Updating mesh planning based on actual surface models of rock surfaces

Abstract

Exemplary embodiments may generally relate to the field of mesh installation on rock surfaces. The apparatus can acquire a mesh plan showing at least one of at least one planned mesh location for installing at least one mesh on a rock surface, or at least one planned location for fastening at least one mesh to the rock surface; acquire a planned surface model of the rock surface; acquire an actual surface model of the rock surface; detect discrepancies between the planned surface model and the actual surface model; update the mesh plan based on the detected discrepancies; and control mesh installation based on the updated mesh plan.

Description

[Technical Field]

[0001] Various exemplary embodiments generally relate to the field of mesh placement on rock surfaces. Some exemplary embodiments relate to updating the mesh plan based on a real surface model of the rock surface. [Background technology]

[0002] For example, in various applications such as underground mining, it may be desirable to protect equipment or people from falling rocks from the rock surface. This can be done, for example, by installing protective mesh on the rock surface. The mesh installation rig may include one or more booms with appropriate tools for installing mesh on the rock surface. The position of the mesh can be determined on-site by a human operator sitting in the cabin of the mesh installation rig. For example, the rock surface may not conform precisely to a planned model of the rock surface, as it can be difficult to precisely control how explosives behave during drilling. [Overview of the project]

[0003] This summary is provided to introduce, in a simplified form, a selection of concepts that will be further explained in the detailed description below. This summary is not intended to identify any significant 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 the installation of a mesh is disclosed. The device may include at least one processor and at least one memory containing computer program code, wherein the at least one memory and the computer program code are configured to use at least one processor to cause the device to acquire a mesh plan showing at least one of at least one planned position of at least one mesh for installing at least one mesh on a rock surface, or at least one planned position of at least one fastener for fastening at least one mesh to the rock surface, to acquire a planned surface model of the rock surface, to acquire an actual surface model of the rock surface, to detect discrepancies between the planned surface model and the actual surface model, to update the mesh plan based on the detected discrepancies, and to control the installation of the mesh based on the updated mesh plan.

[0005] According to a second embodiment, a mesh installation rig is disclosed. The mesh installation rig may be configured to acquire a mesh plan showing at least one of at least one planned position of at least one mesh for installing at least one mesh on a rock surface, or at least one planned position of at least one fastener for fastening at least one mesh to the rock surface, acquire a planned surface model of the rock surface, acquire an actual surface model of the rock surface, detect discrepancies between the planned surface model and the actual surface model, update the mesh plan based on the detected discrepancies, and control mesh installation based on the updated mesh plan.

[0006] A third aspect of this invention discloses a method for controlling mesh installation. This method may include obtaining a mesh plan that shows at least one of at least one planned location of at least one mesh for installing at least one mesh on a rock surface, or at least one planned location of at least one fastener for fastening at least one mesh to the rock surface; obtaining a planned surface model of the rock surface; obtaining an actual surface model of the rock surface; detecting discrepancies between the planned surface model and the actual surface model; updating the mesh plan based on the detected discrepancies; and controlling mesh installation based on the updated mesh plan.

[0007] According to a fourth aspect, an apparatus is disclosed. The apparatus may include means for obtaining a mesh plan indicating at least one of at least one planned position of at least one mesh for setting at least one mesh on a rock surface, or at least one planned position of at least one fastener for fastening at least one mesh to the rock surface; means for obtaining a planned surface model of the rock surface; means for obtaining an actual surface model of the rock surface; means for detecting discrepancies between the planned surface model and the actual surface model; means for updating the mesh plan based on the detected discrepancies; and means for controlling mesh placement based on the updated mesh plan.

[0008] According to a fifth aspect, a computer program is disclosed. The computer program may include instructions, which, when executed by the apparatus, cause the apparatus to obtain a mesh plan showing at least one of at least one planned position of at least one mesh for setting at least one mesh on a rock surface, or at least one planned position of at least one fastener for fastening at least one mesh to the rock surface; to obtain a planned surface model of the rock surface; to obtain an actual surface model of the rock surface; to detect discrepancies between the planned surface model and the actual surface model; to update the mesh plan based on the detected discrepancies; and to control mesh installation based on the updated mesh plan.

[0009] Exemplary embodiments of the above-described aspects are described in the claims, specification, and / or drawings. According to some aspects, the subject matter of the independent claims is provided. Some further aspects are defined in the dependent claims. Many of the accompanying features will be more readily understood by referring to the following description, which is considered in relation to the accompanying drawings.

[0010] The accompanying drawings, included to provide a further understanding of exemplary embodiments and to constitute part of this specification, illustrate exemplary embodiments and are helpful in illustrating them together with the description. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows an example of a mesh installation rig. [Figure 2] This figure shows an example of a mesh installation rig that is communicatively coupled to a remote mesh control device. [Figure 3] This figure shows an example of a data structure for a mesh plan. [Figure 4] This figure shows an example flowchart for controlling mesh installation. [Figure 5] This figure shows examples of planned surface models and actual surface models. [Figure 6] This figure shows an example of projecting the curves of the planned surface model and the actual surface model onto a planar projection of the rock surface. [Figure 7] This figure shows an example of adjusting the mesh position. [Figure 8] This figure shows an example of adjusting the position of a fastener. [Figure 9] This figure shows an example of a device configured to carry out one or more exemplary embodiments. [Figure 10] This figure shows an example of a method for controlling mesh placement. [Modes for carrying out the invention]

[0012] Like reference numerals are used to indicate like parts in the accompanying drawings.

[0013] Here, embodiments are referred to, examples of which are shown in the accompanying drawings. The description provided below in connection with the accompanying drawings is intended as a description of the examples and is not intended to represent the only form in which the examples may be constructed or utilized. The description explains the functions of the examples and a series of steps for constructing and operating the examples. However, the same or equivalent functions and sequences may be achieved by different examples.

[0014] A specific surface profile of a rock surface (e.g., a tunnel) can be planned, but after blasting, the profile can include combinations of different levels below and above the breakage. For example, a tunnel wall can include chunks and bumps that make it difficult to install a mesh. Exemplary embodiments of the present disclosure make it possible to mitigate this problem by identifying a mismatch between the planned surface profile and the true surface profile, or a mesh error. The mesh plan can then be adapted by recalculating the mesh positions within the mesh plan, recalculating the fastener positions (e.g., the bolting plan), and further omitting the installation or bolting of a part of the mesh on the rock surface until excavation or blasting (e.g., in the case of during excavation). Further, based on the actual realization of the mesh, information indicating adjustments to the mesh positions and bolt positions can be stored. By comparing the planned profile of the rock surface with the true profile, it becomes possible to address unplanned bumps and chunks in the true profile, and improve the safety of mesh installation. Also, errors or adjustments during the installation of the mesh can be more easily corrected or monitored.

[0015] FIG. 1 shows an example of a mesh installation rig. Although the mesh installation rig 100 is shown as an underground mesh installation rig, the exemplary embodiments of the present disclosure can also be applied to other types of mesh installation machines, such as rigs configured to install meshes in rock cutting along roads or railways.

[0016] The mesh installation rig 100 may be an automatic mesh installation rig, 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 automatic mesh installation rig, may be configured to, for example, receive tasks to be performed, perceive the environment of the automated mining vehicle, and autonomously execute the tasks while taking the environment into consideration. An automated mining vehicle operating in an automatic mode may be configured to operate independently, but may also be under external control in certain operating areas or conditions, such as during emergencies. However, the exemplary embodiments can also be applied to non-autonomous or semi-autonomous mining vehicles, such as remotely controlled mining vehicles.

[0017] In the example of FIG. 1, the x-axis represents the forward direction of the mesh installation rig 100. The y-axis represents the other horizontal direction, in this example, towards the left from the mesh installation rig 100. The z-axis represents the vertical direction, in this example, towards the roof of the tunnel. 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 devices 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 remotely or locally in the mesh installation rig 100. Two booms 120-1, 120-2 are shown in FIG. 1, but the mesh installation rig 100 may generally include one or more (e.g., 2, 3, 4,...) booms 120. The boom 120-1 may be referred to as the first boom. The boom 120-2 may be referred to as the second boom.

[0018] A gripper 124 may be connected to the tip of boom 120-1. The gripper 124 may be configured to grip and hold the mesh 101, for example, to enable boom 120-1 to position the mesh 101 on the rock surface 140. The rock surface 140 may include at least some of the tunnel roof and / or tunnel walls. A bolt driver 126 may be connected to the tip of boom 120-2. The bolt driver 126 may be configured to fasten the mesh 101 to the rock surface 140. Bolt fastening is provided as an example of fastening the mesh 101 to the rock surface 140, but other fastening or mounting means such as riveting may also be used. Bolts and rivets are examples of suitable fasteners for fastening the mesh 101 to the rock surface 140.

[0019] The mesh installation rig 100 may include at least one sensor 112 for scanning the environment of the mesh installation rig 100, for example, the rock surface 140 and / or any mesh already installed 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 the geometric shape of the rock surface 140, or to detect specific features of the mesh, such as the edges or corners of the mesh. Scanning the rock surface 140 may include scanning with the sensor 112 such that its detection direction is toward the rock surface 140. Alternatively or additionally, the mesh installation rig 100 may be configured to scan the rock surface 140 with a device configured to physically explore the rock surface 140. Such devices (e.g., probes) can be connected to the boom of the mesh installation rig 100.

[0020] Using a camera, depth information of an object, such as a rock surface 140 or a mesh 101, can be extracted 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 may be configured to determine the distance between the camera and the object 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 an object by targeting the object with a laser and measuring the time it takes for the reflected light to return to the receiver of the lidar sensor. A radar sensor may be configured to determine the distance to different points on an object by transmitting electromagnetic energy toward an object and observing the echo returned from the object.

[0021] Based on the scan, the mesh installation rig 100 can acquire point cloud data representing the scanned environment. The point cloud data may include a three-dimensional (3D) model of at least certain features, such as the rock surface 140, the detected mesh, or the edges of the mesh. Thus, the mesh installation rig 100 can be configured to acquire a real surface model of the rock surface 140. The position of the mesh, or specific points such as the corners or edges of the mesh, can also be determined based on the scan data. Thus, the position of the mesh may be fixed to or known in relation to the coordinate system or frame of the mesh installation rig 100 (e.g., coordinate frame F). リグ The coordinate system of the mesh installation rig 100 may be stationary relative to the mesh installation rig 100. The mesh controller 114 provides feedback on the actual position of the mesh installed on the rock surface 140, for example, by using the detected mesh position (e.g., coordinate frame F). トンネル )It may be configured to map to a coordinate system stationary with respect to the rock surface 140.

[0022] The mesh installation rig 100 may include a mesh controller (MC) 114. The mesh controller 114 may be provided, for example, as a software application residing in memory and executable by a processor. An example of a suitable device for implementing the mesh controller 114 is shown in Figure 9. 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 about a planned surface model of the rock surface 140, such as digital mesh plans, tunnel lines, point clouds, or mesh displays of tunnel lines or profiles, mine map point clouds, etc. The planned surface model may include, for example, an intended profile of the rock surface, such as a tunnel. The planned surface model may be generated, for example, using a tunnel planning tool under the supervision of a human operator. The planned surface model may be provided in a coordinate system stationary to the rock surface 140 (e.g., F トンネル ).

[0023] Digital mesh planning, also known as mesh planning, may include planned mesh locations and optionally planned fastener locations for fastening the mesh. Mesh locations may include the locations of the mesh on the rock surface 140, for example, the corners, edges, or center of mass of the mesh. Fastener locations may include the locations of fasteners or fastening means (e.g., bolts or rivets) configured to fasten the mesh to the rock surface 140. Planned fastener locations may include the planned locations of fasteners on the rock surface 140. The mesh controller 114 may be configured to control the installation of the mesh 101 based on the planned locations of the mesh 101 and / or the planned fastener locations of the mesh 101. The planned locations of the mesh 101 and / or associated fastener locations may be provided relative to a coordinate system stationary with respect to the rock surface 140. The mesh controller 114 controls the mesh installation rig 100(F) based on the current position of the mesh installation rig in a coordinate system stationary with respect to the rock surface 140. リグ It may be configured to transform the position to the coordinate system of ).

[0024] The mesh controller 114 may control the navigation of the mesh installation rig 100, or include a navigation application configured to be controlled by a human operator, for example, to move the mesh installation rig 100 to a desired position (installation position) for installing the mesh on the rock surface 140 at its planned position, and / or to determine the planned mesh position or planned fastener position of the digital mesh plan relative to the current position of the mesh installation rig 100. The position of the mesh installation rig 100 may be called the navigation position. Thus, the installation position may be the navigation position planned or determined for the mesh installation rig 100 to install the mesh on the rock surface 140. The mesh controller 114 may, for example, move the position of the planned surface model of the rock surface 140 to the mesh installation rig 100 (F リグ It can be configured to map to the coordinate system of ).

[0025] 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 installation rig 100 (e.g., a 3D model of the boom 120, gripper 124, or bolt driver 126), and / or a kinematic model of the mesh installation rig 100. The 3D models of the components of the mesh installation rig 100 may include, for example, 3D geometric data of the components obtained from a computer-aided design (CAD) model of each physical component. The digital mesh plan may be provided as part of the drilling plan. The drilling plan may include, for example, planned drilling locations on the rock surface 140 for bolting the rock surface 140 (with or without mesh) to reinforce the rock surface 140.

[0026] The kinematic model of the mesh installation rig 100 or its components may include a mathematical description of at least a portion of the mesh installation rig 100. The kinematic model can describe the motion of the mesh installation rig 100 or its components without considering the forces causing the motion. The kinematic model can be used, for example, to estimate or simulate the position of the mesh installation rig 100 or its components based on measurement data from one or more sensors associated with the mesh installation rig 100, or the movement of the mesh installation rig 100 caused or induced by a given control input. The kinematic model of the mesh installation rig 100 may include at least the dimensions of the mesh installation rig 100 and / or the reach of the mesh installation rig 100, such as the travel range of at least one boom 120 of the mesh installation rig 100. The kinematic model may include information about the dimensions of the boom 120 or its components, such as the gripper 124 or bolt driver 126, the characteristics of the joints 122 (e.g., their degrees of freedom), and constraints between the movable parts of the mesh installation rig 100. Therefore, the kinematic model can enable modeling the movement of the components of the mesh installation rig 100, for example, to determine possible positions for installing the mesh 101 from a specific installation location, or to predict / prevent collisions between the components of the mesh installation rig, the mesh 101, and / or the rock surface 140. The kinematic model can also enable determining the maximum distance reachable by the gripper 124 or bolt driver 126. 3D models of the components can be provided as point cloud data representing the surface of the components. The point cloud data may include, for example, multiple data points representing the distance between the mesh installation rig 100 and its components or other objects in the environment of the mesh installation rig 100 at a specific time instance. Individual points included in the point cloud may be in a specific coordinate system (e.g., F リグ It may also be presented by x, y coordinates, or x, y, z coordinates.

[0027] The mesh installation rig 100 can be controlled by a remote mesh control device 200, which may be located outside the mesh installation rig 100, as shown in Figure 2. The remote mesh control device 200 may be, for example, a server located away from the mesh installation rig 100, for example, outside the tunnel. The functionality of the mesh controller 114 may be provided to the mesh installation rig 100, the remote mesh control device 200, or distributed between the mesh installation rig 100 and the remote mesh control device 200. Information can be exchanged between the remote mesh control device 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 9.

[0028] The mesh controller 114 may be configured to determine and / or maintain a digital mesh plan. A three-dimensional and kinematic model of the mesh installation rig 100, or a planned surface model, can be stored in the mesh controller 114, for example, based on a pre-configuration of the model in the mesh controller 114. Alternatively, the mesh controller 114 may be configured to receive one or more models from the mesh installation rig 100 or a data management server. Thus, exemplary embodiments of this disclosure can be implemented locally in the mesh installation rig 100 and / or the remote mesh control device 200.

[0029] Figure 3 shows an example of a data structure for a digital mesh plan. The data structure for a digital mesh plan may include a computer-implemented data structure embodied on a computer-readable medium for controlling the placement of the mesh. The data structure may be provided on memory, such as a computer-readable storage medium, and examples include, but are not limited to, a movable storage device (e.g., a universal serial bus stick, a compact disk, etc.). Further examples of suitable types of memory for storing a digital mesh plan are described with reference to at least one memory 904 in Figure 9.

[0030] A data structure digital mesh plan may include a digital mesh plan. A data structure digital mesh plan may be associated with one or more other data structures, such as a data structure mesh containing information related to a single mesh (e.g., a single mesh). A data structure may also be called an object, data object, or information object. Cardinality between data structures or attributes is represented by the values ​​"0", "1", or "*". For example, a data structure digital mesh plan may be associated with one or more ("1...*") data structure meshes that contain or may be associated with one attribute plan mesh location. A data structure mesh may contain or be associated with zero or more ("0...*") attribute plan fastener locations.

[0031] A data structure digital mesh plan may include or be associated with one or more (sub)data structure meshes. A data structure mesh may include or be associated with one or more attributes related to a single mesh. For example, a data structure mesh may include or be associated with attribute-planned mesh locations, which may be configured to indicate the planned location of the mesh on the rock surface 140 for the mesh installation rig 100 to install the mesh on the rock surface 140. The planned location of the mesh may be, for example, the coordinate frame (F) of the tunnel. トンネルThe mesh planning locations may be configured to be shown relative to a coordinate frame stationary to the rock surface 140, such as ). The mesh planning locations may include planning locations for at least a portion of the mesh on the rock surface 140 (e.g., edges or corners). For example, planning locations for two corners of the mesh may be provided to indicate the mesh planning locations. Alternatively, to indicate the mesh planning locations, the planning location for a single point of the mesh (e.g., a corner) may be provided along with the planned orientation of the mesh. An instance of a data structure mesh may include or be associated with one attribute planning mesh location. However, the attribute planning mesh locations may include one or more locations corresponding to different parts of the mesh.

[0032] The data structure mesh may include or be associated with zero or more ("0...*") attribute plan fastener locations, which may be configured to indicate plan fastener locations for setting the associated mesh on the rock surface 140. The plan fastener locations are in a coordinate frame (e.g., F) stationary with respect to the rock surface 140. トンネル ), for example, it may be configured to be shown relative to the same coordinate frame used to indicate the planned location of the associated mesh.

[0033] The planned mesh positions or planned fastener positions may be provided as three-dimensional (3D) positions, which can directly indicate the relevant positions in a coordinate frame stationary to the rock surface 140. Alternatively, the planned positions may be indicated, for example, as two-dimensional (2D) positions on a 2D projection of the rock surface 140, or as 2D positions on a reference plane onto which the positions are projected onto the rock surface 140.

[0034] An instance of a data structure mesh can be identified by a mesh identifier, which in this example is represented by an attribute mesh ID. One mesh may be associated with one mesh identifier (1...1). A mesh identifier may include one or more of the following: a mesh serial number, a type identifier (e.g., a type number), or a part number. Thus, a mesh identifier can identify individual meshes and / or types of meshes. A mesh identifier may be associated with a planned location on the rock surface 140 (e.g., by an attribute planned mesh location). A type identifier may be configured to indicate one or more of the following: the shape of the mesh (e.g., square or diamond), the size of the mesh, meshes with equal mesh sizes, meshes with different mesh sizes having a specific pattern, the material of the mesh (e.g., hot-dip galvanized mesh, stainless steel mesh, ferrite mesh), or the size of the mesh (e.g., 2270mm × 2530mm).

[0035] The data structure digital mesh plan may include or be associated with zero or more (0...*) data structure slots that can represent slots (e.g., areas of the rock surface 140) for installing meshes on the rock surface 140. Slots may be identified by slot identifiers (e.g., by attribute slot id). The data structure slots may include or be associated with zero or more (0...*) data structure slots. The data structure slots may include or be associated with other properties, such as the location of the slot on the rock surface 140, or the location of the mesh to be installed in the slot. For example, attribute planned mesh locations and / or planned mounting locations may be associated with a slot (e.g., a data structure slot having a specific slot id). Alternatively or additionally, the slot attributes may be configured to indicate areas of the rock surface 140 for installing the associated mesh. This can be added to or replaced by similar attributes associated with a specific mesh (e.g., a data structure mesh having a specific mesh id). Thus, the planned location of a mesh or its fastening location can be indicated by the slot attributes. The mesh controller 114 may be configured to map a specific mesh to a specific slot. Therefore, the mesh controller 114 may be configured to create an association between the slots and the mesh, as shown by the dashed lines.

[0036] The data structure mesh may include or be associated with attribute actual mesh locations and / or actual mounting locations (not shown). This may be the case, for example, when a data structure slot includes or is associated with attribute planned mesh locations and / or planned mounting locations. The mesh controller 114 may be configured to assign actual_mesh_position and / or actual_mounting_position values ​​based on the actual location of the mesh and / or its actual fastener locations, for example, after the mesh has been installed on the rock surface 140. A specific hierarchy of data structures and attributes is shown in Figure 3, but it will be understood that similar functionality and benefits may be provided by other types of structures in digital mesh planning.

[0037] Attributes of a particular data structure can include attributes relating to the properties of the object (e.g., digital or physical object) represented by that data structure. For example, attributes of a digital mesh plan (e.g., data structure digital mesh plan) can include attributes relating to the properties of the digital mesh plan. Attributes of a mesh (e.g., data structure mesh) can include attributes relating to the properties of the mesh. Attributes of a slot (e.g., data structure slot) can include attributes relating to the properties of the slot. Such attributes may be called (digital) mesh plan attributes, mesh attributes, or slot attributes, respectively.

[0038] Figure 4 shows an example flowchart for controlling mesh installation. Although the flowchart describes the operation as being performed by the mesh controller 114, they can generally be configured to be performed by devices such as the mesh installation rig 100, its control device, or the remote mesh control device 200.

[0039] In operation 401, the mesh controller 114 can be configured to obtain a mesh plan, for example, as an example of a data structure digital mesh plan. The mesh plan may be digital, represented, for example, as binary numbers (bits) or other digital values on a computer-readable memory. The mesh plan can indicate the planned positions of the mesh on the rock surface 140. The positions can be configured to install the mesh on the rock surface 140 by the mesh installation rig 100. The planned positions of the mesh are in the coordinate frame F トンネル , or may be configured to be indicated with respect to a coordinate frame generally stationary with respect to the rock surface 140. The mesh controller 114 may be configured to obtain information regarding the planned fastener positions of the mesh, for example, as part of the mesh plan.

[0040] The mesh controller 114 can be configured to obtain the mesh plan by receiving the mesh plan, for example, via an internal communication interface of the mesh installation rig 100 or from a device external to the mesh installation rig 100 (e.g., the remote mesh control device 200). Alternatively, the mesh controller 114 may be configured to obtain the mesh plan by obtaining the mesh plan from at least one memory of a device (e.g., a control device) including the mesh controller 114 or from at least one memory of the mesh installation rig 100. This enables remote and / or local configuration of the digital mesh plan, thereby providing a flexible solution for controlling mesh installation.

[0041] The mesh controller 114 can be configured to map the planned positions indicated in the mesh plan to the coordinate system of the mesh installation rig 100, for example, the coordinate frame F リグ , or generally to a coordinate frame stationary with respect to the mesh installation rig 100. The mesh installation rig 100, for example, during navigation in a tunnel, with respect to a coordinate frame stationary with respect to the rock surface 140 (e.g., F トンネルThe mesh controller 114 can be configured to monitor its position relative to the current position of the mesh installation rig 100 and the planned position shown in the mesh plan, and based on this, it can monitor its own coordinate frame (e.g., F リグ The mesh controller 114 can be configured to determine the planned position relative to the rock surface 140, both relative to a coordinate frame stationary with respect to the rock surface 140. This mapping can be performed for the planned position of the mesh and / or their planned mounting positions. Each mesh controller 114 may be configured to map the detected actual position of the mesh or fastener from its own coordinate frame to a coordinate frame stationary with respect to the rock surface 140.

[0042] In operation 402, the mesh controller 114 may be configured to acquire a planned surface model of the rock surface 140. The mesh controller 114 can be configured to determine the planned surface model from the mesh plan obtained in operation 401, receive the mesh plan, for example, via the internal communication interface of the mesh installation rig 100, or from an external device (e.g., a remote mesh control device 200) of the mesh installation rig 100, or retrieve the planned surface model from at least one memory of the device including the mesh controller 114 (e.g., a control device) or at least one memory of the mesh installation rig 100. The mesh controller 114 can be configured to map points of the planned surface model from a coordinate frame stationary to the rock surface 140 to the coordinate system of the mesh installation rig 100, similar to the mapping of planned positions in the mesh plan, as described above.

[0043] In operation 403, the mesh controller 114 may be configured to acquire a real surface model of the rock surface 140. The real surface model can correspond to the in-situ rock surface 140 observable by the mesh installation rig 100, for example, at a specific location on the mesh installation rig 100 in the tunnel before or during mesh installation. The real surface model can be based on scanning data of the rock surface 140. The mesh installation rig 100, or any other scanning device in general, can be configured to scan the rock surface 140, for example as described above, to acquire scanning data showing the geometric shape of the rock surface 140. The mesh controller 114 can be configured to perform the scan, for example, by commanding the mesh installation rig 100 to perform the scan. The mesh controller 114 may be configured to receive scanning data from the scanning device.

[0044] In operation 404, the mesh controller 114 may be configured to apply a smoothing filter, such as a Gaussian blur filter, to the scan data. The smoothing filter may be configured to function as a low-pass filter that smooths the geometric variations of the surface model to a desired degree. This allows for the simulation of how the mesh will deform when it is placed on the rock surface 140. For example, very sharp variations in the actual rock surface can be ignored when determining whether discrepancies between the planned surface model and the actual surface model should be considered in the mesh. However, it should be noted that the exemplary embodiment may be applied to the raw scan data instead, or the smoothing filter may be applied to the scan data before the mesh controller 114 receives the scan data at a scanning device, such as a sensor 112.

[0045] In operation 405, the mesh controller 114 may be configured to detect discrepancies between the planned surface model and the actual surface model of the rock surface 140. The mesh controller 114 may be configured to detect discrepancies, for example, based on the difference in the lengths of the respective curves on the planned surface model and the actual surface model, and / or based on the distance between the respective curves on the planned surface model and the actual surface model. Examples of these two methods are shown in Figure 5, where the planned surface model 501 is shown by a dashed line and the actual surface model 502 is shown by a solid line. In this example, the planned surface model and the actual surface model are represented by two-dimensional tunnel profiles on the yz plane at specific locations along the x-axis. However, it should be noted that the planned surface model 501 and the actual surface model 502 can also include 3D surfaces that extend in the direction of the x-axis. Enlargements of the circled portions of the planned surface model and the actual surface models 501, 502 are also shown. These portions can correspond to the planned locations of one or more meshes or one or more slots in the mesh plan. The mesh controller 114 may be configured to update the mesh plan based on detected mismatches, as further described with reference to operations 407, 408, 410, and 411, for example.

[0046] The mesh controller 114 has a length (l 計画 ,l 実際The mesh controller 114 may be configured to detect discrepancies between the planned surface model 501 and the actual surface model 502 based on comparing the results with a first threshold. The mesh controller 114 may be configured to detect discrepancies (e.g., determining that there are discrepancies that should be considered in the mesh installation) in response to a determination that the difference in the lengths of the respective curves on the planned surface model 501 and the actual surface model 502 exceeds the first threshold. The mesh controller 114 may be configured to calculate the length of each curve based on the geometric shapes of the planned surface model and the actual surface models 501, 502 at, for example, the target location of the mesh 101 or slot. Each curve can correspond to a curve between two points on each surface model, in which case the curves substantially overlap when viewed perpendicular to the rock surface 140 or the planned surface model 501 or the actual surface model 502. In other words, as further explained with reference to Figure 6, the projection of each curve onto a planar projection of the rock surface can result in substantially identical lines. In this context, the term “substantially” may be understood as substantially overlapping or identical lines that allow for a significant comparison between the profiles of the planned surface model 501 and the actual surface model 502, in order to determine whether discrepancies between the planned surface model 501 and the actual surface model 502 should be taken into account when creating a mesh on the rock surface 140. Examples of each curve are two-dimensional representations of the planned and actual surface models 501, 502 in the yz plane, as shown in Figure 5.

[0047] Alternatively or additionally, the mesh controller 114 may be configured to detect discrepancies based on the distance between each curve on the planned surface model 501 and each curve on the actual surface model 502. The mesh controller 114 may be configured to detect discrepancies (e.g., determine that there are discrepancies that should be considered in the mesh) in response to a determination that the distance (d) between the curves on the planned surface model 501 and the curves on the actual surface model 502 exceeds a second threshold, for example, at any position on the curve. The mesh controller 114 may be configured to calculate the distance between each curve based on the geometric shapes of the planned surface model 501 and the actual surface model 502 at target locations of the mesh 101 or associated slots, for example.

[0048] The mesh controller 114 may be configured to detect discrepancies based on conditions relating to the length of each curve or their distance (e.g., a first threshold or a second threshold), or in response to a determination that both conditions are met. In either case, applying a smoothing filter has the advantage of avoiding false alarms for detecting discrepancies. For example, detecting discrepancies caused by very steep depressions in the rock surface 140 can be avoided because the mesh simply bridges the steep depressions without requiring any changes to the mesh.

[0049] Figure 6 shows an example of the projection of the curves of the planned surface model and the actual surface model onto a planar projection of the rock surface. The planar projection 601 of the rock surface 140 may include a plane onto which points on the rock surface 140 are projected. For example, considering the roof of a tunnel (horizontal plane), the planar projection of the rock surface 140 may be the xy plane at a specific position on the z axis. Considering the wall of a tunnel (vertical plane), the planar projection of the rock surface 140 may be the xz plane at a certain position on the y axis. Considering non-horizontal and non-vertical portions of the rock surface, the planar projection may be a plane having a constant inclination from the xy plane around the x axis and a constant position along the z axis. Using such artificial projection planes, the curves of the planned surface model and the actual surface models 501, 502 can be characterized. Considering the example in Figure 6, the (perpendicular) projection (p) of the curves of the planned surface model 501 and the actual surface model 502 onto the planar projection 601 of the rock surface 140. 計画 , p 実際 This results in the same (straight) line 602. This ensures that the lengths of these curves or the distance between them can be significantly compared in order to detect discrepancies between the planned surface model and the actual surface model. Depending on the geometric shapes of the planned surface model 501 and / or the actual surface model 502, each curve can provide the shortest path between the two respective points in each plane. In the simplified example of Figure 6, the starting points of each curve coincide in the planar projection 601, but this is not required.

[0050] It should be noted that when determining whether there is a discrepancy, the mesh controller 114 may be configured to perform the above evaluation on one or more curves of the planned surface model 501 and the actual surface model 502 to cover, for example, a surface area that should be covered by one or more meshes or, for example, one or more slots of the mesh plan. For example, the mesh controller 114 may be configured to determine that there is a discrepancy if a condition (e.g., a first or second threshold) is met for at least one pair of curves on the planned surface model 501 and the actual surface model 502. Thus, the mesh controller 114 may be configured to detect a discrepancy in response to a determination that the difference in lengths of at least one pair of each curve among multiple pairs of curves on the planned surface model 501 and the actual surface model 502 exceeds a first threshold. Alternatively or additionally, the mesh controller 114 may be configured to detect a discrepancy in response to a determination that the distance between at least one pair of each curve among multiple pairs of curves on the planned surface model 501 and the actual surface model 502 exceeds a second threshold. However, it is understood that various other conditions can be formulated when using multiple pairs of curves, for example, the average difference in their lengths or their average distance. In general, the mesh controller 114 may be configured to detect discrepancies based on multiple pairs of curves on the planned surface model 501 and the actual surface model 502.

[0051] Referring back to Figure 4, in operation 406, the mesh controller 114 may be configured to determine whether the detected mismatch exceeds a further threshold (e.g., a third or fourth threshold). This allows the mesh controller 114 to decide whether to adjust the mesh position or fastener position to address the mismatch, or not to place the mesh at the planned location. The mesh controller 114 may be configured to proceed to operation 407 in response to determining that the mismatch does not exceed a further threshold. The mesh controller 114 may be configured to proceed to operation 410 in response to determining that the mismatch does not exceed a further threshold.

[0052] In operation 407, the mesh controller 114 may be configured to adjust the mesh position or fastener position based on the detected mismatch. The mesh controller 114 may be configured to adjust the planned position of the mesh 101 so that the edge of the mesh 101 substantially coincides with a recess in the rock surface 140. An example of this is shown in Figure 7. If the mesh 101 was initially placed at the planned position 701, the mesh 101 may crack when placed in a recess in the rock surface 140 as reflected in the actual surface model 502, as shown on the left. The planned mesh position 701 may be adjusted to the left so that the edge of the mesh 101 substantially coincides with the recess, as shown on the right. This has the advantage of allowing the mesh 101 to be placed on the rock surface 140 without bending the mesh 101 at the bottom of the recess, thereby reducing the risk of breakage. The mesh controller 114 may be configured to determine the position of the recess based on the geometric shape of the actual surface model 502. Substantially matching can correspond to aligning the edge of the mesh 101 with the recess so that bending at the bottom of the recess is avoided or at least reduced to the extent that damage to the mesh 101 can be avoided.

[0053] Alternatively, or in addition to this, the mesh controller 114 may be configured to adjust the planned positions of adjacent meshes shown in the mesh plan so that the edges of mesh 101 overlap with adjacent meshes. This has the advantage of allowing a desired area of ​​the rock surface 140 to be covered by the mesh. The mesh controller 114 may be configured to determine the position of adjacent meshes or their edges based on scanning data received from sensor 112, for example, by a computer vision algorithm configured to be performed on visual data received from a camera.

[0054] Alternatively, or additionally, the mesh controller 114 may be configured to adjust the planned fastener position away from recesses in the rock surface 140, for example, so that the fastener does not coincide with a recess in the rock surface 140. An example of this is shown in Figure 8. As shown on the right, the planned fastener position (p 計画 ) Adjust to the left and / or right (p 調整 ) may be done. This offers the advantage that the mesh 101 can be installed on the rock surface 140 without causing excessive bending, or in some cases breakage, at the location of the recess. For example, this allows the mesh 101 to be installed so as to bridge the recess and fasten to the rock surface 140 on both sides of the recess. Adjusting the fastener positions may include increasing or decreasing the number of fastener positions.

[0055] The mesh controller 114 may be configured to adjust the planned position of the mesh 101 based on the difference in the lengths of the respective curves on the planned surface model and the actual surface models 501, 502. For example, the mesh controller 114 may be configured to adjust the planned position of the mesh 101 (e.g., its center position) such that one edge of the mesh 101 maintains its original planned position and the other edge is shifted. The mesh controller 114 may be further configured to adjust the position of adjacent meshes so that they overlap with the shifted edge of the mesh 101. This has the advantage of taking into account the discrepancy between the planned surface model 501 and the actual surface model 502 and allowing control over the placement of the mesh so that a desired area of ​​the rock surface 140 is completely covered by the mesh without any gaps.

[0056] In operation 408, the mesh controller 114 may be configured to update the mesh plan with the adjusted mesh locations and / or fastener locations. For example, the mesh controller 114 may be configured to change the attribute planned mesh location or planned fastener location value of the data structure mesh corresponding to mesh 101. This has the advantage of maintaining up-to-date information on the current state of the mesh plan, as well as the placement of the mesh at the adjusted locations and / or adjusted fastener locations. However, updating the mesh plan can generally include any operation configured to record information about the adjusted mesh locations or fastener locations, regardless of whether such updates are recorded in the original mesh plan. For example, such updated location information can be stored separately from the original data structure digital mesh plan.

[0057] In operation 409, the mesh controller 114 may be configured to control mesh placement based on the updated mesh plan. For example, the mesh controller 114 may be configured to control mesh placement on the rock surface 140 based on the planned mesh positions obtained based on the digital mesh plan and / or adjusted by the mesh controller 114. The mesh controller 114 may also be configured to control mesh fastening to the rock surface 140 based on the planned fastener positions, for example, as shown in the digital mesh plan and / or adjusted by the mesh controller 114.

[0058] Controlling the installation of the mesh may include controlling the positioning of the mesh 101 for installation on the rock surface 140. For example, the mesh controller 114 may be configured to control the movement of at least one boom, for example, boom 120-1 with a gripper 124, to position the mesh 101 for installation on the rock surface 140. The mesh controller 114 may be configured to determine the position of the mesh 101 based on an updated digital mesh plan, or generally adjusted mesh positions and / or adjusted fastener positions.

[0059] Controlling the installation of the mesh may include controlling the fastening of the mesh 101 to the rock surface 140. Controlling the fastening of the mesh 101 may include instructing the mesh installation rig 100 to fasten the mesh 101 to the rock surface 140 with fasteners. Controlling the fastening of the mesh 101 may include determining the sequence of fastener positions or the fastening speed (e.g., bolts / min). Controlling the fastening of the mesh 101 may include instructing the mesh installation rig 100 to fasten the mesh 101 to the rock surface 140 according to the determined sequence of fastener positions or fastening speed. Controlling the fastening of the mesh 101 may include controlling the movement of at least one boom, for example, boom 120-2 equipped with a bolt driver 126, to attach the mesh 101 to the rock surface 140.

[0060] Therefore, controlling the installation of the mesh may include controlling the movement of at least one boom, e.g., booms 120-1, 120-2 and their respective tools, to position the mesh 101 on the rock surface 140 and fasten the mesh 101 to the rock surface 140 in this position. Controlling the installation of the mesh may include providing control commands to cause desired movements of the booms and tools, for example, to the kinematic controller of the mesh installation rig 100. Controlling the installation of the mesh may further include controlling collision avoidance, for example, when moving the mesh 101 together with boom 120-1 and gripper 124, or when moving the bolt driver 126 to attach the mesh 101. The mesh controller 114, or the mesh installation rig 100, may be configured to perform collision avoidance to avoid collisions between components of the mesh installation rig 100 (e.g., booms 120-1, 120-2, gripper 124, bolt driver 126, or movable carrier 110), the mesh 101, or the rock surface 140. Collision avoidance can be based on the kinematic model of the mesh installation rig 100. When the procedure shown in Figure 4 is performed by the mesh installation rig 100, the mesh installation rig 100 can perform mesh installation.

[0061] The mesh controller 114 may be configured to detect errors related to the placement of mesh 101 in response to the detection that mesh 602 does not overlap with an adjacent mesh, following the placement of mesh 101 on the rock surface 140. The mesh controller 114 may be configured to update the mesh plan, for example, by configuring the placement of additional mesh between mesh 101 and the adjacent mesh in areas where mesh 101 does not overlap with an adjacent mesh when viewed perpendicular to the rock surface 140. This has the advantage of allowing the desired area of ​​the rock surface 140 to be covered regardless of positioning errors that occur during mesh placement.

[0062] The mesh controller 114 may be configured to return to executing operation 403 or 405 depending on whether the area to be covered by the next mesh (e.g., the next slot) is included in the actual surface model 502 obtained in operation 403. The mesh controller 114 may be configured to move to operation 405 if the area is already included in the actual surface model 502. The mesh controller 114 may then be configured to determine whether there is a discrepancy between the planned surface model 501 and the actual surface model 502 in the area of ​​the rock surface 140 that will be covered by the next mesh. If the area to be covered by the next mesh is not included in the actual surface model 502, the mesh controller 114 may be configured to move to executing operation 403 to obtain the actual surface model of the area that will be covered by the next mesh.

[0063] In operation 410, the mesh controller 114 may decide not to place the mesh 101 at the planned location in response to a determination that the mismatch exceeds a further threshold (see operation 406). For example, the mesh controller 114 may be configured to decide not to place the mesh 101 at the planned location in response to a determination that the difference in the lengths of the respective curves on the planned surface model 501 and the actual surface model 502 exceeds a third threshold. The third threshold may be higher than a first threshold that may be used in operation 405 to detect the presence of a mismatch based on the lengths of the respective curves. Alternatively or additionally, the mesh controller 114 may be configured to decide not to place the mesh 101 at the planned location in response to a determination that the distance between the curves on the planned surface model 501 and the curves on the actual surface model 502 exceeds a fourth threshold. The fourth threshold may be higher than a second threshold, the second threshold which may be used in operation 405 to detect the presence of a mismatch based on the distance between the respective curves. Thresholds may be applied to multiple pairs of each curve, as described with reference to operation 405. Operation 410 offers the advantage of avoiding the placement of the mesh 101 in a location where the rock surface 140 is too coarse for successful mesh placement. Any of the thresholds may be pre-configured in the mesh controller 114, or may be received by the mesh controller 114 from an external device (e.g., a remote mesh control device 200), for example, via the internal communication interface of the mesh placement rig 100. The thresholds may be received, for example, as part of the mesh plan. The thresholds can be associated with a particular mesh, for example, by mesh_id or mesh type. This offers the advantage of allowing the mesh plan to be adapted based on the physical properties (e.g., strength) of a particular (type) of mesh. For example, a higher mismatch threshold can be applied to a relatively strong mesh, and a lower mismatch threshold can be applied to a relatively weak mesh.

[0064] In operation 411, the mesh controller 114 can be configured to update the mesh plan by configuring the mesh 101 not to be placed at its planned location. This has the advantage of allowing tracking of locations where the mesh cannot be placed without further action, such as further excavation.

[0065] In operation 412, the mesh controller 114 may be configured to output a request for further excavation of the rock surface 140 at the planned location of the mesh 101. The output may be provided, for example, by sending an excavation request message, for example, via the internal communication interface of the mesh installation rig 100, or to an external device (e.g., a remote mesh control device 200) of the mesh installation rig. The excavation request may include instructions for the planned location of the mesh that was determined not to be installed. This allows for further excavation to install the mesh 101 at a location where the rock surface 140 was initially too rough. The mesh controller 114 may be configured to move from the execution of operation 412 to the execution of operation 403 to obtain an updated real surface model of the rock surface 140 following the further excavation. After further excavation, there is a greater likelihood that the mesh 101 can be installed at the planned location after adjustments to the mesh position or fastener position in a subsequent execution of operation 407, if necessary.

[0066] While a specific sequence of operations is shown in Figure 4, it should be understood that the operations may be performed in any suitable order, and some operations may not be present in all exemplary embodiments. For example, the application of the smoothing filter (operation 404) and the output of the drilling request (operation 412) may be optional. Furthermore, the procedure in Figure 4 may be repeated for multiple meshes, or the individual operations may be performed for multiple meshes at once, for example, sequentially or in parallel.

[0067] The mesh controller 114 may be further configured to transmit feedback, for example, an indication of the actual position of the mesh installed on the rock surface 140 and / or the position of its fasteners. The mesh controller 114 may be configured to determine the actual position of the mesh 101 on the rock surface 140 after the mesh 101 has been installed. The mesh controller 114 may be configured to determine the actual position of the mesh 101 based on the actual fastener positions used to fasten the mesh 101 to the rock surface 140. The mesh controller 114 may be configured to determine the actual position or actual fastener positions of the mesh 101 based on the adjusted position determined in operation 407, or based on the monitoring position and / or orientation of the gripper 124 and / or installation tool (e.g., bolt driver 126) when installing the mesh 101 on the rock surface 140. Alternatively or additionally, the mesh controller 114 may be configured to control the scanning of the rock surface 140 by the sensor 112 to detect the mesh 101. The mesh controller 114 may be configured to determine the actual position of the mesh 101 based on the scanning data from the sensor 112. The mesh controller 114 may be configured to store the actual position and / or actual mounting position of the mesh 101 in a digital mesh plan (for example, the actual mesh position and / or actual mounting position associated with the data structure mesh as an attribute).

[0068] The mesh controller 114 can be configured to transmit instructions for the actual location of the mesh installed on the rock surface 140, for example, via the internal communication interface of the mesh installation rig 100, or to an external device (e.g., a remote mesh control device 200) of the mesh installation rig. The mesh controller 114 may also be configured to transmit feedback indications of other parameters related to mesh installation included in the digital mesh plan, such as indications of the actual fastener locations. The feedback may be provided as an updated instance of the mesh plan.

[0069] Figure 9 shows an example of a device configured to implement one or more exemplary embodiments. The device 900 may be, or include, a mesh control device such as, for example, a server communicatively coupled to the mesh installation rig 100, a mesh control device located in the mesh installation rig 100, a mesh controller 114, the mesh installation rig 100 itself, or any device or system generally configured to implement the functionality described herein. Although the device 900 is shown as a single device, it will be understood that, where applicable, the functionality of the device 900 may be distributed across multiple devices.

[0070] The apparatus 900 may include at least one processor 902. The at least one processor 902 may include one or more of various processing devices, such as a coprocessor, microprocessor, controller, digital signal processor (DSP), processing circuit with or without an associated DSP, or various other processing devices, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontroller units (MCUs), hardware accelerators, and dedicated computer chips.

[0071] The device 900 may further include at least one memory 904. At least one memory 904 may be configured to store, for example, computer program code, operating system software, and application software. At least one memory 904 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), a magneto-optical storage device, or a semiconductor memory (e.g., a mask ROM, a PROM (programmable ROM), an EPROM (erasable PROM), a flash ROM, a RAM (random access memory)). Memory 904 is provided as an example of a (non-temporary) computer-readable medium. As used herein, the term “non-temporary” refers to the limitations of the medium itself (i.e., being tangible rather than just a signal), as opposed to limitations on the persistence of data storage (e.g., RAM vs. ROM). At least one memory 904 may also be embodied separately from the device 900, for example, as a computer-readable (storage) medium, such as a memory stick or a compact disc (CD).

[0072] If the device 900 is configured to implement several functionalities, then some components of the device 900, such as at least one processor 902 and / or at least one memory 904, may be configured to implement these functionalities. Furthermore, if at least one processor 902 is configured to implement several functionalities, these functionalities may be implemented, for example, using program code 906 contained in at least one memory 904.

[0073] The functionalities 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 apparatus 900 includes a processor or processor circuit, such as a microcontroller, which, when executed, is configured by program code 906 to perform embodiments of the operation and functionality described herein. Program code 906 is provided as an example of instructions that, when executed by at least one processor 902, cause the apparatus 900 to operate.

[0074] For example, the mesh controller 114 may be implemented at least partially as program code configured to cause the device 900 to perform the functionality of the mesh controller 114. Similarly, the transmission or reception of data (e.g., sensor data, kinematic models, or digital mesh plans) via the internal or external communication interface of the mesh installation rig 100 can be controlled by software.

[0075] Alternatively or additionally, the functionalities described herein can be performed, at least in part, by one or more hardware logic components. For example, but not limited to, exemplary types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-chip systems (SOCs), composite programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing units (NPUs), tensor processing units (TPUs), and the like.

[0076] The device 900 may include a communication interface 908 configured to enable the device 900 to transmit and / or receive information. The communication interface 908 may include an internal or external communication interface, such as a wireless interface between the mesh installation rig 100 and the remote mesh control device 200, or an internal control bus within the mesh installation rig. The device 900 may further include other components and / or functions, such as a user interface (not shown) including at least one input device and / or at least one output device. The input device may take various forms, such as a keyboard, a touchscreen, or one or more embedded control buttons. The output device may include, for example, a display, a speaker, etc. The user interface may enable a human operator to monitor various functions and data, such as digital mesh planning.

[0077] Apparatus 900 may be configured to perform or cause the performance of any aspect of the method described herein. Furthermore, a computer program or computer program product, when executed by apparatus 900, may include instructions causing apparatus 900 to perform any aspect of the method described herein. Furthermore, apparatus 900 may include means for performing any aspect of the method described herein. In one example, the means includes at least one processor 902, and at least one memory 904 includes program code 906 (instructions), which, when executed by at least one processor 902, is configured to cause apparatus 900 to perform the method. Generally, computer program instructions may be executed on means that provide general processing functions. Such means may be incorporated into, for example, a computer, a server, etc. Thus, the method may be implemented in a computer, for example, as a base algorithm that can be executed by general processing functions, one example of which is at least one processor 902. The device 900 may include means for transmitting or receiving information, such as one or more wired or wireless transmitters or receivers, which may be coupled to one or more antennas or transmitters or receivers of a wired communication interface, or may be configured to be coupled to such antennas or receivers.

[0078] According to a first 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 containing computer program code, wherein the at least one memory and the computer program code are configured to use at least one processor to cause the device to acquire a mesh plan showing at least one of at least one planned mesh position for installing at least one mesh on a rock surface, or at least one planned fastener position for fastening at least one mesh to the rock surface, to acquire a planned surface model of the rock surface, to acquire an actual surface model of the rock surface, to detect discrepancies between the planned surface model and the actual surface model, to update the mesh plan based on the detected discrepancies, and / or to control the mesh installation based on the updated mesh plan.

[0079] According to an exemplary embodiment of the first aspect, the actual surface model is based on scanning data of a rock surface.

[0080] According to an exemplary embodiment of the first aspect, the computer program code is further configured to use at least one processor to cause the device to update the mesh plan by adjusting at least one of the planned positions of at least one mesh or at least one fastener based on the detected mismatch, and to control the placement of at least one mesh on the rock surface based on the adjusted position of at least one mesh or at least one fastener.

[0081] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to detect a discrepancy in response to a determination made by at least one processor that the difference in the lengths of the curves on the planned surface model and the actual surface model exceeds a first threshold.

[0082] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to detect a mismatch in response to a determination by at least one processor that the distance between each curve on the planned surface model and the scanned real surface model exceeds a second threshold.

[0083] According to an exemplary embodiment of the first aspect, the projection of each curve onto a planar projection of the rock surface includes substantially the same line.

[0084] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to update the mesh plan by using at least one processor to configure the device so that at least one mesh is not placed at the planned location of at least one mesh in response to the determination that the difference in length between a curve on the planned surface model and a curve on the actual surface model exceeds a third threshold, or in response to the determination that the distance between a curve on the planned surface model and a curve on the actual surface model exceeds a fourth threshold, wherein the third threshold is higher than the first threshold and the fourth threshold is higher than the second threshold.

[0085] According to an exemplary embodiment of the first aspect, the computer program code is further configured to use at least one processor to cause the device to output a request for further drilling of the rock surface at the planned locations of at least one mesh.

[0086] According to an exemplary embodiment of the first aspect, the computer program code is further configured to use at least one processor to cause the device to adjust the planned position of at least one mesh so that the edge of at least one mesh coincides with a recess in the rock surface, to adjust the planned position of at least one adjacent mesh shown in the mesh plan so that the edge of at least one mesh overlaps with at least one adjacent mesh, or to adjust the planned position of at least one fastener so that at least one fastener does not coincide with a recess in the rock surface.

[0087] According to an exemplary embodiment of the first aspect, the planned position of adjacent meshes is configured to be adjusted based on the difference in the lengths of the respective curves on the planned surface model and the actual surface model.

[0088] According to an exemplary embodiment of the first aspect, the computer program code is further configured to use at least one processor to cause the device to detect an error related to the placement of at least one mesh in response to the detection that at least one mesh does not overlap with at least one adjacent mesh, following the placement of at least one mesh on the rock surface, and to update the mesh plan by configuring at least one additional mesh to be placed between the at least one mesh and at least one adjacent mesh.

[0089] According to an exemplary embodiment of the first aspect, the computer program code is further configured to use at least one processor to cause the device to apply a smoothing filter to the scan data in order to acquire a real surface model.

[0090] According to an exemplary embodiment of the first aspect, the computer program code is further configured to use at least one processor to cause the apparatus to acquire scanning data from at least one of the following: a camera, a wireless detection and ranging sensor, a light detection and ranging sensor laser, or a device configured to physically probe a rock surface.

[0091] According to a second aspect, a mesh installation rig is disclosed. The mesh installation rig may include a device according to any exemplary embodiment of the first aspect.

[0092] Figure 10 shows an example of a method for controlling mesh installation according to a third aspect of the present disclosure. This method may include a method implemented on a computer, which is executed by a device 900 such as a mesh controller 114.

[0093] In 1001, the method may include obtaining a mesh plan that shows at least one of the following: at least one planned location for installing at least one mesh on a rock surface, or at least one planned location for fastening at least one mesh to the rock surface.

[0094] In 1002, the method may include obtaining a planned surface model of the rock surface.

[0095] In 1003, the method may include obtaining a real surface model of the rock surface.

[0096] In 1004, the method may include detecting discrepancies between the planned surface model and the actual surface model.

[0097] In step 1005, the method may include updating the mesh plan based on the detected discrepancies.

[0098] In 1006, the method may include controlling mesh placement based on an updated mesh plan.

[0099] This method may be executed, for example, by the mesh controller 114, the mesh installation rig 100, or the remote mesh control device 200, based on the program code 906, once the program code 906 is executed by the processor 902. Various examples of this method are described above with respect to the functions of the mesh controller 114, the mesh installation rig 100, and / or the remote mesh control device 200, in addition to the exemplary embodiments listed below. It should be understood that the exemplary embodiments described may be combined in different ways unless expressly prohibited.

[0100] According to an exemplary embodiment of the third aspect, the actual surface model is based on scan data of a rock surface.

[0101] According to an exemplary embodiment of the third aspect, the method includes updating the mesh plan by adjusting at least one of the planned positions of at least one mesh or at least one fastener based on detected discrepancies, and controlling the placement of at least one mesh on a rock surface based on the adjusted positions of at least one mesh or at least one fastener.

[0102] According to an exemplary embodiment of the third aspect, the method includes detecting a discrepancy in response to determining that the difference in the lengths of the curves on the planned surface model and the actual surface model exceeds a first threshold.

[0103] According to an exemplary embodiment of the third aspect, the method includes detecting a discrepancy in response to determining that the distance between each curve on the planned surface model and the scanned real surface model exceeds a second threshold.

[0104] According to an exemplary embodiment of the third aspect, the projection of each curve onto a planar projection of the rock surface includes substantially the same line.

[0105] According to an exemplary embodiment of the third aspect, the method includes updating the mesh plan by configuring at least one mesh not to be placed at the planned location of at least one mesh in response to the determination that the difference in length between a curve on the planned surface model and a curve on the actual surface model exceeds a third threshold, or in response to the determination that the distance between a curve on the planned surface model and a curve on the actual surface model exceeds a fourth threshold, wherein the third threshold is higher than the first threshold and the fourth threshold is higher than the second threshold.

[0106] According to an exemplary embodiment of the third aspect, the method includes outputting a request for further excavation of the rock surface at a planned location of at least one mesh.

[0107] According to an exemplary embodiment of the third aspect, the method includes adjusting the planned position of at least one mesh so that the edge of at least one mesh coincides with a recess in the rock surface, adjusting the planned position of at least one adjacent mesh shown in the mesh plan so that the edge of at least one mesh overlaps with at least one adjacent mesh, or adjusting the planned position of at least one fastener so that at least one fastener does not coincide with a recess in the rock surface.

[0108] According to an exemplary embodiment of the third aspect, the method includes adjusting the planned position of adjacent meshes based on the difference in the lengths of the respective curves on the planned surface model and the actual surface model.

[0109] According to an exemplary embodiment of the third aspect, the method includes detecting an error related to the placement of at least one mesh in response to detecting that at least one mesh does not overlap with at least one adjacent mesh, following the placement of at least one mesh on a rock surface, and updating the mesh plan by configuring at least one additional mesh to be placed between at least one mesh and at least one adjacent mesh.

[0110] According to an exemplary embodiment of the third aspect, the method includes applying a smoothing filter to scan data to obtain a real surface model.

[0111] According to an exemplary embodiment of the third aspect, the method includes acquiring scanning data from at least one of a camera, a wireless detection and ranging sensor, a light detection and ranging sensor laser, or a device configured to physically explore a rock surface.

[0112] According to an exemplary embodiment of the third aspect, the method can be carried out by a mesh installation rig.

[0113] According to a fourth aspect, the apparatus may include means for carrying out the method according to the third aspect or any exemplary embodiment thereof.

[0114] According to the fifth aspect, a computer program, a computer program product, or (non-temporary) computer-readable medium, when executed by a device, may include instructions causing the device to perform at least the method according to the third aspect or any exemplary embodiment thereof.

[0115] While the subject matter is described in language specific to structural features and / or behaviors, it should be understood that the subject matter as defined in the attached claims is not necessarily limited to the specific features or behaviors described above. Rather, the specific features and behaviors described above are disclosed as examples of implementing the claims, and other equivalent features and behaviors are intended to be within the scope of the claims.

[0116] It will be understood that the above advantages and merits may relate to one embodiment or to several embodiments. Embodiments are not limited to those that solve any or all of the problems described or that possess any or all of the advantages and merits described. It will be further understood that references to items may refer to one or more of those items.

[0117] The steps or operations of the methods described herein can be performed in any suitable order, or, where appropriate, simultaneously. Furthermore, individual blocks can be removed 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 can be combined with aspects of any of the other exemplary embodiments described to form further exemplary embodiments without losing the desired effect.

[0118] The term "including" is used herein to mean that the identified method, block, or element includes, but such block or element does not include an exclusive list, and the method or apparatus may include additional blocks or elements.

[0119] Where used herein, when two or more lists of elements are joined by "and" or "or", expressions such as "at least one of the following: <list of two or more elements>", "at least one of <list of two or more elements>", and similar expressions mean at least one of the elements, or at least two or more of the elements, or at least all of the elements. The term "or" may also be understood to include cases where both of the items separated by "or" are included. Thus, "or" may be understood as an inclusive "or" rather than an exclusive "or".

[0120] Objects may be referred to as the "first" object or the "second" object, but this does not necessarily indicate the order or importance of the objects. Instead, such attributes may be used solely for the purpose of creating differences between objects.

[0121] The above description is given only as an example, and it will be understood that various modifications can 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. Various embodiments are described above with some degree of specificity or by reference to one or more individual embodiments, but those skilled in the art can make many modifications to the disclosed embodiments without departing from the scope of this specification.

Claims

1. A device for controlling mesh installation, At least one processor, The device includes at least one memory containing computer program code, and the at least one memory and the computer program code are used by the at least one processor to provide at least the device. To obtain a mesh plan that shows at least one of the following: the planned position of the at least one mesh for installing the at least one mesh on the rock surface, or the planned position of the at least one fastener for fastening the at least one mesh to the rock surface. Obtain a planned surface model of the aforementioned rock surface, Obtain a real surface model of the aforementioned rock surface, To detect discrepancies between the planned surface model and the actual surface model, The mesh plan is updated based on the detected discrepancies. A device for controlling the installation of the mesh based on the updated mesh plan.

2. The apparatus according to claim 1, wherein the actual surface model is based on scanning data of the rock surface.

3. The computer program code, using the at least one processor, Based on the detected discrepancies, the mesh plan is updated by adjusting at least one of the planned positions of the at least one mesh or the planned positions of the at least one fastener. The apparatus according to claim 1 or 2, further configured to control the installation of the at least one mesh onto the rock surface based on the adjusted position of the at least one mesh or the at least one fastener.

4. The computer program code, using the at least one processor, The apparatus according to any one of claims 1 to 3, further configured to detect the discrepancy in response to a determination that the difference between the length of the curve on the planned surface model and the length of the curve on the actual surface model exceeds a first threshold.

5. The computer program code, using the at least one processor, The apparatus according to any one of claims 1 to 4, further configured to detect the discrepancy in response to a determination that the distance between the curve on the planned surface model and the curve on the actual surface model exceeds a second threshold.

6. The apparatus according to claim 4 or 5, wherein the projection of each of the curves onto the planar projection of the rock surface includes substantially the same line.

7. The computer program code, using the at least one processor, The apparatus according to any one of claims 4 to 6, further configured to update the mesh plan by configuring the apparatus so that at least one mesh is not placed at the planned position of the at least one mesh, in response to the determination that the difference in length between the curve on the planned surface model and the curve on the actual surface model exceeds a third threshold, or in response to the determination that the distance between the curve on the planned surface model and the curve on the actual surface model exceeds a fourth threshold, wherein the third threshold is higher than the first threshold and the fourth threshold is higher than the second threshold.

8. The computer program code is used by the at least one processor to run to the device. The apparatus according to claim 7, further configured to output a request for further excavation of the rock surface at the planned location of the at least one mesh.

9. The computer program code, using the at least one processor, The planned position of the at least one mesh is adjusted so that the edge of the at least one mesh coincides with a recess in the rock surface. Adjust the planned position of the at least one adjacent mesh shown in the mesh plan so that the edge of the at least one mesh overlaps with the at least one adjacent mesh, or The apparatus according to any one of claims 1 to 8, further configured to adjust the planned position of the at least one fastener so that it does not coincide with the recess in the rock surface.

10. The apparatus according to claims 4 and 9, wherein the planned position of the adjacent mesh is configured to be adjusted based on the difference between the length of the curve on the planned surface model and the length of the curve on the actual surface model.

11. The computer program code, using the at least one processor, Following the placement of the at least one mesh on the rock surface, in response to the detection that the at least one mesh does not overlap with at least one adjacent mesh, an error related to the placement of the at least one mesh is detected. The apparatus according to any one of claims 1 to 10, further configured to update the mesh plan by configuring at least one additional mesh to be installed between the at least one mesh and the at least one adjacent mesh.

12. The computer program code, using the at least one processor, The apparatus according to any one of claims 2 to 11, further configured to apply a smoothing filter to the scanning data in order to obtain the actual surface model.

13. A mesh installation rig comprising the device according to any one of claims 1 to 12.

14. A method implemented in a computer, Obtaining a mesh plan that indicates at least one of the following: the planned position of the at least one mesh for installing the at least one mesh on the rock surface, or the planned position of the at least one fastener for fastening the at least one mesh to the rock surface; Obtaining a planned surface model of the aforementioned rock surface, Obtaining a real surface model of the aforementioned rock surface, To detect discrepancies between the planned surface model and the actual surface model, Updating the mesh plan based on the detected discrepancies, A computer-implemented method comprising controlling the mesh placement based on the updated mesh plan.

15. A computer program including instructions, wherein when the instructions are executed by a device, the device shall, at least To obtain a mesh plan that shows at least one of the following: the planned position of the at least one mesh for installing the at least one mesh on the rock surface, or the planned position of the at least one fastener for fastening the at least one mesh to the rock surface. Obtain a planned surface model of the aforementioned rock surface, Obtain a real surface model of the aforementioned rock surface, To detect discrepancies between the planned surface model and the actual surface model, The mesh plan is updated based on the detected discrepancies. A computer program that controls the installation of the mesh based on the updated mesh plan.

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