Control mesh mounting

Abstract

Example embodiments relate generally to the field of mesh mounting on rock surfaces (140). An apparatus (100) may obtain scan data of a rock surface to detect at least one first mesh mounted on the rock surface; determining a first position of the at least one first mesh (404) based on the scan data; determining a second location for mounting a second mesh (401, 402) on the rock surface, where the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh when the second mesh has been mounted on the rock surface at the second location; and controlling the second mesh to be mounted on the rock surface at the second position.

Description

Technical Field

[0001] Various example embodiments generally relate to the field of mesh installation on a rock surface. Some example embodiments relate to determining a location for installing a mesh based on the location of at least one previously installed mesh. Background Art

[0002] In various applications (such as, for example, underground mining), it may be desirable to protect equipment or people from rocks falling from a rock surface. This can be done, for example, by installing a protective mesh on the rock surface. A mesh installation rig may include one or more boom arms having suitable tools for installing the mesh onto the rock surface. The location of the mesh can be determined on-site by a human operator sitting in a cabin of the mesh installation rig. Summary of the Invention

[0003] This Summary of the Invention section is provided to introduce a selected collection of concepts that are further described below in the Detailed Description. This Summary of the Invention section 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 mesh installation is disclosed. The device may include: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the device to at least perform the following operations: obtain scan data of a rock surface to detect at least one first mesh installed on the rock surface; determine a first location of the at least one first mesh based on the scan data; determine a second location for installing a second mesh on the rock surface, wherein when the second mesh is installed on the rock surface at the second location, the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh; and control the installation of the second mesh on the rock surface at the second location.

[0005] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the device to perform the following operation: control at least one boom arm to place the second mesh at the second location and install the second mesh onto the rock surface at the second location.

[0006] According to an example embodiment of the first aspect, the computer program code is configured to, together with the at least one processor, cause the apparatus to perform the following operations: control a first boom to place the second mesh at the second position; and control a second boom to install the second mesh on the rock surface at the second position.

[0007] According to an example embodiment of the first aspect, installing the second mesh on the rock surface includes bolting the second mesh to the rock surface.

[0008] According to an example embodiment of the first aspect, the computer program code is configured to, together with the at least one processor, cause the apparatus to perform the following operations: determine an installation position of the mesh installation tool for installing the second mesh on the rock surface at the second position based on the first position of the at least one first mesh and a kinematic model of the mesh installation tool; control the mesh installation tool to move to the installation position; and update the first position of the at least one first mesh and the second position of the second mesh in a coordinate system of the mesh installation tool based on the movement to the installation position.

[0009] According to an example embodiment of the first aspect, the apparatus includes the mesh installation tool.

[0010] According to an example embodiment of the first aspect, the apparatus is configured to obtain the scan data from at least one of the following: a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0011] According to an example embodiment of the first aspect, when the second mesh has been installed on the rock surface at the second position, at least two openings of the at least one first mesh and the second mesh are configured to overlap in a direction perpendicular to an edge of the at least one first mesh.

[0012] According to an example embodiment of the first aspect, the first position includes a position on a crown of a tunnel, and the second position includes a position on a wall of the tunnel.

[0013] According to a second aspect, a method for controlling the installation of a mesh is disclosed. The method may include: obtaining scan data of a rock surface to detect at least one first mesh installed on the rock surface; determining a first position of the at least one first mesh based on the scan data; determining a second position for installing a second mesh on the rock surface, wherein when the second mesh has been installed on the rock surface at the second position, the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh; and controlling the installation of the second mesh on the rock surface at the second position.

[0014] According to an exemplary embodiment of the second aspect, the method includes: controlling at least one boom to place the second mesh at the second position and install the second mesh on the rock surface at the second position.

[0015] According to an exemplary embodiment of the second aspect, the method includes: controlling a first boom to place the second mesh at the second position; and controlling a second boom to install the second mesh on the rock surface at the second position.

[0016] According to an exemplary embodiment of the second aspect, installing the second mesh on the rock surface includes bracing the second mesh against the rock surface.

[0017] According to an exemplary embodiment of the second aspect, the method includes: determining an installation position of a mesh installation tool for installing the second mesh on the rock surface at the second position based on the first position of the at least one first mesh and a kinematic model of the mesh installation tool; controlling the mesh installation tool to move to the installation position; and updating the first position of the at least one first mesh and the second position of the second mesh in a coordinate system of the mesh installation tool based on the movement to the installation position.

[0018] According to an exemplary embodiment of the second aspect, the method is performed by the mesh installation tool.

[0019] According to an exemplary embodiment of the second aspect, the method includes: obtaining the scan data from at least one of the following: a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0020] According to an exemplary embodiment of the second aspect, when the second mesh has been installed on the rock surface at the second position, at least two openings of the at least one first mesh and the second mesh are configured to overlap in a direction perpendicular to the edge of the at least one first mesh.

[0021] According to an example embodiment of the second aspect, the first position includes a position on the roof of the tunnel, and the second position includes a position on the wall of the tunnel.

[0022] According to a third aspect, a device is disclosed. The device may include components for performing the method according to the second aspect or any of its example embodiments.

[0023] According to a fourth aspect, a computer program or a computer program product is disclosed. The computer program or the computer program product may include instructions that, when executed by a device, cause the device to perform the method according to the second aspect or any of its example embodiments.

[0024] According to a fifth aspect, a device for controlling the installation of a mesh is disclosed. The device may include: 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, together with the at least one processor, cause the device to at least perform the following operations: obtain scan data of a rock surface to detect at least one first mesh installed on the rock surface and a second mesh positioned for installation on the rock surface; based on the scan data, determine at least one position where the openings of the at least one first mesh and the second mesh overlap; and control the installation of the second mesh on the rock surface at the at least one position via the overlapping openings of the at least one first mesh and the second mesh.

[0025] According to an example embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the device to perform the following operation: in response to determining that a predetermined number of overlapping openings of the at least one first mesh and the second mesh are not found, control the adjustment of the position of the second mesh.

[0026] According to an example embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the device to perform the following operation: in response to adjusting the position of the second mesh, obtain re-scan data of the rock surface to detect overlapping openings of the at least one first mesh and the second mesh.

[0027] According to an example embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the device to perform the following operation: control at least one boom to position the second mesh for installation on the rock surface and install the second mesh on the rock surface.

[0028] According to an example embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the apparatus to perform the following operations: determining at least one position at which an opening of the at least one first mesh and the second mesh overlap based on searching for an overlapping opening of the at least one first mesh and the second mesh near at least one gripping position of a first boom, wherein the first boom is configured to position the second mesh for mounting the second mesh to the rock surface.

[0029] According to an example embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the apparatus to perform the following operations: determining a plurality of positions at which an opening of the at least one first mesh and the second mesh overlap; and controlling the mounting of the second mesh to the rock surface at the plurality of positions in an order of increasing distance from the at least one gripping position of the first boom via the overlapping opening of the at least one first mesh and the second mesh, wherein the first boom is configured to position the second mesh for mounting to the rock surface.

[0030] According to an example embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the apparatus to perform the following operations: controlling a second boom to mount the second mesh to the rock surface.

[0031] According to an example embodiment of the fifth aspect, mounting the second mesh to the rock surface includes supporting the second mesh to the rock surface.

[0032] According to an example embodiment of the fifth aspect, the apparatus includes a mesh mounting fixture.

[0033] According to an example embodiment of the fifth aspect, the apparatus is configured to obtain the scan data or the rescan data from at least one of the following: a camera of the mesh mounting fixture, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0034] According to an example embodiment of the fifth aspect, the first position includes a position on the roof of a tunnel, and the second position includes a position on the wall of the tunnel.

[0035] According to a sixth aspect, a method for controlling mesh installation is disclosed. The method may include: obtaining scan data of a rock surface to detect at least one first mesh installed on the rock surface and a second mesh positioned for installation on the rock surface; based on the scan data, determining at least one position where the openings of the at least one first mesh and the second mesh overlap; and controlling the installation of the second mesh on the rock surface at the at least one position via the overlapping openings of the at least one first mesh and the second mesh.

[0036] According to an exemplary embodiment of the sixth aspect, the method includes: controlling an adjustment of the position of the second mesh in response to determining that a predetermined number of overlapping openings of the at least one first mesh and the second mesh are not found.

[0037] According to an exemplary embodiment of the sixth aspect, the method includes: obtaining re-scan data of the rock surface to detect overlapping openings of the at least one first mesh and the second mesh in response to adjusting the position of the second mesh.

[0038] According to an exemplary embodiment of the sixth aspect, the method includes: controlling at least one boom to position the second mesh for installation on the rock surface and installing the second mesh on the rock surface.

[0039] According to an exemplary embodiment of the sixth aspect, the method includes: determining at least one position where the openings of the at least one first mesh and the second mesh overlap based on searching for overlapping openings of the at least one first mesh and the second mesh near at least one gripping position of a first boom, wherein the first boom is configured to position the second mesh for installation on the rock surface.

[0040] According to an exemplary embodiment of the sixth aspect, the method includes: determining a plurality of positions where the openings of the at least one first mesh and the second mesh overlap; and controlling the installation of the second mesh at the plurality of positions on the rock surface in an order of increasing distance from the at least one gripping position of the first boom via the overlapping openings of the at least one first mesh and the second mesh, wherein the first boom is configured to position the second mesh for installation on the rock surface.

[0041] According to an exemplary embodiment of the sixth aspect, the method includes: controlling a second boom to install the second mesh on the rock surface.

[0042] According to an exemplary embodiment of the sixth aspect, installing the second mesh onto the rock surface includes supporting the second mesh onto the rock surface.

[0043] According to an exemplary embodiment of the sixth aspect, the method is performed by the mesh installation tool.

[0044] According to an exemplary embodiment of the sixth aspect, the method includes obtaining the scan data or the rescan data from at least one of: a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0045] According to an exemplary embodiment of the sixth aspect, the first position includes a position on the roof of the tunnel, and the second position includes a position on the wall of the tunnel.

[0046] According to the seventh aspect, a device is disclosed. The device may include components for performing the method according to the sixth aspect or any of its exemplary embodiments.

[0047] According to the eighth aspect, a computer program or a computer program product is disclosed. The computer program or the computer program product may include instructions that, when executed by a device, cause the device to perform the method according to the sixth aspect or any of its exemplary embodiments.

[0048] According to the ninth aspect, a device for controlling mesh installation is disclosed. The device may include: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the device to at least perform the following operations: obtaining scan data of a rock surface to detect at least one first mesh installed on the rock surface; determining, based on the scan data, a first position of the at least one first mesh; determining a second position for installing a second mesh on the rock surface, wherein when the second mesh is installed on the tunnel rock surface at the second position, the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh; obtaining further scan data of the rock surface to detect the at least one first mesh and the second mesh when the second mesh is positioned for installation on the rock surface; determining, based on the further scan data, at least one position at which the openings of the at least one first mesh and the second mesh overlap; and controlling the installation of the second mesh onto the rock surface at the at least one position via the overlapping openings of the at least one first mesh and the second mesh.

[0049] According to an example embodiment of the ninth aspect, the computer program code is configured to, together with the at least one processor, cause the apparatus to perform any example embodiment of the method of the second or sixth aspect.

[0050] According to a tenth aspect, a method for controlling mesh installation is disclosed. The method may include: obtaining scan data of a rock surface to detect at least one first mesh installed on the rock surface; determining a first position of the at least one first mesh based on the scan data; determining a second position for installing a second mesh on the rock surface, wherein when the second mesh has been installed on the tunnel rock surface at the second position, the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh; obtaining further scan data of the rock surface to detect the at least one first mesh and the second mesh when the second mesh is positioned for installation on the rock surface; determining at least one position at which the openings of the at least one first mesh and the second mesh overlap based on the further scan data; and controlling the installation of the second mesh on the rock surface at the at least one position via the overlapping openings of the at least one first mesh and the second mesh.

[0051] According to an example embodiment of the tenth aspect, the method may include features of any example embodiment of the method of the second or sixth aspect.

[0052] According to an eleventh aspect, an apparatus is disclosed. The apparatus may include components for performing the method according to the ninth aspect or any of its example embodiments.

[0053] According to a twelfth aspect, a computer program or a computer program product is disclosed. The computer program or the computer program product may include instructions that, when executed by an apparatus, cause the apparatus to perform the method according to the ninth aspect or any of its example embodiments.

[0054] According to a thirteenth aspect, a (non-transitory) computer-readable medium is disclosed. The (non-transitory) computer-readable medium may include program code that, when executed by an apparatus, causes the apparatus to perform the method according to the second, sixth, or ninth aspect or any of its examples.

[0055] According to some aspects, the subject matter of the independent claims is provided. Some additional aspects are defined in the dependent claims. Many accompanying features will be more readily understood as they become better understood by reference to the following description taken in conjunction with the drawings. Description of the Drawings

[0056] The accompanying drawings, which are included to provide a further understanding of the exemplary embodiments and constitute a part of this specification, illustrate the exemplary embodiments and, together with the detailed description, serve to explain the exemplary embodiments. In the drawings:

[0057] Figure 1 An example of a mesh installation fixture is shown;

[0058] Figure 2 An example of a mesh installation fixture communicatively coupled to a remote mesh control device is shown;

[0059] Figure 3 An example of a flowchart for controlling mesh installation is shown;

[0060] Figure 4 An example of overlapping meshes is shown;

[0061] Figure 5 An example of a mesh installed on a tunnel surface based on a digital meshing plan is shown;

[0062] Figure 6 An example of a flowchart for controlling mesh installation via overlapping openings of a first mesh and a second mesh is shown;

[0063] Figure 7 An example of a first mesh and a second mesh having overlapping openings is shown;

[0064] Figure 8 An example of a device configured to practice one or more exemplary embodiments is shown;

[0065] Figure 9 An example of a method for controlling mesh installation is shown;

[0066] Figure 10 Another example of a method for controlling mesh installation is shown; and

[0067] Figure 11 Yet another example of a method for controlling mesh installation is shown.

[0068] In the drawings, the same reference numerals are used to denote the same components. Detailed Description

[0069] Reference will now be made to the embodiments, examples of which are illustrated in the accompanying drawings. The detailed description provided below in conjunction with the accompanying drawings is intended as a description of these examples and is not intended to represent the only forms in which the presented examples may be constructed or utilized. This specification 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.

[0070] Figure 1 An example of a mesh installation tool is shown. Although the mesh installation tool 100 is shown as an underground mesh installation tool, the example embodiments of the present disclosure can also be applied to other types of mesh installation machines, such as tools configured to install meshes on rock cuttings along roads or railways.

[0071] The mesh installation tool 100 can be an automated mesh installation tool, such as an automated mining vehicle equipped with tools configured for mesh installation. An automated mining vehicle operating in an automatic mode (such as an automated mesh installation tool) can be configured to, for example, receive tasks to be performed, sense the environment of the automated mining vehicle, and autonomously perform tasks while considering the environment. An automated mining vehicle operating in an automatic mode can be configured to operate independently, but can be operated under external control in certain operating areas or conditions (such as during emergencies). However, the example embodiments can also be applied to non-autonomous or semi-autonomous mining vehicles, such as remotely controlled mining vehicles.

[0072] In Figure 1 the example, the axis x represents the forward driving direction of the mesh installation tool 100. The axis z represents the vertical direction, which is the roof of the tunnel in this example. The mesh installation tool 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 equipment for moving or stabilizing the mesh installation tool 100, such as: for example, motors, wheels, or stabilizer legs. The movable vehicle 110 can be configured to move autonomously, or it can be remotely or locally controlled by a human operator at the mesh installation tool 100. Although two booms 120-1, 120-2 are shown in Figure 1 the mesh installation tool 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.

[0073] The gripper 124 can be coupled to the distal portion of the boom 120-1. The gripper 124 can be configured to grasp and hold the mesh 402, for example, so that the boom 120-1 can position the mesh 402 at the rock surface 140. The rock surface 140 can include the roof of the tunnel or at least some of the tunnel walls. The anchor machine 126 can be coupled to the distal portion of the boom 120-2. The anchor machine 126 can be configured to install the mesh 402 at the rock surface 140. Providing support is an example of installing the mesh 402 onto the rock surface 140, but other means for installation can also be used, such as: for example, riveting.

[0074] The mesh installation tool 100 may include at least one sensor 112 for scanning the environment of the mesh installation tool 100, such as the rock surface 140 and any mesh that has been installed thereon or is positioned for installation. 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, for example, to detect specific features of the mesh, such as edges. 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 or positioned near the rock surface 140.

[0075] The camera can be used, for example, to extract depth information of an object (such as, for example, a mesh) by comparing two images taken at slightly different positions (such as, for example, by two camera units). Alternatively, the sensor 112 may include a time-of-flight (ToF) camera, which may be 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). The lidar sensor may be configured to determine the distance to different points on the mesh 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 radar sensor may be configured to emit electromagnetic energy towards the rock face and observe the echoes returning from the mesh to determine the distance to different points on the mesh. Based on the scan, the mesh installation tool 100 may obtain point cloud data representing 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, such as the edges of the mesh. The position of the mesh or certain points, such as the corners or edges of the mesh, may be determined based on the scan data. Thus, the position of the mesh may be fixed to the coordinate system of the mesh installation tool 100 or be known relative to the coordinate system of the mesh installation tool 100. The coordinate system of the mesh installation tool 100 may be stationary relative to the mesh installation tool 100.

[0076] The mesh installation tool 100 can be configured to scan the rock surface 140 during movement or while stationary. Scanning the rock surface 140 during movement can accelerate the mesh installation process, as mesh installation can be initiated soon after the mesh installation tool has reached the planned position (installation position) for installing the next mesh, as will be further described below. The scanning of the rock surface 140 can be achieved, for example, using a simultaneous localization and mapping (SLAM) system, which can be configured to scan the environment of the mesh installation tool 100 to obtain point cloud data of the surrounding surfaces or objects. The obtained point cloud data can be used for object detection and also for determining the position of the mesh installation tool 100 based on comparing the scanned data with reference data (such as, for example, a 3D model of the tunnel).

[0077] The mesh installation tool 100 can include a mesh controller (MC) 114. The mesh controller 114 can be communicatively coupled to the sensor 112, for example, to receive the scanned sensor data from the sensor 112 or to request the sensor 112 to initiate the scanning of the rock surface 140. The mesh controller 114 can be provided, for example, as a software application residing on a memory and executable by a processor. Figure 8 Examples of devices suitable for implementing the mesh controller 114 are provided. The mesh controller 114 can include or be communicatively coupled to various functions, blocks, or applications for implementing the functions of the mesh controller 114. For example, the mesh controller 114 can include or be communicatively coupled to a data management server, which can be configured to store information about digital mesh establishment plans, tunnel lines, point clouds or mesh representations of tunnel lines or profiles, mine map point clouds, etc. The digital mesh establishment plan can include the planned mesh positions and optionally also include the planned installation positions. The installation position can include the position where the mesh is installed on the rock surface 140 by installation components (such as bolts or rivets). The planned installation position can include the planned position of the installation components at the rock surface 140. The mesh controller 114 can include a navigation application, which is configured to control or enable a human operator to control the navigation of the mesh installation tool 100, for example, to move the mesh installation tool 100 to the planned installation position and / or to determine the position of the planned installation point of the digital mesh establishment plan relative to the current position of the mesh installation tool 100. The position of the mesh installation tool 100 can be referred to as the navigation position. Thus, the installation position can be a navigation position that has been planned or determined for the mesh installation tool 100 to install the mesh at the rock surface 140.

[0078] The mesh controller 114 can be configured to determine and / or maintain a digital mesh erection plan, a 3D model of at least one component of the mesh installation tool 100 (e.g., a 3D model of the boom 120, the gripper 124, or the anchor machine 126), and / or a kinematic model of the mesh installation tool 100 or its components. The 3D model of the components of the mesh installation tool 100 can include, for example, 3D geometric data of the components obtained from a computer-aided design (CAD) model of the corresponding physical components.

[0079] The kinematic model of the mesh installation tool 100 or its components can include a mathematical description of at least a part of the mesh installation tool 100. The kinematic model can describe the movement of the mesh installation tool 100 or the components of the mesh installation tool 100 without considering the forces that cause the movement. The kinematic model can be used, for example, to estimate the position of the mesh installation tool 100 or the components of the mesh installation tool 100 based on measurement data from one or more sensors associated with the mesh installation tool 100 or the movement of the mesh installation tool 100 caused by a given control input. The kinematic model of the mesh installation tool 100 can at least include the dimensions of the mesh installation tool 100 and / or the reach of the mesh installation tool 100, such as the movement range of at least one boom 120 of the mesh installation tool 100. The kinematic model can include information about the dimensions of the boom 120 or its parts (e.g., the gripper 124 or the anchor machine 126), the characteristics of the joints 122 (e.g., their degrees of freedom), the constraints between the moving parts of the mesh installation tool 100, etc. Thus, the kinematic model can enable the modeling of the movement of the components of the mesh installation tool 100, for example, to determine the possible positions for installing the mesh 402 from a specific installation location. The kinematic model can, for example, enable the determination of the maximum distance that can be reached by the gripper 124 or the anchor machine 126. The 3D model of the components can be provided as point cloud data indicating the surface of the components. The point cloud data can include a plurality of data points that represent, for example, the distance between the mesh installation tool 100 and its components or other objects in the environment of the mesh installation tool 100 (e.g., at a specific moment). 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 system.

[0080] The mesh installation tool 100 can be controlled by a remote mesh control device 200, which can be external to the mesh installation tool 100, such as Figure 2As shown. The remote mesh control device 200 can be, for example, a server located away from the mesh installation fixture 100, such as outside the tunnel. The functions of the mesh controller 114 can be distributed between the mesh installation fixture 100 (such as the local mesh controller of the mesh installation fixture 100) and the remote mesh control device 200. Information can be exchanged between the remote mesh control device 200 and the mesh installation fixture 100 through a communication interface including any suitable wireless or wired connection. Refer to Figure 8 Examples of suitable communication interfaces are described.

[0081] The mesh controller 114 can be configured to determine and / or maintain a digital mesh establishment plan. The 3D and kinematic models of the mesh installation fixture 100 can be stored at the mesh controller 114, such as based on pre-configuration of the model. Alternatively, the mesh controller 114 can be configured to receive one or more of the models therefrom from the mesh installation fixture 100 or the data management server. The mesh controller 114 can also be configured to receive, for example, the scanned sensor data of the sensor 112 from the mesh installation fixture 100, and the mesh controller 114 can be configured to use the sensor 112 for detecting the mesh installed on or near the rock surface 140. Thus, the example embodiments of the present disclosure can be implemented locally at the mesh installation fixture 100 and / or at the remote mesh control device 200.

[0082] Figure 3 An example of a flowchart for controlling mesh installation is shown.

[0083] At operation 301, the mesh controller 114 can be configured to control the scanning of the rock surface 140. The mesh controller 114 can be configured to cause the scanning of the rock surface 140, for example, by requesting the sensor 112 to initiate the scanning. The sensor 112 can be positioned such that when the mesh installation tool 100 operates near the rock surface 140, the sensor signal of the sensor 112 is configured to point to the rock surface 140. The scan data can include the data captured by the sensor 112 during the scanning of the rock surface 140. The mesh controller 114 can be configured to obtain the scan data of the rock surface 140, for example, by receiving the scan data from the sensor 112. However, the mesh controller 114 can be configured to process (e.g., select or filter) the raw sensor data provided by the sensor 112 to obtain the scan data. It should be noted that the mesh controller 114 can be configured to cause the scanning of the rock surface 140 when the mesh installation tool 100 is not located at the installation position for installing the next mesh. For example, the mesh controller 114 can be configured to cause the scanning of the rock surface 140 before the mesh installation tool 100 reaches the installation position for installing the next mesh. The mesh controller 114 can be configured to determine the installation position based on the scan data, which can be obtained, for example, when the mesh installation tool is moving away from the previous installation position.

[0084] At operation 302, the mesh controller 114 can be configured to detect the mesh installed on the rock surface 140. This mesh can be referred to as the first mesh. More than one first mesh can be detected. Thus, the mesh controller 114 can be configured to detect one or more first meshes that have been installed on the rock surface 140. Detecting the first mesh can include detecting the unique features of the first mesh, such as: for example, the edges and / or corners of the first mesh. The mesh controller 114 can be configured to detect the first mesh or its features, for example, based on applying computer vision or pattern recognition algorithms to the scan data (e.g., the sensor data received from the sensor 112).

[0085] At operation 303, the mesh controller 114 can be configured to determine the position of the first mesh based on the scan data. This position can be referred to as the first position. The mesh controller 114 can be configured to indicate the position of the first mesh by the position of the unique features of the first mesh (e.g., the edges and / or corners of the first mesh). For example, the mesh controller 114 can be configured to determine the data (e.g., point cloud data) indicating the position of the edge (e.g., the outer edge of the first mesh) or indicating the corner of the first mesh. The outer edge can refer to the edge that is not yet next to other meshes installed on the rock surface 140. For example, it can include the edge facing the forward driving direction (x) of the mesh installation tool 100.

[0086] The mesh controller 114 can be configured to initially provide information about the position of the first mesh relative to the coordinate system of the mesh mounting fixture 100. Thus, the mesh controller 114 can be configured to provide information about the position of the first mesh relative to the positioning of the mesh mounting fixture 100 during scanning by the sensor 112. Subsequently, after the mesh mounting fixture 100 is moved, the position of the first mesh can be updated at the coordinate system of the mesh mounting fixture 100 such that its position relative to the rock surface 140 remains stationary (see operation 306). Scanning can also be performed at multiple locations. If desired, the movement of the mesh mounting fixture 100 during scanning can be compensated for. Alternatively, the mesh mounting fixture 110 can be configured to provide information about the position of the first mesh relative to a stationary reference coordinate system, such as, for example, a coordinate system that is stationary relative to the rock surface 140).

[0087] At operation 304, the mesh controller 114 can be configured to determine the installation position of the mesh mounting fixture 100 for installing the next mesh. The next mesh to be installed can be referred to as the second mesh. The installation position can refer to the position of the mesh mounting fixture 100 rather than the position of any mesh. The mesh controller 114 can be configured to determine the installation position at any time between installing the first mesh and stopping the mesh mounting fixture 100 to install the second mesh, such as during the movement of the mesh mounting fixture.

[0088] The mesh controller 114 can be configured to determine the installation position based on the first position of the first mesh (the first position of the first mesh is determined based on the scan data) and the kinematic model of the mesh mounting fixture 100. Based on the position of the first mesh and the kinematic model, the mesh controller 114 can be configured to determine the position from which the mesh mounting fixture 100 can reach the edge of the first mesh, such that, for example, a desired overlap between the first mesh and the second mesh can be achieved. When the first mesh and the second mesh overlap, they can occupy or cover the same area of the rock surface 140. The mesh controller 114 can be configured to determine the installation position, for example, based on the dimensions of the boom 120-1, and optionally based on the position for gripping the mesh 402 by the gripper 124. The mesh controller 114 can be configured to determine the installation position such that the mesh mounting fixture 100 can place the mesh 402 (see the second mesh) with a desired overlap with the already installed mesh (see the first mesh). The mesh controller 114 can be configured to determine the installation position based on the dimensions of the boom 120-2 (e.g., including the anchor machine 126) such that the mesh 402 can be installed at the desired position by the anchor machine 126.

[0089] At operation 305, the mesh controller 114 can be configured to control the movement of the mesh installation tool 100 to the installation position. Controlling the movement of the mesh installation tool 100 can include controlling the drive direction, speed, and / or orientation of the mesh installation tool 100. Controlling the movement of the mesh installation tool can include determining the position of the mesh installation tool 100. For example, the mesh controller 114 can be configured to determine that the mesh installation tool 100 has reached the installation position. The mesh controller 114 can be configured to control the movement of the mesh installation tool 100 autonomously or based on instructions received from a human operator (locally or remotely).

[0090] At operation 306, the mesh controller 114 can be configured to update the coordinates for installing the second mesh. Since the mesh installation tool 100 may have moved from the position where the first mesh was detected by scanning, the mesh controller 114 can be configured to update the position (the first position) of the first mesh in the coordinate system of the mesh installation tool 100 based on the movement from the scanning position to the installation position.

[0091] At operation 307, the mesh controller 114 can be configured to determine the position for installing the second mesh on the rock surface 140. This position can be referred to as the second position, and it can refer to the position of the second mesh on the rock surface 140. The mesh controller 114 can be configured to determine the second position such that after installing the second mesh at the second position on the rock surface 140, the first mesh and the second mesh overlap, for example, at the edge of the first mesh. This enables preventing rocks from falling from the rock surface 140, thereby increasing safety and reducing the risk of damage to the mesh installation tool 100. The mesh controller 114 can be configured to determine the second position based on the first position of the first mesh.

[0092] Figure 4An example of overlapping meshes is shown. Considering an example scenario where mesh 404 (as the first mesh) has been previously installed on the rock surface 140, the mesh controller 114 can determine the position of mesh 401 (as the second mesh) such that meshes 404 and 401 overlap in the x direction after the installation of mesh 401. Meshes 404 and 401 can overlap at the edge of mesh 404. Similarly, when mesh 401 (as the first mesh) has been installed, the mesh controller 114 can determine the position of mesh 402 (as the second mesh) such that meshes 401 and 402 overlap in the y direction after the installation of mesh 402. Meshes 401 and 402 can overlap at the edge of mesh 401. In this example, the overlap between the meshes is slightly more than one mesh opening (mesh aperture). However, the amount of overlap can be greater, for example, more than two (e.g., 2 - 4) mesh openings. An overlap of 2 - 4 mesh openings is sufficient to prevent rocks from falling from the rock surface 140 while not incurring excessive additional costs. The amount of overlap can be defined with respect to the direction perpendicular to the edge of the already installed mesh, for example, direction x when installing mesh 401 such that it overlaps with mesh 404, and direction y when installing mesh 402 such that it overlaps with mesh 401.

[0093] Figure 5 An example of establishing a planned installation of meshes on a tunnel surface based on digital meshes is shown. Figure 5 A cross-sectional view of the tunnel along the yz plane (left) and an example of a digital mesh-based establishment plan of the tunnel surface as viewed from above the tunnel crown 140 - 1 and outside the right tunnel wall 140 - 3 (right) are shown. In this example, the rock surface 140 includes the tunnel surface, such as the tunnel crown 140 - 1 and / or the tunnel walls 140 - 2, 140 - 3. The mesh controller 114 can be configured to determine the position of the mesh based on a digital mesh-based establishment plan, which can include the planned mesh positions. The planned positions of meshes 401 to 406 are shown on the right. The digital mesh-based establishment plan can include the planned installation positions 501 represented by black dots. When determining the position for installing the mesh, the mesh controller 114 can be configured to initially use the corresponding positions included in the digital mesh-based establishment plan. However, due to various defects, such as, for example, the bending or inaccurate placement of previous meshes, in practice, the planned positions may not provide sufficient overlap. It is also possible that the mesh cannot be installed at the planned installation position, for example, due to the mesh filaments being located at the planned installation position. Based on the scan of the rock surface 140 and the detection of the already installed meshes, sufficient overlap can be provided and a suitable installation position can be found.

[0094] Considering the installation of the mesh at a specific point on the x-axis, the mesh can be installed starting from the top of the pit (e.g., from the highest point of the pit top 140-1), and moving downward along the surface of the tunnel, such that the mesh located on the pit wall 104-2 (e.g., mesh 403) is installed after the mesh located on the pit top 140-1 (e.g., mesh 401 and mesh 402). This enables the rocks falling from the pit top 140-1 to be retained behind the mesh. Generally, the first mesh (e.g., mesh 402) can already be installed on the pit top 140-1 of the tunnel, and the second mesh (e.g., mesh 403) 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 portions of the tunnel surface with an inclination angle α with respect to the y-axis lower than a threshold (e.g., less than 45°). The pit top 140-1 of the tunnel can include portions of the tunnel surface with an inclination angle α with respect to the y-axis higher than a threshold (e.g., greater than 45°).

[0095] Return reference Figure 3 , at operation 308, the mesh controller 114 can be configured to control the installation of the second mesh onto the rock surface 140. For example, the mesh controller 114 can be configured to control the movement of at least one boom (e.g., booms 120-1, 120-2 and their respective tools) to place the second mesh at the determined second position and install the second mesh at that position onto the rock surface 140. Figure 6 Examples of methods for controlling the installation of the second mesh are provided in

[0096] Figure 3 Some of the operations can be optional, and the operations can also be performed in a different order. For example, the mesh controller 114 can be configured to cause the movement of the mesh installation fixture 100 to the planned installation position before scanning the rock surface 140 to detect the first mesh. The mesh controller 114 can be configured, for example, to control the movement of the mesh installation fixture based on, for example, a digital mesh establishment plan. In this case, if the mesh installation fixture 100 does not move between scanning the first mesh and installing the second mesh, it may not be necessary to update the coordinates of the first mesh (see operation 306) before determining the position of the second mesh (see operation 307). Additionally, the mesh controller 114 can be configured to determine the position of the second mesh (see operation 307) before the mesh installation fixture 100 moves to the installation position. In this case, the mesh controller 114 can be configured to update the coordinates of the first mesh and the second mesh based on the movement of the mesh installation fixture 100 to its installation position.

[0097] Figure 6 An example of a flowchart for controlling mesh installation via an overlapping opening of the first mesh and the second mesh is shown. Figure 6 The flowchart of Figure 3Operation 308. However, based on this flowchart, an independent method for controlling the installation of the second mesh at or near a predetermined position can be implemented.

[0098] At operation 601, the mesh controller 114 can be configured to control the positioning of the second mesh for installation at the rock surface 140. For example, the mesh controller 114 can be configured to control at least one boom, such as boom 120-1 including the gripper 124, to position the second mesh for installation on the rock surface 140. The mesh controller 114 can be configured to determine the position of the second mesh based on a digital mesh build plan and / or a scan of the rock surface, for example, as described with reference to Figure 3 as such.

[0099] At operation 602, the mesh controller 114 can be configured to control the scan of the rock surface 140, similar to operation 301. However, the mesh controller 114 can be configured to: when the second mesh has been positioned for installation, cause the rock surface 140 to be scanned. Thus, the mesh controller 114 can be configured to obtain scan data of the rock surface 140 in order to detect the first mesh installed on the rock surface 140 and the second mesh positioned for installation on the rock surface 140. When combined with the Figure 3 operation, in addition to the scan data obtained at operation 301, this scan data can also include further scan data.

[0100] At operation 603, the mesh controller 114 may be configured to determine whether overlapping openings of the first mesh and the second mesh are detected. The mesh controller 114 may be configured to use any suitable method for this purpose, including but not limited to machine vision-based algorithms. The mesh controller 114 may be configured to determine whether a predetermined number of overlapping openings exist. The predetermined number may include a positive integer, such as one, two, three, five, ten, or any integer in the range from 1 to 10. The mesh controller 114 may be configured to determine one or more overlapping openings for mounting the second mesh to the rock surface 140 in response to detecting overlapping openings or a predetermined number of openings. The mesh controller 114 may be configured to determine the overlapping openings for mounting the second mesh based on selecting specific overlapping openings from the detected overlapping openings, such as based on their distance to the planned installation location 501 of the digital mesh establishment plan. Thus, determining the overlapping openings may include selecting a subset of the detected openings for mounting the second mesh on the rock surface 140. The mesh controller 114 may be configured to select, for example, the overlapping openings closest to the planned installation location of the digital mesh establishment plan for mounting the second mesh. The mesh controller 114 may be configured to determine the location at which the openings of the first mesh and the second mesh overlap based on the scan data of the rock surface 114. The mesh controller 114 may be configured to determine these locations relative to the coordinate system of the mesh mounting fixture 100.

[0101] The overlapping openings can be determined by the mesh controller 114 based on searching for the overlapping openings of the first mesh and the second mesh near the gripping position of the boom 120-1, and the gripping position of the boom 120-1 can be configured to position the second mesh for installing the second mesh onto the rock surface 140. This improves the detection of the overlapping openings because due to the bending of the second mesh, the distance between the first mesh and the second mesh along the axis perpendicular to the rock surface 140 is generally smaller near the gripping position. The mesh controller 114 can be configured, for example, to search for overlapping openings within a threshold distance from the gripping position or within a threshold number of mesh openings. The threshold distance can depend on the thickness of the mesh filaments and the size (e.g., width or diameter) of the mesh openings. The threshold number of mesh openings can depend on the thickness of the mesh filaments. The thickness of the mesh filaments can be, for example, 10 mm. The threshold distance can be, for example, 50 cm or 1 m. In the case of square mesh openings, the width of the mesh openings can be, for example, 10 cm or 15 cm. The threshold number of mesh openings can be, for example, 6-10 openings. The mesh controller 114 can be configured to move to perform operation 604 in response to detecting overlapping openings or a predetermined number of overlapping openings. The mesh controller 114 can be configured to move to perform operation 605 in response to not detecting overlapping openings or a predetermined number of overlapping openings. Detecting overlapping openings can involve detecting overlapping openings at a suitable position, such as establishing a plan or a kinematic model of the mesh installation fixture 100 relative to the digital mesh, such as the boom 120-2 and / or the anchor machine 126. Detecting overlapping openings can involve determining that the openings overlap at least to a predetermined extent, such that installation onto the rock surface 140 is achieved via the overlapping portion of the openings.

[0102] Figure 7 An example of the first mesh and the second mesh with overlapping openings is shown. In this example, the mesh 401 has been previously installed, and the mesh installation fixture 100 has positioned the mesh 404 with the gripper 124 for installation on the rock surface 140. The four gripping positions of the gripper 124 are shown by black dots. The mesh controller 114 can be configured to determine the positions of the multiple overlapping openings 701, 702, 703 by, for example, the following steps: first search near the gripping position (e.g., within the distance d) to find the position 701; then, expand the search range to find the positions 702 and 703. The distance d can be predetermined, for example, pre-configured at the mesh controller 114 or determined by the mesh controller 114 by other means, such as based on the properties of the first mesh and / or the second mesh (e.g., the size of the mesh openings). The positions of the overlapping openings can be determined such that they are close to, for example, the planned installation position 501 of the digital mesh establishment plan within another threshold distance.

[0103] Return reference Figure 6, at operation 604, the mesh controller 114 can be configured to control the installation of the second mesh onto the rock surface 140. Controlling the installation of the second mesh can include causing the mesh installation tool 100 to install the second mesh at the rock surface 140. Controlling the installation of the second mesh can include determining an order of installation locations or an installation rate (e.g., in number of rock bolts per minute). Controlling the installation of the second mesh can include causing the mesh installation tool 100 to install the second mesh onto the rock surface 140 according to the determined order of installation locations or installation rate. The mesh controller 114 can be configured to control the mesh installation tool 100 based on the determined locations and detected overlapping openings such that the second mesh is installed onto the rock surface 140 at the determined locations via the overlapping openings of the first and second meshes. For example, the mesh controller 114 can be configured to cause the boom 120-2 to install the second mesh (e.g., by bracing) at the rock surface 140. In addition to the locations where the first mesh was installed earlier, installing the second mesh can cause the first mesh to be installed at the determined locations.

[0104] The mesh controller 114 can be configured to control the installation of the second mesh onto the rock surface 140 via the overlapping openings such that the second mesh is installed onto the rock surface 140 in an order of increasing distance from the gripping position of the boom 120-1. This makes the installation easier because the distance between the first and second meshes is typically smaller near the gripping position. For example, the mesh controller 114 can be configured to control the boom 120-2 to first install the mesh 404 at the location 701, which is closest to the gripping position of the gripper 124. The mesh controller 114 can be configured to next control the boom 120-2 to install the mesh 404 at the location 702. Installing the second mesh at the location 702 reduces the distance between the meshes 401 and 404 at the location 703, which makes it easier to subsequently install the mesh 404 at the location 703.

[0105] At operation 605, the mesh controller 114 may be configured to control an adjustment of the position of the second mesh. The mesh controller 114 may perform this operation in response to determining (see operation 603) that an overlapping opening (e.g., a predetermined number of overlapping openings) of the first mesh and the second mesh is not found. For example, the mesh controller 114 may be configured to control the boom 120-1 and / or the gripper 124 to adjust the position of the second mesh. The adjustment may be pre-configured, e.g., a pre-configured distance in a pre-configured direction, or determined by the mesh controller 114 based on the scan data. Adjusting the position of the second mesh increases the probability of finding a suitable overlapping opening for mounting the second mesh to the rock surface 140. In response to this adjustment, the mesh controller 114 may be configured to move back to perform operation 602, where the mesh controller 114 may be configured to control a re-scan of the rock surface 140 to obtain re-scan data. Based on the re-scan data, the mesh controller 114 may be configured to determine whether there is an overlapping opening (operation 603), control the installation of the second mesh (operation 604), and / or control a further adjustment of the position of the second mesh (operation 605). This potential iterative approach is capable of finding a suitable location for mounting the second mesh at the rock surface 140. This enables the acceleration of the installation process and energy savings, as a suitable installation location can be determined in advance without actually attempting to mount the second mesh (e.g., with the anchor machine 126) in an inappropriate location.

[0106] Figure 8 An example of an apparatus configured to practice one or more example embodiments is shown. The apparatus 800 may be a mesh control apparatus or include a mesh control apparatus, such as a server, that is communicatively coupled to the mesh installation rig 100, a mesh control apparatus located at the mesh installation rig 100, the mesh controller 114, the mesh installation rig 100 itself, or any device or system generally configured to implement the functions described herein. Although the apparatus 800 is shown as a single device, it should be understood that, where applicable, the functions of the apparatus 800 may be distributed across multiple devices.

[0107] The apparatus 800 may include at least one processor 802. The at least one processor 802 may include, for example, one or more processing devices among 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, 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, etc.

[0108] The apparatus 800 may further include at least one memory 804. The at least one memory 804 may be configured to store, for example, computer program code, such as operating system software and application software. The at least one memory 804 may include one or more volatile memory devices, one or more non-volatile memory devices, and / or combinations thereof. For example, the memory may be implemented as a magnetic storage device (such as a hard disk drive, etc.), a magneto-optical storage device, or a semiconductor memory (such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). The memory 804 is provided as an example of a (non-transitory) computer-readable medium. As used herein, the term "non-transitory" is a limitation of the medium itself (i.e., tangible, rather than a signal), rather than a limitation on the persistence of data storage (e.g., RAM versus ROM). The at least one memory 804 may also be implemented separately from the apparatus 800, such as a computer-readable (storage) medium, examples of which include a memory stick, a compact disc (CD), etc.

[0109] When the apparatus 800 is configured to implement a certain function, a certain component and / or certain components of the apparatus 800 (e.g., the at least one processor 802 and / or the at least one memory 804) may be configured to implement the function. Additionally, when the at least one processor 802 is configured to implement a certain function, the function may be implemented using, for example, program code 806 included in the at least one memory 804.

[0110] The functions described herein may be performed, at least in part, by one or more computer program product components, such as software components. According to an example embodiment, the apparatus 800 includes a processor or processor circuit configured by program code 806, such as, for example, a microcontroller, which, when the program code 806 is executed, performs embodiments of the operations and functions described herein. The program code 806 is provided as an example of instructions that, when executed by the at least one processor 802, cause the apparatus 800 to be executed.

[0111] For example, the mesh controller 114 may be at least partially implemented as program code that is configured to cause the apparatus 800 to perform the functions of the mesh controller 114. Similarly, the transmission or reception of data (e.g., sensor data, kinematic models, or digital mesh establishment plans) on an internal or external communication interface of the mesh installation fixture 100 may be controlled by software.

[0112] Alternatively or in addition, the functionality described herein may be performed, at least in part, by one or more hardware logic components. By way of example, and not limitation, 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 the like.

[0113] Device 800 may include a communication interface 808 configured to enable device 800 to transmit and / or receive information. Communication interface 808 may include an internal or external communication interface, such as, for example, a radio interface between mesh mount 100 and remote mesh control device 200. Device 800 may also include other components and / or functionality, such as a user interface (not shown) including at least one input device and / or at least one output device. Input devices may take various forms, such as a keyboard, touch screen, or one or more embedded control buttons. Output devices may include, for example, a display, speakers, and the like. The user interface may enable a human operator to monitor various functions and data, such as digital mesh establishment planning, and the like.

[0114] Device 800 may be configured to perform any aspect of the methods described herein or cause any aspect of the methods described herein to be performed. Additionally, a computer program or computer program product may include instructions that, when executed by device 800, cause device 800 to perform any aspect of the methods described herein. Additionally, device 800 may include components for performing any aspect of the methods described herein. In one example, the components include the at least one processor 802 and the at least one memory 804 including program code 806 (instructions) configured to cause device 800 to perform the method when executed by the at least one processor 802. Generally, computer program instructions may be executed on components providing general processing functionality. Such components may be embedded, for example, in a computer, server, and the like. The methods may thus be computer-implemented, for example, based on algorithms executable by general processing functionality, an example of which is the at least one processor 802. Device 800 may include components for transmitting or receiving information, such as one or more wired or wireless (e.g., radio) transmitters or receivers, which may be coupled or configured to couple to one or more antennas or transmitters or receivers of a wired communication interface.

[0115] According to a first aspect, the apparatus 800 may be configured to control the installation of the mesh. The apparatus may include: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the apparatus to at least perform the following operations: obtain scan data of a rock surface to detect at least one first mesh installed on the rock surface; determine a first position of the at least one first mesh based on the scan data; determine a second position for installing a second mesh on the rock surface, wherein when the second mesh has been installed on the rock surface at the second position, the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh; and control the second mesh to be installed on the rock surface at the second position.

[0116] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to perform the following operations: control at least one boom to place the second mesh at the second position and install the second mesh on the rock surface at the second position.

[0117] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to perform the following operations: control a first boom to place the second mesh at the second position; and control a second boom to install the second mesh on the rock surface at the second position.

[0118] According to an example embodiment of the first aspect, installing the second mesh on the rock surface includes bracing the second mesh against the rock surface.

[0119] According to an example embodiment of the first aspect, the computer program code is configured to, with the at least one processor, cause the apparatus to perform the following operations: determine an installation position of a mesh installation tool based on the first position of the at least one first mesh and a kinematic model of the mesh installation tool for installing the second mesh on the rock surface at the second position; control the mesh installation tool to move to the installation position; and update the first position of the at least one first mesh and the second position of the second mesh in a coordinate system of the mesh installation tool based on the movement to the installation position.

[0120] According to an example embodiment of the first aspect, the apparatus includes the mesh installation tool.

[0121] According to an example embodiment of the first aspect, the device is configured to obtain the scan data from at least one of the following: a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0122] According to an example embodiment of the first aspect, when the second mesh has been installed on the rock surface at the second position, at least two openings of the at least one first mesh and the second mesh are configured to overlap in a direction perpendicular to the edge of the at least one first mesh.

[0123] According to an example embodiment of the first aspect, the first position includes a position on the roof of the tunnel, and the second position includes a position on the wall of the tunnel.

[0124] According to the fifth aspect, the device 800 may be configured to control mesh installation. The device may include: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the device to at least perform the following operations: obtain scan data of a rock surface to detect at least one first mesh installed on the rock surface and a second mesh positioned for installation on the rock surface; based on the scan data, determine at least one position at which the openings of the at least one first mesh and the second mesh overlap; and control the installation of the second mesh on the rock surface at the at least one position via the overlapping openings of the at least one first mesh and the second mesh.

[0125] According to an example embodiment of the fifth aspect, the computer program code is configured to, with the at least one processor, cause the device to perform the following operation: control the adjustment of the position of the second mesh in response to determining that a predetermined number of overlapping openings of the at least one first mesh and the second mesh are not found.

[0126] According to an example embodiment of the fifth aspect, the computer program code is configured to, with the at least one processor, cause the device to perform the following operation: obtain re-scan data of the rock surface to detect overlapping openings of the at least one first mesh and the second mesh in response to adjusting the position of the second mesh.

[0127] According to an example embodiment of the fifth aspect, the computer program code is configured to, with the at least one processor, cause the device to perform the following operation: control at least one boom to position the second mesh for installation on the rock surface and install the second mesh on the rock surface.

[0128] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the device to perform the following operations: determine at least one position where an opening of the at least one first mesh and the second mesh overlap, based on searching for an overlapping opening of the at least one first mesh and the second mesh near at least one gripping position of a first boom, wherein the first boom is configured to position the second mesh for mounting the second mesh to the rock surface.

[0129] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the device to perform the following operations: determine a plurality of positions where an opening of the at least one first mesh and the second mesh overlap; and control the second mesh to be mounted to the rock surface at the plurality of positions in an order of increasing distance from the at least one gripping position of the first boom via the overlapping opening of the at least one first mesh and the second mesh, wherein the first boom is configured to position the second mesh for mounting to the rock surface.

[0130] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to, together with the at least one processor, cause the device to perform the following operations: control a second boom to mount the second mesh to the rock surface.

[0131] According to an exemplary embodiment of the fifth aspect, mounting the second mesh to the rock surface includes bracing the second mesh to the rock surface.

[0132] According to an exemplary embodiment of the fifth aspect, the device includes a mesh mounting fixture.

[0133] According to an exemplary embodiment of the fifth aspect, the device is configured to obtain the scan data or the rescan data from at least one of the following: a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0134] According to an exemplary embodiment of the fifth aspect, the first position includes a position on the roof of a tunnel, and the second position includes a position on the wall of the tunnel.

[0135] Figure 9 An example of a method for controlling mesh installation is shown. The method may include a computer-implemented method performed by, for example, a device 800 such as a mesh controller 114.

[0136] At 901, the method may include obtaining scan data of a rock surface to detect at least one first mesh mounted on the rock surface.

[0137] At 902, the method may include determining a first position of the at least one first mesh based on the scan data.

[0138] At 903, the method may include determining a second position for installing a second mesh on the rock surface, wherein when the second mesh has been installed on the rock surface at the second position, the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh.

[0139] At 904, the method may include controlling the installation of the second mesh on the rock surface at the second position.

[0140] Figure 10 Another example of another method for controlling mesh installation is shown. The method may include a computer-implemented method performed by, for example, device 800 (such as mesh controller 114).

[0141] At 1001, the method may include obtaining scan data of the rock surface to detect at least one first mesh installed on the rock surface and a second mesh positioned for installation on the rock surface.

[0142] At 1002, the method may include determining at least one position at which the openings of the at least one first mesh and the second mesh overlap based on the scan data.

[0143] At 1003, the method may include controlling the installation of the second mesh on the rock surface at the at least one position via the overlapping openings of the at least one first mesh and the second mesh.

[0144] Figure 11 Yet another example of a method for controlling mesh installation is shown. The method may include a computer-implemented method performed by, for example, device 800 (such as mesh controller 114).

[0145] At 1101, the method may include obtaining scan data of the rock surface to detect at least one first mesh installed on the rock surface.

[0146] At 1102, the method may include determining a first position of the at least one first mesh based on the scan data.

[0147] At 1103, the method can include determining a second location for mounting a second mesh on the rock surface, wherein when the second mesh has been mounted on the tunnel rock surface at the second location, the at least one first mesh and the second mesh are configured to overlap at an edge of the at least one first mesh.

[0148] At 1104, the method can include obtaining further scan data of the rock surface to detect the at least one first mesh and the second mesh when the second mesh is positioned for mounting on the rock surface.

[0149] At 1105, the method can include determining at least one position at which the openings of the at least one first mesh and the second mesh overlap based on the further scan data.

[0150] At 1106, the method can include controlling the mounting of the second mesh to the rock surface at the at least one position via the overlapping openings of the at least one first mesh and the second mesh.

[0151] The above method can be performed by a mesh controller 114, a mesh installation tool 100, or a remote mesh control device 200, for example, based on program code 806 when the code is executed by a processor 802. Various examples of the method have been explained in terms of the functionality of the mesh controller 114, the mesh installation tool 100, and / or the remote mesh control device 200, and thus will not be repeated here. It should be understood that the described example embodiments can be combined in different ways unless explicitly disallowed.

[0152] Although the subject matter has been described in language specific to structural features and / or acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the above specific features or acts. Rather, the above specific features and acts are disclosed as examples for implementing the claims, and other equivalent features and acts are intended to be within the scope of the claims.

[0153] It should be understood that the above benefits and advantages can relate to one embodiment or can relate to several embodiments. Embodiments are not limited to those that solve any or all of the stated problems or have any or all of the stated benefits and advantages. It will also be understood that references to "a" item can refer to one or more of those items.

[0154] The steps or operations of the methods described herein may be performed in any suitable order or simultaneously where appropriate. Additionally, individual boxes may be deleted from any method 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 described to form additional example embodiments without loss of the desired effects.

[0155] The term "comprising" is used herein to mean including the identified method, box, or element, but such box or element does not comprise an exclusive list and the method or apparatus may contain additional boxes or elements.

[0156] As used herein, "at least one of the following: <list of two or more elements>" and "at least one of <list of two or more elements>" and like phrases, where the list of two or more elements is joined by "and" or "or", means at least any one of the elements, or at least any two or more of the elements, or at least all of the elements. The term "or" may be understood to also cover the case of including both of the two items separated by "or". Thus, "or" may be understood as an inclusive "or" rather than an exclusive "or".

[0157] 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. Instead, such attributes may be used only for the purpose of making a distinction between subjects.

[0158] It should be understood that the above description is given by way of example only and that various modifications may be made by those skilled in the art. The above specification, examples, and data provide a complete description of the structure and use of the example 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 may be made to the disclosed embodiments by those skilled in the art without departing from the scope of this specification.

Claims

1. An apparatus for controlling the installation of a mesh, the apparatus comprising: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the apparatus to at least perform the following operations: obtain scan data of a rock surface to detect at least one first mesh installed on the rock surface; based on the scan data, determine a first position of the at least one first mesh by determining data indicating positions of edges of the at least one first mesh; based on the first position of the at least one first mesh, determine a second position for installing a second mesh on the rock surface, wherein when the second mesh has been installed on the rock surface at the second position, the at least one first mesh and the second mesh are configured to overlap at the edge of the at least one first mesh; and control the installation of the second mesh on the rock surface at the second position.

2. The device according to claim 1, wherein The computer program code is further configured to, with the at least one processor, cause the apparatus to perform the following operation: control at least one boom to place the second mesh at the second position and install the second mesh on the rock surface at the second position.

3. The device according to claim 1, wherein The computer program code is further configured to, with the at least one processor, cause the apparatus to perform the following operations: control a first boom to place the second mesh at the second position; and control a second boom to install the second mesh on the rock surface at the second position.

4. The device according to claim 2 or 3, wherein Installing the second mesh on the rock surface includes bracing the second mesh to the rock surface.

5. The device according to any one of the preceding claims, wherein, The computer program code is further configured to, with the at least one processor, cause the apparatus to perform the following operations: based on the first position of the at least one first mesh and a kinematic model of a mesh installation tool, determine an installation position of the mesh installation tool for installing the second mesh on the rock surface at the second position; control the mesh installation tool to move to the installation position; based on the movement to the installation position, update the first position of the at least one first mesh and the second position of the second mesh in the coordinate system of the mesh installation tool.

6. The apparatus according to claim 5, wherein, The apparatus includes the mesh installation tool.

7. The device according to any one of the preceding claims, wherein, The apparatus is configured to obtain the scan data from at least one of: a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

8. The apparatus according to any one of the preceding claims, wherein, When the second mesh has been installed on the rock surface at the second position, at least two openings of the at least one first mesh and the second mesh are configured to overlap in a direction perpendicular to the edge of the at least one first mesh.

9. The device according to any one of the preceding claims, wherein, The first position includes a position on the roof of a tunnel, and the second position includes a position on the wall of the tunnel.

10. A method, comprising: Obtain scan data of the rock surface to detect at least one first mesh installed on the rock surface; Based on the scan data, determine a first position of the at least one first mesh by determining data indicating positions of edges of the at least one first mesh; Based on the first position of the at least one first mesh, determine a second position for installing a second mesh on the rock surface, wherein when the second mesh has been installed on the rock surface at the second position, the at least one first mesh and the second mesh are configured to overlap at the edge of the at least one first mesh; And Control the installation of the second mesh on the rock surface at the second position.

11. The method according to claim 10, further comprising: Control at least one boom to place the second mesh at the second position and install the second mesh on the rock surface at the second position.

12. The method according to claim 10, further comprising: Control a first boom to place the second mesh at the second position; And Control a second boom to install the second mesh on the rock surface at the second position.

13. The method according to claim 11 or 12, wherein, Installing the second mesh on the rock surface includes bracing the second mesh against the rock surface.

14. The method according to any one of claims 10-13, further comprising: Based on the first position of the at least one first mesh and a kinematic model of a mesh installation fixture, determine an installation position of the mesh installation fixture for installing the second mesh on the rock surface at the second position; Control the mesh installation fixture to move to the installation position; Based on the movement to the installation position, update the first position of the at least one first mesh and the second position of the second mesh in a coordinate system of the mesh installation fixture.

15. A computer program comprising instructions that, when executed by a device, cause the device to perform at least the following operations: Obtain scan data of the rock surface to detect at least one first mesh installed on the rock surface; Based on the scan data, determine a first position of the at least one first mesh by determining data indicating positions of edges of the at least one first mesh; Based on the first position of the at least one first mesh, determine a second position for installing a second mesh on the rock surface, wherein, When the second mesh has been installed on the rock surface at the second position, the at least one first mesh and the second mesh are configured to overlap at the edge of the at least one first mesh; And Control the installation of the second mesh on the rock surface at the second position.

Images