Mesh placement control

Abstract

Exemplary embodiments generally relate to the field of mesh installation on a rock surface (140). An apparatus (100) can acquire scan data of the 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 (404) based on the scan data, determine a second position for installing a second mesh (401, 402) on the rock surface, 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 is installed on the rock surface at the second position, and control installation of the second mesh on the rock surface at the second position.

Description

[Technical Field]

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

[0002] In various applications, such as 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 placing a protective mesh on the rock surface. A mesh placement rig may include one or more booms with appropriate tools for placing the mesh on the rock surface. The location of the mesh can be determined on-site by a human operator sitting in the cabin of the mesh placement rig. Summary of the Invention

[0003] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary 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, an apparatus for controlling mesh placement is disclosed, which may include at least one processor and at least one memory including computer program code configured to, using the at least one processor, acquire scan data of a rock surface to detect at least one first mesh placed 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 placing a second mesh on the rock surface, the at least one first mesh and the second mesh configured to overlap at an edge of the at least one first mesh when the second mesh is placed on the rock surface at the second position, and control placement of the second mesh on the rock surface at the second position.

[0005] According to an exemplary embodiment of the first aspect, the computer program code is configured, with the at least one processor, to cause the apparatus to control the at least one boom to place a second mesh at a second location and attach the second mesh to the rock surface at the second location.

[0006] According to an exemplary embodiment of the first aspect, the computer program code is configured, using the at least one processor, to cause the apparatus to control a first boom to place a second mesh at a second location and to control a second boom to attach the second mesh to a rock surface at the second location.

[0007] According to an exemplary embodiment of the first aspect, attaching the second mesh to the rock surface includes bolting the second mesh to the rock surface.

[0008] According to an exemplary embodiment of the first aspect, the computer program code is further configured, using the at least one processor, to cause the apparatus to determine an installation position of a mesh installation rig for installing a second mesh on the rock surface at a second position based on the first position of the at least one first mesh and a kinematic model of the mesh installation rig, control movement of the mesh installation rig 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 rig based on the movement to the installation position.

[0009] According to an exemplary embodiment of the first aspect, the apparatus includes a mesh placement rig.

[0010] According to an exemplary embodiment of the first aspect, the apparatus is configured to acquire scanning data from at least one of a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0011] According to an exemplary embodiment of the first aspect, the 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 when the second mesh is installed on the rock surface at the second position.

[0012] According to an exemplary embodiment of the first aspect, the first location comprises a location at a ceiling of the tunnel and the second location comprises a location at a wall of the tunnel.

[0013] According to a second aspect, a method for controlling mesh placement is disclosed, which may include acquiring scan data of a rock surface to detect at least one first mesh placed 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 placing a second mesh on the rock surface, wherein 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 is placed on the rock surface at the second position, and controlling placement 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 placing a second mesh at a second location and controlling at least one boom to attach the second mesh to the rock surface at the second location.

[0015] According to an exemplary embodiment of the second aspect, the method includes controlling a first boom to place a second mesh at a second location and controlling a second boom to attach the second mesh to a rock surface at the second location.

[0016] According to an exemplary embodiment of the second aspect, attaching the second mesh to the rock surface includes bolting the second mesh to the rock surface.

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

[0018] According to an exemplary embodiment of the second aspect, the method is performed by a mesh placement rig.

[0019] According to an exemplary embodiment of the second aspect, the method includes obtaining scan data from at least one of 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, the 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 when the second mesh is installed on the rock surface at the second position.

[0021] According to an exemplary embodiment of the second aspect, the first location comprises a location on a ceiling of the tunnel and the second location comprises a location on a wall of the tunnel.

[0022] According to a third aspect, an apparatus is disclosed, which may include means for performing the method according to the second aspect or any exemplary embodiment thereof.

[0023] According to a fourth aspect, a computer program or computer program product is disclosed, which may include instructions that, when executed by an apparatus, cause the apparatus to perform a method according to the second aspect or any exemplary embodiment thereof.

[0024] According to a fifth aspect, an apparatus for controlling mesh placement is disclosed, which may include at least one processor and at least one memory containing computer program code configured to, using the at least one processor, cause the apparatus to acquire scan data of the rock surface to detect at least one first mesh placed on the rock surface and a second mesh arranged to be placed on the rock surface, determine at least one position where openings of the at least one first mesh and the second mesh overlap based on the scan data, and control attachment of the second mesh to the rock surface at the at least one position through the overlapping openings of the at least one first mesh and the second mesh.

[0025] According to an exemplary embodiment of the fifth aspect, the computer program code is configured, using the at least one processor, to cause the apparatus to control, in response to determining a failure to find a predetermined number of overlapping openings in the at least one first mesh and the second mesh, adjusting a position of the second mesh.

[0026] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to cause, with the at least one processor, to acquire rescan 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.

[0027] According to an exemplary embodiment of the fifth aspect, the computer program code is configured, with the at least one processor, to cause the apparatus to control at least one boom to position the second mesh to place the second mesh on the rock surface and to attach the second mesh to the rock surface.

[0028] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to cause the apparatus, using the at least one processor, to determine at least one location where 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 configured to position the second mesh to install the second mesh on a rock surface.

[0029] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to: use at least one processor to cause the apparatus to determine a plurality of positions where openings of at least one first mesh and a second mesh overlap; and control attachment of the second mesh to the rock surface at the plurality of positions via the overlapping openings of the at least one first mesh and the second mesh in order of increasing distance from at least one gripping position of the first boom for installing the second mesh to the rock surface.

[0030] According to an exemplary embodiment of the fifth aspect, the computer program code is configured, with the at least one processor, to cause the apparatus to control a second boom to attach a second mesh to a rock surface.

[0031] According to an exemplary embodiment of the fifth aspect, attaching the second mesh to the rock surface includes bolting the second mesh to the rock surface.

[0032] According to an exemplary embodiment of the fifth aspect, the apparatus includes a mesh placement rig.

[0033] According to an exemplary embodiment of the fifth aspect, the apparatus is configured to acquire scan data or rescan data from at least one of a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser of the mesh installation rig.

[0034] According to an exemplary embodiment of the fifth aspect, the first position comprises a position on a ceiling of the tunnel and the second position comprises a position on a wall of the tunnel.

[0035] According to a sixth aspect, a method for controlling mesh placement is disclosed, which may include acquiring scan data of a rock surface to detect at least one first mesh placed on the rock surface and a second mesh arranged to be placed on the rock surface, determining at least one position where openings of the at least one first mesh and the second mesh overlap based on the scan data, and controlling attachment of the second mesh to the rock surface at the at least one position through 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 a 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 cannot be found.

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

[0038] According to an exemplary embodiment of the sixth aspect, the method includes positioning a second mesh to install the second mesh on a rock surface and controlling at least one boom to attach the second mesh to the rock surface.

[0039] According to an exemplary embodiment of the sixth aspect, the method includes determining at least one location where 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 location of a first boom configured to position the second mesh for installation on a rock surface.

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

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

[0042] According to an exemplary embodiment of the sixth aspect, attaching the second mesh to the rock surface includes bolting the second mesh to the rock surface.

[0043] According to an exemplary embodiment of the sixth aspect, the method is performed by a mesh placement rig.

[0044] According to an exemplary embodiment of the sixth aspect, the method includes obtaining scan or 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 comprises a position on a ceiling of the tunnel and the second position comprises a position on a wall of the tunnel.

[0046] According to a seventh aspect, an apparatus is disclosed, which may include means for performing the method according to the sixth aspect or any exemplary embodiment thereof.

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

[0048] According to a ninth aspect, an apparatus for controlling mesh installation is disclosed. 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 causing the apparatus, using the at least one processor, to acquire scanning 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 scanning data, determine a second position for installing a second mesh on the rock surface, and determine a second position for installing a second mesh on the rock surface, and the at least one first mesh and the second mesh are located in the tunnel rock, and the second mesh is located in the second position. The at least one mesh is configured to overlap at an edge of the at least one first mesh when installed on the surface, and when the second mesh is positioned to be installed on the rock surface, the device is configured to acquire further scanning data of the rock surface to detect the at least one first mesh and the second mesh, determine at least one position where the openings of the at least one first mesh and the second mesh overlap based on the further scanning data, and control attachment 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.

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

[0050] According to a tenth aspect, a method for controlling mesh placement is disclosed. The method may include acquiring scan data of a rock surface to detect at least one first mesh placed on the rock surface, determining a first position of the at least one first mesh based on the scan data, and determining a second position for placing a second mesh on the rock surface, wherein 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 is placed on the rock surface at the second position, acquiring 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 placement on the rock surface, determining at least one position where openings of the at least one first mesh and the second mesh overlap based on the further scan data, and controlling attachment 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.

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

[0052] According to an eleventh aspect, an apparatus is disclosed. The apparatus may include means for performing the method according to the ninth aspect or any exemplary embodiment thereof.

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

[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 a method according to the second, sixth, or ninth aspect, or any example thereof.

[0055] According to certain aspects, the subject matter of the independent claims is provided. Certain further aspects are defined in the dependent claims. Many of the attendant features will be more readily appreciated as the same becomes better understood by reference to the following description considered in conjunction with the accompanying drawings.

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

[0057] [Figure 1] FIG. 1 illustrates an example of a mesh installation rig. [Figure 2] FIG. 1 illustrates an example of a mesh installation rig communicatively coupled to a remote mesh controller. [Figure 3] FIG. 10 shows an example of a flowchart for controlling mesh placement. [Figure 4] FIG. 10 is a diagram illustrating an example of overlapping meshes. [Figure 5] FIG. 1 shows an example of a mesh installed on a tunnel surface based on a digital mesh plan. [Figure 6]FIG. 10 illustrates an example of a flow chart for controlling mesh placement through overlapping openings in first and second meshes. [Figure 7] FIG. 10 shows an example of first and second meshes having overlapping openings. [Figure 8] FIG. 1 illustrates an example of an apparatus configured to implement one or more exemplary embodiments. [Figure 9] FIG. 10 illustrates an example of a method for controlling mesh placement. [Figure 10] FIG. 10 illustrates another example of a method for controlling mesh placement. [Figure 11] Figure 10 illustrates yet another example of a method for controlling mesh placement.Like reference numerals are used to denote like parts in the accompanying drawings. DETAILED DESCRIPTION OF THE INVENTION

[0058] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The description provided below in connection with the accompanying drawings is intended as a description of the embodiments and is not intended to represent the only manner in which the embodiments may be constructed or utilized. The description sets forth functions of the embodiments and the sequence of steps for constructing and operating the embodiments. However, the same or equivalent functions and sequences may be accomplished by different embodiments.

[0059] An example mesh installation rig is shown in Figure 1. While mesh installation rig 100 is shown as an underground mesh installation rig, exemplary embodiments of the present disclosure may also be applied to other types of mesh installation machines, such as rigs configured to install mesh in rock cuttings along roads or railways.

[0060] The mesh installation rig 100 may be an automated mesh installation rig, e.g., an automated mining vehicle equipped with tools configured for mesh installation. An automated mining vehicle, e.g., an automated mesh installation rig, operating in an automated mode may be configured, for example, to receive a task to be performed, perceive the environment of the automated mining vehicle, and autonomously perform the task while taking the environment into account. An automated mining vehicle operating in an automated mode may be configured to operate independently, but may be under external control in certain operating areas or conditions, such as during an emergency. However, exemplary embodiments may also be applied to non-autonomous or semi-autonomous mining vehicles, e.g., remotely controlled mining vehicles.

[0061] In the example of FIG. 1 , the x-axis represents the forward direction of the mesh installation rig 100. The z-axis represents the vertical direction, in this example, toward the tunnel roof. The mesh installation rig 100 may include a movable carrier 110 and at least one boom 120 connected to the movable carrier 110. The movable carrier 110 may include equipment for moving or stabilizing the mesh installation rig 100, such as a motor, wheels, or stabilizer jacks. The movable carrier 110 may be configured to move autonomously or may be controlled by a human operator, either remotely or locally at the mesh installation rig 100. While two booms 120-1, 120-2 are shown in FIG. 1 , the mesh installation rig 100 may generally include one or more (e.g., two, three, four, ...) booms 120. The boom 120-1 may be referred to as a first boom. The boom 120-2 may be referred to as a second boom.

[0062] The gripper 124 may be coupled to a tip of the boom 120-1. The gripper 124 may be configured to grasp and hold the mesh 402, for example, to enable the boom 120-1 to position the mesh 402 on the rock surface 140. The rock surface 140 may include a tunnel roof or at least some of the tunnel walls. The bolting machine 126 may be coupled to a tip of the boom 120-2. The bolting machine 126 may be configured to attach the mesh 402 to the rock surface 140. Although bolting is provided as an example of attaching the mesh 402 to the rock surface 140, other attachment means, such as riveting, may also be used.

[0063] The mesh installation rig 100 may include at least one sensor 112 for scanning the environment of the mesh installation rig 100, such as the rock surface 140 and any mesh already installed or positioned for installation thereon. The sensor 112 may include, for example, one or more of a camera, a radio detection and ranging (radar) sensor, or a light detection and ranging (lidar) sensor. Thus, the sensor 112 may include a group of two or more sensors. The sensor 112 may be configured to scan the rock surface 140 to detect particular features, such as the edges of the mesh. Scanning the rock surface 140 may include scanning with the sensor 112 such that its sensing direction is toward 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 a mesh placed on or adjacent to the rock surface 140 .

[0064] A camera can be used to extract depth information of an object, such as a mesh, by comparing two images taken at slightly different positions (e.g., two camera units). Alternatively, the sensor 112 may include a time-of-flight (ToF) camera, which can be configured to determine the distance between the camera and points on the mesh by measuring the round-trip time of an artificial light signal provided by a laser or light-emitting diode (LED). A lidar sensor may be configured to determine the distance to different points on the mesh by targeting the mesh with a laser and measuring the time it takes for the reflected light to return to the lidar sensor's receiver. A radar sensor may be configured to transmit electromagnetic energy toward a rock face and observe the echoes returned from the mesh to determine the distance to different points on the mesh. Based on the scan, the mesh installation rig 100 can 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 certain features, such as the edges of the mesh. The location of the mesh, or certain points, such as corners or edges of the mesh, can be determined based on the scan data. Thus, the position of the mesh may be fixed to or known relative to the coordinate system of the mesh placement rig 100. The coordinate system of the mesh placement rig 100 may be stationary relative to the mesh placement rig 100.

[0065] The mesh installation rig 100 may be configured to scan the rock surface 140 while moving or stationary. As described further below, scanning the rock surface 140 while moving can speed up the mesh installation process because mesh installation can begin immediately after the mesh installation rig reaches a planned location (installation location) for installing the next mesh. Scanning of the rock surface 140 can be performed, for example, with a simultaneous localization and mapping (SLAM) system, which can be configured to scan the environment of the mesh installation rig 100 to acquire point cloud data of surrounding surfaces or objects. The acquired point cloud data can be used not only for object detection but also to determine the position of the mesh installation rig 100 based on comparing the scanned data to reference data, such as a 3D model of the tunnel.

[0066] The mesh installation rig 100 may include a mesh controller (MC) 114. The mesh controller 114 may be communicatively coupled to the sensors 112, for example, to receive scanned sensor data from the sensors 112 or to request the sensors 112 to begin scanning the rock surface 140. The mesh controller 114 may be provided, for example, as a software application residing on a memory and executable by a processor. An example of an apparatus suitable for implementing the mesh controller 114 is shown in FIG. 8. The mesh controller 114 may include or be communicatively coupled to various functions, blocks, 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, which may be configured to store information regarding a digital mesh plan, tunnel lines, point clouds or mesh representations of tunnel lines or profiles, mine map point clouds, etc. The digital mesh plan may include planned mesh locations and, optionally, planned installation locations. The attachment location may include a location where the mesh is attached to the rock surface 140 by an attachment means such as, for example, bolts or rivets. The planned attachment location may include a planned location of the attachment means on the rock surface 140. The mesh controller 114 may include a navigation application configured to control or allow a human operator to control the navigation of the mesh installation rig 100, for example, to move the mesh installation rig 100 to the planned installation location and / or to determine the location of the planned attachment point of the digital mesh plan relative to the current location of the mesh installation rig 100. The location of the mesh installation rig 100 may be referred to as a navigation location. Thus, the installation location may be a planned or determined navigation location for the mesh installation rig 100 to install the mesh on the rock surface 140.

[0067] The mesh controller 114 may be configured to determine and / or maintain a digital mesh plan, a 3D model of at least one component of the mesh placement rig 100 (e.g., a three-dimensional model of the boom 120, the gripper 124, or the bolter 126), and / or a kinematic model of the mesh placement rig 100, or those components. The 3D model of the components of the mesh placement rig 100 may include 3D geometry data of the components obtained, for example, from a computer-aided design (CAD) model of the respective physical component.

[0068] A kinematic model of the mesh placement rig 100 or its components may include a mathematical description of at least a portion of the mesh placement rig 100. The kinematic model may describe the motion of the mesh placement rig 100 or components of the mesh placement rig 100 without considering the forces causing the motion. The kinematic model may be used to estimate the position of the mesh placement rig 100 or components of the mesh placement rig 100, for example, based on measurement data from one or more sensors associated with the mesh placement rig 100 or movements of the mesh placement rig 100 caused by given control inputs. The kinematic model of the mesh placement rig 100 may include at least the dimensions of the mesh placement rig 100 and / or the reach of the mesh placement rig 100, such as the range of travel of at least one boom 120 of the mesh placement rig 100. The kinematic model may include information regarding the dimensions of the boom 120 or parts thereof, such as the gripper 124 or bolter 126, the characteristics of the joints 122 (e.g., their degrees of freedom), constraints between moving parts of the mesh placement rig 100, etc. Thus, the kinematic model may make it possible to model the movement of components of the mesh installation rig 100, for example, to determine possible positions for installing the mesh 402 from a particular installation location. The kinematic model may make it possible to determine, for example, the maximum distance reachable by the gripper 124 or bolt driver 126. The 3D model of the component may be provided as point cloud data depicting the surface of the component. The point cloud data may include, for example, multiple data points representing the distance between the mesh installation rig 100 and the component or other objects in the mesh installation rig 100's environment at a particular time instance. Individual points included in the point cloud may be represented, for example, by x, y coordinates or x, y, z coordinates relative to a particular coordinate system.

[0069] The mesh installation rig 100 may be controlled by a remote mesh controller 200, which may be external to the mesh installation rig 100, as shown in Figure 2. The remote mesh controller 200 may, for example, be a server located remotely from the mesh installation rig 100, for example outside a tunnel. The functionality of the mesh controller 114 may be distributed between the mesh installation rig 100, for example a local mesh controller of the mesh installation rig 100, and the remote mesh controller 200. Information may be exchanged between the remote mesh controller 200 and the mesh installation rig 100 via a communication interface, including any suitable wireless or wired connection. An example of a suitable communication interface is described with reference to Figure 8.

[0070] The mesh controller 114 may be configured to determine and / or maintain a digital mesh plan. Three-dimensional and kinematic models of the mesh placement rig 100 may be stored in the mesh controller 114, for example, based on pre-configuration of the models. Alternatively, the mesh controller 114 may be configured to receive one or more of the models from the mesh placement rig 100 or a data management server. The mesh controller 114 may also be configured to receive scanned sensor data of the sensors 112, for example, from the mesh placement rig 100, which the mesh controller 114 may be configured to use to detect mesh placed on or located near the rock surface 140. Thus, exemplary embodiments of the present disclosure may be implemented locally on the mesh placement rig 100 and / or on the remote mesh control device 200.

[0071] FIG. 3 shows an example of a flow chart for controlling mesh placement.

[0072] In operation 301, the mesh controller 114 may be configured to control the scanning of the rock surface 140. The mesh controller 114 may be configured to cause the scanning of the rock surface 140, for example, by requesting the sensor 112 to begin scanning. The sensor 112 may be positioned such that when the mesh placement rig 100 operates near the rock surface 140, a sensor signal is configured to be directed toward the rock surface 140. The scan data may include data captured by the sensor 112 during the scanning of the rock surface 140. The mesh controller 114 may 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 may also be configured to process, for example, 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 may also be configured to cause the scanning of the rock surface 140 when the mesh placement rig 100 is not positioned in a placement position for placing the next mesh. For example, the mesh controller 114 may be configured to cause the mesh placement rig 100 to scan the rock surface 140 before reaching a placement location for placing the next mesh. The mesh controller 114 may be configured to determine the placement location based on scanning data that may be acquired, for example, while the mesh placement rig is moving away from a previous placement location.

[0073] In operation 302, the mesh controller 114 may be configured to detect a mesh installed on the rock surface 140. This mesh may be referred to as a first mesh. Multiple first meshes may be detected. Thus, the mesh controller 114 may be configured to detect one or more first meshes already installed on the rock surface 140. Detecting the first mesh may include detecting distinctive features of the first mesh, such as, for example, edges and / or corners of the first mesh. The mesh controller 114 may be configured to detect the first mesh or its features, for example, based on applying computer vision or pattern recognition algorithms to scan data, e.g., sensor data received from the sensor 112.

[0074] In operation 303, the mesh controller 114 may be configured to determine a position of the first mesh based on the scan data. This position may be referred to as the first position. The mesh controller 114 may be configured to indicate the position of the first mesh by a distinctive feature of the first mesh, such as the location of an edge and / or a corner of the first mesh. For example, the mesh controller 114 may be configured to determine data (e.g., point cloud data) indicating the location of an edge, such as an outer edge or a corner of the first mesh. An outer edge may refer to an edge that has not yet been placed next to another mesh placed on the rock surface 140. This may include, for example, an edge that faces the forward drive direction (x) of the mesh placement rig 100.

[0075] The mesh controller 114 may be configured to initially provide information regarding the position of the first mesh relative to the coordinate system of the mesh placement rig 100. Thus, the mesh controller 114 may be configured to provide information regarding the position of the first mesh relative to the position of the mesh placement rig 100 during scanning by the sensor 112. Thereafter, after movement of the mesh placement rig 100, the position of the first mesh may be updated in the coordinate frame of the mesh placement rig 100 so that its position relative to the rock surface 140 remains stationary (see operation 306). Scanning at multiple positions is also possible. Movement of the mesh placement rig 100 during scanning can be compensated for as needed. Alternatively, the mesh placement rig 110 may be configured to provide information regarding the position of the first mesh relative to a stationary reference coordinate frame, such as a coordinate frame stationary with respect to the rock surface 140.

[0076] In operation 304, the mesh controller 114 may be configured to determine a placement location for the mesh placement rig 100 to place the next mesh. The next mesh to be placed may be referred to as a second mesh. The placement location may refer to the location of the mesh placement rig 100, but not the location of the mesh. The mesh controller 114 may be configured to determine the placement location at any time during movement of the mesh placement rig, for example, between placing the first mesh and stopping the mesh placement rig 100 to place the second mesh.

[0077] The mesh controller 114 may be configured to determine the installation location based on the first position of the first mesh determined based on the scan data and a kinematic model of the mesh installation rig 100. Based on the position of the first mesh and the kinematic model, the mesh controller 114 may be configured to determine, for example, a position at which the mesh installation rig 100 can reach the edge of the first mesh so that a desired overlap of the first and second meshes can be achieved. When the first and second meshes overlap, they can occupy or cover the same area of ​​the rock surface 140. The mesh controller 114 may be configured to determine the installation location based, for example, on the dimensions of the boom 120-1 and, optionally, a position for gripping the mesh 402 by the gripper 124. The mesh controller 114 may be configured to determine the installation location so that the mesh installation rig 100 can place the mesh 402 (see the second mesh) with a desired overlap with an already installed mesh (see the first mesh). The mesh controller 114 may be configured to determine an installation position based on the dimensions of the boom 120-2 (e.g., including the bolting machine 126) to enable the bolting machine 126 to install the mesh 402 in the desired location.

[0078] In operation 305, the mesh controller 114 may be configured to control the movement of the mesh placement rig 100 to the placement location. Controlling the movement of the mesh placement rig 100 may include controlling the drive direction, speed, and / or orientation of the mesh placement rig 100. Controlling the movement of the mesh placement rig may include determining the position of the mesh placement rig 100. For example, the mesh controller 114 may be configured to determine that the mesh placement rig 100 has reached the placement location. The mesh controller 114 may be configured to control the movement of the mesh placement rig 100 autonomously or based on instructions received from a human operator, locally or remotely.

[0079] In operation 306, the mesh controller 114 may be configured to update the coordinates for placing the second mesh. Because the mesh placement rig 100 may have moved from the location where the first mesh was detected by scanning, the mesh controller 114 may be configured to update the location of the first mesh (first position) in the coordinate system of the mesh placement rig 100 based on movement from the scanning position to the placement position.

[0080] In operation 307, the mesh controller 114 may be configured to determine a position for installing the second mesh on the rock surface 140. This position may be referred to as the second position, which may refer to the position of the second mesh on the rock surface 140. Following installation of the second mesh on the rock surface 140 at the second position, the mesh controller 114 may be configured to determine the second position such that the first mesh and the second mesh overlap, for example, at an edge of the first mesh. This may prevent rocks from falling from the rock surface 140, thereby increasing safety and reducing the risk of damage to the mesh installation rig 100. The mesh controller 114 may be configured to determine the second position based on the first position of the first mesh.

[0081] 4 shows an example of overlapping meshes. Considering an exemplary scenario in which mesh 404 (as a first mesh) has already been installed on rock surface 140, mesh controller 114 may determine the position of mesh 401 (as a second mesh) such that meshes 404 and 401 overlap in direction x after installation of mesh 401. Meshes 404 and 401 may overlap at the edges of mesh 404. Similarly, if mesh 401 (as a first mesh) has already been installed, mesh controller 114 may determine the position of mesh 402 (as a second mesh) such that meshes 401 and 402 overlap in direction y after installation of mesh 402. Meshes 401 and 402 may overlap at the edges of mesh 401. In this example, the overlap between the meshes is slightly more than one mesh opening (mesh eye). However, the amount of overlap may be greater, for example, three or more (e.g., 2 to 4) mesh openings. An overlap of 2 to 4 mesh openings may be sufficient to prevent rocks from falling off rock surface 140 without incurring excessive extra cost. The amount of overlap may be defined with respect to a direction perpendicular to the edge of an already installed mesh, for example, direction x when mesh 401 is installed to overlap mesh 404, and direction y when mesh 402 is installed to overlap mesh 401.

[0082] Figure 5 shows an example of a mesh to be installed on a tunnel surface based on a digital mesh plan. Figure 5 shows a cross-section of a tunnel along the yz plane (left) and an example of a digital mesh plan of the tunnel surface as viewed from above the tunnel roof 140-1 and outside the right wall 140-3 (right). In this example, the rock surface 140 includes the tunnel surface, e.g., the tunnel roof 140-1 and / or walls 140-2, 140-3. The mesh controller 114 may be configured to determine the location of the mesh based on the digital mesh plan, which may include planned mesh positions. The right side shows the planned positions of the meshes 401-406. The digital mesh plan may include a planned installation position 501, represented by a black dot. When determining the location for installing the mesh, the mesh controller 114 may be configured to initially use the respective positions included in the digital mesh plan. However, due to various imperfections, such as bending or incorrect placement of the previous mesh, the planned positions may not actually provide sufficient overlap. For example, it may be impossible to install the mesh at the intended installation location because mesh wires are already in place at the intended installation location. Based on scanning the rock surface 140 and detecting meshes already installed, it is possible to provide sufficient overlap and find a suitable installation location.

[0083] Considering mesh placement at a particular point on the x-axis, the meshes may be placed starting from the roof, e.g., the highest point of roof 140-1, and moving downward along the tunnel surface such that meshes located on wall 104-2, e.g., mesh 403, are placed after meshes located on roof 140-1, e.g., mesh 401 and mesh 402. This allows rocks falling from roof 140-1 to be trapped behind the meshes. Generally, a first mesh (e.g., mesh 402) may be placed on tunnel roof 140-1, and a second mesh (e.g., mesh 403) may be configured to be placed on tunnel wall 140-3. Tunnel walls 140-2, 140-3 may include portions of the tunnel surface where the inclination angle α from the y-axis is less than a threshold value, e.g., less than 45°. Tunnel roof 140-1 may include portions of the tunnel surface where the inclination angle α from the y-axis is greater than a threshold value, e.g., greater than 45°.

[0084] 3, in operation 308, mesh controller 114 may be configured to control the placement of the second mesh on rock surface 140. For example, mesh controller 114 may 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 location and attach the second mesh to rock surface 140 at this location. An example of a method for controlling the placement of the second mesh is shown in FIG. 6.

[0085] Some operations in FIG. 3 may be optional, and operations may be performed in a different order. For example, the mesh controller 114 may be configured to move the mesh placement rig 100 at a planned placement location before scanning the rock surface 140 to detect the first mesh. The mesh controller 114 may be configured to control the movement of the mesh placement rig based on, for example, a digital mesh plan. In this case, if the mesh placement rig 100 does not move between scanning the first mesh and placing 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). Furthermore, the mesh controller 114 may be configured to determine the position of the second mesh (see operation 307) before the mesh placement rig 100 moves to the placement location. In this case, the mesh controller 114 may be configured to update the coordinates of both the first mesh and the second mesh based on the movement of the mesh placement rig 100 to its placement location.

[0086] Figure 6 shows an example of a flowchart for controlling mesh placement through overlapping openings in the first and second meshes. The flowchart in Figure 6 can be used to implement operation 308 in Figure 3. However, a stand-alone method for controlling attachment of a second mesh at or near a predetermined location can be implemented based on this flowchart.

[0087] In operation 601, mesh controller 114 may be configured to control the positioning of a second mesh for placement on rock surface 140. For example, mesh controller 114 may be configured to control at least one boom, e.g., boom 120-1 including gripper 124, to position the second mesh for placement on rock surface 140. Mesh controller 114 may be configured to determine the position of the second mesh based on a digital mesh plan and / or a scan of the rock surface, e.g., as described with reference to FIG.

[0088] In operation 602, mesh controller 114 may be configured to control the scanning of rock surface 140, similar to operation 301. However, mesh controller 114 may be configured to cause the scanning of rock surface 140 when the second mesh is positioned for installation. Thus, mesh controller 114 may be configured to acquire scan data of rock surface 140 to detect the first mesh installed on rock surface 140 and the second mesh positioned for installation on rock surface 140. When combined with the operations of FIG. 3 , this scan data may include additional scan data in addition to the scan data obtained in operation 301.

[0089] In 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, including, but not limited to, a machine-vision-based algorithm. 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, for example, 1, 2, 3, 5, 10, or any integer in the range of 1 to 10. In response to detecting the overlapping openings or the predetermined number of openings, the mesh controller 114 may be configured to determine one or more overlapping openings for attaching the second mesh to the rock surface 140. The mesh controller 114 may be configured to determine the overlapping openings for attaching the second mesh based on, for example, selecting specific overlapping openings from the detected overlapping openings based on their distance to the planned attachment location 501 of the digital mesh plan. Thus, determining the overlapping openings may include selecting a subset of the detected openings for attaching the second mesh to the rock surface 140. The mesh controller 114 may be configured, for example, to select the overlapping opening closest to the installation location in the digital mesh plan for installing the second mesh. The mesh controller 114 may be configured to determine the overlapping location of the openings of the first and second meshes based on scanned data of the rock surface 114. The mesh controller 114 may be configured to determine the location relative to the coordinate system of the mesh installation rig 100.

[0090] The mesh controller 114's determination of overlapping openings may be based on searching for overlapping openings in the first and second meshes near a gripping position of the boom 120-1, which may be configured to position the second mesh for installation on the rock surface 140. This improves detection of overlapping openings because, due to bending of the second mesh, the distance between the first and second meshes along an axis perpendicular to the rock surface 140 is generally smaller near the gripping position. The mesh controller 114 may be configured to search for overlapping openings, for example, within a threshold distance or a threshold number of mesh openings from the gripping position. The threshold distance may depend on the thickness of the mesh wire and the size (e.g., width or diameter) of the mesh openings. The threshold number of mesh openings may depend on the thickness of the mesh wire. The thickness of the mesh wire may be, for example, 10 mm. The threshold distance may be, for example, 50 cm or 1 m. For square mesh openings, the width of the mesh opening may be, for example, 10 cm or 15 cm. The threshold number of mesh openings may be, for example, 6-10 openings. In response to detecting overlapping openings, or a predetermined number thereof, the mesh controller 114 may be configured to proceed to perform operation 604. In response to not detecting overlapping openings, or the predetermined number thereof, the mesh controller 114 may be configured to proceed to perform operation 605. Detecting overlapping openings may be contingent, for example, on detecting overlapping openings in appropriate locations with respect to a digital mesh plan or kinematic model of the mesh installation rig 100, e.g., the boom 120-2 and / or the bolting machine 126. Detecting overlapping openings may be contingent, for example, on determining that the openings overlap to at least a predetermined extent, such that attachment to the rock surface 140 is possible via the overlapping portions of the openings.

[0091] FIG. 7 illustrates an example of first and second meshes with overlapping openings. In this example, mesh 401 has previously been installed, and mesh installation rig 100 is positioning mesh 404 with grippers 124 for attachment to rock surface 140. Four gripping positions for grippers 124 are indicated by black dots. Mesh controller 114 may be configured to determine the locations of multiple overlapping openings 701, 702, 703, for example, by first searching near the gripping position, e.g., within distance d, to find location 701, and then expanding the search range to find locations 702 and 703. Distance d may be preset in mesh controller 114, for example, or may be determined by mesh controller 114 by other means, for example, based on characteristics of the first and / or second meshes (e.g., the size of the mesh openings). The locations of the overlapping openings may be determined so that they are located near, e.g., within another threshold distance of, the planned attachment location 501 of the digital mesh plan.

[0092] Referring again to FIG. 6 , in operation 604, the mesh controller 114 may be configured to control the installation of the second mesh to the rock surface 140. Controlling the installation of the second mesh may include causing the mesh installation rig 100 to install the second mesh to the rock surface 140. Controlling the installation of the second mesh may include determining an installation position sequence or an installation rate (e.g., volts / minute). Controlling the installation of the second mesh may include causing the mesh installation rig 100 to install the second mesh to the rock surface 140 according to the determined installation position sequence or installation rate. The mesh controller 114 may be configured to control the mesh installation rig 100 based on the determined position and the detected overlapping opening, where the second mesh is installed to the rock surface 140 at the determined position via the overlapping openings of the first and second meshes. For example, mesh controller 114 may be configured to attach (e.g., by bolting) a second mesh to boom 120-2 on rock surface 140. Attaching the second mesh may result in the first mesh being attached at a determined location in addition to the location where the first mesh was previously attached.

[0093] The mesh controller 114 may be configured to control the attachment of the second mesh to the rock surface 140 through the overlapping openings such that the second mesh is attached to the rock surface 140 in order of decreasing distance from the gripping position of the boom 120-1. This makes attachment easier because the distance between the first and second meshes is generally smaller near the gripping position(s). For example, the mesh controller 114 may be configured to first control the boom 120-2 to attach the mesh 404 to position 701, which is closest to the gripping position of the gripper 124. The mesh controller 114 may then be configured to control the boom 120-2 to attach the mesh 404 to position 702. Attaching the second mesh to position 702 reduces the distance between the meshes 401 and 404 at position 703, thereby making it easier to subsequently attach the mesh 404 to position 703.

[0094] In 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 do this in response to determining (see operation 603) that overlapping openings, e.g., a predetermined number of openings, in the first and second meshes have not been 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 preconfigured, e.g., a preconfigured distance to a preconfigured direction, or may be 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 attaching the second mesh to the rock surface 140. In response to the adjustment, the mesh controller 114 may be configured to return to performing operation 602, and the mesh controller 114 may be configured to control a rescan of the rock surface 140 to obtain rescan data. Based on the rescan data, mesh controller 114 may be configured to determine if there are any overlapping openings (operation 603), control the installation of the second mesh (operation 604), and / or control further adjustment of the position of the second mesh (operation 605). A potentially iterative approach allows for finding a suitable location for installing the second mesh on rock surface 140. This may speed up the installation process and save energy, as a suitable installation location may be determined in advance without attempting to actually install the second mesh in an improper location using, for example, bolting machine 126.

[0095] 8 illustrates an example of an apparatus configured to implement one or more exemplary embodiments. Apparatus 800 may be or include a mesh control apparatus, such as, for example, a server communicatively coupled to mesh installation rig 100, a mesh control apparatus disposed on mesh installation rig 100, mesh controller 114, mesh installation rig 100 itself, or generally any apparatus or system configured to implement the functionality described herein. While apparatus 800 is shown as a single device, it will be understood that the functionality of apparatus 800 may be distributed across multiple devices, where applicable.

[0096] The device 800 may include at least one processor 802. The at least one processor 802 may include 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 associated 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, or the like.

[0097] The device 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 a combination thereof. For example, the memory may be embodied as a magnetic storage device (e.g., a hard disk drive, etc.), a magneto-optical storage device, or a semiconductor memory (e.g., a mask ROM, a programmable ROM (PROM), an erasable PROM (EPROM), a flash ROM, a random access memory (RAM), etc.). The memory 804 is provided as an example of a (non-transitory) computer-readable medium. As used herein, the term “non-transitory” refers to the medium itself (i.e., being tangible, not a signal), as opposed to the permanence of the data storage (e.g., RAM vs. ROM). The at least one memory 804 may also be embodied separately from the device 800, for example as a computer-readable (storage) medium, examples of which include a memory stick, a compact disc (CD), and the like.

[0098] If the device 800 is configured to implement several functions, several elements and / or components of the device 800 may be configured to implement the functions, such as, for example, the at least one processor 802 and / or the at least one memory 804. Furthermore, if the at least one processor 802 is configured to implement several functions, the functions may be implemented using, for example, program code 806 included in the at least one memory 804.

[0099] 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 an exemplary embodiment, the device 800 includes a processor or processor circuitry, such as a microcontroller, configured by program code 806, when executed, to perform embodiments of the operations and functionality described herein. The program code 806 is provided as an example of instructions that, when executed by at least one processor 802, cause performance of the device 800.

[0100] For example, the mesh controller 114 may be implemented at least in part as program code 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 plans) via internal or external communication interfaces of the mesh installation rig 100 may be controlled by software.

[0101] Alternatively or additionally, the functionality described herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary 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), etc.

[0102] The device 800 may include a communications interface 808 configured to enable the device 800 to transmit and / or receive information. The communications interface 808 may include an internal or external communications interface, such as a wireless interface between the mesh installation rig 100 and the remote mesh controller 200. The device 800 may further 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. The input device can take various forms, such as a keyboard, a touchscreen, or one or more embedded control buttons. The output device may include, for example, a display, a speaker, etc. The user interface can enable a human operator to monitor various functions and data, such as, for example, the digital mesh plan.

[0103] The apparatus 800 may be configured to perform or cause the performance of any aspect of the methods described herein. Furthermore, a computer program or computer program product may include instructions that, when executed by the apparatus 800, cause the apparatus 800 to perform any aspect of the methods described herein. Furthermore, the apparatus 800 may include means for performing any aspect of the methods described herein. In one example, the means includes at least one processor 802, and at least one memory 804 includes program code 806 (instructions) that, when executed by the at least one processor 802, cause the apparatus 800 to perform the method. Generally, computer program instructions may be executed on a means providing general processing functionality. Such means may be incorporated, for example, in a computer, a server, or the like. Thus, a method may be computer-implemented, e.g., as a based algorithm executable by a general processing function, an example of which is the at least one processor 802. The device 800 may include means for transmitting or receiving information, for example, one or more wired or wireless transmitters or receivers, which may be coupled or configured to be coupled to one or more antennas or transmitters or receivers of a wired communication interface.

[0104] According to a first aspect, the apparatus 800 may be configured to control mesh placement. The apparatus may include at least one processor and at least one memory containing computer program code, the at least one memory and the computer program code being configured, using the at least one processor, to cause the apparatus to at least: acquire scan data of the rock surface to detect at least one first mesh placed 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 placing a second mesh on the rock surface; configure the at least one first mesh and the second mesh to overlap at an edge of the at least one first mesh when the second mesh is placed on the rock surface at the second position; and control placement of the second mesh on the rock surface at the second position.

[0105] According to an exemplary embodiment of the first aspect, the computer program code is configured, with the at least one processor, to cause the apparatus to control the at least one boom to place a second mesh at a second location and attach the second mesh to the rock surface at the second location.

[0106] According to an exemplary embodiment of the first aspect, the computer program code is configured, using the at least one processor, to cause the apparatus to control a first boom to place a second mesh at a second location and to control a second boom to attach the second mesh to a rock surface at the second location.

[0107] According to an exemplary embodiment of the first aspect, attaching the second mesh to the rock surface includes bolting the second mesh to the rock surface.

[0108] According to an exemplary embodiment of the first aspect, the computer program code is further configured, using the at least one processor, to cause the apparatus to determine an installation position of a mesh installation rig for installing a second mesh on the rock surface at a second position based on the first position of the at least one first mesh and a kinematic model of the mesh installation rig, control movement of the mesh installation rig 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 rig based on the movement to the installation position.

[0109] According to an exemplary embodiment of the first aspect, the apparatus includes a mesh placement rig.

[0110] According to an exemplary embodiment of the first aspect, the apparatus is configured to acquire scanning data from at least one of a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0111] According to an exemplary embodiment of the first aspect, the 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 when the second mesh is installed on the rock surface at the second position.

[0112] According to an exemplary embodiment of the first aspect, the first location comprises a location at a ceiling of the tunnel and the second location comprises a location at a wall of the tunnel.

[0113] According to a fifth aspect, the apparatus 800 may be configured to control mesh placement. The apparatus may include at least one processor and at least one memory containing computer program code configured to: cause, using the at least one processor, the apparatus to acquire scan data of the rock surface to detect at least one first mesh placed on the rock surface and a second mesh arranged to be placed on the rock surface; determine, based on the scan data, at least one position where openings of the at least one first mesh and the second mesh overlap; and control attachment 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.

[0114] According to an exemplary embodiment of the fifth aspect, the computer program code is configured, using the at least one processor, to cause the apparatus to control, in response to determining a failure to find a predetermined number of overlapping openings in the at least one first mesh and the second mesh, adjusting a position of the second mesh.

[0115] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to cause, with the at least one processor, to acquire rescan 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.

[0116] According to an exemplary embodiment of the fifth aspect, the computer program code is configured, with the at least one processor, to cause the apparatus to control at least one boom to position the second mesh to place the second mesh on the rock surface and to attach the second mesh to the rock surface.

[0117] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to cause the apparatus, using the at least one processor, to determine at least one location where 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 configured to position the second mesh to install the second mesh on a rock surface.

[0118] According to an exemplary embodiment of the fifth aspect, the computer program code is configured to: use at least one processor to cause the apparatus to determine a plurality of positions where openings of at least one first mesh and a second mesh overlap; and control attachment of the second mesh to the rock surface at the plurality of positions via the overlapping openings of the at least one first mesh and the second mesh in order of increasing distance from at least one gripping position of the first boom for installing the second mesh to the rock surface.

[0119] According to an exemplary embodiment of the fifth aspect, the computer program code is configured, with the at least one processor, to cause the apparatus to control a second boom to attach a second mesh to a rock surface.

[0120] According to an exemplary embodiment of the fifth aspect, attaching the second mesh to the rock surface includes bolting the second mesh to the rock surface.

[0121] According to an exemplary embodiment of the fifth aspect, the apparatus includes a mesh placement rig.

[0122] According to an exemplary embodiment of the fifth aspect, the apparatus is configured to acquire scan or rescan data from at least one of a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

[0123] According to an exemplary embodiment of the fifth aspect, the first position comprises a position on a ceiling of the tunnel and the second position comprises a position on a wall of the tunnel.

[0124] 9 illustrates an example of a method for controlling mesh placement. The method may include a computer-implemented method performed by a device 800, such as the mesh controller 114.

[0125] At 901, the method may include acquiring scan data of a rock surface to detect at least one first mesh placed on the rock surface.

[0126] At 902, the method may include determining a first position of at least one first mesh based on the scan data.

[0127] At 903, the method may include determining a second location for placing a second mesh on the rock surface, wherein 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 is placed on the rock surface at the second location.

[0128] At 904, the method may include controlling placement of a second mesh on the rock surface at a second location.

[0129] 10 illustrates another example of another method for controlling mesh placement, which may include a computer-implemented method performed by a device 800, such as the mesh controller 114.

[0130] At 1001, the method may include acquiring scanned data of a rock surface to detect at least one first mesh installed on the rock surface and a second mesh arranged to be installed on the rock surface.

[0131] At 1002, the method may include determining, based on the scan data, at least one location where openings of at least one first mesh and a second mesh overlap.

[0132] At 1003, the method may include controlling attachment of the second mesh to the rock surface at least one location through overlapping openings in the at least one first mesh and the second mesh.

[0133] 11 illustrates yet another example of a method for controlling mesh placement. The method may include a computer-implemented method performed by a device 800, such as mesh controller 114, for example.

[0134] At 1101, the method may include acquiring scan data of a rock surface to detect at least one first mesh placed on the rock surface.

[0135] At 1102, the method may include determining a first position of at least one first mesh based on the scan data.

[0136] At 1103, the method may include determining a second location for installing a second mesh on the rock surface, wherein 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 is installed on the tunnel rock surface at the second location.

[0137] At 1104, the method may include acquiring further scanning data of the rock surface to detect at least one of the first mesh and the second mesh when the second mesh is positioned to be installed on the rock surface.

[0138] At 1105, the method may include determining, based on the further scan data, at least one location where the openings of the at least one first mesh and second mesh overlap.

[0139] At 1106, the method may include controlling attachment of the second mesh to the rock surface at least one location through overlapping openings in the at least one first mesh and the second mesh.

[0140] When executed by the processor 802, for example based on the program code 806, the method can be performed by the mesh controller 114, the mesh installation rig 100, or the remote mesh controller 200. Various examples of the method have been described above with respect to the functionality of the mesh controller 114, the mesh installation rig 100, and / or the remote mesh controller 200 and will not be repeated here. It should be understood that the described exemplary embodiments can be combined in different ways unless expressly prohibited.

[0141] Although the subject matter has been described in language specific to structural features and / or operations, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or operations described above. Rather, the specific features and operations described above are disclosed as example forms of implementing the claims, and other equivalent features and operations are intended to be within the scope of the claims.

[0142] It will be understood that the benefits and advantages described above may relate to one embodiment or to several embodiments. The embodiments are not limited to those that solve any or all of the described problems or that have any or all of the described benefits and advantages. It will be further understood that references to items may refer to one or more of those items.

[0143] The steps or actions of the methods described herein may be performed in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the exemplary embodiments described above may be combined with aspects of any of the other exemplary embodiments described to form further exemplary embodiments without losing the desired effect.

[0144] The term "comprising" is used herein to mean including identified methods, blocks, or elements, but that such blocks or elements do not comprise an exclusive list and that a method or apparatus may include additional blocks or elements.

[0145] As used herein, "at least one of: " and "at least one of " and similar expressions, where a 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 include both of the items separated by "or." Thus, "or" may be understood as an inclusive "or" rather than an exclusive "or."

[0146] Although an object may be referred to as a "first" object or a "second" object, this does not necessarily indicate the order or importance of the object. Instead, such attributes may be used solely to differentiate between objects.

[0147] It will 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 exemplary embodiments. Although various embodiments have been described above with a degree of particularity, or with reference to one or more individual embodiments, those skilled in the art may make many modifications to the disclosed embodiments without departing from the scope of this specification.

Claims

1. 1. An apparatus for controlling mesh placement, comprising: at least one processor; at least one memory containing computer program code, said at least one memory and said computer program code being configured to cause said device, using said at least one processor, to: acquiring scanning data of the rock surface to detect at least one first mesh placed on the rock surface; determining a first position of the at least one first mesh by determining data indicative of a position of an edge of the at least one first mesh based on the scanning data; determining a second position for placing a second mesh on the rock surface based on the first position of the at least one first mesh, wherein the at least one first mesh and the second mesh are configured to overlap at the edge of the at least one first mesh when the second mesh is placed on the rock surface at the second position; a computer program that controls placement of the second mesh on the rock surface at the second location;

2. The computer program code causes the device, using the at least one processor, to: The apparatus of claim 1 , further configured to control at least one boom to place the second mesh at the second location and attach the second mesh to the rock surface at the second location.

3. The computer program code causes the device, using the at least one processor, to: controlling a first boom to place the second mesh at the second position; The apparatus of claim 1 , further configured to control a second boom to attach the second mesh to the rock surface at the second location.

4. The apparatus of claim 2 or 3, wherein attaching the second mesh to the rock surface comprises bolting the second mesh to the rock surface.

5. The computer program code causes the device, using the at least one processor, to: determining a placement position of the mesh placement rig based on the first position of the at least one first mesh and a kinematic model of a mesh placement rig to place the second mesh on the rock surface at the second position; controlling movement of the mesh placement rig to the placement position; 5. The apparatus of claim 1, further configured to update the first position of the at least one first mesh and the second position of the at least one second mesh in a coordinate system of the mesh installation rig based on the movement to the installation position.

6. The apparatus of claim 5 , wherein the apparatus comprises the mesh placement rig.

7. The apparatus of claim 1 , wherein the apparatus is configured to acquire the scanning data from at least one of a camera, a radio detection and ranging sensor, or a light detection and ranging sensor laser.

8. 8. The apparatus of claim 1, wherein 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 when the second mesh is installed on the rock surface at the second position.

9. 9. The apparatus of claim 1, wherein the first location comprises a location on a ceiling of a tunnel and the second location comprises a location on a wall of the tunnel.

10. acquiring scanning data of the rock surface to detect at least one first mesh placed on the rock surface; determining a first position of the at least one first mesh by determining data indicative of a position of an edge of the at least one first mesh based on the scanning data; determining a second position for placing a second mesh on the rock surface based on the first position of the at least one first mesh, wherein the at least one first mesh and the second mesh are configured to overlap at the edge of the at least one first mesh when the second mesh is placed on the rock surface at the second position; controlling placement of the second mesh on the rock surface at the second location; A method comprising:

11. controlling at least one boom to place the second mesh at the second location and attach the second mesh to the rock surface at the second location. The method of claim 10 further comprising:

12. controlling a first boom to position the second mesh at the second position; controlling a second boom to attach the second mesh to the rock surface at the second position; The method of claim 10 further comprising:

13. 13. The method of claim 11 or 12, wherein attaching the second mesh to the rock surface comprises bolting the second mesh to the rock surface.

14. determining a placement position of the mesh placement rig based on the first position of the at least one first mesh and a kinematic model of a mesh placement rig to place the second mesh on the rock surface at the second position; controlling movement of the mesh placement rig to the placement position; updating the first position of the at least one first mesh and the second position of the at least one second mesh in a coordinate system of the mesh installation rig based on the movement to the installation position; 14. The method of any one of claims 10 to 13, further comprising:

15. A computer program comprising instructions that, when executed by an apparatus, cause the apparatus to perform at least: acquiring scanning data of the rock surface to detect at least one first mesh placed on the rock surface; determining a first position of the at least one first mesh by determining data indicative of a position of an edge of the at least one first mesh based on the scanning data; determining a second position for placing a second mesh on the rock surface based on the first position of the at least one first mesh, wherein the at least one first mesh and the second mesh are configured to overlap at the edge of the at least one first mesh when the second mesh is placed on the rock surface at the second position; a computer program that controls placement of the second mesh on the rock surface at the second location;

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