EXPLOSIVE MATERIAL CHARGING DEVICE FOR CHARGING A BOREHOLE METHOD OF POSITIONING AN EXPLOSIVE MATERIAL CHARGING DEVICE EXPLOSIVE MATERIAL CHARGING VEHICLE AND DATA MEDIUM

Abstract

The present invention concerns an explosive material charging device (1) and a method of positioning the explosive material charging device (1) in a borehole (3). The explosive material charging device (1) comprises a top anchor unit (5) and a bottom anchor unit (7) each configured to engage the borehole wall (8), an expandable tube member (11) arranged between the top anchor unit (5) and the bottom anchor unit (7) and configured to be charged with explosive material (40), the bottom anchor unit (7) comprises a backflow prevention valve device (13) configured to prevent the explosive material (40) to flow out from the expandable tube member (11), wherein the backflow prevention valve device (13) is openable for permitting a charging hose (15) to enter the expandable tube member (11) for reaching the interior of the top anchor unit (5),

Claims

1. An explosive material charging device configured for explosive material charging in a borehole, the explosive material charging device comprising: a top anchor unit and a bottom anchor unit each configured to engage the borehole wall, an expandable tube member arranged between the top anchor unit and the bottom anchor unit and configured to be charged with explosive material, the bottom anchor unit comprises a backflow prevention valve device configured to prevent the explosive material to flow out from the expandable tube member, the backflow prevention valve device is openable for permitting a charging hose to enter the expandable tube member for reaching the interior of the top anchor unit, wherein a charging hose nozzle of the charging hose is adapted to abut an abutment surface of the top anchor unit for pushing the top anchor unit in the borehole, wherein the force of friction between the bottom anchor and the borehole provides longitudinal expansion of the expandable tube member , and the backflow prevention valve device is configured to close a flap member of the backflow prevention valve device subsequently the charging hose nozzle has been withdrawn from the backflow prevention valve device, wherein the flap member is spring biased to its closed state.

2. The explosive material charging device according to claim 1, wherein the expandable tube member is configured to isolate the explosive material from water in the borehole.

3. The explosive material charging device according to claim 1, wherein the top anchor unit comprises a first radially outward extending resilient device configured to engage the borehole wall for holding the top anchor unit in position in the borehole.

4. The explosive material charging device according to claim 1, wherein the bottom anchor unit comprises a second radially outward extending resilient device configured to engage the borehole wall for holding the bottom anchor unit in position in the borehole.

5. The explosive material charging device according to claim 3, wherein the first and second radially outward extending resilient devices extend circumferentially around the respective top anchor unit and bottom anchor unit, and each radially outward extending resilient device comprises at least one open space configured to permit the water in the borehole to stream past the exterior of the expandable tube member.

6. The explosive material charging device according to claim 1, wherein the explosive material charging device comprises a detonator unit support configured to carry a detonator unit.

7. The explosive material charging device according to claim 6, wherein the bottom anchor unit comprises the detonator unit support.

8. A method of positioning an explosive material charging device in a borehole, the explosive material charging device comprises; a top anchor unit and a bottom anchor unit configured to engage the borehole wall, an expandable tube member arranged between the top anchor unit and the bottom anchor unit and configured to be charged with explosive material, the bottom anchor unit comprises a backflow prevention valve device configured to prevent the explosive material to flow out from the expandable tube member, wherein the backflow prevention valve device is openable for permitting a charging hose to enter the expandable tube member for reaching the interior of the top anchor unit, and is configured to close a flap member of the backflow prevention valve device subsequently a charging hose nozzle of the charging hose has been withdrawn from the backflow prevention valve device, wherein the flap member is spring biased to its closed state, the explosive material charging device comprises a detonator unit support configured to carry a detonator unit, the method comprising: providing the explosive material charging device, wherein the expandable tube member is held in compressed state by mans of a holding member; mounting the detonator unit to the detonator unit support; inserting the charging hose into the interior of the expandable tube member via the backflow prevention valve device; moving the charging hose until it abuts an abutment surface of the interior of the top anchor unit; releasing the holding member so that the expandable tube member is free to expand; pushing the top anchor unit in the borehole by the charging hose abutting the abutment surface, wherein the force of friction between the bottom anchor and the borehole provides longitudinal expansion of the expandable tube member; stop pushing the top anchor unit when the explosive material charging device is in desired position in the borehole; discharging the explosive material into the expanded expandable tube member by the charging hose; removing the charging hose from the expandable tube member.

9. The method according to claim 8, wherein removing the charging hose comprises withdrawing the charging hose from the backflow prevention valve device.

10. The method according to claim 8, further comprising: providing a second explosive material charging device, wherein a second expandable tube member of the second explosive material charging device is held in compressed state between a second top anchor unit and a second bottom anchor unit of the second explosive material charging device by a second holding member; mounting a second detonator unit to a second detonator unit support of the second explosive material charging device; inserting the charging hose into the interior of the second expandable tube member via a second backflow prevention valve device of the second bottom anchor unit; moving the charging hose until it abuts a second abutment surface of the interior of the second top anchor unit; releasing the second holding member so that the second expandable tube member is free to expand; pushing the second top anchor unit in the borehole by the charging hose abutting the second abutment surface, wherein the force of friction between the second bottom anchor and the borehole provides longitudinal expansion of the second expandable tube member; stop pushing the second top anchor unit when the second explosive material charging device is in desired position in the borehole and/or abuts an already charged explosive material charging device above the second explosive material charging device; and discharging the explosive material into the second expanded expandable tube member by the charging hose; removing the charging hose from the second expandable tube member, wherein the design of the second explosive material charging device corresponds with the design of the explosive material charging device defined in claim 1.

11. An autonomous or semi-automatic explosive material charging vehicle configured to charge the explosive material charging device defined in claim 1, which autonomous or semi-automatic explosive material charging vehicle comprises a robotic arm and a charging hose feeder, which are coupled to a control circuitry configured to control the method according to claim 8, the control circuitry is coupled to an actuator arrangement of the robotic arm of the explosive material charging vehicle and the control circuitry is configured to manage and operate explosive material charging in a borehole by the explosive material charging device.

12. A data medium, configured for storing a program (P), adapted for controlling the charging of the explosive material charging device, according to claim 1, by the autonomous or semi-automatic explosive material charging vehicle according to claim 11, said data medium comprises a program code stored on the data medium, which program code is readable on the control circuitry of the autonomous or semi-automatic explosive material charging vehicle for performing the method steps according to claim 8.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0125] The present invention will now be described by way of examples with references to the accompanying schematic drawings, of which:

[0126] FIGS. 1a-1c illustrate an explosive material charging device according to a first example;

[0127] FIGS. 2-7 illustrate charging of explosive material by means of an explosive material charging device according to a second example into a wet borehole;

[0128] FIG. 8 illustrates a first explosive material charging device combined with a second explosive material charging device according to a third example;

[0129] FIGS. 9a-9b illustrate further exemplary explosive material charging devices;

[0130] FIG. 10 illustrates a flowchart showing an exemplary method of positioning an explosive material charging device in a borehole;

[0131] FIG. 11 illustrates a flowchart showing an exemplary method of positioning an explosive material charging device in a borehole;

[0132] FIG. 12 illustrates an explosive material charging vehicle configured to perform an exemplary method of positioning an explosive material charging device in a borehole; and

[0133] FIG. 13 illustrates a control circuitry adapted to operate an explosive material charging vehicle configured to perform an exemplary method of positioning an explosive material charging device in a borehole.

DETAILED DESCRIPTION

[0134] Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings, wherein for the sake of clarity and understanding of the invention some details of no importance may be deleted from the drawings.

[0135] FIGS. 1a-1c illustrate an explosive material charging device 1 according to a first example. FIG. 1a shows, in a side view, the explosive material charging device 1 configured for explosive material charging in a borehole 3.

[0136] The explosive material charging device 1 comprises a top anchor unit 5 and a bottom anchor unit 7. The top anchor unit 5 is configured to engage a borehole wall 8 of the borehole 3 by means of a first radially outward extending resilient teeth shaped flaps 9′ configured to engage the borehole wall 8 for holding the top anchor unit 5 in position in the borehole 3. The bottom anchor unit 7 is configured to engage a borehole wall 8 by means of second radially outward extending resilient teeth shaped flaps 9″ configured to engage the borehole wall 8 for holding the bottom anchor unit 7 in position in the borehole 3.

[0137] The explosive material charging device 1 further comprises an expandable tube 11 arranged between the top anchor unit 5 and the bottom anchor unit 7. The expandable tube 11 is configured to be charged with explosive material (not shown) by means of a charging hose 15.

[0138] A backflow prevention valve 13 of the bottom anchor unit 7 is openable permitting the charging hose 15 to enter the expandable tube 11 for reaching the interior of the top anchor unit 5 and/or an abutment surface 16 (See FIG. 1b) of the interior of the top anchor unit 5. The top anchor unit 5 is pushed in the borehole 3 by that a charging hose nozzle 19 of the charging hose 15 abuts the abutment surface 16, wherein the force of friction between the second radially outward extending resilient teeth shaped flaps 9″ of the bottom anchor 7 and the borehole wall 8 constrains the motion of the bottom anchor unit 7 and provides longitudinal expansion of the expandable tube 11, whereas the top anchor unit 5 being pushed by the charging hose 15.

[0139] The backflow prevention valve 13 is further configured to prevent the explosive material to flow out from the expandable tube 11. The backflow prevention valve 13 is configured to prevent the explosive material to flow out from the expandable tube 11 when the charging hose 15 and the charging hose nozzle 19 have been withdrawn from the explosive material charging device 1 by the absence of the charging hose 15, wherein a valve flap of the backflow prevention valve 13 is spring biased toward a closed state.

[0140] The first 9′ and second 9″ radially outward extending resilient teeth shaped flaps are made of flexible material and exhibit open spaces 21 there between.

[0141] In such way is achieved that water is permitted to pass the exterior of the expandable tube 11, thus between the borehole wall 8 and an outer peripheral surface 23 of the expandable tube 11 and passing through the open spaces 21. In such way is avoided that high water pressure would be built up above the explosive material charging device 1. The water pressure otherwise would otherwise press out the explosive material charging device 1 from the borehole. The provision of collecting/discharging the explosive material in the expandable tube 11, there is provided that the explosive material does not vanish into cracks or cavities facing the borehole 3.

[0142] The first 9′ and second radially outward extending resilient teeth shaped flaps 9″ may be formed with notches 25 configured to guide and protect a shock tube and/or a detonation cord (not shown) running from an explosive material charging device (not shown) positioned above the explosive material charging device 1.

[0143] The expandable tube 11 is made of a flexible material and is configured to expand in longitudinal direction and is configured to be compressed in longitudinal direction.

[0144] A centre axis X of the top anchor unit 5 and a centre axis of the bottom anchor unit 7 are co-linear with each other and with a centre axis X of the expandable tube 11, when the explosive material charging device 1 has been inserted into the borehole 3.

[0145] The expandable tube 11 is made of a flexible material and is configured to expand in longitudinal direction and is configured to be compressed in longitudinal direction.

[0146] The expandable tube 11 is configured to isolate the explosive material from water in the borehole.

[0147] FIG. 1b shows the top anchor unit 5 in detail. A charging hose nozzle 19 of the charging hose 15 is configured to enter the expandable tube 11 for reaching an abutment surface 16 of the top anchor unit 5 for providing said pushing and expanding of the explosive material charging device 1 in the borehole.

[0148] FIG. 1c shows the bottom anchor unit 7 in detail. The backflow prevention valve 13 of the bottom anchor unit 7 comprises a valve flap 27. The backflow prevention valve 13 is opened by pushing the charging hose nozzle 19 in engagement with the spring biased valve flap 27. The charging hose nozzle 19 enters the interior of the expandable tube 11 for reaching the abutment surface 16 (See FIG. 1b).

[0149] Subsequently discharging the explosive material into the expandable tube 11 and withdrawal of the charging hose nozzle 19 from the backflow prevention valve 13, thus closing the spring biased valve flap 27 into a closed state, will prevent the explosive material to flow out from the expandable tube 11.

[0150] The bottom anchor unit 7 of the explosive material charging device 1 comprises a detonator unit support compartment 30 configured to carry a detonator unit 31. A lock 32 arranged at a lower portion 33 of the bottom anchor unit 7. A detonator cord 35 is mounted to the detonator unit 31.

[0151] FIGS. 2-7 illustrate charging of explosive material by means of an explosive material charging device 1 according to a second example into a wet borehole 3. FIG. 2 shows an expandable tube 11 of the explosive material charging device 1 is held in compressed state between a top anchor unit 5 and a bottom anchor unit 7 of the explosive material charging device 1 by means of a releasable holding strap 37. A detonator unit 31 is applied to the bottom anchor unit 7. A charging hose nozzle of a charging hose 15 is inserted into the explosive material charging device 1. A detonator cord 35 is mounted to a detonator unit 31.

[0152] FIG. 3 shows that the releasable holding strap 37 shown in FIG. 2 has been released whereby the expandable tube 11 is free to expand. The charging hose nozzle of a charging hose 15 is moved into engagement with the top anchor unit 5. The top anchor unit 5 is inserted into the borehole 3 and pushed some distance upward in the borehole 3. Subsequently, the bottom anchor unit 7 is also inserted into the borehole, as shown in FIG. 4. The top anchor unit 5 is pushed further upward by means of the charging hose 15, whereas the expandable tube is fully expanded and the entire expanded explosive material charging device 1 is moved a further distance and stops at a position corresponding with a predetermined distance d from the borehole entrance, as shown in FIG. 5. This can be accomplished by means of markings on the charging hose 15 or by means of a line stopping arrangement (not shown). A centre axis X of the top anchor unit 5 and a centre axis of the bottom anchor unit 7 are co-linear with each other and with a centre axis X of the expandable tube 11, when the explosive material charging device 1 has been inserted into the borehole 3.

[0153] Subsequently an explosive material 40 is discharged from the charging hose nozzle of a charging hose into the interior of the expanded expandable tube 11 as shown in FIG. 6. Afterwards, in FIG. 7, the charging hose 15 is removed from the explosive material charging device 1. A backflow prevention valve (not shown) of the bottom anchor unit 7 hinders the explosive material to exit the interior of the expandable tube 11 and hinders the explosive material to flow downward. The explosive material is isolated from coming into contact with water (not shown) flowing in the borehole 3 and is unable to vanish into eventual cavities of the borehole 3 in undesired and uncontrolled manner. The explosive material is held by the explosive material charging device 1 in a controlled manner as shown in FIG. 7. The detonator cord 35 is coupled to an initiator unit (not shown).

[0154] FIG. 8 illustrates a first explosive material charging device 1′ combined with a second explosive material charging device 1″ according to a third example. The blasting system in FIG. 8 is configured for explosive material charging in a long borehole 3. The blasting system may comprise even further explosive material charging devices positioned above the first 1′ and second 1″ explosive material charging devices. The first explosive material charging device 1′ and the second explosive material charging device 1″ are positioned on top of each other. A top anchor unit 5 of the first explosive material charging device 1′ exteriorly may be formed as a truncated cone configured to fit a cone shaped cavity of a second bottom anchor unit 7″ of the second explosive material charging device 1″ for establishing proper contact between the first explosive material charging device 1′ and the second explosive material charging device 1″. A shock tube 44 is mounted to a detonator unit 31″ of the a bottom anchor unit 7 of the second explosive material charging device 1″, which shock tube 44 runs adjacent the expanded expandable tube 11 of the first explosive material charging device 1′. A detonator cord 35 mounted to a detonator unit 31′ is coupled to a remote blast initiator (not shown). The second explosive material charging device 1″ comprises a second expandable tube member 11″. The charging hose is inserted into the interior of the second expandable tube member 11″ via a second backflow prevention valve device 13″ of the second bottom anchor unit 7″. The charging hose is moved until it abuts a second abutment surface of the interior of the second top anchor unit

[0155] FIG. 9a illustrates in a view from below a bottom anchor unit 7 of an explosive material charging device 1 according to a further example. The bottom anchor unit 7 comprises a flap valve 27 that is spring biased to closed position be means of a spring 46 arranged around a hinge 48 about which the flap valve 27 pivots. The bottom anchor unit 7 further comprises a detonator unit support compartment 30 configured to carry a detonator unit 31. The detonator unit support compartment exhibits a cross-section that is non-circular corresponding with the cross-section of the detonator unit 31 for providing a fixed position and hinder rotation of the detonator unit 31.

[0156] FIG. 9b illustrates in a view from above a top anchor unit 5 of an explosive material charging device 1 according to a further example. The explosive material charging device 1 comprises a radially outward extending resilient ring-shaped and discontinuously shaped rim 60 extending around the centre axis and around the periphery of the top anchor unit 5. The ring-shaped and discontinuously shaped rim 60 comprises through holes 62, through which water can flow for avoiding water pressure acting upon the explosive material charging device 1. The ring-shaped and discontinuously shaped rim 60 is configured to engage the borehole wall for holding the top anchor unit in position in the borehole.

[0157] FIG. 10 illustrates a flowchart showing an exemplary method of positioning an explosive material charging device 1 in a borehole by means of an explosive material charging device 1 that comprises; a top anchor unit and a bottom anchor unit configured to engage the borehole wall, an expandable tube member arranged between the top anchor unit and the bottom anchor unit and configured to be charged with explosive material, the bottom anchor unit comprises a backflow prevention valve device configured to prevent the explosive material to flow out from the expandable tube member, wherein the backflow prevention valve device is openable for permitting a charging hose to enter the expandable tube member for reaching the interior of the top anchor unit, the explosive material charging device comprises a detonator unit support configured to carry a detonator unit.

[0158] The method comprises a first step 101 starting the method. A second step 102 shows the performance of the method. A third step 103 comprises stopping the method.

[0159] The second step 102 may comprise; providing the explosive material charging device 1, wherein the expandable tube member is held in compressed state by means of a holding member; mounting the detonator unit to the detonator unit support; inserting the charging hose into the interior of the expandable tube member via the backflow prevention valve device; moving the charging hose until it abuts an abutment surface of the interior of the top anchor unit; releasing the holding member so that the expandable tube member is free to expand; pushing the top anchor unit in the borehole by means of the charging hose abutting the abutment surface, wherein the force of friction between the bottom anchor and the borehole provides longitudinal expansion of the expandable tube member; stop pushing the top anchor unit wherein the explosive material charging device 1 is in desired position in the borehole; discharging the explosive material into the expanded expandable tube member by means of the charging hose; removing the charging hose from the expandable tube member.

[0160] FIG. 11 illustrates a flowchart showing an exemplary method of positioning an explosive material charging device 1 in a borehole by means of an explosive material charging device 1. The method comprises a first step 111 starting the method. A second step 112 comprises that a second explosive material charging device is provided, wherein an expandable tube member is held in compressed state between a second top anchor unit and a second bottom anchor unit by means of a second holding member. A third step 113 comprises the step of mounting a second detonator unit to a second detonator unit support of the second explosive material charging device. A fourth step 114 comprises inserting the charging hose into the interior of the second expandable tube member via a second backflow prevention valve device of the second bottom anchor unit. A fifth step 115 comprises moving the charging hose until it abuts a second abutment surface of the interior of the second top anchor unit. A sixth step 116 comprises releasing the second holding member so that the second expandable tube member is free to expand. A seventh step 117 comprises pushing the second top anchor unit in the borehole by means of the charging hose abutting the second abutment surface, wherein the force of friction between the second bottom anchor and the second borehole provides longitudinal expansion of the second expandable tube member. An eight step 118 comprises stop pushing the second top anchor unit when the second explosive material charging device is in desired position in the borehole and/or abuts an already charged first explosive material charging device) above the second explosive material charging device. A ninth step 119 comprises discharging the explosive material into the second expanded expandable tube member by means of the charging hose. A tenth step 120 comprise removing the charging hose from the second expandable tube member. An eleventh step 121 comprises stopping the method.

[0161] This procedure may be repeated with insertion of further explosive material charging devices in the borehole depending upon the length of the borehole.

[0162] FIG. 12 illustrates an explosive material charging vehicle 77 configured to perform an exemplary method of explosive material charging in a borehole 3. The explosive material charging vehicle 77 comprises a robotic arm 78 and a charging hose feeder 79, which are coupled to a control circuitry (not shown, reference 50, see FIG. 13) of the explosive material charging vehicle 77. The control circuitry is configured to control the exemplary method or methods as disclosed herein. The control circuitry comprises a data medium, configured for storing a data program, configured for controlling the operation of the explosive material charging device 1 operated by the explosive material charging vehicle 77. The data medium comprises a program code stored on the data medium, which program code is readable on the control circuitry for performing the exemplary method steps herein described or other examples achieved by many possibilities to modifications, or combinations of the described examples apparent to the person with ordinary skill in the art without departing from the basic idea.

[0163] FIG. 13 illustrates a control circuitry 50 adapted to operate an explosive material charging vehicle (e.g. shown in FIG. 12) configured to perform an exemplary method of explosive material charging in a borehole by means of an explosive material charging device 1. The control circuitry 50 is coupled to an actuator arrangement (not shown) of a robotic arm (not shown) of the explosive material charging vehicle. The control circuitry 50 is configured to manage and operate the explosive material charging in a borehole by means of the explosive material charging device 1. The explosive material charging device comprises; a top anchor unit and a bottom anchor unit each configured to engage the borehole wall, an expandable tube member arranged between the top anchor unit and the bottom anchor unit and configured to be charged with explosive material, the bottom anchor unit comprises a backflow prevention valve device configured to prevent the explosive material to flow out from the expandable tube member, wherein the backflow prevention valve device is openable for permitting a charging hose to enter the expandable tube member for reaching the interior of the top anchor unit. The exemplary method may comprise; providing the explosive material charging device, wherein the expandable tube member is held in compressed state by means of a holding member; mounting the detonator unit to the detonator unit support; inserting the charging hose into the interior of the expandable tube member via the backflow prevention valve device; moving the charging hose until it abuts an abutment surface of the interior of the top anchor unit; releasing the holding member so that the expandable tube member is free to expand; pushing the top anchor unit in the borehole by means of the charging hose abutting the abutment surface, wherein the force of friction between the bottom anchor and the borehole provides longitudinal expansion of the expandable tube member; stop pushing the top anchor unit wherein the explosive material charging device is in desired position in the borehole; discharging the explosive material into the expanded expandable tube member by means of the charging hose; removing the charging hose from the expandable tube member.

[0164] The control circuitry 50 may also be configured for manoeuvring the explosive material charging vehicle 77 (see FIG. 12) in the crosscut of the mine (not shown).

[0165] The control circuitry 50 may comprise a computer and a non-volatile memory NVM 1320, which is a computer memory that can retain stored information even when the computer is not powered.

[0166] The control circuitry 50 further comprises a processing unit 1310 and a read/write memory 1350. The NVM 1320 comprises a first memory unit 1330. A computer program (which can be of any type suitable for any operational data) is stored in the first memory unit 1330 for controlling the functionality of the control circuitry 5. Furthermore, the control circuitry 50 comprises a bus controller (not shown), a serial communication unit (not shown) providing a physical interface, through which information transfers separately in two directions.

[0167] The control circuitry 50 may comprise any suitable type of I/O module (not shown) providing input/output signal transfer, an A/D converter (not shown) for converting continuously varying signals from a sensor arrangement (not shown) of the control circuitry 50 configured to determine the actual position of the robotic arm and the charging hose. The control circuitry 50 is configured to, from received control signals, define actual positions of the robotic arm and operation of the explosive material charging vehicle into binary code suitable for the computer, and from other operational data.

[0168] The control circuitry 50 also comprises an input/output unit (not shown) for adaptation to time and date. The control circuitry 50 comprises an event counter (not shown) for counting the number of event multiples that occur from independent events in operation of the explosive material charging vehicle.

[0169] Furthermore, the control circuitry 50 includes interrupt units (not shown) associated with the computer for providing a multi-tasking performance and real time computing for semi-automatically and/or autonomous maneuvering the explosive material charging vehicle. The NVM 1320 also includes a second memory unit 1340 for external sensor check of the sensor arrangement.

[0170] A data medium for storing a program P may comprise program routines for automatically adapting the maneuvering of the explosive material charging vehicle in accordance with operational data of co-operative explosive material charging vehicles (not shown).

[0171] The data medium for storing the program P comprises a program code stored on a medium, which is readable on the computer, for causing the control circuitry 50 to perform the method and/or method steps described herein.

[0172] The program P further may be stored in a separate memory 1360 and/or in the read/write memory 1350. The program P, in this embodiment, is stored in executable or compressed data format.

[0173] It is to be understood that when the processing unit 1310 is described to execute a specific function that involves that the processing unit 1310 may execute a certain part of the program stored in the separate memory 1360 or a certain part of the program stored in the read/write memory 1350.

[0174] The processing unit 1310 is associated with a data port 999 for communication via a first data bus 1315 able to be coupled to the robotic arm and the charging hose feeder 79 for performing said method steps.

[0175] The non-volatile memory NVM 1320 is adapted for communication with the processing unit 1310 via a second data bus 1312. The separate memory 1360 is adapted for communication with the processing unit 610 via a third data bus 1311. The read/write memory 1350 is adapted to communicate with the processing unit 1310 via a fourth data bus 1314. After that the received data is temporary stored, the processing unit 1310 will be ready to execute the program code, according to the above-mentioned method.

[0176] Preferably, the signals (received by the data port 999) comprise information about operational status of the explosive material charging vehicle. The received signals at the data port 999 can be used by the control circuitry 50 for controlling and monitoring automatic calibration of the sensor device 1.

[0177] Information and data may be manually fed, by an operator, to the control circuitry via a suitable communication device, such as a computer display or a touchscreen.

[0178] The method can also partially be executed by the control circuitry 50 by means of the processing unit 1310, which processing unit 1310 runs the program P being stored in the separate memory 1360 or the read/write memory 1350. When the control circuitry 50 runs the program P, at least one of the exemplary methods disclosed herein will be executed.

[0179] Alternatively, the charging hose in motion is configured to open the openable cover device whilst a stopping arrangement (not shown) of the robotic arm stops the main body.

[0180] The present invention is of course not in any way restricted to the preferred embodiments described above, but many possibilities to modifications, or combinations of the described embodiments thereof should be apparent to a person with ordinary skill in the art without departing from the basic idea of the invention as defined in the appended claims.