Grid establishment plan for controlling grid installation

Abstract

Example embodiments may generally relate to the field of grid installation on rock surfaces. An apparatus may obtain a grid establishment plan indicating a planned location of at least one grid on a rock surface for mounting the at least one grid to the rock surface by a grid mounting machine, wherein the planned position of the at least one grid is configured to indicate with respect to a coordinate frame that is stationary with respect to a rock surface. The apparatus may map the planned location of the at least one grid to a coordinate frame of the grid installer. The apparatus may control installation of at least one grid to a rock surface based on the planned location of the at least one grid.

Description

Technical Field

[0001] Various example embodiments generally relate to the field of grid installation on rock surfaces. Some example embodiments relate to providing a digital meshing plan for installing a grid on a rock surface. Background Art

[0002] In various applications, such as, for example, in underground mining, it may be necessary to protect equipment or personnel from rocks falling from a rock surface. This can be done, for example, by installing a protective grid on the rock surface. A grid installation machine may include one or more booms with appropriate tools for installing the grid onto the rock surface. The position of the grid can be determined on-site by a human operator sitting in the cab of the grid installation machine. Summary of the Invention

[0003] This Summary of the Invention is provided to introduce a series of concepts in a simplified form that will be further described in the Detailed Description. This Summary of the Invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] According to a first aspect, a device for controlling grid installation is disclosed. The device may include: at least one processor; and at least one memory including computer program code, the memory and the computer program code being configured to cause the device to perform at least the following operations by means of the at least one processor: obtaining a meshing plan that indicates a planned position of at least one grid on a rock surface for installing the at least one grid onto the rock surface by a grid installation machine, wherein the planned position of the at least one grid is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; mapping the planned position of the at least one grid to a coordinate frame of the grid installation machine; and controlling the installation of the at least one grid onto the rock surface based on the planned position of the at least one grid.

[0005] According to a second aspect, a grid installation machine is disclosed. The grid installation machine may be configured to: obtain a meshing plan that indicates a planned position of at least one grid on a rock surface for installing the at least one grid onto the rock surface by the grid installation machine, wherein the planned position of the at least one grid is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; map the planned position of the at least one grid to a coordinate frame of the grid installation machine; and control the installation of the at least one grid onto the rock surface based on the planned position of the at least one grid.

[0006] According to a third aspect, a method for controlling grid installation is disclosed. The method may include: obtaining a grid establishment plan that indicates a planned position of at least one grid on a rock surface for installing the at least one grid onto the rock surface by a grid installation machine, wherein the planned position of the at least one grid is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; mapping the planned position of the at least one grid to the coordinate frame of the grid installation machine; and controlling the installation of the at least one grid onto the rock surface based on the planned position of the at least one grid.

[0007] According to a fourth aspect, a device is disclosed. The device may include: means for obtaining a grid establishment plan that indicates a planned position of at least one grid on a rock surface for installing the at least one grid onto the rock surface by a grid installation machine, wherein the planned position of the at least one grid is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; means for mapping the planned position of the at least one grid to the coordinate frame of the grid installation machine; and means for controlling the installation of the at least one grid onto the rock surface based on the planned position of the at least one grid.

[0008] According to a fifth aspect, a computer program is disclosed. The computer program may include instructions that, when executed by a device, cause the device to perform at least the following operations: obtaining a grid establishment plan that indicates a planned position of at least one grid on a rock surface for installing the at least one grid onto the rock surface by a grid installation machine, wherein the planned position of the at least one grid is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; mapping the planned position of the at least one grid to the coordinate frame of the grid installation machine; and controlling the installation of the at least one grid onto the rock surface based on the planned position of the at least one grid.

[0009] Example embodiments of the above aspects are described in the claims, the specification, and / or the drawings. According to some aspects, the subject matter of the independent claims is provided. Some other aspects are defined in the dependent claims. Many accompanying features will be more readily understood as they will be better understood by reference to the following description taken in conjunction with the drawings. Description of the Drawings

[0010] The drawings are included to provide a further understanding of example embodiments and form a part of this specification. The drawings illustrate example embodiments and, together with the description, help to explain the example embodiments. In the figures:

[0011] Figure 1 An example of a grid installation machine is shown;

[0012] Figure 2 An example of a grid installation machine communicatively coupled to a remote grid control device is shown;

[0013] Figure 3 An example of a data structure for a digital grid establishment plan is shown;

[0014] Figure 4 Another example of a data structure for a digital grid establishment plan is shown;

[0015] Figure 5 An example of a flowchart for controlling grid installation is shown;

[0016] Figure 6 An example of a grid installed on a tunnel surface based on a digital grid establishment plan is shown;

[0017] Figure 7 An example of projecting a two-dimensional position onto a rock surface is shown;

[0018] Figure 8 An example of overlapping grids is shown;

[0019] Figure 9 An example of an apparatus configured to implement one or more example embodiments is shown; and

[0020] Figure 10 An example of a method for controlling grid installation is shown.

[0021] In the drawings, the same reference numerals are used to designate the same parts. Detailed Description

[0022] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in conjunction with the accompanying drawings is intended as a description of the examples and is not intended to represent the only form in which the examples may be constructed or utilized. The description sets forth the functions of the examples and the sequence of steps for constructing and operating the examples. However, the same or equivalent functions and sequences may be achieved by different examples.

[0023] Figure 1 An example of a grid installation machine is shown. Although the grid installation machine 100 is shown as an underground grid installation machine, the example embodiments of the present disclosure may also be applied to other types of grid installation machines, such as machines configured to install grids on rock cuttings along roads or railways.

[0024] The mesh installation machine 100 can be an automated mesh installation machine, such as an automated mining vehicle equipped with tools configured for mesh installation. An automated mining vehicle operating in an automatic mode (e.g., the automated mesh installation machine) can be configured for, for example, receiving a task to be performed, sensing the environment of the automated mining vehicle, and autonomously performing the task considering the environment. An automated mining vehicle operating in an automatic mode can be configured for independent operation, but can accept external control in certain operating areas or conditions, such as during an emergency state. However, example embodiments can also be applied to non-autonomous or semi-autonomous mining vehicles, such as remotely controlled mining vehicles.

[0025] In Figure 1 the example, the x-axis represents the forward travel direction of the mesh installation machine 100. The z-axis represents the vertical direction, which is, in this example, towards the roof of the tunnel. The mesh installation machine 100 can include a movable vehicle 110 and at least one boom 120 connected to the movable vehicle 110. The movable vehicle 110 can include devices for moving or stabilizing the mesh installation machine 100, such as, for example, motors, wheels, or stabilizing jacks. The movable vehicle 110 can be configured for autonomous movement, or it can be remotely controlled by a human operator or locally controlled at the mesh installation machine 100. Although Figure 1 two booms 120-1, 120-2 have been shown in

[0026] the mesh installation machine 100 can generally include one or more (e.g., two, three, four...) booms 120. The boom 120-1 can be referred to as the first boom. The boom 120-2 can be referred to as the second boom.

[0027] The mesh installer 100 may include at least one sensor 112 configured to scan the environment of the mesh installer 100, such as a rock surface 140 and any mesh already installed on the rock surface. The sensor 112 may include, for example, one or more of the following: a camera, a radio detection and ranging (radar) sensor, or a light detection and ranging (lidar) sensor. Thus, the sensor 112 may include a set of two or more sensors. The sensor 112 may be configured to scan the rock surface 140 to detect the mesh, such as detecting specific features of the mesh, such as the edges or corners of the mesh. Scanning the rock surface 140 may include using the sensor 112 to scan such that its sensing direction is towards the rock surface 140. Scanning the rock surface 140 does not necessarily include detecting features of the rock surface 140. For example, scanning the rock surface 140 may include pointing the sensor 112 at the rock surface 140 and detecting the mesh installed on the rock surface 140.

[0028] A camera may be used to extract depth information of an object, such as a mesh, for example by comparing two images taken at slightly different positions (e.g., by two camera units). Alternatively, the sensor 112 may include a time-of-flight (ToF) camera configured to determine the distance between the camera and a point on the mesh by measuring the round-trip time of an artificial light signal provided by a laser or a light-emitting diode (LED). A lidar sensor may be configured to determine the distance to different mesh points by aiming a laser at the mesh and measuring the time it takes for the reflected light to return to the receiver of the lidar sensor. The lidar sensor may be configured to emit electromagnetic energy towards the rock surface and observe the echoes returning from the mesh to determine the distance to different mesh points. Based on the scan, the mesh installer 100 may obtain point cloud data representative of the scanned environment. The point cloud data may include, for example, a three-dimensional (3D) model of the detected mesh, or at least some features of the mesh, such as the edges. The position of the mesh, or certain points of the mesh (such as corners or edges), may be determined based on the scan data. Thus, the position of the mesh may be fixed or known relative to the coordinate system or frame of the mesh installer 100 (e.g., coordinate frame F rig )). The coordinate frame of the mesh installer may be stationary relative to the mesh installer 100. The mesh controller 114 may be configured to map the position of the detected mesh to a coordinate system (e.g., coordinate frame F tunnel ) that is stationary relative to the rock surface 140, for example to provide feedback on the actual position of the mesh installed on the rock surface 140.

[0029] The mesh installation machine 100 may include a mesh controller (MC) 114. The mesh controller 114 may be provided, for example, as a software application residing on a memory and executed by a processor. Examples of devices suitable for implementing the mesh controller 114 are provided in Figure 9 . The mesh controller 114 may include or be communicatively coupled to various functions, modules, or applications for implementing the functionality of the mesh controller 114. For example, the mesh controller 114 may include or be communicatively coupled to a data management server that may be configured to store information about digital mesh establishment plans, drift lines, point clouds or mesh renderings of drift lines or drift profiles, mine map point clouds, etc. The digital mesh establishment plan may include planned mesh positions and optionally may also include planned mounting positions. The mesh position may include the position of the mesh on the rock surface 140. The mounting position may include the position of a mounting component (e.g., a rock bolt or rivet) for mounting the mesh to the rock surface 140. The planned mounting position may include the planned position of the mounting component on the rock surface 140. The mesh controller 114 may be configured to control the installation of the mesh 601 based on the planned position of the mesh 601 and / or the planned mounting position of the mesh 601. The planned position of the mesh 601 and / or its mounting position may be provided with respect to the coordinate system of the mesh installation machine 100, for example, with respect to a coordinate frame F that is stationary relative to the mesh installation machine 100 (e.g., the movable vehicle 110) rig .

[0030] The mesh controller 114 may include a navigation application that is configured to control or enable a human operator to control the navigation of the mesh installation machine 100, for example, to move the mesh installation machine 100 to a desired position (installation position) for mounting the mesh on the rock surface 140 at its planned position and / or to determine the planned mesh position or the planned mounting position of the digital mesh establishment plan relative to the current position of the mesh installation machine 100. The position of the mesh installation machine 100 may be referred to as the navigation position. Thus, the installation position may be a navigation position that has been planned or determined for the mesh installation machine 100 to mount the mesh on the rock surface 140.

[0031] The grid controller 114 can be configured to determine and / or maintain a digital grid establishment plan, a 3D model of at least one component of the grid installation machine 100 (e.g., a 3D model of the boom 120, the gripper 124, or the rock bolt installer 126), and / or a dynamic model of the grid installation machine 100 or its components. The 3D model of the component of the grid installation machine 100 can include 3D geometric data of the component, such as obtained from a computer-aided design (CAD) model of the corresponding physical component. The digital grid establishment plan can be provided as part of a drilling plan. The drilling plan can include planned drilling positions on the rock surface 140, e.g., for rock bolting the rock surface 140 (without grid establishment) to reinforce the rock surface 140.

[0032] The dynamic model of the grid installation machine 100 or its components can include a mathematical description of at least a part of the grid installation machine 100. The dynamic model can describe the movement of the grid installation machine 100 or the components of the grid installation machine 100 without considering the forces causing the movement. The dynamic model can be used to estimate or simulate the position of the grid installation machine 100 or the components of the grid installation machine 100, e.g., based on measurement data from one or more sensors associated with the grid installation machine 100 or the movement of the grid installation machine 100 caused by or to be caused by a given control input. The dynamic model of the grid installation machine 100 can at least include the dimensions of the grid installation machine 100 and / or the reach of the grid installation machine 100, e.g., the movement range of at least one boom 120 of the grid installation machine 100. The dynamic model can include information about the dimensions of the boom 120 or its components (e.g., the gripper 124 or the rock bolt installer 126), the characteristics of the joints 122 (e.g., their degrees of freedom), the constraints between the moving parts of the grid installation machine 100, etc. Thus, the dynamic model can allow the movement of the components of the grid installation machine 100 to be modeled, e.g., to determine possible positions for installing the grid 601 from a specific installation position, or to predict / prevent collisions between the components of the grid installation machine, the grid 601, and / or the rock surface 140. For example, the dynamic model can allow the determination of the maximum distance that the gripper 124 or the rock bolt installer 126 can reach. The 3D model of the component can be provided as point cloud data indicating the surface of the component. The point cloud data can include a plurality of data points that represent, for example, the distances between the grid installation machine 100 and its components or other objects in the environment of the grid installation machine 100 at a specific point in time. Each individual point included in the point cloud can be represented by, for example, x and y coordinates, or x, y, and z coordinates relative to a specific coordinate frame (e.g., F rig ).

[0033] The grid installation machine 100 can be controlled by a remote grid control device 200, which can be located outside the grid installation machine 100, asFigure 2 as shown. For example, the remote grid control device 200 can be a server located away from the grid installation machine 100, such as outside the tunnel. The functionality of the grid controller 114 can be provided at the grid installation machine 100, the remote grid control device 200, or distributed between the grid installation machine 100 and the remote grid control device 200. Information can be exchanged between the remote grid control device 200 and the grid installation machine 100 through a communication interface, which includes any suitable wireless or wired connection. Examples of suitable communication interfaces are referenced Figure 9 for description.

[0034] The grid controller 114 can be configured to determine and / or maintain a digital meshing plan. The 3D and kinematic models of the grid installation machine 100 can be stored in the grid controller 114, for example, stored based on a pre-configuration of the model on the grid controller 114. Alternatively, the grid controller 114 can be configured to receive one or more of the models from the grid installation machine 100 or a data management server. Thus, the example embodiments of the present disclosure can be implemented locally on the grid installation machine 100 and / or on the remote grid control device 200.

[0035] Figure 3 An example of the data structure of the digital meshing plan is shown. The data structure of the digital meshing plan can include a computer-implemented data structure implemented on a computer-readable medium for controlling grid installation. The data structure can be provided in a memory, such as, for example, a computer-readable storage medium, examples of which include, but are not limited to, removable storage devices (e.g., universal serial bus (USB) flash drives, optical discs, etc.). Other examples of suitable types of memory for storing the digital meshing plan are referenced Figure 9 to the at least one memory 904 described in. The cardinality between data structures or attributes is represented by the values "0", "1", or "*". For example, the data structure digital_meshing_plan can be associated with one or more ("1…*") data structures mesh, and mesh can include or be associated with an attribute planned_mesh_position. The data structure mesh can include or be associated with zero or more ("0…*") attributes planned_mounting_position and / or zero to one ("0…1") attributes mesh_strand_thickness or mesh_weight.

[0036] The data structure digital_meshing_plan may include a digital meshing plan. The data structure digital_meshing_plan may be associated with one or more other data structures, such as, for example, the data structure mesh that includes information associated with a mesh. A data structure may also be referred to as an object, a data object, or an information object. The data structure digital_meshing_plan may include or be associated with one or more attributes (e.g., parameters) that may be common to data structures. For example, digital_meshing_plan may include or be associated with the attribute planned_mesh_overlap, which is configured to indicate the planned overlap of meshes (e.g., different instances of the data structure mesh) in the digital meshing plan. The planned overlap may be indicated, for example, by the number of overlapping mesh openings (mesh cells). The planned overlap may be, for example, at least two (e.g., 2 - 4) mesh openings. An overlap of 2 - 4 mesh openings may be sufficient to prevent rocks from falling from the rock surface 140 while not causing excessive additional costs due to an increased number of meshes. The amount of overlap may be defined, for example, with respect to a direction perpendicular to the edge of a previously installed mesh.

[0037] The data structure digital_meshing_plan may include or be associated with the attribute minimum_height, which is configured to indicate, for example, the height (minimum meshing height) measured from the bottom of the drift, above which the rock surface 140 is planned to be covered by the meshes of the digital meshing plan. The value of planned_mesh_overlap or minimum_height may apply to multiple (e.g., some or all) meshes in the digital meshing plan.

[0038] The data structure digital_meshing_plan may include or be associated with one or more (sub) data structures mesh. The data structure mesh may include or be associated with one or more attributes related to a mesh. For example, the data structure mesh may include or be associated with the attribute planned_mesh_position, which may be configured to indicate the planned position of the mesh on the rock surface 140 for installing the network onto the rock surface 140 by the mesh installation machine 100. The planned position of the mesh may be configured with respect to a coordinate frame that is stationary relative to the rock surface 140 (e.g., a coordinate frame of the drift (F tunnel)) indication. The planned position of the mesh may include the planned position of at least a part of the mesh (e.g., an edge or a corner) on the rock surface 140. For example, the planned positions of two corners of the mesh may be provided to indicate the planned position of the mesh. Alternatively, the planned position of a single point (e.g., a corner) of the mesh may be provided, and together with the provided planned orientation of the mesh, so as to indicate the planned position of the mesh. An instance of the data structure mesh may include or be associated with an attribute planned_mesh_position. However, the attribute planned_mesh_position may include one or more positions corresponding to different parts of the mesh.

[0039] The data structure mesh may include or be associated with zero or more ("0…*") attributes planned_mounting_position, which may be configured to indicate the planned mounting positions for mounting the associated mesh to the rock surface 140. The planned mounting positions may be configured to indicate with respect to a coordinate frame that is stationary relative to the rock surface 140 (e.g., F tunnel ) indication, such as the same coordinate frame for indicating the planned position of the mesh.

[0040] The planned position or the planned mounting position of the mesh may be provided as a three-dimensional (3D) position, which may directly indicate the relevant position on a coordinate frame that is stationary relative to the rock surface 140. Alternatively, the planned position may be indicated as a two-dimensional (2D) position, such as a 2D position on a 2D projection of the rock surface 140, or may be indicated as a 2D position on a reference plane, which is projected from the reference plane onto the rock surface 140, as will be Figure 6 or Figure 7 further described.

[0041] The data structure mesh may include or be associated with an attribute mesh_strand_thickness, which may be configured to indicate the thickness of the mesh strands of the associated mesh. The data structure mesh may include or be associated with an attribute mesh_weight, which may be configured to indicate the weight of the associated mesh. Alternatively, the attributes mesh_strand_thickness and / or mesh_weight may be included in or associated with the data structure digital_meshing_plan, as Figure 4 shown. In this case, the attributes mesh_strand_thickness and / or mesh_weight may apply to multiple (e.g., all) meshes in the digital meshing plan. The possible uses of the various attributes of the digital meshing plan are referenced Figures 5 to 8Further description. The data structure digital_meshing_plan may also include other attributes, such as, for example, the mesh size. For example, the mesh size can be indicated by the size of the mesh or a size identifier (e.g., size 1, size 2, size 3, etc.).

[0042] An instance of the data structure mesh can be identified by a mesh identifier, which is represented by the attribute mesh_id in this example. A mesh can be associated with a mesh identifier (1…1). For example, the mesh identifier can include one or more of the following: a serial number, a type identifier (e.g., a type number), or a partial number of the mesh. Thus, the mesh identifier can identify each individual mesh and / or a certain type of mesh. The mesh identifier can be associated with the planned position of the rock surface 140 (e.g., via the attribute planned_mesh_position). The type identifier can be configured to indicate one or more of the following: the shape of the mesh openings (e.g., square or diamond), the size of the mesh openings, a mesh with equally sized mesh openings, a mesh with different mesh opening sizes and a specific pattern, the material of the mesh (e.g., hot-dip galvanized mesh, stainless steel mesh, ferritic mesh), the size of the mesh (e.g., 2270mm x 2530 mm), etc.

[0043] The data structure digital_meshing_plan can include or be associated with zero or more (0…*) data structures slot, which can represent slots for mounting the mesh on the rock surface 140. The slots can be identified by a slot identifier (e.g., via the attribute slot_id). The data structure slot can include or be associated with zero or more (0…*) requirements (e.g., via the attribute requirements), such as, for example, one or more required mesh characteristics of the mesh to be mounted on the slot (e.g., the attributes mesh_strand_thickness, mesh_weight, or other characteristics, such as, for example, the material of the mesh, the required mounting device, the mesh size, or the mesh type).

[0044] The data structure slot can include or be associated with other characteristics, such as, for example, the position of the slot on the rock surface 140, or the position of the mesh to be installed in the slot. For example, the attributes planned_mesh_position and / or planned_mounting_position can be associated with the slot (e.g., the data structure slot with a specific slot_id). This can be in addition to or in place of similar attributes that are associated with a specific mesh (e.g., the data structure mesh with a specific mesh_id). Thus, the planned position or mounting position of the mesh can be indicated by the attributes of the slot. The mesh controller 114 can be configured to map a specific mesh to a specific slot. Thus, the mesh controller 114 can be configured to create an association between the slot and the mesh, as shown by the dashed line. The mesh controller 114 can be configured to select a specific mesh, or a mesh with a specific type or other characteristics required for installation in a specific slot. The selection can be based on the required mesh characteristics associated with the corresponding slot. The mesh controller 114 can be configured to select a single mesh or a specific type of mesh based on finding a mesh whose characteristics meet the requirements of the slot.

[0045] The data structure mesh can include or be associated with the attributes actual_mesh_position and / or actual_mounting_position. For example, this can be the case where the data structure slot includes or is associated with the attributes actual_mesh_position and / or actual_mounting_position. The mesh controller 114 can be configured to assign values to actual_mesh_position and / or actual_mounting_position based on the actual position of the mesh and / or its actual mounting position, e.g., after the mesh is installed on the rock surface 140. Although Figure 3 and Figure 4 a specific hierarchical relationship of data structures and attributes is shown, it should be understood that other types of structures that establish plans through digital meshes can also provide similar functions and benefits.

[0046] The attributes of a specific data structure can include attributes related to the characteristics of the object represented by the data structure (e.g., a digital object or a real object). For example, the attributes of a digital meshing plan (e.g., the data structure digital_meshing_plan) can include attributes related to the characteristics of the digital meshing plan. The attributes of a mesh (e.g., the data structure mesh) can include attributes related to the characteristics of the mesh. The attributes of a slot (e.g., the data structure slot) can include attributes related to the characteristics of the slot. These attributes can be respectively referred to as (digital) meshing plan attributes, mesh attributes, or slot attributes.

[0047] Figure 5 An example of a flowchart for controlling mesh installation is shown. Although the operations in the flowchart are described as being performed by the mesh controller 114, they can generally be configured to be performed by some device, such as, for example, the mesh installation machine 100, its control device, or the remote mesh control device 200.

[0048] In operation 501, the mesh controller 114 can obtain a meshing plan, for example, as an instance of the data structure digital_meshing_plan. The meshing plan can be digital, for example, represented as binary digits (bits) or other digital values on a computer-readable memory. The meshing plan can indicate the planned position of the mesh on the rock surface 140. The position can be configured for installing the mesh onto the rock surface 140 by the mesh installation machine 100. The planned position of the mesh can be configured to be indicated with respect to the coordinate frame F tunnel indicated, or generally with respect to a coordinate frame that is stationary relative to the rock surface 140. The mesh controller 114 can be configured to obtain information about the placement position of the mesh, for example, as part of the meshing plan.

[0049] The mesh controller 114 can be configured to obtain the meshing plan by receiving the meshing plan, for example, through the internal communication interface of the mesh installation machine 100 or from a device external to the mesh installation machine 100 (e.g., the remote mesh control device 200). Alternatively, the mesh controller 114 can be configured to obtain the meshing plan by retrieving the meshing plan from at least one memory of the device including the mesh controller 114 (e.g., the control device) or from at least one memory of the mesh installation machine 100. This enables the digital meshing plan to be configured remotely and / or locally, thus providing a flexible solution for controlling mesh installation.

[0050] In operation 502, the mesh controller 114 can be configured to map the planned position indicated in the meshing plan to the coordinate system of the mesh installation machine 100, for example, the coordinate frame F rig, or is mapped in total to a coordinate frame that is stationary relative to the grid installation machine 100. The grid installation machine 100 may be configured to monitor its position with respect to a coordinate frame that is stationary relative to the rock surface 140 (e.g., F tunnel ), such as during navigation in a tunnel. Based on the current position of the grid installation machine 100 and the planned position indicated in the grid establishment plan, both with respect to a coordinate frame that is stationary relative to the rock surface 140, the grid controller 114 may determine the planned position with respect to its own coordinate frame (e.g., F rig ). Such mapping may be performed on the planned position of the grid and / or its planned placement position.

[0051] Figure 6 Shows an example of a grid installed on the tunnel surface based on a digital grid establishment plan. Figure 6 Shows a cross-sectional view of the tunnel taken along the yz plane (left figure), and an example of a grid establishment plan for the tunnel surface as seen from above the tunnel roof 140-1 and from the outside of the right tunnel wall 140-3 (right figure). In this example, the rock surface 140 includes the tunnel surface, such as the tunnel roof 140 1 and / or the tunnel walls 140-2, 140-3. The grid controller 114 may be configured to determine the position of the grid based on a digital grid establishment plan, which may include the planned position of the grid. The planned positions of grids 601 to 606 are shown on the right. The digital grid establishment plan may include planned placement positions 611 (shown as black dots). When determining the position for installing the grid, the grid controller 114 may be configured to initially use the corresponding positions included in the digital grid establishment plan. However, due to various deficiencies, such as, for example, the bending or inaccurate placement of a previous grid, the planned positions may not provide sufficient overlap in practice. It is also possible that the grid controller 114 determines that it is not possible to cover the rock surface above the minimum grid establishment height (h) with a predetermined number of grids without reducing the planned overlap of the grids. At least for one of these reasons, the grid controller 114 may be configured to adjust the planned grid position and / or placement position, as will be further described with reference to operation 503.

[0052] As Figure 6As shown, the planned grid position or placement position can be indicated as a 2D point on a (2D) reference plane 600. The reference plane 600 can include a 2D projection of at least a portion of the rock surface 140. Points on the rock surface 140 (e.g., the walls and / or ceiling of a tunnel) can be represented on the reference plane 600. Projecting the rock surface 140 onto a 2D plane can include mapping points on the rock surface 140 to that 2D plane. Thus, each point on the reference plane 600 can correspond to a point on the rock surface 140. The reference plane 600 can also be referred to as the 2D projection plane of the rock surface 140. Reference Figure 7 Another example of a reference plane is described.

[0053] The grid controller 114 can be configured to determine the 3D position of the planned grid position and / or placement position based on the corresponding 2D positions indicated on the reference plane 600. For example, the grid controller 114 can be configured to: determine the planned grid position and / or placement position with respect to a coordinate frame (e.g., F tunnel ) that is stationary with respect to the rock surface 140; and map the determined positions to the coordinate frame of the grid mounting machine 100 (e.g., F rig ).

[0054] Figure 7 An example of projecting a two-dimensional position onto a rock surface is shown. A digital grid division plan can be configured to indicate grid positions or placement positions on a reference plane 701. The reference plane 701 can include a plane in a (Cartesian) coordinate system (e.g., F tunnel ) that is stationary with respect to the rock surface 140. The grid controller 114 can be configured to project the planned grid positions and / or placement positions indicated on the reference plane 701 onto the rock surface 140 to obtain corresponding projected positions. For example, the grid controller 114 can be configured to project the placement position 702 indicated on the reference plane 701 to the projected placement position 702'. The grid controller 114 can be configured to control the installation of the grid placement based on the projected positions. For example, the reference plane 701 can be parallel to the bottom of the tunnel or perpendicular to the gravity vector.

[0055] Representing positions on the 2D reference planes 600, 700 allows for a low-complexity representation of the planned grid positions and / or placement positions in a digital grid establishment plan, and thus reduces the amount of memory required to store the digital grid establishment plan and / or the amount of data transfer resources required to transfer the digital grid establishment plan to the grid mounting machine 100.

[0056] Return to reference Figure 5, in operation 503, the mesh installer 100 can be configured to adjust the planned position and / or the placement position of the mesh. Adjustment of the planned position enables the mesh controller 114 to ensure that mesh installation is performed according to one or more preconfigured criteria, which may be indicated in the mesh establishment plan and may include, for example, the planned overlap of the mesh (e.g., the attribute planned_mesh_overlap) and / or the minimum mesh establishment height (e.g., the attribute minimum_height).

[0057] For example, the mesh controller 114 can be configured to adjust the planned position of the mesh so that the mesh controller 114 causes the mesh to be installed with a substantially achieved planned overlap. The variation relative to the planned mesh position or the placement position may be caused, for example, by the uneven surface profile of the rock surface 140, which may not have been adequately considered in the digital mesh establishment plan. Thus, adjustment of the planned position can allow for providing the required overlap and be sufficient to prevent rocks from falling from the rock surface 140.

[0058] Alternatively, or additionally, the mesh controller 114 can be configured to adjust (e.g., reduce) the planned overlap of the mesh based on the indicated minimum mesh establishment height, for example, to enable the rock surface 140 to be covered, for example, with a predetermined number of meshes above the indicated minimum mesh establishment height from the bottom of the pit of the tunnel. For example, the mesh controller can be configured to reduce the planned overlap from three mesh openings to two mesh openings so that the rock surface can be covered according to the minimum mesh establishment height. For example, the predetermined number of meshes can include the number of meshes planned for the area of the rock surface 140 to be covered by a single row of meshes (e.g., meshes 601, 602, 603 or meshes 604, 605, 606) that extends from the highest point of the top of the tunnel to the indicated minimum mesh establishment height, or the predetermined number of meshes can include another upper limit of the number of meshes, as indicated, for example, in the mesh establishment plan.

[0059] As described above, the digital grid establishment plan can be configured to indicate the thickness of the grid strands of the grid, for example, indicated by the attribute mesh_strand_thickness. The thickness of the grid strands can affect how the grid bends or folds when installed on a rock surface 140 that may be very uneven. A grid with thinner grid strands can follow the rock surface 140 relatively closely, while a grid with thicker grid strands can follow the rock surface 140 more loosely. Therefore, installing a grid with thinner grid strands can result in a smaller area of the rock surface 140 being covered than the area planned in the digital grid establishment plan. The grid controller 114 can thus be configured to determine a waste factor based on the thickness of the grid strands. For example, the waste factor can include a value between 0 and 1, where the value indicates, for example, how much area a grid with grid strands of a certain thickness may cover or how long a distance it may cover along a specific axis compared to the grid positions in the digital grid establishment plan.

[0060] The grid controller 114 can, for example, be pre-configured with a look-up table that contains experimental data on waste factors for different thicknesses of grid strands. Based on the thickness indicated in the digital grid establishment plan, the grid controller 114 can be configured to select the corresponding waste factor. Alternatively, the grid controller 114 can be configured to: determine the waste factor based on comparing the actual position of the grid (derived from an adjustment of the grid position) with the position indicated in the digital grid establishment plan. The grid controller 114 can be configured to reduce the planned overlap of the grid (e.g., from three grid openings to two grid openings) based on the waste factor so that, for example, a minimum grid establishment height (h) can be achieved.

[0061] Considering the installation of the grid at a specific point on the x-axis, the grid can be installed starting from the top of the pit, for example, from the highest point of the pit top 140-1, and then moved down along the surface of the tunnel, such that the grid located on the pit wall 104-2 (e.g., grid 603) is installed after the grids located on the pit top 140-1 (e.g., grids 601 and 602). This enables ensuring that the rocks falling from the pit top 140-1 are retained by the grid. Generally, the first grid (e.g., grid 602) can be configured to be installed on the pit top 140-1 of the tunnel, and the second grid (e.g., grid 603) can be configured to be installed on the pit wall 140-3 of the tunnel. The pit walls 140-2, 140-3 of the tunnel can include a portion of the tunnel surface where the inclination angle α with respect to the y-axis is lower than a certain threshold (e.g., less than 45°). The pit top 140-1 of the tunnel can include a portion of the tunnel surface where the inclination angle α with respect to the y-axis is higher than this threshold (e.g., greater than 45°).

[0062] Figure 8An example of grid overlap is shown. Considering an example scenario where the grid 604 has been pre-installed on the rock surface 140, the grid controller 114 can control the installation of the grid 601 based on the digital grid establishment plan such that the grids 604 and 601 overlap in the x-direction after the installation of the grid 601. The grid controller 114 can determine the amount of overlap based on the digital grid establishment plan (e.g., the attribute planned_mesh_overlap), and optionally adjust the planned overlap. The grids 604 and 601 can overlap at the edge of the grid 604. Similarly, when the grid 601 has been installed, the grid controller 114 can control the installation of the grid 602 based on the digital grid establishment plan such that the grids 601 and 602 overlap in the y-direction after the installation of the grid 602. The grids 601 and 602 can overlap at the edge of the grid 601. In this example, the overlap between the grids is slightly more than one grid opening (mesh), but the amount of overlap can also be greater, e.g., more than two (e.g., 2 - 4) grid openings, as described above. The amount of overlap can be defined relative to the direction perpendicular to the edge of the other grid, e.g., the x-direction for installing the grid 601 to overlap with the grid 604, and the y-direction for installing the grid 602 to overlap with the grid 601.

[0063] Return reference Figure 5 In operation 504, the grid controller 114 can be configured to control grid installation. For example, the grid controller 114 can be configured to control the installation of the grid onto the rock surface 140 based on the planned position of the grid, e.g., as indicated in the digital grid establishment plan and mapped to the coordinate system of the grid installation machine 100 (see operation 502), and / or as adjusted by the grid controller 114 (see operation 503). The grid controller 114 can be configured to control the placement of the grid onto the rock surface 140 based on the planned placement position, e.g., as indicated in the digital grid establishment plan and mapped to the coordinate system of the grid installation machine 100 (see operation 502), and / or as adjusted by the grid controller 114 (see operation 503).

[0064] Controlling grid installation can include controlling the positioning of the grid 601 for installation on the rock surface 140. For example, the grid controller 114 can be configured to control at least one boom, e.g., the boom 120 - 1 including the gripper 124, to position the grid 601 for installation on the rock surface 140. The grid controller 114 can be configured to determine the position of the grid 601 based on the digital grid establishment plan.

[0065] The control grid installation may include placing the control grid 601 onto the rock surface 140. The placement of the control grid 601 may include causing the grid installation machine 100 to place the grid 601 on the rock surface 140. The placement of the control grid 601 may include determining the order of placement positions or the placement rate (e.g., in number of rock bolts per minute). The placement of the control grid 601 may include causing the grid installation machine 100 to place the grid 601 on the rock surface 140 according to the determined order of placement positions or placement rate. The placement of the control grid 601 may include controlling the movement of at least one boom, such as boom 120-2 including the rock bolt installer 126, to place the grid 601 on the rock surface 140.

[0066] Thus, the control grid installation may include controlling the movement of at least one boom, such as booms 120-1, 120-2 and their respective tools, to place the grid 601 at this location and place the grid 601 on the rock surface 140.

[0067] The control grid installation may include controlling collision avoidance, such as when moving the grid 601 using boom 120-1 and the gripper 124, or when moving the rock bolt installer 126 for placing the grid 601. The grid controller 114 or the grid installation machine 100 may be configured to perform collision avoidance operations to avoid collisions between components of the grid installation machine 100 (e.g., boom 120-1, boom 120-2, gripper 124, rock bolt installer 126 or the movable vehicle 110), the grid 601 or the rock surface 140. The collision avoidance may be based on a dynamic model of the grid installation machine 100.

[0068] As described above, the digital grid establishment plan may be configured to indicate the thickness of the grid strands and / or the weight of the grid. These properties affect the 3D space occupied by the grid 601, such as caused by bending when manipulating the grid 601 with the gripper 124. The grid controller 114 may thus be configured to determine a 3D space reservation for the grid 601 (e.g., a space defined by height, width and depth). This determination may be based on the thickness of the grid strands and / or the weight of the grid 601. For example, the grid controller 114 may be configured with a look-up table that includes experimental data on 3D space reservations for different types of grids (e.g., their size, weight, strand thickness, etc.). The grid controller 114 may be configured to determine the corresponding space reservation from the look-up table based on the properties of the digital grid establishment plan. The grid controller 114 may be configured to control collision avoidance associated with the movement of the grid 601 based on the determined 3D space reservation (e.g., in combination with the dynamic model of the grid installation machine 100). This enables collision avoidance that might otherwise occur due to bending of the grid 601.

[0069] Collision avoidance control may include performing collision avoidance by the mesh controller 114 itself, or providing the determined 3D space reservation to a separate controller (e.g., within the mesh installer 100). Performing collision avoidance based on the 3D space reservation and optionally on a dynamic model of the mesh installer may include, for example, determining by simulation whether components of the mesh installer 100 or the rock surface 140 will intersect the 3D space reservation of the mesh 601 when the mesh 601 is installed on the rock surface 140. The mesh controller 114 or another controller may be configured to control the mesh installation so that expected collisions are avoided.

[0070] In operation 505, the mesh controller 114 may be configured to transmit feedback, such as an indication of the actual position and / or their placement position of the meshes on the rock surface 140. The mesh controller 114 may be configured, for example, to determine the actual position of the mesh 601 on the rock surface 114 after installation of the mesh 601. The mesh controller may be configured to: determine the actual position of the mesh 601 based on the actual placement position used when placing the mesh 601. The mesh controller 114 may: determine the actual position or the actual placement position of the mesh 601 based on the adjustment position determined in operation 503, or based on monitoring the position and / or orientation of the gripper 124 and / or the placement tool (e.g., the bolt installer 126) when the mesh 601 is installed on the rock surface 140. Alternatively, or additionally, the mesh controller 114 may be configured to control the sensor 112 to scan the rock surface to detect the mesh 601. The mesh controller 114 may be configured to determine the actual position of the mesh 601 based on the scan data of the sensor 112. The mesh controller 114 may be configured to store the actual position and / or the actual placement position of the mesh 601 in, for example, a digital mesh establishment plan (e.g., stored as the properties actual_mesh_position and / or actual_mounting_position as described above).

[0071] The grid controller 114 may be configured to transmit an indication of the actual position of the grid installed on the rock surface 140, for example, via the internal communication interface of the grid installation machine 100 or to a device external to the grid installation machine 100 (e.g., the remote grid control device 200). The grid controller 114 may transmit an indication of other parameters related to the installed grid included in the digital meshing plan (e.g., an indication of the actual placement position or the determined waste factor) as feedback. Then, the digital meshing plan may be updated based on the feedback, for example, by the remote grid control device 200 or by another device, internal or external to the grid installation machine 100, that receives the feedback. The grid controller 114 may be configured to receive the updated digital meshing plan and control the installation or placement of the grid based on the updated position of the grid and / or its placement position. The grid controller 114 may also be configured to transmit feedback on other parameters, such as, for example, the actual grid identifier and / or the actual type of the installed (e.g., associated with a particular slot) grid, or any parameter of the installed grid in general. Similarly, the grid controller 114 may be configured to determine the actual type of the placement device (e.g., the bolt size). The actual identifier or type of the grid or the type of the placement device may be different from the corresponding parameters indicated in the digital meshing plan, for example, because of a shortage of grids or placement devices available during grid installation. The grid controller 114 may be configured to transmit this information as feedback, for example, within the grid installation machine 100 or to an external device.

[0072] The feedback may include other information related to the installed grid, such as, for example, an indication of the size of the installed grid. For example, the feedback may be provided in a data structure similar to digital_meshing_plan but including the corresponding attributes of the installed grid, such as one or more of the following: an indication of the actual position of the grid installed on the rock surface 140, an indication of the actual placement position of the grid installed on the rock surface 140, an indication of the actual overlap of the grid, an indication of the actual size of the grid, resulting, for example, from the grid controller 114 determining a switch in grid size, for example, to comply with the requirements of the digital meshing plan (e.g., the minimum meshing height).

[0073] To be able to provide feedback, the grid controller 114 and the remote grid control device 200 may be configured, for example, to synchronize their respective instances of the digital meshing plan so that the grid controller 114 receives an update to the meshing plan for installing additional grids and the remote grid control device 200 receives information about the previously installed grids. This synchronization may be performed based on a predetermined schedule (e.g., periodically).

[0074] Figure 5 Some of the operations may be optional. For example, the adjustment of the planned position (see operation 503) and the transmission of feedback (see operation 505) may not be performed in some example embodiments. In appropriate cases, the operations may also be performed in a different order.

[0075] Figure 9 An example of an apparatus configured to implement one or more example embodiments is shown. Apparatus 900 may be or include a grid control apparatus, such as, for example, a server communicatively coupled to grid installer 100, a grid control apparatus located on grid installer 100, grid controller 114, grid installer 100 itself, or any device or system generally configured to implement the functionality described herein. Although apparatus 900 is shown as a single device, it will be understood that, where applicable, the functionality of apparatus 900 may be distributed across multiple devices.

[0076] Apparatus 900 may include at least one processor 902. The at least one processor 902 may include, for example, one or more of various processing devices, such as, for example, a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits, such as the integrated circuit being, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a hardware accelerator, a dedicated computer chip, and the like.

[0077] Apparatus 900 may further include at least one memory 904. The at least one memory 904 may be configured to store, for example, computer program code, etc., such as operating system software and application software. The at least one memory 904 may include one or more volatile storage devices, one or more non-volatile storage devices, and / or combinations thereof. For example, the memory may be implemented as a magnetic storage device (e.g., a hard disk drive, etc.), a magneto-optical storage device, or a semiconductor memory (e.g., mask ROM, PROM (programmable ROM), EPROM (erasable programmable ROM), flash ROM, RAM (random access memory), etc.). Memory 904 is provided as an example of a (non-transitory) computer-readable medium. The term "non-transitory", as used herein, refers to the medium itself (i.e., tangible, rather than a signal), rather than to the persistence of data storage (e.g., RAM versus ROM). The at least one memory 904 may also be implemented separately from apparatus 900, for example, as a computer-readable (storage) medium, examples of which include a storage stick, a compact disc (CD), and the like.

[0078] When device 900 is configured to implement a certain functionality, a component and / or certain components of device 900, such as, for example, the at least one processor 902 and / or the at least one memory 904, may be configured to implement this functionality. In addition, when the at least one processor 902 is configured to implement a certain functionality, the functionality may be implemented using, for example, program code 906 included in the at least one memory 904.

[0079] The functionality described herein may be performed at least in part by one or more computer program product components, such as software components. According to one example embodiment, device 900 includes a processor or processor circuit configured by program code 906, such as, for example, a microcontroller, and the program code 906, when executed, performs embodiments of the operations and functionality described herein. Program code 906 is provided as an example of instructions that cause device 900 to execute when executed by the at least one processor 902.

[0080] For example, the grid controller 114 may be implemented at least in part as program code configured to cause device 900 to perform the functionality of the grid controller 114. Similarly, the transmission or reception of data (e.g., sensor data, kinetic models, or digital grid establishment plans) through an internal or external communication interface of the grid installer 100 may be controlled by software.

[0081] Alternatively or in addition, the functionality described herein may be performed at least in part by one or more hardware logic components. For example, but not limited to, illustrative types of hardware logic components that may be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing units (NPUs), tensor processing units (TPUs), and so on.

[0082] Device 900 may include a communication interface 908 configured to enable device 900 to transmit and / or receive information. The communication interface 908 may include an internal or external communication interface, such as, for example, a radio interface between the grid installer 100 and the remote grid control device 200. Device 900 may also include other components and / or functionality, such as, for example, a user interface (not shown) including at least one input device and / or at least one output device. The input device may take various forms, such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may include, for example, a display, a speaker, and so on. The user interface may enable a human operator to monitor various functions and data, such as, for example, digital grid establishment plans and so on.

[0083] Apparatus 900 may be configured to perform any aspect of the methods described herein or cause the execution of any aspect of the methods described herein. Additionally, a computer program or computer program product may include instructions that, when executed by apparatus 900, cause apparatus 900 to perform any aspect of the methods described herein. Further, apparatus 900 may include means for performing any aspect of the methods described herein. In one example, the means includes the at least one processor 902, the at least one memory 904 including program code 906 (instructions), the program code (instructions) being configured to cause apparatus 900 to perform the method when executed by the at least one processor 902. Generally, computer program instructions may be executed on means providing general processing functionality. For example, such means may be embedded in a computer, a server, and so on. Thus, the method may be implemented, for example, by a computer based on an algorithm executable by general processing functionality, an example of which is the at least one processor 902. Apparatus 900 may include means for transmitting or receiving information, such as one or more wired or wireless (e.g., radio) transmitters or receivers, the means may be coupled to or configured to be coupled to one or more antennas, or a transmitter or receiver of a wired communication interface. Figure 10 An example of a method for controlling a mesh installation is shown.

[0084] According to a first aspect, an apparatus for controlling a mesh installation is disclosed. The apparatus may include: at least one processor; and at least one memory including computer program code, the memory and the computer program code being configured to, by means of the at least one processor, cause the apparatus to at least perform the following operations: obtain a mesh establishment plan, the mesh establishment plan indicating planned positions of at least one mesh on a rock surface for installing the at least one mesh onto the rock surface by a mesh installation machine, wherein the planned positions of the at least one mesh are configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; map the planned positions of the at least one mesh to a coordinate frame of the mesh installation machine; and control the installation of the at least one mesh onto the rock surface based on the planned positions of the at least one mesh.

[0085] According to an example embodiment of the first aspect, the planned positions of the at least one mesh include planned positions of at least a part of the at least one mesh on the rock surface.

[0086] According to an example embodiment of the first aspect, the mesh establishment plan is configured to indicate at least one planned placement position for installing the at least one mesh onto the rock surface, wherein the at least one planned placement position is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface.

[0087] According to an example embodiment of the first aspect, the computer program code is further configured to cause the device to perform, by means of the at least one processor, the following operations: map the at least one planned placement position to the coordinate frame of the grid installation machine; and control the placement of the at least one grid onto the rock surface based on the at least one planned placement position.

[0088] According to an example embodiment of the first aspect, the grid establishment plan is configured to indicate the planned position and / or the planned placement position of the at least one grid as two-dimensional positions on a reference plane.

[0089] According to an example embodiment of the first aspect, the reference plane includes a two-dimensional projection of at least a part of the rock surface.

[0090] According to an example embodiment of the first aspect, the reference plane is parallel to the bottom of the tunnel or perpendicular to the gravity vector.

[0091] According to an example embodiment of the first aspect, the computer program code is further configured to cause the device to perform, by means of the at least one processor, the following operations: project the at least one planned position or the planned placement position of the at least one grid from the reference plane onto the rock surface to obtain at least one projected position; and control the installation or placement of the at least one grid onto the rock surface based on the at least one projected position.

[0092] According to an example embodiment of the first aspect, the grid establishment plan is configured to indicate the planned overlap of the at least one grid and at least one other grid.

[0093] According to an example embodiment of the first aspect, the computer program code is further configured to cause the device to perform, by means of the at least one processor, the following operations: adjust the planned position of the at least one grid to install the at least one grid while substantially achieving the planned overlap with the at least one other grid.

[0094] According to an example embodiment of the first aspect, the grid establishment plan is configured to indicate the thickness of the grid strands of the at least one grid and / or the weight of the at least one grid.

[0095] According to an example embodiment of the first aspect, the computer program code is further configured to cause the device to perform, by means of the at least one processor, the following operations: determine a three-dimensional space reservation for the at least one grid based on the thickness of the grid strands of the at least one grid and / or the weight of the at least one grid; and control collision avoidance associated with moving the at least one grid by the grid installation machine based on the three-dimensional space reservation.

[0096] According to an exemplary embodiment of the first aspect, the grid establishment plan is configured to indicate a height from the bottom of the tunnel, wherein the rock surface is planned to be covered by the at least one grid above the height from the bottom of the tunnel.

[0097] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to perform the following operations by the at least one processor: based on the indicated height from the bottom of the tunnel, reduce the planned overlap of the at least one grid and the at least one other grid so that the rock surface can be covered by a predetermined number of grids above the indicated height from the bottom of the tunnel.

[0098] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to perform the following operations by the at least one processor: determine a waste factor for installing the at least one grid and the at least one other grid on the rock surface based on the thickness of the grid strands of the at least one grid; and based on the waste factor, reduce the planned overlap of the at least one grid and the at least one other grid.

[0099] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to perform the following operations by the at least one processor: receive the grid establishment plan through an internal communication interface of the grid installation machine or from a device external to the grid installation machine; or retrieve the grid establishment plan from the at least one memory of the device or from the at least one memory of the grid installation machine.

[0100] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to perform the following operations by the at least one processor: determine the actual position of the at least one grid installed on the rock surface and / or an indication of at least one actual placement position of the at least one grid; and transmit the indication of the actual position of the at least one grid installed on the rock surface and / or the indication of at least one actual placement position of the at least one grid through the internal communication interface of the grid installation machine or to a device external to the grid installation machine.

[0101] According to an exemplary embodiment of the first aspect, the grid establishment plan is configured to indicate an identifier or type of the at least one grid associated with the planned position.

[0102] According to an example embodiment of the first aspect, the computer program code is further configured to cause the device, by means of the at least one processor, to perform the following operations: determining an actual identifier or an actual type of the at least one grid installed on the rock surface and / or an actual type of a placement device for placing the at least one grid onto the rock surface, and transmitting the actual identifier or the actual type of the at least one grid and / or the actual type of the placement device through an internal communication interface of the grid installation machine or to a device external to the grid installation machine.

[0103] According to an example embodiment of the first aspect, the planned position of the at least one grid is associated with a slot identifier of a slot on the rock surface, wherein the slot is associated with one or more required grid characteristics.

[0104] According to an example embodiment of the first aspect, the computer program code is further configured to cause the device, by means of the at least one processor, to perform the following operations: selecting the at least one grid for installation at the planned position based on the one or more required grid characteristics of the slot.

[0105] According to a second aspect, a grid installation machine is disclosed. The grid installation machine may include a device according to any example embodiment of the first aspect.

[0106] Figure 10 Another example of a method for controlling grid installation according to a third aspect of the present disclosure is shown. The method may include a computer-implemented method performed by, for example, device 900 (such as grid controller 114).

[0107] In 1001, the method may include: obtaining a grid establishment plan that indicates a planned position of at least one grid on a rock surface for installing the at least one grid onto the rock surface by means of a grid installation machine, wherein the planned position of the at least one grid is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface.

[0108] In 1002, the method may include: mapping the planned position of the at least one grid to the coordinate frame of the grid installation machine.

[0109] In 1003, the method may include: controlling the installation of the at least one grid onto the rock surface based on the planned position of the at least one grid.

[0110] This method can be executed by a grid controller 114, a grid installer 100, or a remote grid control device 200, for example, based on program code 906 when the program code is executed by a processor 902. Various examples of the method have been explained above with respect to the functionality of the grid controller 114, the grid installer 100, and / or the remote grid control device 200. It should be understood that the described example embodiments can be combined in different ways unless explicitly prohibited.

[0111] According to an example embodiment of the third aspect, the planned position of the at least one grid includes the planned position of the at least one grid portion on the rock surface.

[0112] According to an example embodiment of the third aspect, the grid establishment plan is configured to indicate at least one planned placement position for installing the at least one grid onto the rock surface, wherein the at least one planned placement position is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface.

[0113] According to an example embodiment of the third aspect, the method may include: mapping the at least one planned placement position to the coordinate frame of the grid installer; and controlling the placement of the at least one grid onto the rock surface based on the at least one planned placement position.

[0114] According to an example embodiment of the third aspect, the grid establishment plan is configured to indicate the planned position and / or the planned placement position of the at least one grid as a two-dimensional position on a reference plane.

[0115] According to an example embodiment of the third aspect, the reference plane includes a two-dimensional projection of at least a portion of the rock surface.

[0116] According to an example embodiment of the third aspect, the reference plane is parallel to the bottom of the drift or perpendicular to the gravity vector.

[0117] According to an example embodiment of the third aspect, the method may include: projecting the at least one planned position or the planned placement position of the at least one grid from the reference plane onto the rock surface to obtain at least one projected position; and controlling the installation or placement of the at least one grid onto the rock surface based on the at least one projected position.

[0118] According to an example embodiment of the third aspect, the grid establishment plan is configured to indicate the planned overlap of the at least one grid and at least one other grid.

[0119] According to an example embodiment of the third aspect, the method may include: adjusting the planned position of the at least one grid to install the at least one grid while substantially achieving the planned overlap with the at least one other grid.

[0120] According to an example embodiment of the third aspect, the grid establishment plan is configured to indicate the thickness of the grid strands of the at least one grid and / or the weight of the at least one grid.

[0121] According to an example embodiment of the third aspect, the method may include: determining a three-dimensional space reservation for the at least one grid based on the thickness of the grid strands of the at least one grid and / or the weight of the at least one grid; and controlling collision avoidance related to moving the at least one grid by the grid installation machine based on the three-dimensional space reservation.

[0122] According to an example embodiment of the third aspect, the grid establishment plan is configured to indicate the height from the bottom of the tunnel, where the planned rock surface is to be covered by the at least one grid above the height from the bottom of the tunnel.

[0123] According to an example embodiment of the third aspect, the method may include: reducing the planned overlap of the at least one grid and the at least one other grid based on the indicated height from the bottom of the tunnel so that the rock surface can be covered by a predetermined number of grids above the indicated height from the bottom of the tunnel.

[0124] According to an example embodiment of the third aspect, the method may include: determining a waste factor for installing the at least one grid and the at least one other grid on the rock surface based on the thickness of the grid strands of the at least one grid; and reducing the planned overlap of the at least one grid and the at least one other grid based on the waste factor.

[0125] According to an example embodiment of the third aspect, the method may include: receiving the grid establishment plan through an internal communication interface of the grid installation machine or from a device external to the grid installation machine, or retrieving the grid establishment plan from at least one memory of the device or at least one memory of the grid installation machine.

[0126] According to an example embodiment of the third aspect, the method may include: determining an indication of an actual position of the at least one grid installed on the rock surface and / or an indication of at least one actual placement position of the at least one grid; and transmitting the indication of the actual position of the at least one grid installed on the rock surface and / or the indication of at least one actual placement position of the at least one grid through an internal communication interface of the grid installation machine or to a device external to the grid installation machine.

[0127] According to an example embodiment of the third aspect, the grid establishment plan is configured to indicate an identifier or type of the at least one grid associated with the planned position.

[0128] According to an example embodiment of the third aspect, the method includes: determining an actual identifier or actual type of the at least one grid installed on the rock surface and / or an actual type of a placement device for placing the at least one grid on the rock surface, and transmitting the actual identifier or actual type of the at least one grid and / or the actual type of the placement device through an internal communication interface of the grid installation machine or to a device external to the grid installation machine.

[0129] According to an example embodiment of the third aspect, the planned position of the at least one grid is associated with a slot identifier of a slot on the rock surface, where the slot is associated with one or more required grid characteristics of the slot.

[0130] According to an example embodiment of the third aspect, the method includes: selecting the at least one grid for installation at the planned position based on the one or more required grid characteristics of the slot.

[0131] According to an example embodiment of the third aspect, the method may be performed by a grid installation machine.

[0132] According to a fourth aspect, a device may include means for performing the method according to the third aspect or any of its example embodiments.

[0133] According to a fifth aspect, a computer program, computer program product, or (non-transitory) computer-readable medium may include instructions that, when executed by a device, cause the device to perform at least the method according to the third aspect or any of its example embodiments.

[0134] According to a sixth aspect, a data structure is disclosed. The data structure may include: an indication of a planned position of at least one grid on a rock surface for installing the at least one grid on the rock surface by a grid installation machine, where the planned position of the at least one grid is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface.

[0135] According to an example embodiment of the sixth aspect, the data structure may include at least one of the following: an indication of at least one planned placement location for mounting the at least one mesh to a rock surface, wherein the at least one planned placement location is configured to be indicated with respect to a coordinate frame stationary relative to the rock surface; an indication of planned overlap of the at least one mesh and at least one other mesh; an indication of the thickness of the mesh strands of the at least one mesh and / or the weight of the at least one mesh; or an indication of the height from the bottom of the tunnel, wherein the rock surface is planned to be covered by the at least one mesh above the height from the bottom of the tunnel.

[0136] According to an example embodiment of the sixth aspect, the planned position of the at least one mesh includes the planned position of at least a portion of the at least one mesh on the rock surface.

[0137] According to an example embodiment of the sixth aspect, the mesh establishment plan is configured to indicate the planned position and / or the planned placement location of the at least one mesh as a two-dimensional position on a reference plane.

[0138] According to an example embodiment of the sixth aspect, the reference plane includes a two-dimensional projection of at least a portion of the rock surface.

[0139] According to an example embodiment of the sixth aspect, the reference plane is parallel to the bottom of the tunnel or perpendicular to the gravity vector.

[0140] According to an example embodiment of the sixth aspect, the mesh establishment plan is configured to indicate the planned overlap of the at least one mesh and at least one other mesh.

[0141] According to an example embodiment of the sixth aspect, the mesh establishment plan is configured to indicate the thickness of the mesh strands of the at least one mesh and / or the weight of the at least one mesh.

[0142] According to an example embodiment of the sixth aspect, the mesh establishment plan is configured to indicate the mesh identifier or type of the at least one mesh associated with the planned position.

[0143] According to an example embodiment of the sixth aspect, the mesh establishment plan is configured to indicate a slot identifier of a slot on the rock surface for mounting the at least one mesh, wherein the slot is associated with the planned position of the at least one mesh and / or one or more required mesh characteristics of the slot.

[0144] Although the subject matter has been described in language specific to structural features and / or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. On the contrary, the specific features and acts described above are disclosed as examples for implementing the claims, and other equivalent features and acts are intended to fall within the scope of the claims.

[0145] It will be understood that the above benefits and advantages may be associated with one embodiment or may be associated with several embodiments. These embodiments are not limited to those embodiments that solve any or all of the above problems or have any or all of the above benefits and advantages. It will also be understood that reference to "an" item may refer to one or more of those items.

[0146] The steps or operations of the methods described herein may be performed in any suitable order or, where appropriate, simultaneously. In addition, individual modules may be deleted from any of these methods without departing from the scope of the subject matter described herein. Aspects of any of the above example embodiments may be combined with aspects of any of the other example embodiments to form further example embodiments without losing the desired effects.

[0147] As used herein, the term "comprising" means including the identified method, module, or element, but these modules or elements do not include an exclusive list, and the method or apparatus may include additional modules or elements.

[0148] As used herein, "at least one of the following elements: " and "at least one of the elements in " and similar phrases, when the list consisting of two or more elements is connected by "and" or "or", mean at least any one of these elements, or at least any two or more of these elements, or at least all of the elements. The term "or" may be understood to also cover the case where both of the two items separated by "or" are included. Thus, "or" may be understood as an inclusive "or" rather than an exclusive "or".

[0149] Although a subject may be referred to as a "first" or "second" subject, this does not necessarily indicate any order or importance of the subject. On the contrary, these attributes may be used only for the purpose of distinguishing between these subjects.

[0150] It should be understood that the above description is given by way of example only, and various modifications can be made by those skilled in the art. The foregoing specification, examples and data provide a complete description of the structure and use of the exemplary embodiments. Although the various embodiments have been described above with a certain degree of particularity or with reference to one or more individual embodiments, many changes can be made to the disclosed embodiments without departing from the scope of this specification.

Claims

1. A device for controlling the installation of a grid, the device comprising: at least one processor; and at least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured to, by means of the at least one processor, cause the device to at least perform the following operations: Obtain a digital grid establishment plan, the digital grid establishment plan indicating the planned positions of at least one grid on a rock surface for installing the at least one grid onto the rock surface by a grid installation machine, wherein the planned positions of the at least one grid are configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; Map the planned positions of the at least one grid to the coordinate frame of the grid installation machine; And Control the installation of the at least one grid onto the rock surface based on the planned positions of the at least one grid.

2. The device according to claim 1, wherein the planned positions of the at least one grid include the planned positions of at least a part of the at least one grid on the rock surface.

3. The device according to claim 1 or 2, wherein the grid establishment plan is configured to indicate at least one of the following: At least one planned placement position for installing the at least one grid onto the rock surface, wherein the at least one planned placement position is configured to be indicated with respect to the coordinate frame that is stationary relative to the rock surface, The planned overlap of the at least one grid with at least one other grid, The thickness of the grid strands and / or the weight of the at least one grid, The height from the bottom of the tunnel, wherein the rock surface is planned to be covered by the at least one grid above the height from the bottom of the tunnel, or The grid identifier or type of the at least one grid associated with the planned positions, The slot identifier of the slot on the rock surface for installing the at least one grid, wherein the slot is associated with the planned positions of the at least one grid and / or one or more requested grid characteristics of the slot.

4. The device according to claim 3, wherein the computer program code is further configured to, by means of the at least one processor, cause the device to perform the following operations: Map the at least one planned placement position to the coordinate frame of the grid installation machine; and Control the placement of the at least one grid onto the rock surface based on the at least one planned placement position.

5. The device according to any one of the preceding claims, wherein the grid establishment plan is configured to indicate the planned positions and / or the planned placement positions of the at least one grid as two-dimensional positions on a reference plane.

6. The device according to any one of claims 3 to 5, wherein the computer program code is further configured to, by means of the at least one processor, cause the device to perform the following operations: Adjust the planned position of the at least one mesh to effect installation of the at least one mesh in the event of substantial planned overlap with the at least one other mesh.

7. The apparatus according to any one of claims 3 to 6, wherein the computer program code is further configured to cause the apparatus to perform the following operations by the at least one processor: Determine a three-dimensional space reservation for the at least one mesh based on the thickness of the mesh strands and / or the weight of the at least one mesh; and Based on the three-dimensional space reservation, control collision avoidance associated with moving the at least one mesh by the mesh installation machine.

8. The apparatus according to any one of claims 3 to 7, wherein the computer program code is further configured to cause the apparatus to perform the following operations by the at least one processor: Reduce the planned overlap of the at least one mesh and the at least one other mesh based on the indicated height from the bottom of the tunnel, such that the rock surface can be covered with a predetermined number of meshes above the indicated height from the bottom of the tunnel.

9. The apparatus according to any one of claims 3 to 8, wherein the computer program code is further configured to cause the apparatus to perform the following operations by the at least one processor: Determine a waste factor for installing the at least one mesh and the at least one other mesh on the rock surface based on the thickness of the mesh strands of the at least one mesh; and Based on the waste factor, reduce the planned overlap of the at least one mesh and the at least one other mesh.

10. The apparatus according to any one of the preceding claims, wherein the computer program code is further configured to cause the apparatus to perform the following operations by the at least one processor: Determine an indication of the actual position of the at least one mesh installed on the rock surface and / or an indication of at least one actual placement position of the at least one mesh; and Transmit an indication of the actual position of the at least one mesh installed on the rock surface and / or an indication of at least one actual placement position of the at least one mesh through an internal communication interface of the mesh installation machine or to a device external to the mesh installation machine.

11. A mesh installation machine comprising the apparatus according to any one of the preceding claims.

12. A data structure implemented on a computer-readable medium for controlling mesh installation, the data structure comprising: An indication of a planned position of at least one mesh on a rock surface for installing the at least one mesh on the rock surface by a mesh installation machine, wherein the planned position of the at least one mesh is configured to be indicated with respect to a coordinate frame stationary relative to the rock surface.

13. The data structure according to claim 16, further comprising at least one of at least the following items: An indication of at least one planned placement location for mounting the at least one mesh to the rock surface, wherein the at least one planned placement location is configured to be indicated with respect to the coordinate frame that is stationary relative to the rock surface. An indication of the planned overlap of the at least one mesh and at least one other mesh. An indication of the thickness of the mesh strands and / or the weight of the at least one mesh. An indication of the height from the bottom of the drift, wherein the rock surface is planned to be covered by the at least one mesh above the height from the bottom of the drift. The mesh identifier or type of the at least one mesh associated with the planned location, or The slot identifier of the slot for mounting the at least one mesh on the rock surface, wherein the slot is associated with the planned location of the at least one mesh and / or one or more requested mesh characteristics of the slot.

14. A method, comprising: Obtaining a digital mesh establishment plan that indicates at least one planned location of at least one mesh on a rock surface for mounting the at least one mesh to the rock surface by a mesh mounting machine, wherein the at least one planned location of the at least one mesh is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; Mapping the at least one planned location of the at least one mesh to the coordinate frame of the mesh mounting machine; And Controlling the mounting of the at least one mesh to the rock surface based on the at least one planned location of the at least one mesh.

15. A computer program, comprising instructions that, when executed by a device, cause the device to at least perform the following operations: Obtaining a digital mesh establishment plan that indicates at least one planned location of at least one mesh on a rock surface for mounting the at least one mesh to the rock surface by a mesh mounting machine, wherein the at least one planned location of the at least one mesh is configured to be indicated with respect to a coordinate frame that is stationary relative to the rock surface; Mapping the at least one planned location of the at least one mesh to the coordinate frame of the mesh mounting machine; And Controlling the mounting of the at least one mesh to the rock surface based on the at least one planned location of the at least one mesh.

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