Control of mesh placement based on mesh deformation parameters

Abstract

Exemplary embodiments generally relate to the field of mesh placement on rock surfaces. The apparatus can acquire a surface model of the rock surface, determine based on the surface model whether the mesh can be placed at the planned location on the rock surface without violating at least one deformation parameter of the mesh, and, in response to determining that the mesh cannot be placed at the planned location without violating at least one deformation parameter, decide to refrain from placing the mesh at the planned location.

Description

[Technical Field]

[0001] Various exemplary embodiments relate to the field of mesh installation on rock surfaces. Some exemplary embodiments relate to controlling the installation of a mesh on a rock surface based on at least one deformation parameter of the mesh. [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 a protective mesh on the rock surface. The mesh installation rig may include one or more booms with appropriate tools for installing the 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. The rock surface may be rough, for example, because 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 embodiment, a device for controlling the placement 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 surface model of a rock surface, to determine, based on the surface model, whether the mesh can be placed at the planned location of the mesh on the rock surface without violating at least one deformation parameter of the mesh, and, in response to determining that the mesh cannot be placed at the planned location of the mesh without violating at least one deformation parameter, to decide to refrain from placing the mesh at the planned location of the mesh.

[0005] According to a second embodiment, a mesh installation rig is disclosed. The mesh installation rig may be configured to acquire a surface model of a rock surface, determine based on the surface model whether the mesh can be installed at the planned location of the mesh on the rock surface without violating at least one deformation parameter of the mesh, and, in response to determining that the mesh cannot be installed at the planned location of the mesh without violating at least one deformation parameter, decide to refrain from installing the mesh at the planned location of the mesh.

[0006] A third aspect discloses a method for controlling mesh placement. This method may include: obtaining a surface model of a rock surface; determining, based on the surface model, whether the mesh can be placed at a planned location on the rock surface without violating at least one deformation parameter of the mesh; and, in response to determining that the mesh cannot be placed at the planned location without violating at least one deformation parameter, deciding to refrain from placing the mesh at the planned location.

[0007] According to a fourth aspect, an apparatus is disclosed. The apparatus may include means for obtaining a surface model of a rock surface; means for determining, based on the surface model, whether a mesh can be placed at a planned location on the rock surface without violating at least one deformation parameter of the mesh; and means for determining, in response to determining that it is not possible to place the mesh at the planned location without violating at least one deformation parameter, to refrain from placing the mesh at the planned location.

[0008] According to a fifth aspect, a computer program is disclosed. The computer program may include instructions, which, when executed by the device, cause the device to obtain a surface model of a rock surface, determine, based on the surface model, whether the mesh can be placed at the planned location of the mesh on the rock surface without violating at least one deformation parameter of the mesh, and, in response to determining that the mesh cannot be placed at the planned location of the mesh without violating at least one deformation parameter, cause the device to refrain from placing the mesh at the planned location of the mesh.

[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 an example of adjusting the mesh position. [Figure 6] This figure shows an example of adjusting the position of a fastener. [Figure 7] This figure shows an example of adjusting the fastening distance. [Figure 8] This figure shows an example of a device configured to carry out one or more exemplary embodiments. [Figure 9] This figure shows an example of a method for controlling mesh placement. [Modes for carrying out the invention]

[0012] Similar reference numerals are used to indicate similar parts in the attached drawings.

[0013] Herein, embodiments are referenced, examples of which are shown in the accompanying drawings. The description provided below in relation to the accompanying drawings is intended to describe these embodiments and is not intended to represent the only form in which these embodiments may be constructed or utilized. The description describes the function of the embodiments and the sequence of steps for constructing and operating them. However, the same or equivalent functions and sequences may be achieved by different embodiments.

[0014] Currently, these are not systematic mesh guidance systems. For example, 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 that may require rock support. The mesh can be pressed against the rock surface and bolted to attach them. If the mesh is loose, more shotcrete may be required to cover the rock surface. When damaged significantly up and down, for example, when excessive force is applied, the mesh may be damaged during installation. For example, each mesh can be associated with an acceptable bending related to the material and diameter of the mesh wire.

[0015] Exemplary embodiments of the present disclosure enable considering mesh deformation when providing a mesh to a rock surface. For example, a mesh installation rig can be configured to use imaging capabilities, such as three-dimensional (3D) scanning, to identify the actual profile of the rock surface. Based on the known physical properties of the mesh, such as deformation parameters like an acceptable pressing force and an acceptable bending radius, and the actual surface model, it is possible to estimate whether the mesh can be installed on the rock surface without being damaged. For example, since the target position and surface shape are known, the bolting strategy may be adjusted to control the position of the bolts so that excessive tight bending is avoided. When the rock surface is rough, for example, at specific parts of the mesh, it is also possible to reduce the force used to press the mesh against the rock surface. Such an adaptive meshing strategy that utilizes the physical properties of the mesh makes it possible to reduce the possibility that the mesh is damaged during installation.

[0016] To further enhance the system, advanced image recognition of the integrity of the mesh grid can be used. For example, the system may be configured to search for damage within the mesh grid. This can be implemented by a computer vision algorithm that can be configured to focus on recognizing a rigid grid from an uneven surface, for example. The performance of the system can be improved by using a painted mesh to more clearly distinguish it from the rock surface.

[0017] Figure 1 shows an example of a mesh installation rig. The mesh installation rig 100 is shown as an underground mesh installation rig, but the exemplary embodiments of the present disclosure can also be applied to other types of mesh installation machines, such as rigs configured to install a mesh for rock cutting along a road or railway.

[0018] The mesh installation rig 100 may be an automated mesh installation rig, such as an automated mining vehicle equipped with tools configured for mesh installation. An automated mining vehicle operating in an automated mode, such as an automated mesh installation rig, may be configured to receive tasks to be performed, perceive the environment of the automated mining vehicle, and autonomously execute the tasks while taking the environment into consideration, for example. 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, the exemplary embodiments can also be applied to non-autonomous or semi-autonomous mining vehicles, such as remotely controlled mining vehicles.

[0019] In the example in Figure 1, the x-axis represents the forward direction of the mesh installation rig 100. The y-axis represents the other horizontal direction to the left from the mesh installation rig 100 in this example. The z-axis represents the vertical direction toward the tunnel roof in this example. 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 motors, wheels, or stabilizer jacks. The movable carrier 110 may be configured to move autonomously or may be controlled remotely or locally by a human operator on the mesh installation rig 100. Although two booms 120-1 and 120-2 are shown in Figure 1, the mesh installation rig 100 may generally include one or more (e.g., 2, 3, 4, ...) booms 120. Boom 120-1 may be referred to as the first boom. Boom 120-2 may also be referred to as the second boom.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Based on the scan, the mesh installation rig 100 can be configured to 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 or 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.

[0024] 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 7. 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 ).

[0025] 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 ).

[0026] 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 ).

[0027] 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.

[0028] 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.

[0029] 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 8.

[0030] 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.

[0031] 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 804 in Figure 8.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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).

[0037] 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.

[0038] A data structure mesh may contain or be associated with one or more instances (1...*) of attribute deformation parameters. Deformation parameters can characterize the allowable deformation of the mesh in question, for example, when the mesh is placed on a rock surface 140. Examples of deformation parameters include the allowable elongation of the mesh or a portion thereof, such as mesh wires, mesh openings, or mesh edges. The allowable elongation may be provided, for example, as a percentage for a specific portion of the mesh, or as an absolute length (e.g., in millimeters or centimeters). The allowable elongation can define the maximum allowable elongation of the mesh or a portion thereof.

[0039] Another example of a deformation parameter is the allowable bending radius of the mesh or a portion thereof. The allowable bending radius can be expressed, for example, by a minimum allowable (minimum) bending radius, e.g., in centimeters. However, the bending radius may be expressed by any suitable means that characterize the bend shape of the mesh (or a portion thereof) formed when the mesh is bent to conform to a rock surface. The bending radius may include a radius or a virtual circle, the portion of which is aligned with the bend shape of the mesh.

[0040] Another example of a deformation parameter is the allowable pressing force, which may be provided, for example, in Newtons. For example, for a thin chicken wire mesh, the allowable pressing force may be around 500 N, while for a thicker (e.g., 20 mm) welded corrugated bar mesh, the allowable pressing force may be around 100,000 N. Therefore, an appropriate value for the allowable pressing force can be selected from a range of 5,000 N to 20,000 N, for example, 10,000 N. The allowable pressing force can indicate the maximum allowable force for pressing the relevant mesh toward the rock surface 140 when installing the mesh. The deformation parameter allows the mesh controller 114 to determine whether a particular mesh can be installed on the rock surface 140 without crumbling, as will be further explained below.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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 with respect to a coordinate frame F トンネル , or may be configured to be shown 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. The mesh controller 114 may be configured to obtain information regarding deformation parameters associated with the mesh, for example, as part of the mesh plan. The mesh plane can include information on the mesh 101 and other meshes.

[0045] 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) comprising 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.

[0046] The mesh controller 114 determines the planned positions indicated in the mesh plan in the coordinate system of the mesh installation rig 100, for example, the coordinate frame F リグAlternatively, it can be configured to map to a stationary coordinate frame relative to the mesh installation rig 100. The mesh installation rig 100 can, for example, map to a stationary coordinate frame (e.g., F) relative to the rock surface 140 while navigating in a tunnel. 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 may be performed for the planned position of the mesh and / or the planned fastener position. The 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 in order to provide feedback, for example in operation 411.

[0047] In operation 402, the mesh controller 114 may be configured to acquire a surface model of the rock surface 140. The surface model may include an actual surface model of the rock surface 140. An example of a surface model is shown in Figures 5 to 7 by surface model 142. The actual surface model can correspond to the rock surface 140 in situ observable by the mesh installation rig 100, for example, at a specific location of the mesh installation rig 100 in the tunnel before or during mesh installation. The actual surface model may be based on scanning data of the rock surface 140. The mesh installation rig 100, or any other scanning device in general, may 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 may 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.

[0048] In operation 403, 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 the deformation parameters are compromised when the mesh is placed on the rock surface 140. 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.

[0049] In operation 404, the mesh controller 114 may be configured to determine whether the mesh 101 can be installed on the rock surface 140 without violating the deformation parameters. For example, when installing the mesh 101 at its planned location, the mesh controller 114 may be configured to determine the expected elongation or expected bending radius of the mesh 101 or its components based on the planned mesh location and the geometric shape of the surface model 142, optionally also considering the planned fastener locations. This can be done before starting the installation of the mesh 101. The mesh controller 114 may be configured to determine that the mesh 101 cannot be installed without violating the deformation parameters if the expected elongation or bending radius violates the respective deformation parameters, for example, if the expected elongation is longer than the allowable elongation, or if the expected bending radius is smaller than the allowable bending radius. Alternatively or additionally, the mesh controller 114 may be configured to monitor the pressing force applied to the mesh when fastening the mesh 101 to the rock surface 140. The mesh controller 114 may be configured to receive pressure data from a pressure sensor that can be coupled, for example, to a fastening tool (e.g., a bolt driver 126) of the mesh installation rig 100. The mesh controller 114 may be configured to determine that the mesh 101 cannot be installed without violating the deformation parameters if the measured pressing force reaches an allowable pressing force and the installation of the mesh 101 is not complete. In response to the determination that the mesh 101 can be installed in the planned position and / or planned fastener position without violating the deformation parameters of the mesh 101, the mesh controller 114 may be configured to proceed to the execution of operation 409 without adjusting operation 405 or updating operation 406.

[0050] The mesh controller 114 may be further configured to determine whether the mesh 101 can be installed without violating deformation parameters when the planned mesh position, planned fastener position, and / or distance from the rock surface 140 are adjusted. For example, the mesh controller 114 may be configured to pre-adjust the planned mesh position, planned fastener position, and / or distance from the rock surface 140, and then run the above analysis again using the adjusted mesh position, fastener position, and / or distance.

[0051] The adjustment of the mesh position, fastener position, and / or distance may be based on trial and error, for example, based on a pre-configured adjustment pattern or based on the shape of the surface model 142. In the latter case, the mesh controller 114 may be configured to adjust the planned mesh position so that the edge of the mesh 101 coincides with a recess in the rock surface 140. An example of this is shown in Figure 5. If the mesh 101 was initially placed at the planned position 501, the mesh 101 may crack when placed in a recess in the rock surface 140 as reflected in the surface model 142, as shown on the left. The planned mesh position 501 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 surface model 142. Substantial agreement 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.

[0052] Alternatively, or additionally, the mesh controller 114 may be configured to adjust the planned fastener position so that it is away from recesses in the surface model 142, for example, so that the fastener does not coincide with recesses in the rock surface 140. An example of this is shown in Figure 6. 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 be fixed 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.

[0053] The mesh controller 114 may be configured with a default value (e.g., 0) for the distance between the mesh and the rock surface 140. Adjusting the distance may include increasing the distance. An example of this is shown in Figure 7. Also, as shown on the right, the planned fastener position (p 計画 The distance of the mesh 101 in the recess may be adjusted (increased). This has 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 recessed location.

[0054] Referring back to Figure 4, the mesh controller 114 can be configured to move from the execution of operation 404 to the execution of operation 405 in response to determining that the mesh 101 can be placed (substantially in the planned position) at the adjusted mesh position, adjusted fastener position, and / or adjusted distance from the rock surface 140 without violating the deformation parameters.

[0055] In operation 405, the mesh controller 114 may be configured to adjust the planned position of the mesh 101, the planned fastener position, and / or the distance of the mesh 101 from the rock surface 140, so that the mesh 101 can be installed on the rock surface 140 without violating any deformation parameters. This may be in response to the determination in operation 404 that adjusting the planned position of the mesh, the planned position of the fastener, and / or the distance of the mesh from the rock surface 140 allows the mesh 101 to be installed without violating at least one deformation parameter of the mesh. The mesh controller 114 may be configured to select the adjusted position of the mesh 101, the adjusted position of the fastener, or the adjusted distance, as determined in operation 404. Thus, the mesh controller 114 may be configured to decide against installing the mesh 101 at the planned position. However, the mesh controller 114 may be configured to subsequently allow the mesh 101 to be installed in the planned position in response to determining, for example, that adjusting the fastener position or the distance from the rock surface 140 will allow the mesh 101 to be installed in the planned position without violating the deformation parameters. Therefore, preventing the mesh from being installed may include temporarily preventing the mesh from being installed.

[0056] In operation 406, the mesh controller 114 may be configured to update the mesh plan with the adjusted positions, adjusted fastener positions, and / or distances of the mesh 101. For example, the mesh controller 114 may be configured to change the attribute planned mesh position or planned fastener position value of the data structure mesh corresponding to mesh 101, or to replace the default fastener distance value with the adjusted distance value. This provides the advantage of maintaining up-to-date information on the current state of the mesh plan and setting the mesh with the adjusted positions and / or adjusted fastener positions or distances. However, updating the mesh plan can generally include any operation configured to record information about the adjusted mesh positions, fastener positions, or distances, regardless of whether such updates are recorded in the original mesh plan. For example, such update information may also be stored separately from the original data structure digital mesh plan.

[0057] In operation 407, the mesh controller 114 may be configured to refrain from placing the mesh 101 at the planned location. This may be in response to a determination that the mesh 101 cannot be placed at the planned location (even with adjustments) without violating the deformation parameters.

[0058] In operation 408, the mesh controller 114 may be configured to configure another mesh to be installed on the rock surface 140 at, for example, the planned location of mesh 101. This may be in response to determining that another mesh can be installed at the planned location of mesh 101 without violating the deformation parameters of the other mesh. For example, the mesh controller 114 may be configured to decide to replace mesh 101 with another mesh related to deformation parameters(s) that allow the installation of another mesh at the initially planned location for mesh 101, and optionally adjust the mesh location, fastener location, or distance of the mesh to the rock surface 140. The mesh controller 114 may be configured to select another mesh having a higher allowable elongation, a smaller allowable bending radius, or a higher allowable compressive force to replace mesh 101, for example. This has the advantage of allowing meshing on the rock surface 140 even at locations where the originally planned mesh cannot be installed due to its excessive deformation. This makes it possible to cost-effectively plan the mesh with a relatively weak mesh, and then replace it with a relatively strong mesh whenever required by the shape of the rock surface 140. Therefore, the total cost of applying a mesh to the rock surface 140 can be reduced.

[0059] The mesh controller 114 may be configured to move from the execution of operation 408 to the execution of operation 406 in order to update the mesh plan by replacing the initially planned mesh. For example, the mesh controller 114 may be configured to change the mesh identifier (mesh_id) and, if necessary, also change the position of the mesh in the mesh plan (e.g., planned_mesh_position) and / or the position of the fasteners (e.g., planned_fastener_position).

[0060] 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 the placement of the mesh 101 or replacement mesh on the rock surface 140 based on the planned position of the relevant mesh obtained based on the mesh plan and / or adjusted by the mesh controller 114. The mesh controller 114 may be configured to control fastening of the mesh to the rock surface 140 based on its planned fastener position, for example, as shown in the mesh plan and / or adjusted by the mesh controller 114. The mesh controller 114 may be configured to control fastening of the mesh so that the mesh is placed at a default or adjusted distance from the rock surface 140.

[0061] Controlling the installation of the mesh may include controlling the positioning of the mesh for installation on the rock surface 140. For example, the mesh controller 114 may be configured to position the mesh to be installed on the rock surface 140 by controlling the movement of at least one boom, for example, boom 120-1 with a gripper 124. The mesh controller 114 may be configured to determine the position of the mesh based on an updated mesh plan, or generally adjusted mesh position, adjusted fastener position, or adjusted distance from the rock surface 140.

[0062] Controlling the installation of the mesh may include controlling the fastening of the mesh to the rock surface 140. Controlling the fastening of the mesh may include causing the mesh installation rig 100 to fasten the mesh on the rock surface 140 with fasteners. Controlling the fastening of the mesh may include determining the sequence of fastener positions or the fastening speed (e.g., bolts / min). Controlling the fastening of the mesh may include causing 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 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 to the rock surface 140.

[0063] 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 on the rock surface 140 and fasten the mesh to the rock surface 140 at this position. Controlling the installation of the mesh may include providing control commands to, for example, the kinematic controller of the mesh installation rig 100 to cause the desired movement of the booms and tools. Controlling the installation of the mesh may further include controlling collision avoidance, for example, when moving the mesh with boom 120-1 and gripper 124, or when moving the bolt driver 126 to attach the mesh. 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.

[0064] In operation 409, the mesh controller 114 may be configured to detect mesh failure. For example, the mesh controller 114 may be configured to detect mesh failure based on scanning data received from sensor 112, for example, by a computer vision algorithm configured to run on visual data received from a camera. The mesh controller 114 may be configured to perform failure detection during or after the installation of mesh 101, for example, in response to the completion of the installation of mesh 101 (e.g., completing the fastening of mesh 101 with a planned number of fasteners). If failure is detected, the mesh controller 114 may be configured to return to the execution of operation 408 to configure another mesh to be installed in the location of the substantially damaged mesh 101. The mesh controller 114 may be configured to update the mesh plan accordingly in operation 406 and, in operation 409, to control the installation of another (additional) mesh in the location of the substantially damaged mesh 101.

[0065] In operation 411, the mesh controller 114 may be configured to provide feedback, for example, an indication of the actual position of the mesh 101 and / or other meshes installed on the rock surface 140, their fastener positions, and / or their distance from the rock surface 140. The mesh controller 114 may be configured to determine, for example, 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 position of the mesh 101 based on the adjusted position determined in operation 405, 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 location of the mesh 101 based on the scanning data from the sensor 112. The mesh controller 114 may be configured to store the actual location and / or actual mounting location of the mesh 101 in a mesh plan, for example (e.g., as attributes, the actual mesh location and / or actual mounting location associated with the data structure mesh).

[0066] 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.

[0067] The mesh controller 114 may be configured to move out of the execution of operation 404 to determine, for example, whether the next mesh can be placed without violating its deformation parameters if the planned location or slot for the next mesh is included in the surface model obtained in operation 402. If not, the mesh controller 114 may be configured to move out of the execution of operation 402 to obtain at least the surface model of the planned location or slot for the next mesh.

[0068] 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 a smoothing filter (operation 404), damage detection (operation 410), and providing feedback (operation 411) 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.

[0069] Figure 8 shows an example of a device configured to implement one or more exemplary embodiments. The device 800 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 800 is shown as a single device, it will be understood that, where applicable, the functionality of the device 800 may be distributed across multiple devices.

[0070] The apparatus 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 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 800 may further include at least one memory 804. At least one memory 804 may be configured to store, for example, computer program code, operating system software, and application software. 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), 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 804 is provided as an example of a (non-temporary) computer-readable medium. The term “non-temporary” as used herein refers to the limitation of the medium itself (i.e., being tangible rather than just a signal), as opposed to the limitation of data storage persistence (e.g., RAM vs. ROM). At least one memory 804 may also be embodied separately from the device 800, for example, as a computer-readable (storage) medium, such as a memory stick or a compact disc (CD).

[0072] If the device 800 is configured to implement several functionalities, then several components and / or parts of the device 800, such as at least one processor 802 and / or at least one memory 804, may be configured to implement these functionalities. Furthermore, if at least one processor 802 is configured to implement several functionalities, these functionalities may be implemented, for example, using program code 806 contained in at least one memory 804.

[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 800 includes a processor or processor circuit, such as a microcontroller, which, when executed, is configured by program code 806 to perform embodiments of the operation and functionality described herein. Program code 806 is provided as an example of instructions that, when executed by at least one processor 802, cause the apparatus 800 to operate.

[0074] For example, the mesh controller 114 may be implemented at least partially as program code configured to cause the device 800 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 800 may include a communication interface 808 configured to enable the device 800 to transmit and / or receive information. The communication interface 808 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 800 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 800 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 800, may include instructions causing apparatus 800 to perform any aspect of the method described herein. Furthermore, apparatus 800 may include means for performing any aspect of the method described herein. In one example, the means includes at least one processor 802, and at least one memory 804 includes program code 806 (instructions), which, when executed by at least one processor 802, is configured to cause apparatus 800 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 computer-implemented, for example, a base algorithm that can be executed by a general processing function, one example of which is at least one processor 802. The device 800 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 placement of a mesh is disclosed. The device includes 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 surface model of a rock surface, to determine, based on the surface model, whether the mesh can be placed at the planned location of the mesh on the rock surface without violating at least one deformation parameter of the mesh, and, in response to determining that the mesh cannot be placed at the planned location of the mesh without violating at least one deformation parameter, to decide to refrain from placing the mesh at the planned location of the mesh.

[0079] 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 a mesh so that the mesh can be installed on a rock surface without violating at least one deformation parameter; to adjust the planned position of at least one fastener configured to fasten the mesh to the rock surface so that the mesh can be installed on a rock surface without violating at least one deformation parameter; to adjust the distance of the mesh from the rock surface at the planned or adjusted position of the at least one fastener so that the mesh can be installed on a rock surface without violating at least one deformation parameter; and / or, in response to determining that another mesh can be installed at the planned position of the mesh without violating at least one deformation parameter of the other mesh, to configure another mesh to be installed on the rock surface in place of the mesh.

[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 determine at least one of the actual locations of at least one mesh on the rock surface or at least one fastener on the rock surface, and to transmit at least one of the actual locations of at least one mesh or at least one fastener via the device's internal communication interface or to an external device.

[0081] 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 acquire a mesh plan showing at least one of the planned positions of the mesh or the planned positions of at least one fastener, and to determine at least one of the planned positions of the mesh or the planned positions of at least one fastener based on the mesh plan.

[0082] 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 based on adjustments to the planned positions of the mesh and / or the planned positions of at least one fastener.

[0083] According to an exemplary embodiment of the first aspect, the computer program code is further configured to cause the device to control the placement of the mesh to a planned or adjusted position in response to the device determining that the mesh can be placed at the planned position without violating at least one deformation parameter.

[0084] According to an exemplary embodiment of the first aspect, at least one deformation parameter includes at least one of the following: an allowable elongation of at least a portion of the mesh, an allowable bending radius of at least a portion of the mesh, or an allowable compressive force.

[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 detect mesh breakage during or after the installation of a mesh on a rock surface, and to control the installation of another mesh at the location of the mesh breakage.

[0086] According to an exemplary embodiment of the first aspect, the surface model is based on scanning data of a rock surface.

[0087] 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.

[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 apply a smoothing filter to the scan data in order to acquire a surface model.

[0089] 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.

[0090] Figure 9 shows an example of a method for controlling mesh installation according to a third aspect of the present disclosure. This method may include a computer implementation method performed by a device 800, such as a mesh controller 114.

[0091] In 901, the method may include obtaining a surface model of the rock surface.

[0092] In 902, the method may include determining, based on a surface model, whether the mesh can be placed at the planned location on the rock surface without violating at least one deformation parameter of the mesh.

[0093] In step 903, the method may include deciding to refrain from placing the mesh at the planned location in response to determining that it is not possible to place the mesh at the planned location without violating at least one deformation parameter.

[0094] When this method is executed by processor 802, it may be carried out by the mesh controller 114, the mesh installation rig 100, or the remote mesh control device 200, for example, based on program code 806. 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.

[0095] According to an exemplary embodiment of the third aspect, the method may include adjusting the planned position of a mesh so that the mesh can be installed on a rock surface without violating at least one deformation parameter, adjusting the planned position of at least one fastener configured to fix the mesh to the rock surface so that the mesh can be installed on a rock surface without violating at least one deformation parameter, adjusting the distance of the mesh from the rock surface at the planned or adjusted position of at least one fastener so that the mesh can be installed on a rock surface without violating at least one deformation parameter, and / or configuring another mesh to be installed on the rock surface in place of the mesh in response to determining that another mesh can be installed at the planned position of the mesh without violating at least one deformation parameter of the other mesh.

[0096] According to an exemplary embodiment of the third aspect, the method may include determining at least one of the actual locations of at least one mesh on a rock surface or at least one actual location of at least one fastener on a rock surface, and transmitting at least one of the indications of the actual locations of at least one mesh or at least one actual location of at least one fastener via an internal communication interface of the apparatus or to an external device.

[0097] According to an exemplary embodiment of the third aspect, the method may include obtaining a mesh plan showing either the planned locations of the mesh or at least one of the planned locations of at least one fastener, and determining, based on the mesh plan, either the planned locations of the mesh or at least one of the planned locations of at least one fastener.

[0098] According to an exemplary embodiment of the third aspect, the method may include updating the mesh plan based on adjustments to the planned positions of the mesh and / or the planned positions of at least one fastener.

[0099] According to an exemplary embodiment of the third aspect, the method may include controlling the placement of the mesh to a planned or adjusted position in response to determining that the mesh can be placed at the planned position without violating at least one deformation parameter.

[0100] According to an exemplary embodiment of the third aspect, at least one deformation parameter includes at least one of the allowable elongation of at least a portion of the mesh, the allowable bending radius of at least a portion of the mesh, or the allowable compressive force.

[0101] According to an exemplary embodiment of the third aspect, the method may include detecting mesh breakage during or after the installation of a mesh on a rock surface, and controlling the installation of another mesh at the location of the mesh breakage.

[0102] According to an exemplary embodiment of the third aspect, the surface model is based on scanning data of a rock surface.

[0103] According to an exemplary embodiment of the third aspect, the method may include 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.

[0104] According to an exemplary embodiment of the third aspect, the method may include applying a smoothing filter to the scan data to obtain a surface model.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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".

[0112] 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.

[0113] 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 comprises 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, Obtain a surface model of the rock surface, Based on the surface model, determine whether the mesh can be placed at the planned location on the rock surface without violating at least one deformation parameter of the mesh. A device that, in response to determining that it is not possible to install the mesh at the planned position of the mesh without violating the at least one deformation parameter, causes the device to decide to refrain from installing the mesh at the planned position of the mesh.

2. The computer program code, using the at least one processor, The planned position of the mesh is adjusted so that the mesh can be installed on the rock surface without violating the at least one deformation parameter. The planned position of at least one fastener configured to fasten the mesh to the rock surface is adjusted so that the mesh can be installed on the rock surface without violating the at least one deformation parameter. The distance of the mesh from the rock surface is adjusted at the planned or adjusted position of the at least one fastener so that the mesh can be installed on the rock surface without violating the at least one deformation parameter, and / or The apparatus according to claim 1, further configured to cause the other mesh to be configured to be installed on the rock surface in place of the mesh, in response to a determination that the other mesh can be installed at the planned position of the mesh without violating at least one deformation parameter of the other mesh.

3. The computer program code, using the at least one processor, Determine at least one of the following: the actual position of at least one of the mesh on the rock surface, or the actual position of at least one of the fasteners on the rock surface. The apparatus according to claim 2, further configured to transmit at least one of the following: an indication of the actual position of the at least one mesh, or an indication of the actual position of the at least one fastener, via an internal communication interface of the apparatus or to a device outside the apparatus.

4. The computer program code, using the at least one processor, A mesh plan is obtained that shows at least one of the following: the planned position of the mesh, or the planned position of the at least one fastener. The apparatus according to claim 2 or 3, further configured to determine, based on the mesh plan, at least one of the planned positions of the mesh or the planned positions of the at least one fastener.

5. The computer program code, using the at least one processor, The apparatus according to claim 4, further configured to update the mesh plan based on the adjustment of the planned position of the mesh and / or the planned position of the at least one fastener.

6. The computer program code, using the at least one processor, The apparatus according to any one of claims 1 to 5, further configured to control the placement of the mesh to the planned position or adjustment position in response to determining that the mesh can be placed at the planned position without violating the at least one deformation parameter.

7. The at least one deformation parameter is the allowable elongation of at least a portion of the mesh, The allowable bending radius of at least a portion of the mesh, or The apparatus according to any one of claims 1 to 6, comprising at least one of the allowable pressing forces.

8. The computer program code, using the at least one processor, During or after the installation of the mesh on the rock surface, damage to the mesh is detected. The apparatus according to any one of claims 1 to 7, further configured to control the placement of another mesh at the location of the damage to the aforementioned mesh.

9. The apparatus according to any one of claims 1 to 8, wherein the surface model is based on scanning data of the rock surface.

10. The computer program code, using the at least one processor, The apparatus according to claim 9, further configured to acquire the 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 probe the rock surface.

11. The computer program code, using the at least one processor, The apparatus according to claim 9 or 10, further configured to apply a smoothing filter to the scanning data in order to obtain the surface model.

12. A mesh installation rig comprising the device according to any one of claims 1 to 11.

13. A method implemented in a computer, Obtaining a surface model of the rock surface, Based on the surface model, it is determined whether the mesh can be placed at the planned location of the mesh on the rock surface without violating at least one deformation parameter of the mesh. A computer-implemented method, comprising determining, in response to determining that it is not possible to place the mesh at the planned location of the mesh without violating the at least one deformation parameter, to refrain from placing the mesh at the planned location of the mesh.

14. The method described above is Adjusting the planned position of the mesh so that the mesh can be installed on the rock surface without violating the at least one deformation parameter, Adjust the planned position of at least one fastener configured to fasten the mesh to the rock surface so that the mesh can be installed on the rock surface without violating the at least one deformation parameter. Adjust the distance of the mesh from the rock surface at the planned or adjusted position of the at least one fastener so that the mesh can be installed on the rock surface without violating the at least one deformation parameter, and / or The method of claim 13, further comprising configuring the other mesh to be installed on the rock surface in place of the mesh, in response to determining that the other mesh can be installed at the planned position of the mesh without violating at least one deformation parameter of the other mesh.

15. A computer program including instructions, wherein when the instructions are executed by a device, the device shall, at least Obtain a surface model of the rock surface, Based on the surface model, determine whether the mesh can be placed at the planned location on the rock surface without violating at least one deformation parameter of the mesh. A computer program that, in response to determining that it is not possible to place the mesh at the planned position of the mesh without violating the at least one deformation parameter, causes the program to decide to refrain from placing the mesh at the planned position of the mesh.

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