any twisting.

The carrier has a top portion from which the reinforcing member may extend. The top portion is preferably connected to the reinforcing member. In a preferred example, the top portion of the carrier engages the reinforcing member. In a preferred example, the top portion of the carrier has a recess in which the reinforcing member is locatable. In another example, the reinforcing member has a recess in which a protrusion in the top portion of the carrier is locatable. In another example, the reinforcing member may threadably engage the carrier. In other examples, the reinforcing member may be integrally formed with at least a portion, e.g. the top portion, of the carrier.

In one example, the carrier is configured to deploy the primer or explosive laterally from the carrier. For example, the carrier has a sidewall portion having an opening from which the primer or explosive can be deployed. In another example, the carrier is configured to deploy the primer or explosive longitudinally from the carrier. For example the carrier has a bottom portion having an opening from which the primer or explosive can be deployed. According to this example, the tether is fed to the primer or explosive from the bottom portion.

The carrier may be an elongate housing that tapers towards an end of the body. The carrier may be a capsule.

The carrier has a body portion having a compartment or receptacle where the primer or explosive is locatable. The body portion, in one example, is substantially cylindrical. In another example, the body portion may have a narrow profile. By way of example, the body portion may be an elliptic cylinder.

In one or more embodiments, the carrier includes two opposed ends. In one or more embodiments, the opposed ends are connected to or integrally formed with the protective housing. In one or more embodiments, one or both of the opposed ends are shaped to resist impacts or collisions with the borehole. In one or more embodiments, one or both of the opposed ends have a conical, spherical, frustoconical, ogive or curved shape to deflect impacts or collisions. The opposed ends may include a top portion and/or a bottom portion. The top portion and the bottom portion may each define a compartment that is physically and electrically isolated from the compartment or receptacle of the body portion. Further, the top and/or bottom portion may be thermally isolated from the compartment or receptacle of the body portion.

The carrier may be weighted to provide the carrier with directional stability as the carrier is lowered or raised within the blasthole. In a preferred example, the carrier is weighted at the top portion and/or at the bottom portion.

The carrier may further include one or more electronic components. The one or more electronic components may be housed in the top portion and/or the bottom portion of the carrier. The one or more electronic components may include a sensor arrangement for detecting a location of the carrier in the blasthole. The one or more electronic components may include an electronic component that is coupled to a deployment mechanism of the carrier, wherein the deployment mechanism is configurable by an electronic signal from the controller to deploy the primer or explosive into the blasthole. The one of more electronic components may include a sensor for measuring torsional forces. The one or more electronic components may include an electronic component coupled to one or more trapping portions that trap the primer or explosive in the carrier, wherein the electronic component is configured to retract the one or more trapping portions from an extended position to allow the primer or explosive to be deployed from the carrier. The one or more electronic components may further include a sensor arrangement for detecting any obstructions in the blasthole. The one or more electronic components of the carrier are preferably physically and/or electrically isolated from the compartment or receptacle where the primer or explosive is locatable. Further preferably, the one or more electronic components are preferably thermally isolated from the compartment or receptacle of the body portion to avoid any heat generated by the one or more electronic components from dissipating to the compartment or receptacle in which the primer or explosive is locatable.

Additionally or alternatively, the elongate delivery portion contains, or is used as, a conduit for delivering pressurized fluid for pneumatically operating a deployment mechanism of a carrier to deploy the primer or explosive. Additionally or alternatively, the deployment mechanism may be hydraulically operated.

The system may further include a controller in communication with the one or more electronic components. The controller is preferably locatable above the blasthole when the carrier is inserted/lowered into the blasthole. The controller may be in wired communication with the one or more electronic components via one or more electrical conductors located within the elongate delivery portion. The top portion of the carrier includes coupling portion to which the elongate delivery portion is coupled, the coupling portion preferably including one or more apertures for the passage of the one or more electrical conductors to the respective one or more electronic components. The coupling portion may, for example, be a collar portion that is received by a free end of the elongate delivery portion. Alternatively, the controller may be in wireless communication with the one or more electronic components.

Another aspect of the present invention provides a carrier for carrying a primer or explosive, the carrier including a plurality of compartments that are thermally and/or electrically isolated from each other, wherein the plurality of compartments includes a first compartment in which the primer or explosive is locatable and a second compartment in which one or more electronic components are locatable, wherein the one or more electronic components include a sensor arrangement for detecting a location of the carrier in a blasthole.

Preferably, the compartments are physically separated from each other. In one or more embodiments, the carrier includes a protective housing for the primer or explosive.

The carrier may have features of the carrier described above.

The one or more electronic components may include an electronic component that is coupled to a deployment mechanism of the carrier, wherein the deployment mechanism is configurable by an electronic signal from the controller to deploy the primer or explosive into the blasthole. The one of more electronic components may include a sensor for measuring torsional forces. The one or more electronic components may include an electronic component coupled to one or more trapping portions that trap the primer or explosive in the carrier, wherein the electronic component is configured to retract the one or more trapping portions from an extended position to allow the primer or explosive to be deployed from the carrier. The one or more electronic components may further include a sensor arrangement for detecting any obstructions in the blasthole.

By way of example, the carrier may have a pneumatically-driven actuator that is configurable to deploy the primer or explosive from the carrier. Alternatively, the carrier may have a hydraulically-operated actuator that is configured to deploy the primer or explosive. In other examples, the carrier may be configured to passively deploy the primer or explosive from the carrier. For example, the carrier may be configured to deploy the primer or explosive by configuring an opening in a bottom portion of the carrier. In yet another example, the system includes an electrically-operated actuator that is activatable to deploy the primer from the carrier. The actuator includes electrically non-conductive portions that contact the primer or explosive to deploy the primer or explosive. In one or more embodiments, actuator may be a deployment mechanism that includes one or more deployment arms for pushing the primer or explosive from the carrier. The deployment arms may be actuated mechanically, electrically, pneumatically or hydraulically.

In an embodiment, the carrier includes an opening from which the primer or explosive is insertable into the carrier and/or from which the primer and explosive is deployable from the carrier. In one example, the opening of the carrier from which the primer or explosive is insertable into the carrier is the same opening from which the primer or explosive is deployable from the carrier. In one example, the opening of the carrier from which the primer or explosive is insertable into the carrier is different from the opening from which the primer or explosive is deployable from the carrier. The carrier may include an opening is in a sidewall portion of the carrier. Additionally or alternatively, the carrier may include an opening at an end of the carrier. For example, the carrier may have an opening in a top portion or a bottom portion of the carrier. An orientation of the opening(s) of the carrier may be maintained or controlled as and/or when the carrier is deployed into the blasthole.

In one or more embodiments, the carrier includes a shield portion for protecting the opening. In one or more embodiments, the shield portion is configured to open and expose the opening for discharging the primer or explosive. In one or more embodiments, the shield portion comprises a plurality of nose segments, wherein the nose segments split apart from each other to open the shield portion. In one or more embodiments, the shield portion opens along its length into the plurality of nose segments. In one or more embodiments, the nose segments are pivotally connected to a housing body of the carrier. In one or more embodiments, the shield portion, when in a closed configuration, has a conical, spherical, frustoconical, ogive or curved shape.

The carrier may include one or more trapping portions for trapping the primer or explosive in the carrier. The one or more trapping portions are preferably provided at or near an or each opening of the carrier. The opening may be provided in a sidewall portion and/or in a bottom portion of the carrier. The primer or explosive is preferably inserted into the carrier with a sufficient force to overcome the one or more trapping portions. Additionally or alternatively, the primer or explosive is deployed from the carrier with sufficient force to overcome the one or more trapping portions. The carrier preferably includes a deployment mechanism with one or more deployment arms for pushing the primer or explosive against the one or more trapping portions with sufficient force to overcome the trapping portions. In another example, the one or more trapping portions may be configurable between an extended position for trapping the primer or explosive and a retracted position to allow the primer or explosive to be inserted into and/or or deployed from the carrier. The one or more trapping portions may, in one example, include one or more detents, teeth or clips. The detents may be spring-loaded. The one or more trapping portions may include resiliently deformable members. The one or more trapping portions, in yet another example, may include one or more electrically-actuated members. The one or more trapping portions, in another example, may include one or more static portions that provide an interference fit for the primer or explosive in the carrier. For example, the one or more trapping portions may include one or more raised areas. The one or more trapping portions are preferably electrically non-conductive.

The primer or explosive may be provided to a tether. The tether may be attached or connected to the primer or explosive. The tether is preferably for maintaining a position of the primer or explosive, once deployed, at the desired operative position. Preferably, one end of the tether is attached to the primer or explosive and another end of the tether is locatable at or near an opening of the blasthole. The tether may be an initiating (or signal) wire for carrying an electronic signal to detonate the primer or explosive, a wire, a rope, cable or line. Preferably, the tether is externally located from the elongate delivery portion. The tether is preferably provided on a spool, wherein the tether is unspooled from the spool as the elongate delivery portion with the carrier is deployed into the blasthole. Once the primer or explosive is deployed from the carrier into the blasthole at the desired operative position, the spool would preferably be left at or near a mouth of the blasthole to maintain the primer or explosive at the desired operative position. The spool preferably includes a controller for receiving a detonating signal and for detonating the primer or explosive in response to the detonating signal.

Preferably, the carrier includes an opening through which the primer or explosive is provided to and/or deployed from the carrier, wherein the spool carrying the tether is located forwardly from the opening. The opening of the carrier faces a lateral (e.g. sideward forward or rearward) direction wherein the spool is located laterally from the carrier and on the same side as the opening. Preferably, the opening faces a forward direction, wherein the spool is forwardly located relative to the carrier. The opening of the carrier faces the forward direction when the primer or explosive is provided to the carrier and/or as the carrier travels along the blasthole and/or when the primer or explosive is deployed from the carrier. The tether from the spool is preferably fed from a location that is forward of the carrier. In a preferred embodiment, as the carrier is inserted into the blasthole, the opening of the carrier is maintained in the forward direction. The opening of the carrier can be maintained to face the forward direction by way of directional stability provided to the elongate delivery portion and the engagement between the elongate delivery portion and the carrier. Further according to the preferred embodiment, the spool containing the tether is located above the blasthole and, as the primer or explosive is inserted into the blasthole, the tether wire from the spool is not likely to get caught by, e.g. wrap around, the elongate delivery portion. In other examples, an orientation of the carrier may be controlled. For example, depending on a profile or condition of the blasthole, the orientation of the carrier can be controllably adjusted so that the carrier can reach the desired operative position and/or so that the carrier can be maneuvered around any obstructions in the blasthole and/or so that the carrier once at the desired operative position can be oriented in a suitable direction for the deployment of the primer or explosive. The carrier can be maneuvered or re-oriented in responses to one or more measurements by a sensor arrangement of the carrier that detects obstructions in the blasthole.

In other examples, the opening faces a longitudinal (e.g. downward) direction. Preferably, in this example, the tether is fed to the primer or explosive from a bottom of the carrier.

The carrier preferably has one or more guides for receiving the tether and for guiding the tether to the primer or explosive when located in the first compartment. The one or more guides are provided at, near or around an opening of the carrier from which the primer or explosive is inserted into the carrier and/or from which the primer or explosive is deployed from the carrier. The one or more guides may include a plurality of guides that are laterally offset from each other relative to a longitudinal axis of the carrier. The sidewall portion of the carrier may have an inwardly tapered portion (or section) that tapers towards the opening of the carrier. The one or more guides are preferably provided on the inwardly tapered sidewall portion. The or each guide may be a slot or a channel.

In one example, the primer or explosive may be detonated via the tether. In this example, the tether is an initiating wire for carrying an electrical signal to detonate the primer or explosive. Additionally, in this example, the tether may be provided to maintain the primer or explosive, once deployed, at the desired operative position.

Alternatively, the primer or explosive may be wirelessly detonated. In this example, the tether may be provided to maintain the primer or explosive, once deployed, at the desired operative position. Additionally or alternatively, the tether may be an initiating wire that is connected to a wireless receiver that is located at or near a mouth of the blasthole.

According to another aspect, there is provided a carrier for carrying a primer or explosive that is connected to a tether, the carrier includes a body portion having an opening from which the primer or explosive is insertable into the carrier and/or from which the primer or explosive is deployable from the carrier, wherein the carrier includes one or more guides provided on the body portion for receiving the initiating wire and for guiding the tether to the primer or explosive when inserted in the carrier.

The primer or explosive of this aspect may be detonated via the tether or detonated wirelessly.

The body portion of the carrier may have a sidewall portion with an inwardly tapered portion that tapers towards an opening of the carrier. The one or more guides may be provided on the inwardly tapered sidewall portion.

The or each guide may be a slot or a channel.

A further aspect of the present invention provides a system for loading a blasthole, the system including: a carrier for carrying a primer or explosive, the carrier having an opening from which the primer or explosive is insertable into the carrier and/or from which the primer or explosive is deployable from the carrier, the opening of the carrier being maintainable in a forward-facing direction when it is inserted into the blasthole; and a tether to the primer or explosive, the tether being provided on a spool, wherein the spool is forwardly located from the opening.

The primer or explosive according to this aspect may be detonated via the tether or detonated wirelessly.

Preferably, the carrier maintains directional stability as the carrier is inserted into the blasthole such that the tether from the spool does not wrap around the carrier and/or an elongate delivery portion to which the carrier is attached. The system may include a reinforcing member for maintaining the directional stability of the carrier. The directional stability includes longitudinal stability in relation to a central longitudinal axis of the blasthole and/or angular stability about the central longitudinal axis of the blasthole.

The carrier, elongate delivery portion and the reinforcing member may have features of the carrier, elongate delivery portion and reinforcing member, respectively, described above.

Further preferably, the carrier maintains directionally stability when the carrier remains stationary in the blasthole.

The tether preferably unspools in a feed direction towards the blasthole that is substantially along or parallel to an axis that is transverse to a rotational axis of the spool.

Yet a further aspect of the present invention provides a system for loading a blasthole, the system including: a tether to a primer or explosive, the tether being provided on a spool, wherein the tether unspools in a feed direction towards the blasthole that is substantially along or parallel to an axis that is transverse to a rotational axis of the spool.

Preferably, a portion of the tether from the spool to carrier is kept in tension as it unspools from the spool. For example, the system includes a retarding device or tensioner to keep the portion of the tether in tension. The spool may be mounted on a motor that, as the tether unspools from the spool in the feed direction, draws the spool in a direction that is opposite to the feed direction.

In one example, the primer or explosive may be detonated via the tether. In this example, the tether is an initiating wire for carrying an electrical signal to detonate the primer or explosive. Additionally or alternatively, in this example, the tether may be provided to maintain the primer or explosive, once deployed, at the desired operative position.

In other examples, the primer or explosive may be wirelessly detonated. In this example, the tether may be provided to maintain the primer or explosive, once deployed, at the desired operative position. Additionally or alternatively, the tether may be an initiating wire that is connected to a wireless receiver that is located at or near a mouth of the blasthole.

In a preferred embodiment, the elongate delivery portion is for delivering one primer or explosive for the blasthole. In other embodiments, the elongate delivery portion is for carrying a plurality of primers or explosives for the blasthole. For example, the elongate delivery portion may be for delivering two primers to the blasthole. The carrier may be configured to carry two primers. In other examples, the carrier may be configured to carry three, four or more than four primers for the blasthole. In this example, the carrier may include a plurality of compartments, each compartment for carrying a respective one of the plurality of primers or explosives. In yet a further example, the system may include a plurality of carriers, each carrying one or more primers. According to this further example, the carriers may be provided to a single tether or may each be provided to a respective one of a plurality of tethers.

In yet a further example, the elongate delivery portion is for delivering a primer and an explosive to the blasthole. For example, the elongate delivery portion includes a first conduit that is connectable to an explosive delivery system and includes a reinforcing member that is connected to a carrier that carries a primer, wherein the explosive is delivered from an outlet of the first conduit before and/or after the primer is deployed from the carrier. In this example, the explosive may be a bulk explosive or include an explosive emulsion.

Yet another aspect of the present invention provides a system for loading a blasthole, the system including: a carrier for carrying a plurality of primers or explosives for the blasthole, wherein the carrier comprises a plurality of compartments, each compartment for carrying a respective one of the plurality of primers or explosives.

The carrier may be the carrier described above.

The plurality of compartments may include compartments that are radially distributed about a central axis of the carrier. Additionally or alternatively, the plurality of compartments may include compartments that are longitudinally spaced apart from each other. The plurality of primers or explosives for the blasthole may be connected to a single tether. Alternatively, the plurality of primers or explosives for the blasthole may each be connected to a respective tether. The plurality of primers or explosives may be detonated wirelessly or detonated by an electronic signal carried by the tether.

Preferably, the primer is assembled by an automated system without human intervention. For example, the automated system is configured to: retrieve a booster from a storage that contains a plurality of boosters; retrieve a detonator reel that includes a detonator from a plurality of detonator reels; assemble the retrieved booster and the detonator of the retrieved detonator reel to form the primer; and locate the primer for deployment into the blasthole. The automated system may, for example, be configured to locate the assembled primer in a carrier, position the carrier with the primer in the blasthole, cause the carrier to deploy the primer, and retract the carrier from the blasthole. The automated system may be implemented on a vehicle. For example, according to a preferred embodiment, the vehicle has the storage that stores the plurality of boosters, the plurality of detonator reels and one or more robotic arms that are configured to retrieve the booster from storage and detonator reel to assemble the primer. One or more datum points may be defined with respect to the vehicle that define points of operation for the one or more robotic arms. For example, the one or more datum points includes one or more of: a location of the storage of the plurality of boosters, a location of the previously retrieved booster from storage, a location of the next available booster for retrieval from storage, a location where the retrieved booster from storage is placed for primer assembly, a location of the plurality of detonator reels, a location of the previously retrieved detonator reels, a location of the next available detonator reels for retrieval, a location where the retrieved detonator reel is placed for primer assembly, a location where the carrier is located for receiving the assembled primer. The vehicle may be an autonomous vehicle that is configured to moves from blasthole to blasthole, wherein at each blasthole, the automated system assembles the primer, loads the primer into the carrier, locates the carrier in the blasthole, deploys the primer into the blasthole, retrieve the carrier, and moves to the next blasthole. Alternatively, one or more of these steps may involve human intervention.

BRIEF DESCRIPTION OF DRAWINGS

Preferred embodiments of the invention will now be described, by way of non-limiting example, with reference to the accompanying drawings in which:

FIG. 1 shows the process for blasthole loading according to an embodiment of the present invention;

FIG. 2 shows a detonator reel according to an embodiment of the present invention;

FIGS. 3A to 3C show a primer assembly according to an embodiment of the present invention;

FIGS. 4A and 4B show a schematic view of a blasthole loading system according to an embodiment of the present invention;

FIGS. 5A and 5B show a carrier according to an embodiment of the present invention;

FIGS. 6A and 6B show a carrier according to another embodiment of the present invention;

FIGS. 7A and 7B show a carrier according to another embodiment of the present invention;

FIGS. 8A and 8B show a carrier according to another embodiment of the present invention; and

FIGS. 9A to 9F show a carrier according to another embodiment of the present invention.

DESCRIPTION OF EMBODIMENTS

The blasthole loading process according to a preferred embodiment of the present invention is outlined in FIG. 1. The blasthole is a borehole to which a primer and/or explosive would be provided. In the preferred embodiment, the steps of the process are performed by an automated system without human intervention. The automated system may be provided on a vehicle, such as a truck, and includes one or more robotic arms for performing steps of the process. The robotic arm may, for example, be a 6-axis industrial robot having a pneumatic gripper. The vehicle includes a dock for the primer assembly, or a primer assembly station, with one or more defined datum points. In other embodiments, some or all of the steps of the process may be performed manually.

Once the vehicle arrives at a blasthole 101, the automated system proceeds to assemble a primer 102.

To assemble the primer 102, the system retrieves a booster with pre-filled explosive emulsion from storage or from a dispenser. The storage or dispenser may, for example, store up to 500 boosters. The automated system locates the retrieved booster at a first datum of the primer assembly station where the booster is clamped. The booster is securely held at the first datum. The booster is preformed with a first passage and a second passage with different depths into the booster. In the preferred example, the first passage fully extends through the booster while the second passage partially extends through the booster. The storage or dispenser for the boosters is provided with a plurality of pins including a first set of longer pins and a second set of shorter pins. Each booster is located on the storage or dispenser with one of the first set of longer pins passing through the first passage of the booster and one of the second set of shorter pins passing through the second passage of the booster. In this way, the boosters on the storage or dispenser are in a predetermined orientation such that, when the automated system retrieves a booster from the storage or dispenser and locates it at the first datum of the primer assembly station, the first and second passages of the booster will be in a known orientation.

The automated system additionally retrieves a spool, which may be a detonator reel 200, shown in FIG. 2, from a plurality of spools that is carried by the vehicle. Each spool carries a tether for maintaining the primer or explosive at a desired operative position in the blasthole. In a preferred example, the spool is a detonator reel 200 that carries an initiating wire (or a detonating cord) 240 with a detonator 260 attached thereto. The detonator reel 200 further includes a spool body 220 having an electronic controller with a communications module for receiving a signal to activate, via the initiating wire, the detonator. The controller may be, or include, one or more computer processors that are configured to execute computer executable instructions stored on a computer-readable medium, The signal may be received by the controller via a wire connection or via a wireless connection. The automated system locates the retrieved detonator reel 200, at a second datum of the primer assembly station, close to the clamped booster such that the detonator with the initiating wire can be unspooled from the spool body 220 of the detonator reel 200. The detonator reel can be retrieved from a separate storage or dispenser that may, for example, store up to 500 detonator reels. The spool body 220 has an irregular profile so that an orientation of the spool body 220 and a position of the detonator 260 when the detonator reel 200 is retrieved from the storage are known. By way of example, the spool body 220 has a squircle profile. The storage or dispenser has partitions defining separate areas in which the detonator reels are respectively located. In this way, the detonator reels on the storage or dispenser are in a predetermined orientation such the automated system can retrieve the detonator reel from the storage or dispenser and place it at the second datum of the primer assembly station in a desired orientation for assembly with a known location for the detonator.

According to other embodiments, the spool that is retrieved by the automated system may be a spool carrying a tether for maintaining a position of the primer or explosive, once deployed, at the desired operative position. The tether according to these other embodiments may be a wire, a rope, cable or line.

In one example, the primer or explosive may be detonated via the tether. In this example, the tether is an initiating wire for carrying an electrical signal to detonate the primer or explosive. In other examples, the primer or explosive may be wirelessly detonated. For these other examples, the tether may be an initiating wire that is connected to a wireless receiver that is located at or near a mouth of the blasthole.

The vehicle may carry one or more storages/dispensers for the boosters and one or more storages/dispensers for the detonator reel.

With reference to FIGS. 3A to 3C, once the booster 300 and detonator reel are in position at their respective datums of the primer assembly station, the automated system loops the detonator 260 through and into the booster 300. In particular, the automated system takes the detonator 260 from the detonator reel and locates the detonator 260, from a first end of the booster 300, through the first passage 320 of the booster until is completely passes the booster 300, from a second end of the booster 300. The automated system then takes the detonator 260 from the second end of the booster and loops it back into the second end of the booster into the second passage 340 of the booster to complete the primer assembly.

The primer is assembled by an automated system without human intervention. The automated system is configured to: retrieve a booster from a storage that contains a plurality of boosters; retrieve a detonator reel that includes a detonator from a plurality of detonator reels; assemble the retrieved booster and the detonator of the retrieved detonator reel to form the primer; and locate the primer for deployment into the blasthole. The automated system may, for example, be configured to locate the assembled primer in a carrier, position the carrier with the primer in the blasthole, cause the carrier to deploy the primer, and retract the carrier from the blasthole. The automated system is implemented on a vehicle. According to a preferred embodiment, the vehicle has the storage that stores the plurality of boosters, the plurality of detonator reels and one or more robotic arms that are configured to retrieve the booster from storage and detonator reel to assemble the primer. One or more the datum points previously described are defined with respect to the vehicle that define points of operation for the one or more robotic arms. The datum points are defied and stored in a computer readable medium that is read by a processor of the automated system for operating the one or more robotic arms. The one or more datum points includes one or more of: a location of the storage of the plurality of boosters, a location of the previously retrieved booster from storage, a location of the next available booster for retrieval from storage, a location where the retrieved booster from storage is placed for primer assembly, a location of the plurality of detonator reels, a location of the previously retrieved detonator reels, a location of the next available detonator reels for retrieval, a location where the retrieved detonator reel is placed for primer assembly, a location where the carrier is located for receiving the assembled primer. In one example, the vehicle may be an autonomous vehicle that is configured to moves from blasthole to blasthole, wherein at each blasthole, the automated system assembles the primer, loads the primer into the carrier, locates the carrier in the blasthole, deploys the primer into the blasthole, retrieve the carrier, and moves to the next blasthole. In other examples, one or more of these steps may involve human intervention.

Returning to FIG. 1, once the primer is assembled 102, the automated system locates the primer in a carrier 103 that is attached to an elongate delivery portion, which may be a hose, tube or conduit. The carrier is located in a vicinity of the primer assembly station.

The automated system additionally locates the reel that carries the tether (e.g. the initiating wire), which is now coupled to the primer, on a feeding mechanism to keep the tether in suitable tension while the carrier, which carriers the primer, is deployed (e.g. lowered) into a blasthole.

The carrier is then located over the blasthole. The automated system includes a vision processing system for locating a hole and positioning the carrier over the blasthole. In one example, the carrier includes a vision processing system and/or other sensors for locating an opening of the blasthole. The vision processing system and/or other sensors may also be used to detect any obstructions withing the blasthole. By way of example, the vision processing system may include infrared light (e.g. an infrared flash) and a camera that is sensitive to infrared light.

The carrier is then deployed into the blasthole 104. In a preferred embodiment, a human operator initiates a deployment of the carrier into the blasthole once the vision processing system determines that the carrier is located over the blasthole. In another embodiment, the computer may, for example, implement a neural network or a machine learning algorithm to determine, based on the vision processing system, when the carrier is located over the blasthole and initiate the deployment of the carrier into the blasthole. As the carrier is deployed into the blasthole, the tether is unwound, while being kept in tension, from the spool.

When the carrier reaches a desired operative position (or location) in the blasthole, the primer is deployed from the carrier 105. The desired operative position may be an end of the blasthole or anywhere along the depth of the blasthole. The carrier has one or more sensors that are used to determine a location of the carrier in the blasthole. By way of example, the carrier includes one or more switches that are activated when the carrier reaches the desired operative position in the blasthole. Additionally or alternatively, the carrier may include other proximity sensors (e.g. an ultrasonic sensor and/or a photodetector) for determining when the carrier reaches the desired operative position. The automated system is further configured to determine a travel distance of the elongate delivery portion to which the carrier is attached.

Based on the activation of the one or more sensor in combination with the determined travel distance of the hose, the location of the carrier in the blasthole can be determined. For example, a reel carrying the hose may be provided with an encoder to allow for a rotation of the reel to be determinable based on which the travel distance of the hose (e.g. a length of hose that is drawn from the reel) can be determined.

The elongate delivery portion and the carrier are then retracted from the blasthole 106.

The automated system then locates the detonator reel near the blasthole 107. In this regard, the automated system is configured to locate a stake or anchor in proximity to the blasthole. The automated system locates the detonator spool on the stake or anchor.

The vehicle then moves to the next blasthole 108 and repeats the process described above.

Once the primer or explosive is located in the carrier and before the carrier is lowered into the blasthole, the detonator reel is mounted such that its rotation axis is horizontal to a ground surface The tether unspools from the detonator reel in a feed direction that is substantially along or parallel to an axis that is transverse to a rotational axis of the spool. In the example of the tether being an initiating wire for carrying a signal to detonate the primer or explosive, the spool is a detonator reel that includes a controller (or control system) for receiving a detonating signal that is transmitted to the detonator via the initiating wire to detonate the primer or explosive. The detonating signal may be received by the controller via a wired connection or via a wireless connection. In other examples, the primer or explosive may be wirelessly detonated. According to these other examples, the controller of the spool wirelessly transmits to the primer or explosive to detonate the primer or explosive.

The assembly further includes a retarding device or tensioner for keeping the tether in tension as the carrier is lowered into the blasthole. The spool that carries the tether is mounted to the retarding device, which is configured to bias the spool in a direction opposite to the feed direction of the tether from the spool. The retarding device may be provided by way of an electric motor to which the spool is mounted that gently rewinds the spool as the tether unspools from the spool. The retarding device provides a gentle pull in a direction reverse to an unspooling direction of the tether from the spool.

With reference to FIG. 4A, a system 400 according to an embodiment of the present invention for loading a blasthole includes an elongate delivery portion 420 for delivering a primer 1000 (described above in relation to the previous figures) or an explosive, which is carried by a carrier 460, into the blasthole. The elongate delivery portion 420 is flexibly resilient. The elongate delivery portion 420 contains a reinforcing member 440 and at least one electrical conductor 480. The primer or explosive is deployed from the carrier 460 when the primer or explosive is determined to have reached a desired operative position within the blasthole. The desired operative position may be an end of the blasthole or anywhere along a depth of the blasthole.

In a preferred example, the elongate delivery portion 420 is a hose, tube or conduit.

The elongate delivery portion 420 has an internal wall surface that is substantially frictionless. The internal wall surface may have an anti-static friction layer or coating and/or an anti-static layer or coating.

An external wall of the elongate delivery portion 420 is made from a tough material that is substantially resistant to tearing from being dragged on rough terrain. The terrain at a mine site is typically rough. The elongate delivery portion 420 has an exterior wall that may comprise synthetic rubber. Preferably, the exterior wall of elongate delivery portion may comprise neoprene.

The elongate delivery portion has a wall thickness of about 5 mm. In other examples, the wall thickness may be between about 3 mm and 10 mm.

The elongate delivery portion 420 has a length of at least about 0.5 m. The length of the elongate delivery portion 420 may be at least about 0.8 m, at least about 0.9 m, or at least about 1.0 m. Further preferably, the length of the elongate delivery portion 420 is between about 0.5 m and 3.0 m, or between about 0.8 m and 2.8 m, or between about 0.9 m and 2.5 m, or between about 1.0 m and 2.0 m.

The elongate delivery portion 420 is reinforced at least along a portion of the elongate delivery portion 420 to provide directional stability to the elongate delivery portion 420 and to the carrier 460. The directional stability includes longitudinal stability in relation to a central longitudinal axis of the blasthole and angular stability about the central longitudinal axis of the blasthole. The directional stability prevents the elongate delivery portion 420 with the carrier 460 from swaying laterally and provides the elongate delivery device with the carrier with torsional resistance. The directional stability keeps the elongate delivery portion 420 substantially upright within the blasthole when the carrier 460 carrying the primer or explosive is being fed into the blasthole and/or when the carrier 460 is retracted from the blasthole. Because the elongate delivery portion 420 is restrained from twisting when it is deployed into the blasthole, a tether to the primer or explosive that is externally located from the elongate delivery portion is not likely to wrap around the elongate delivery portion 420 and is not likely to get caught by the elongate delivery portion 420 when primer or explosive is deployed from the carrier into the blasthole and the elongate delivery portion is retracted from the blasthole. Further, because the elongate delivery portion 420 is restrained from lateral sway, the elongate delivery portion 420 and the carrier, when elongated in the blasthole, can be stably located along a longitudinal axis that is substantially parallel or coaxial to a central longitudinal axis of the blasthole away from any internal walls of the blasthole.

The torsional resistance provided to the elongate delivery portion 420 restrains the elongate delivery portion 420 from twisting or spinning about its longitudinal axis. In this regard, a hose is typically prone to twisting or spinning about its longitudinal axis when it dangles a weight in the blasthole and/or when it is unwound from a hose reel. The twisting or spinning that is experienced by the hose is directly proportional to the length of the hose that is elongated (e.g. deployed/drawn) from the reel. The reinforced elongate delivery portion 420 according to preferred embodiments of the present invention is restrained from such twisting and spinning. The elongate delivery portion 420 is substantially resistant to any twisting. In other example, the elongate delivery portion 420 may be resistant to twisting by up to 180°, by up to 90° or by up to 45°.

The directional stability is provided to the elongate delivery portion 420 while the elongate delivery portion 420 remains stationary within the blasthole, e.g. when the primer or explosive is at the desired operative position within the blasthole, during which the explosive or primer may be deployed into the blasthole. Additionally, the directional stability is provided to the elongate delivery portion 420 while the elongate delivery portion 420 moves in the blasthole.

The directional stability is provided by reinforcing the elongate delivery portion 420. An entire or only a portion/section of the elongate delivery portion 420 may be reinforced. The elongate delivery portion 420 is reinforced across a length of at least about 0.5 m. The elongate delivery portion 420 may be reinforced across a length of at least about 0.8 m, at least about 0.9 m, or at least about 1.0 m. Further preferably, the elongate delivery portion 420 is reinforced across a length of between about 0.5 m and 3.0 m, or between about 0.8 m and 2.8 m, or between about 0.9 m and 2.5 m, or between about 1.0 m and 2.0 m.

The elongate delivery portion 420 is reinforced by way of the reinforcing member 440 that extends along a length of the elongate delivery portion 420. In one example, the reinforcing member 440 spans an entire length of the elongate delivery portion with one end of the reinforcing member being anchored to a reel portion. In another example, the reinforcing member 460 spans only a section of the length of the elongate delivery portion 420. The reinforcing member 440 preferably have a length of between about 2 m and 10 m.

The reinforcing member 440 has a stiffness that is greater than a stiffness of the elongate delivery portion 420.

Preferably, the reinforcing member is torsionally resistant. As the reinforcing member is extended into a blasthole, the reinforcing member does not naturally rotate about the central longitudinal axis of the blasthole. In some examples, the reinforcing member may be controllably rotated about the central longitudinal axis to control an orientation of the primer or explosive that is carried by the elongate delivery portion. For example, depending on the profile or condition of the blasthole, the reinforcing member may be controllably rotated about its longitudinal axis relative to the central longitudinal axis to maneuver the primer or explosive to the desired operative position and/or to orient the carrier at the desired operative portion for deployment. The elongate delivery portion may be controllably rotated in unison with the reinforcing member to maneuver the primer or explosive to the desired operative position and/or to orient the primer or explosive at the desired operative portion for deployment of the primer or explosive. In yet other examples, the carrier may be controllably rotated relative to the reinforcing member to maneuver the primer or explosive to the desired operative position and/or to orient the primer or explosive at the desired operative portion for deployment.

By way of example, the reinforcing member 440 may be an elongate member, such as a rod, or a weighted member for stabilising the elongate delivery portion within the blasthole. In one example, the reinforcing member may be a stiffening rod. For example, the reinforcing member may be a fiberglass rod. The reinforcing member is composed of fiberglass. In other examples, the reinforcing member is composed of a metal, fibreglass, plastic, polymeric material or any combination thereof. In another example, the reinforcing member may have a coil, serpentine or helical shape that wraps around the elongate delivery portion or a space within the elongate delivery portion. In yet a further example, the reinforcing member may be a sleeve. In one example, the sleeve is provided inside the elongate delivery portion. In another example, the sleeve is spaced apart from the elongate delivery portion. In a further example, the sleeve engages an inner wall of the elongate delivery portion.

The elongate delivery portion 420 is reinforced internally. The reinforcing member 440 is located within an internal space of the elongate delivery portion 420. The reinforcing member 440 shares the internal space of the elongate delivery portion 420 with one or more electrical conductors 480. The reinforcing member 440 is centrally located in the elongate delivery portion 420. The reinforcing member 440 is spaced apart from an inner wall of the elongate delivery portion 420. In other embodiments, the reinforcing member may be laterally offset from a central longitudinal axis of the elongate delivery portion.

In another embodiment, the elongate delivery portion is reinforced by way of reinforcement provided or embedded within a wall of the elongate delivery portion. The reinforcing member may be adjacent to or attached to the elongate delivery portion. For example the reinforcing member may be attached to, or provided within a sleeve attached to, an inner wall of the elongate delivery portion.

In yet a further embodiment, the elongate delivery portion is reinforced externally. For example, the elongate delivery portion may be reinforced by a sleeve that embraces or encircles the elongate delivery portion.

The reinforcing member 440 has a width that is between about 30% to 80% of an internal width of the elongate delivery portion 420. Preferably, the width of the reinforcing member 440 is about 50% of the internal width of the elongate delivery portion 420. The internal width of the elongate delivery portion 420 may be between about 15 mm to 30 mm. Preferably, the internal width of the elongate delivery portion 420 is about 20 mm. Preferably, the width of the reinforcing member 440 is about 8 mm to 12 mm, further preferably about 9 mm to 10 mm. Preferably, the width of the reinforcing member 440 is the same along a length of the reinforcing member. In other examples, the width of the reinforcing member may vary along the length of the reinforcing member.

The elongate delivery portion 420 includes one reinforcing member 440 for reinforcing the elongate delivery portion 420. In another embodiment, the elongate delivery portion may have two or more reinforcing members. According to this other embodiment, the two or more reinforcing members may be laterally and/or longitudinally spaced apart from each other within the elongate delivery portion. In some embodiments, neighbouring reinforcing members that are laterally spaced apart from each other may have some longitudinal overlap therebetween.

The reinforcing member 440 extends to or has an end that is provided at the carrier 460. The elongate delivery portion 420 engages the carrier 460 via the reinforcing member 440. In a preferred example, the elongate delivery portion is substantially rigidly connected to the carrier via the reinforcing member. Like the elongate delivery portion 420, the carrier 460 is also restrained from any unwanted lateral sway and any unwanted torsional resistance. In addition, the carrier 460 is prevented from moving relative to the elongate delivery portion 420. In particular, the carrier 460 is prevented from bending relative to the elongate delivery portion 420.

The carrier 460 is connected to the elongate delivery portion 420. The reinforcing member 440 extends from the carrier 460. The carrier 460 is configurable to deploy the primer or explosive when the carrier 460 is determined to have reached the desired operative position in the blasthole. The carrier 460 protects the primer or explosive, for example from internal surfaces of the blasthole, as it is lowered into the blasthole.

The carrier 460 is located at a free end of the elongate delivery portion. The elongate delivery portion 420 is rigidly connected to a head portion (or top portion) 462 of the carrier 460. In this regard, the reinforcing member 440 of the elongate delivery portion 420 is secured to the head portion 462. The head portion 462 is connected to the reinforcing member 440. The head portion 462 engages the reinforcing member 440. In the preferred embodiment, the head portion 462 of the carrier 460 has a recess in which the reinforcing member 440 is locatable. In another embodiment, the reinforcing member has a recess in which a protrusion in the top portion of the carrier is locatable. In another embodiment, the reinforcing member may threadably engage the carrier. In other embodiment, the reinforcing member may be integrally formed with at least a portion, e.g. the top portion, of the carrier.

With reference to FIG. 4B, a head portion 462 of the carrier 460 contains a first aperture 464 for receiving reinforcing member 440 and a plurality of second apertures 466. The first aperture 464 is centrally located in the head portion 462 of the carrier 460 with the second apertures 466 being distributed, preferably radially, about the first aperture 464. The second apertures 466 provide a passage for one or more conductors 480 from the elongate delivery portion 420 to one or more electronic components in the carrier 460. The second apertures 464 additionally or alternatively provide a passage for fluid for pneumatically or hydraulically operating one or more components of the carrier. In this regard, the carrier 460 includes a deployment mechanism that is electrically, pneumatically or hydraulically operated to deploy the primer or explosive from the carrier. The head portion may include, or may be, a collar portion that is inserted into the elongate delivery portion.

The system includes a controller in communication with the one or more electronic components in the carrier 420. The controller is located above the blasthole. The controller is in wired communication with the one or more electronic components via one or more electrical conductors located within the elongate delivery portion. Alternatively, the controller may be in wireless communication with the one or more electronic components.

The one or more electronic components includes a sensor arrangement for detecting a location of the carrier in the blasthole. The one or more electronic components may include an electronic component that is coupled to a deployment mechanism of the carrier, wherein the deployment mechanism is configurable by an electronic signal from the controller to deploy the primer or explosive into the blasthole. The one of more electronic components may include a sensor for measuring torsional forces. The one or more electronic components may include an electronic component coupled to one or more trapping portions that trap the primer or explosive in the carrier, wherein the electronic component is configured to retract the one or more trapping portions from an extended position to allow the primer or explosive to be deployed from the carrier. The one or more electronic components may further include a sensor arrangement for detecting any obstructions in the blasthole. These sensors include inertial measurement and capacitive touch sensors. The capacitive touch sensors may be configured to determine a water level in the blasthole.

The carrier 460 is connected to the reinforcing member 440 such that the carrier 460 does not rotate relative to the reinforcing member. In addition, the carrier engages the reinforcing member such that the carrier 460 is restrained from bending relative to the reinforcing member 440 and the elongate delivery portion 420. In some embodiments, the reinforcing member can be controllably adjusted to reorient the carrier in the blasthole. For example, the reinforcing member may be rotatable about its central longitudinal axis to rotate the carrier about the same central longitudinal axis in unison with the reinforcing member. In other embodiments, the carrier may be connected to the reinforcing member such that the carrier can be controllably adjusted relative to the reinforcing member. For example, the carrier may include motor that is operable rotate the carrier relative to the reinforcing member while restraining the carrier from bending relative to the reinforcing member.

The system includes a tether to the primer or explosive. When the primer or explosive is loaded into the carrier 460 via an opening of the carrier, a spool that carries the tether is forwardly located relative to the opening. The spool is forwardly located relative to the carrier above the blasthole. The tether unspools from the spool as the carrier is lowered/inserted into the blasthole. The tether from the spool to the carrier is kept in tension as the tether unspools from the spool. The torsional resistance of the elongate delivery portion 420 and the carrier 460 keeps the opening of the carrier facing forward while the carrier is inserted into the blasthole. Thereby, the tether is not likely to wrap around the elongate delivery portion 420 and/or carrier 460. If the carrier is controllably rotated (e.g. to maneuver the primer or explosive to the desired operative position and/or to reorient the primer or explosive for deployment), the spool above the blasthole is repositioned accordingly so that the spool is located on a same side as the opening of the carrier. In other examples, where a primer is to be deployed at an end or bottom surface of the blasthole, the tether is fed from an end or bottom of the carrier to the primer in the carrier.

The carrier 460 is configured to deploy the primer or explosive when it has been determined, by the controller, to have reached the desired operative position in the blasthole. After the primer or explosive has been deployed from the carrier 460, the elongate delivery portion is retracted from the blasthole. The elongate delivery portion 420 and the carrier are restrained from swaying laterally such that, as the elongate delivery portion is retracted, the tether from the spool to the primer or explosive at the desired operative position does not get caught by the elongate delivery portion 420.

The carrier 460 is weighted to provide additional directional stability as the carrier 460 is lowered or raised within the blasthole. The carrier 460 is weighted at its base and/or at its head.

The system 400 includes a reel (not shown) for carrying the elongate delivery portion 430. The reel is carried by the vehicle with the automated system described above in relation to FIG. 1. The reinforcing member 420 has some longitudinal flexibility to allow a section of the reinforced elongate delivery portion to be wound around the reel. In another example, the reinforcing member may be substantially rigid and inflexible such that sections of the reinforced elongate delivery portion (with the reinforcing member) cannot be wound around the reel. The reinforcing member may be tensioned such that the elongate delivery portion is dispensed from the spool into the blasthole substantially along or parallel to a transverse axis to a rotational axis of the reel. During a blasthole loading, a rotation axis of the reel is different from a rotation axis of the spool that carries the tether. The reel is provided with an encoder to allow for a rotation of the reel to be determinable based on which the travel distance of the elongate delivery portion (e.g. a length of elongate delivery portion that is drawn from the reel) can determined.

FIGS. 5A and 5B show a carrier 500 according to an embodiment of the present invention. The carrier 500 is for receiving a primer or explosive and is configurable to deploy the primer or explosive. Unless otherwise described, the carrier 500 has features that are identical to the features described above in relation to FIGS. 4A and 4B.

The carrier may be a capsule.

The carrier 500 includes a housing body 520 having a compartment or receptacle in which the primer or explosive can be located. The housing body 520 protects the primer or explosive housed therein. The housing body 520 is an elongate body. The housing body portion 520 is substantially cylindrical. In another example, such as the embodiment shown in FIGS. 6A and 6B, the housing body may be an elliptic cylinder. The housing body may have other shapes with a narrow profile.

The carrier 500 includes two opposed ends at opposite ends of the housing body 520. The opposed ends include a head portion (or top portion) 540 and a base portion (or bottom portion) 560. The head portion 540 and base portion 560 are removably connected to the housing body 520. In other examples, the head and base portions are integrally formed with the housing body. The head portion 540 and/or base portion 560 are shaped to resist impacts or collisions with the borehole. One or both of the head and base portions 540, 560 have a conical, spherical, frustoconical, ogive or curved shape to deflect impacts or collisions. In other examples, only the base portion is shaped to deflect impact or collisions.

Each of the housing body 520, head portion 540, and base portion 560 defines a respective compartment or receptacle. The primer or explosive is locatable in the compartment or receptacle of the housing body 520. The head portion 540 and/or base portion 560 house one or more electronic components. The compartment or receptacle of each of the head portion 540 and the base portion 560 is physically, electrically and thermally isolated from the compartment of the housing body 520. In this way, heat generated from any electronic component(s) in the compartment or receptacle of the head portion 540 and/or base portion 560 is not transferred to the primer or explosive when located in the body portion 520. By isolating the compartments, Any electric discharge or electromagnetic field generated by the electronic component(s) would not interfere with the primer or explosive when located in the body portion 520. Additionally, any wiring and componentry of the electronic component(s) would not physically interfere with (e.g. catch or get caught by) the primer or explosive in the body portion 520.

In this embodiment, the carrier 500 is configured to deploy the primer or explosive laterally therefrom. In other embodiments, such as the embodiments of FIGS. 6A to 6B and 7A to 7B, the carrier is configured to deploy the primer or explosive longitudinally therefrom.

The housing body 520 has a sidewall with an opening 522 from which the primer or explosive can be loaded into the housing body and from which the primer or explosive is deployable. In this example, the opening of the carrier from which the primer or explosive is insertable into the carrier is the same opening from which the primer or explosive is deployable from the carrier. In other examples, the opening of the carrier from which the primer or explosive is insertable into the carrier is different from the opening from which the primer or explosive is deployable from the carrier. The opening of the carrier faces a lateral (e.g. sideward forward or rearward) direction where a spool carrying the tether to the primer or explosive would located laterally from the carrier and on the same side as the opening.

The carrier has two guides 528 for receiving the tether and for guiding the tether to the primer or explosive when located in the housing body 520. The sidewall portion of the carrier 500 has an inwardly tapered portion (or section) 521 that tapers towards the opening 522 of the carrier 520. The guides 528 are provided on the inwardly tapered sidewall portion. Each of the guides is each a slot. In other examples, the carrier has one guide or more than two guides. In the example, shown in FIG. 5B, the guide has a constant width along its length. According to other examples, the guide has a width that varies along its length. For example, a width of a portion of the guide further away from the opening may be wider than a portion of the guide closer to the opening. Alternatively, a width of a portion of the guide further away from the opening may be narrower than a portion of the guide closer to the opening.

With reference to FIG. 5B, the carrier 500 has a plurality of trapping portions 524 for trapping the primer or explosive in the carrier 500. The trapping portions 524 are provided in the housing body 520. In particular, the trapping portions 524 are provided in internal walls of the housing body 524. The one or more trapping portions are electrically non-conductive portions. The carrier has four trapping portions 524 with two trapping portions being provided on one side of the opening 522 and the other two trapping portions being provided on the other side of the opening 522. In other embodiments, the carrier has one, two, three or more than four trapping portions. The primer or explosive is inserted into the opening 522 of the carrier 520 with sufficient force to overcome the trapping portions 524. Similarly, the primer or explosive is deployed from the opening 522 of the carrier 500 with sufficient force to overcome the trapping portions 524. The carrier 500 includes a deployment mechanism, which will be described below, for pushing the primer or explosive towards the opening 522 and against the trapping portions 544 with sufficient force to overcome the trapping portions. The trapping portions 524 are configurable between an extended position for trapping the primer or explosive and a retracted position to allow the primer or explosive to be inserted into and/or or deployed from the carrier 520. The trapping portions 524 are spring-loaded detents. In other examples, the one or more trapping portions include teeth or clips. In yet other examples, the one or more trapping portions may include resiliently deformable members. The one or more trapping portions, in yet another example, may include one or more electrically-actuated members. The one or more trapping portions, in another example, may include one or more static portions that provide an interference fit for the primer or explosive in the carrier. For example, the one or more trapping portions may include one or more raised areas.

The deployment mechanism for deploying the primer or explosive from the carrier 500 includes a pneumatically-driven actuator that is configurable to deploy the primer or explosive from the carrier. Alternatively, the carrier may have a hydraulically-operated actuator that is configured to deploy the primer or explosive. In other examples, the carrier may be configured to passively deploy the primer or explosive from the carrier. For example, the carrier may be configured to deploy the primer or explosive by configuring an opening in a bottom portion of the carrier. In yet another example, the system includes an electrically-operated actuator that is activatable to deploy the primer from the carrier. The actuator of the deployment mechanism includes electrically non-conductive portions that contact the primer or explosive to deploy the primer or explosive. The deployment mechanism includes two deployment arms 526 for pushing the primer or explosive towards the opening 522 from the carrier 500. The arms are pivotably coupled to, and rearward of, the housing body 520. The carrier includes an upper arm and a lower arm, wherein free ends of the arms push a middle section of the primer or explosive outwards towards the opening 522. When the carrier 500 is determined to have reached the desired operative position in the blasthole, the arms 526 are operable to push the primer or explosive towards the opening 522 and into the blasthole. The arms 526 push the primer or explosive towards the opening 522 with sufficient force to overcoming the trapping portions 524. The elongate delivery portion, to which the carrier is connected, contains, or is used as, a conduit for delivering pressurized fluid for pneumatically operating a deployment mechanism of a carrier to deploy the primer or explosive.

FIGS. 6A and 6B show a carrier 600 according to an embodiment of the present invention. The carrier 600 is for receiving a primer or explosive and is configurable to deploy the primer or explosive into a blasthole 920 (see FIG. 6B). Unless otherwise described, features of the carrier 600 are identical to the features described above in relation to FIGS. 4A to 5B. The primer or explosive carrier by the carrier 600 may either be detonated wirelessly or via a wired connection. Like the previously described embodiments, the carrier 600 includes a housing body 620 with an opening 622 from which the primer or explosive can be laterally inserted into the carrier and from which the primer or explosive can be laterally deployed, trapping portions 624 for trapping the primer or explosive in the carrier 600, deployment arms 626 actuatable to deploy the primer or explosive from the carrier 600, and guides 628 for guiding a tether from a spool to the primer or explosive carried by the carrier 600.

In contrast to the embodiment shown in FIGS. 5A and 5B, the housing body 622 has a narrow profile. In particular, the housing body is an elliptic cylinder. The narrow profile of the carrier 600 allows for the carrier to avoid any obstructions in the blasthole 620.

FIGS. 7A and 7B show a carrier 700 according to an embodiment of the present invention. The carrier 700 is for receiving a primer or explosive and is configurable to deploy the primer or explosive into a blasthole. Unless otherwise described, features of the carrier 700 are identical to the features described above in relation to FIGS. 4A to 6B. Like the previously described embodiments, the carrier 700 includes a housing body 720 with an opening 722 from which the primer or explosive can be laterally inserted into the carrier.

In contrast to the embodiment shown in FIGS. 5A and 5B, the primer or explosive is longitudinally deployed from the carrier 700. The carrier 700 includes a shield portion, which is composed of a plurality of nose segments 729, for protecting the opening. The shield portion is configured to open and expose an opening of the carrier from which the primer or explosive can be discharged. The nose segments 729 are configured to split apart from each other, when the carrier is determined to have reached the desired operative position, to open the shield portion. The shield portion opens along its length into the plurality of nose segments 729. The nose segments 729 are pivotally connected to an open end of the housing body 720. The shield portion has a conical, spherical, frustoconical, ogive or curved shape to deflect impact or collisions. Iin this example, the tether is fed to the primer or explosive in the carrier from a bottom of the carrier.

In a variation to this example, the carrier does not have an opening in a sidewall of the housing body and the primer or explosive is provided to the carrier from the opening in the bottom of the carrier.

FIGS. 8A and 8B show a carrier 800 according to an embodiment of the present invention. The carrier 800 is for receiving a primer 1000 or explosive and is configurable to deploy the primer 1000 or explosive into a blasthole. Unless otherwise described, features of the carrier 800 are identical to the features described above in relation to FIGS. 4A to 6B. The primer or explosive carried by the carrier 800 may be wirelessly detonated or detonated via a wired connection. Like the previously described embodiments, the carrier 800 includes a housing body 820 in which a primer or explosive can be housed.

In contrast to the embodiment shown in FIGS. 5A and 5B, the primer or explosive is longitudinally deployed from the carrier 800. The carrier 800 includes base portions 829 on which the primer or explosive can be located. The base portions 829 are each configurable between an extended position (shown in FIG. 8A) and a retracted position (shown in FIG. 8B). The primer or explosive can be located on the base portions in their extended portions and can be deployed from the carrier 800 when the base portions are in their retracted positions. The base portions may be made of a resiliently deformable material that are pneumatically or hydraulically configured between the extended and retracted positions. The base portions may for example comprise an inflatable bladder portion that is inflated to close an opening at a base of the carrier 800 and deflated to create the opening at the base of the carrier 800. The trapping portions described previously above could be provided in place or in addition to the resiliently deformable base portions.

FIGS. 9A to 9F show a carrier 900 according to an embodiment of the present invention. The carrier 900 is for receiving a primer 1000 or explosive and is configurable to deploy the primer 1000 or explosive into a blasthole. Unless otherwise described, features of the carrier 900 are identical to the features described above in relation to FIGS. 4A to 8B. The primer or explosive carried by the carrier 800 may be wirelessly detonated or detonated via a wired connection. Like the previously described embodiments, the carrier 900 includes a housing body 920 in which a primer or explosive can be housed. A reinforcing member 940 (described in relation to the previous embodiments) is provided to an upper portion of the carrier 900.

The primer or explosive is longitudinally deployable from the carrier 900. In particular, the primer or explosive is deployable from a lower portion of the carrier 900. The primer or explosive is deployed from the carrier 900 by way of gravity. Additionally or alternatively, the primer or explosive can be ejected or pushed from the carrier 900. The carrier 900 includes two arm portions 929 that are configurable to enclose a space therebetween in which the primer or explosive can be located. The arm portions 829 are each configurable between a closed position (shown in FIG. 8A) and an open position (shown in FIG. 8B). The arm portions 929 extend from the housing body 920 and are pivotable relative to the housing body 920 between the closed position and the open position. In the open position, the primer or explosive can be provided to the carrier 900. In the closed position, the arm portions enclose the space in which the primer or explosive is contained for delivery into the blasthole.

Each arm portion 929 has a shell portion 929a and an end portion 929b, The shell portions 929a of the two arm portions 929 in the closed position together form a cross-sectional profile that is substantially the same as the cross-sectional profile of the housing body. The shell portions 929a in the closed position together form a hollow cylindrical portion in which the primer or explosive can be located. The end portion 929b is a weighted portion. The two end portions 929b together form, when the arm portions are in the closed position, a substantially conical shape with a rounded apex.

An upper portion of each shell portion 929 is pivotably mounted to the housing body 920. With reference to FIG. 9C, each shell portion has a finger portion 929d that is pivotably mounted to the housing body 290. The housing body 290 has an elongate portion 920 to which the finger portions 929d are coupled. In this regard, the finger portions 929d are matingly connected to an end of the elongate portion 920. The elongate portion is operable to move longitudinally in the housing body to cause the finger portions 929d to pivot, and thereby to also cause the arm portions 929 to pivot between the closed position and the open position. The elongate portion 920a may be mechanically, electrically, electromechanically, pneumatically or hydraulically operated to move longitudinally in the housing.

An opening or space 929c is provided between the shell portion 929a and the end portion 929b. In the closed position, the opening 929c allows for a passage of a robotic hand portion that locates the primer or explosive between the arms.

FIGS. 9C to 9Fs show a sequence of loading the carrier 900 with a primer or explosive. FIGS. 9C and 9D are cross-sectional side views of the carrier 900 from a side, while FIGS. 9E and 9F are cross-sectional front views of the carrier 900. In FIG. 9C, the arm portions 929 of the carrier 900 are configured in the open position by operating the elongate portion 920 downwardly within the housing which causes the arm portions 929 to pivot outwardly away from each other. In FIG. 9D, a robotic hand 1100 that grips a primer 1000 is moved to locate the primer 100 between the two arm portions 929. In FIG. 9E, once the primer 1000 is located between the arm portions 929, the arm portions 929 of the carrier 900 are configured in the closed position by operating the elongate portion 920 upwardly within the housing, which causes the arm portions 929 to pivot inwardly towards each other to enclose the primer 100. The opening 929c allows of the passage of the robotic hand portion 1000, which still grips the booster, as the arm portions 929 pivot from the open position to the closed position. Once in the closed position, the robotic hand 1100 is configured to release the booster 1000 that is enclosed by the arm portions 929 and is withdrawn from the opening 929c. In FIG. 9F, the carrier 900 with the booster 1000 and the arm portions 929 in the closed position is ready for deployment into the blasthole. Once the carrier 900 reaches an operative position in the blasthole, the arm portions 929 of the carrier 900 are configured in the open position by operating the elongate portion 920 downwardly within the housing which causes the arm portions 929 to pivot outwardly away from each other to deploy the primer 1000 at the operative position.

In an alternative embodiment to the embodiment described with reference to FIGS. 9A to 9F, instead of loading the primer or explosive from a side of the carrier 900, the carrier can be configured to allow the primer or explosive to be loaded from a bottom of the carrier. In this alternative embodiment, the opening that allows the passage of the robotic arm is provided at the end portion of the arm portions such that it is not necessary to provide an opening at a side of the of the arm portions. When the arm portions are in the closed position, the opening allows for the robotic arm to be withdrawn from the carrier after releasing the primer between the arm portions. The opening is sufficiently larger to allow for the arm to be withdrawn from the carrier but sufficiently small to trap the primer or explosive in the carrier when the arm portions are in the closed position.

One or more flaps may be provided at the opening to prevent any debris or fluid from entering the space in which the booster is located. The flap(s) is/are flexible to allow the robotic hand portion to be removed from the carrier and is/are biased to cover the opening. Where a plurality of flaps is provided, the flaps are preferably overlapping.

In the embodiments described above, the elongate delivery portion is for delivering one primer or explosive for the blasthole. In other embodiments, the elongate delivery portion is for carrying a plurality of primers to the blasthole. For example, the elongate delivery portion may be for delivering two primers for the blasthole. The carrier may be configured to carry two primers for the blasthole. In other examples, the carrier may be configured to carry three, four or more than four primers for the blasthole. In this example, the carrier may include a plurality of compartments, each compartment for carrying a respective one of the plurality of primers or explosives. In yet a further example, the system may include a plurality of carriers, each carrying one or more primers. According to this further example, the carriers may be provided to a single tether or may each be provided to a respective one of a plurality of tethers.

In yet a further example, the elongate delivery portion is for delivering a primer and an explosive to the blasthole. For example, the elongate delivery portion includes a first conduit that is connectable to an explosive delivery system and includes a reinforcing member that is connected to a carrier that carries a primer, wherein the explosive is delivered from an outlet of the first conduit before and/or after the primer is deployed from the carrier. In this example, the explosive may be a bulk explosive or include an explosive emulsion.

According to further embodiments, there is provided a system for loading a blasthole, the system including: a carrier for carrying a plurality of primers or explosives for the blasthole, wherein the carrier comprises a plurality of compartments, each compartment for carrying a respective one of the plurality of primers or explosives.

The plurality of compartments may include compartments that are radially distributed about a central axis of the carrier. Additionally or alternatively, the plurality of compartments may include compartments that are longitudinally spaced apart from each other. The plurality of primers or explosives for the blasthole may be connected to a single tether Alternatively, the plurality of primers or explosives for the blasthole may each be connected to a respective tether. The plurality of primers or explosives may be detonated wirelessly or detonated by an electronic signal carried by the tether.

The various embodiments of the present invention described above have been presented by way of example only, and not by way of limitation. It will be apparent to a person skilled in the relevant art that various changes in form and detail can be made therein without departing from the spirit and scope of the invention. The present invention should not be limited by any of the exemplary embodiments described above.