Determining position of anchor rod in anchor rod fan

Abstract

Example embodiments relate to control of a mobile roofbolter. An apparatus may include at least one processor; and at least one memory comprising computer program code, the at least one memory and the computer program code configured to, by the at least one processor, cause the apparatus to perform at least the following: obtain scan data of a rock surface; based on the scanning data, determining the position of at least one anchor rod in a previous anchor rod fan on the rock surface; and determining a position of at least one anchor rod in at least one subsequent anchor rod fan on the rock surface based on the determined position of the at least one anchor rod in the previous anchor rod fan.

Description

Technical Field

[0001] Various example embodiments generally relate to the field of anchoring rock surfaces. Some example embodiments involve determining the location for installing an anchor based on the location of at least one anchor in a previously installed anchor fan. Background Technology

[0002] In various applications such as underground mining, it may be necessary to install rock bolts on a rock surface. A mobile rock bolting rig may include one or more booms equipped with appropriate tools for drilling holes in the rock surface and installing rock bolts there. The location of the rock bolts can be determined on-site by a human operator seated in the cab of the mobile rock bolting rig. Summary of the Invention

[0003] This summary aims to introduce, in a simplified form, a set of concepts further elaborated in the detailed embodiments described below. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter.

[0004] According to a first aspect, an apparatus for controlling a mobile bolting rig is disclosed. The apparatus may include: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code being configured to cause the apparatus, via the at least one processor, to perform at least the following operations: acquiring scan data of a rock surface; determining, based on the scan data, the position of at least one bolt in a previous bolting sector on the rock surface; and determining, based on the determined position of the at least one bolt in the at least one subsequent bolting sector on the rock surface, the position of at least one bolt in the at least one bolt in the previous bolting sector.

[0005] According to a second aspect, a mobile bolting rig is disclosed. The mobile bolting rig may include: at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code being configured to cause the mobile bolting rig to perform at least the following operations via the at least one processor: acquiring scan data of a rock surface; determining, based on the scan data, the position of at least one bolt in a previous bolting sector on the rock surface; and determining, based on the determined position of the at least one bolt in the at least one bolt in the previous bolting sector, the position of at least one bolt in at least one subsequent bolting sector on the rock surface.

[0006] According to a third aspect, a method for controlling a mobile bolt drilling rig is disclosed. The method may include: acquiring scan data of a rock surface; determining, based on the scan data, the position of at least one bolt in a previous bolt fan on the rock surface; and determining, based on the determined position of the at least one bolt in the previous bolt fan, the position of at least one bolt in at least one subsequent bolt fan on the rock surface.

[0007] According to a fourth aspect, an apparatus for controlling a mobile bolt drilling rig is disclosed. The apparatus may include: means for acquiring scanning data of a rock surface; means for determining the position of at least one bolt in a previous bolt fan on the rock surface based on the scanning data; and means for determining the position of at least one bolt in at least one subsequent bolt fan on the rock surface based on the determined position of the at least one bolt in the previous bolt fan.

[0008] According to a fifth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may include program instructions that, when executed by a device, cause the device to perform at least the following operations: acquire scan data of a rock surface; determine, based on the scan data, the position of at least one anchor bolt in a previous bolt fan on the rock surface; and determine, based on the determined position of the at least one anchor bolt in the previous bolt fan, the position of at least one anchor bolt in at least one subsequent bolt fan on the rock surface.

[0009] The subject matter described in the independent claims is provided according to several aspects. Further aspects are defined in the dependent claims. Many of the appended features will be more readily understood and better appreciated upon reading the following description in conjunction with the accompanying drawings. Attached Figure Description

[0010] The accompanying drawings are included to provide a further understanding of the exemplary embodiments and form part of this specification. The accompanying drawings illustrate exemplary embodiments and, together with the specification, serve to explain the exemplary embodiments. In the drawings: Figure 1 An example of a mobile bolt drilling rig is shown; Figure 2 An example of a mobile bolt drilling rig that is communicatively coupled to a remote control device is shown; Figure 3 An example of an installed bolt fan and a planned bolt fan on a rock surface is shown; Figure 4 An example top view of an installed bolt fan and a planned bolt fan on a rock surface is shown; Figure 5 An example of a method for determining the anchor locations of subsequent anchor fans based on previous anchor fans is illustrated. Figure 6 An example of the anchor position relative to the individual anchors in the previous anchor sector is shown; Figure 7 An example of the anchor position relative to the previous anchor fan line is shown; Figure 8 An example is illustrated of a device configured to implement one or more example embodiments; and Figure 9 An example of a method for controlling a mobile bolt drilling rig is shown.

[0011] In the accompanying drawings, the same reference numerals are used to denote the same parts. Detailed Implementation

[0012] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The following description, provided in conjunction with the accompanying drawings, is intended to describe the present examples and is not intended to represent the only form in which the present examples can be constructed or used. This description clarifies the functionality of the examples and the order of steps for constructing and operating the examples. However, the same or equivalent functionality and order can also be implemented through different examples.

[0013] Rock bolting on rock surfaces can be configured based on either a reference bolting scheme, which includes determining bolt positions based on the locations of previously installed bolts, or a systematic bolting scheme following a predetermined bolting plan. Regardless of the scheme, desired dimensions between bolts or bolt fans can be defined to ensure an appropriate density of bolts on the rock surface. A bolting scheme can also be referred to as a bolting plan. Examples of such dimensions include the distance between adjacent bolt fans, and the distance between the midpoints or other points of adjacent bolts. The locations of previously installed bolts can be configured to be manually indicated by the boom, drill bit, conventional laser, or other devices. During navigation of the mobile bolting rig, the location of the next bolt fan can be displayed on the user interface.

[0014] The exemplary embodiments of this disclosure improve the accuracy and speed of bolting anchors into rock surfaces. An apparatus can be configured to acquire scan data of a rock surface and determine the positions of anchors in previously installed bolt fans on the rock surface. The scan data may be representative of the rock surface. Based on the determined anchor positions, the apparatus can be configured to determine the positions of anchors in subsequent bolt fans on the rock surface.

[0015] Figure 1An example of a mobile anchor bolt drilling rig is illustrated. Although the mobile anchor bolt drilling rig 100 is illustrated as an underground mobile anchor bolt drilling rig, the exemplary embodiments of this disclosure can also be applied to other types of mobile anchor bolt drilling rigs, such as drilling rigs configured for installing anchor bolts on rock slopes along roads or railways. The mobile anchor bolt drilling rig 100 may include, for example, an anchor bolt drilling rig, a rock anchor bolting rig, a pit top anchor bolting rig, a rock anchor bolting rig, a mining and anchoring integrated rig, a multi-functional drilling rig, a cable anchor bolting rig, and so on.

[0016] The mobile bolting rig 100 can be an automated mobile bolting rig, such as an automated vehicle (e.g., a mining vehicle) equipped with tools configured for bolting. Automated vehicles operating in automatic mode (e.g., automated mobile bolting rigs) can be configured to, for example, receive tasks to be performed, perceive the environment of the automated vehicle, and autonomously perform the tasks considering the environment. Automated vehicles operating in automatic mode can be configured for independent operation, but can be placed under external control in certain work areas or under certain work conditions (e.g., during an emergency). However, the exemplary embodiments of this disclosure can also be applied to non-autonomous or semi-autonomous mobile bolting rigs, such as remotely controlled mobile bolting rigs.

[0017] exist Figure 1 In the example, axis x This indicates the forward travel direction of the mobile anchor drilling rig 100. (Axis) z This indicates the vertical direction, which in this example points to the top of tunnel 140. Note that the axis... z The force may be parallel or not parallel to the gravity vector, depending on whether the mobile bolting rig 100 is traveling uphill or downhill in the tunnel 140. The mobile bolting rig 100 may include a mobile carrier 110 and at least one boom 120 connected to the mobile carrier 110. The mobile carrier 110 may include equipment for moving or stabilizing the mobile bolting rig 100, such as motors, wheels, or stabilizing outriggers (ground support devices). The mobile carrier 110 may be configured for autonomous movement, or it may be configured to be controlled by a human operator, either remotely or locally at the mobile bolting rig 100. Although... Figure 1A boom 120 is illustrated, but a mobile bolt drilling rig 100 typically includes one or more (e.g., two, three, four, etc.) booms 120. A bolting machine 124 may be attached to the distal end portion of the boom 120. The bolting machine 124 may also be alternatively referred to as a bolt head. The bolting machine 124 may be configured to drill holes and / or install bolts in a rock surface 142. The rock surface 142 may include the top of the tunnel 140 and / or at least some of the walls of the tunnel 140. However, it should be noted that the rock surface 142 may include any rock surface to be bolted. For example, the rock surface 142 may be located outside the tunnel 140.

[0018] The mobile bolt drilling rig 100 may include at least one sensor 112 for scanning the surrounding environment of the mobile bolt drilling rig 100, such as a rock surface 142 and bolts or bolt fans previously installed on the rock surface. The sensor 112 may include one or more scanning devices such as one or more cameras, one or more radar sensors, or one or more lidar sensors. Therefore, the sensor 112 may include a single sensor or a group of two or more sensors. The sensor 112 may be configured to scan the rock surface 142, for example, to detect specific features of the rock surface 142 or to detect features associated with the rock surface 142, such as bolts. Scanning the rock surface 142 may include scanning with the sensor 112 oriented towards the rock surface 142. Scanning the rock surface 142 does not necessarily include detecting features of the rock surface 142. For example, scanning the rock surface 142 may include pointing the sensor 112 at the rock surface 142 and detecting the position of bolts installed on the rock surface 142.

[0019] A camera can be used to extract depth information of an object (e.g., an anchor bolt), for example, by comparing two images taken at slightly different locations (e.g., by two camera units). Alternatively, sensor 112 may include a time-of-flight (ToF) camera, which can be configured to determine the distance between the camera and an object (e.g., a rock surface 142 or an anchor bolt in a bolt fan) by measuring the round-trip time of an artificial light signal provided by a laser or light-emitting diode (LED). A lidar sensor can be configured to determine the distance to an object by aiming a laser at it and measuring the time required for the reflected light to return to the receiver of the lidar sensor. A radar sensor can be configured to emit electromagnetic energy toward the rock surface 142 and observe the echoes returning from the rock surface or anchor bolts mounted on it to determine the distance to the rock surface 142 or anchor bolts. Based on the scan, the mobile bolt drilling rig 100 can be configured to acquire point cloud data representing the scanned environment. The point cloud data may, for example, include a three-dimensional (3D) model of the rock surface 142 and / or the bolt fan or anchor bolts mounted on it. The location of the bolt fan (e.g., the location of each bolt within the bolt fan) can be determined based on the scan data, as will be further described below. Therefore, the location of the bolt fan can be determined relative to the coordinate system (F) of the mobile bolt drilling rig 100. 钻车 The coordinate system of the mobile anchor drilling rig 100 is fixed or known. The coordinate system of the mobile anchor drilling rig 100 is stationary relative to the mobile anchor drilling rig 100.

[0020] The mobile anchor bolting rig 100 can be configured to scan the rock surface 142 while moving relative to it or while stationary relative to it. Scanning the rock surface 142 while moving can expedite the anchor bolting process because anchor bolting can be initiated rapidly once the mobile anchor bolting rig 100 has reached the planned location for installing the next anchor bolt (the anchor bolting location), as will be further described below. Scanning of the rock surface 142 can be achieved, for example, through a Simultaneous Localization and Mapping (SLAM) system, which can be configured to scan the environment of the mobile anchor bolting rig 100 to acquire point cloud data of surrounding surfaces or objects. The acquired point cloud data can be used for object detection and also to determine the position of the mobile anchor bolting rig 100 by comparing the scanned data with reference data, such as, for example, a 3D model of the tunnel 140.

[0021] The mobile bolt drilling rig 100 may include a controller (C) 114. The controller 114 may be communicatively coupled to a sensor 112, for example, to receive sensor data obtained from scanning from the sensor 112, or to send a request to the sensor 112 to initiate a scan of the rock surface 142. The controller 114 may be provided, for example, as a software application residing in memory and executable by a processor. Figure 8 An example of an apparatus suitable for implementing controller 114 is provided. Controller 114 may include, or may be communicatively coupled to, various functions, units, or applications for implementing the functionality of controller 114. For example, controller 114 may include, or may be communicatively coupled to a data management server, which may be configured to store information about digital bolting plans, tunnel lines or outlines, mine map point clouds, etc. The digital bolting plan may include planned bolt locations or planned bolt fan locations. Controller 114 may include a navigation application configured to control the navigation of the mobile bolting rig 100, or to enable a human operator to control the navigation of the mobile bolting rig 100, such as moving it to a planned bolting location, and / or determining the planned location of bolts or bolt fans in the digital bolting plan relative to the current location of the mobile bolting rig 100. The location of the mobile bolting rig 100 may be referred to as the navigation location. Therefore, the anchor bolt location is the navigation location, which has been planned or determined by the mobile anchor bolt drilling rig 100 for installing anchor bolts on the rock surface 142.

[0022] The controller 114 can be configured to determine and / or maintain a digital bolting plan, a three-dimensional (3D) model of at least one component of the mobile bolting rig 100 (e.g., a 3D model of the boom 120 or bolting machine 124), and / or a kinematic model of the mobile bolting rig 100 or its components. The 3D model of a component of the mobile bolting rig 100 may include 3D geometric data of that component, for example, obtained from a computer-aided design (CAD) model of the corresponding physical component.

[0023] A kinematic model of the mobile bolting rig 100 or its components may include a mathematical description of at least a portion of the mobile bolting rig 100. The kinematic model can describe the motion of the mobile bolting rig 100 or its components without considering the forces causing the motion. This kinematic model can be used to estimate the position of the mobile bolting rig 100 or its components, for example, based on measurement data from one or more sensors associated with the mobile bolting rig 100, or based on the motion of the mobile bolting rig 100 caused by a given control input. The kinematic model of the mobile bolting rig 100 may include at least the dimensions of the mobile bolting rig 100, and / or the reach of the mobile bolting rig 100, such as the range of motion of at least one boom 120 or bolting machine 124 of the mobile bolting rig 100. The kinematic model may include information about the dimensions of the boom 120 (or a portion thereof, such as the bolting machine 124), the characteristics of the joint 122 (e.g., its degrees of freedom), constraints between the moving parts of the mobile bolting rig 100, etc. Therefore, this kinematic model enables the modeling of the movement of components of the mobile bolting rig 100, for example, to determine possible bolting locations for bolting from a specific bolting location. For example, the kinematic model enables the determination of the maximum distance that the bolting machine 124 can reach. The 3D model of the components can be provided as point cloud data, which indicates the surfaces of the components. The point cloud data can include multiple data points, which, for example, represent the distance between the mobile bolting rig 100 and its components or other objects in the environment of the mobile bolting rig 100 at a specific moment. Each individual point contained in the point cloud can be represented, for example, by a coordinate system relative to a specific coordinate system. x and y coordinates, or x , y and z Represented by coordinates.

[0024] The mobile anchor drilling rig 100 can be controlled by a remote control device 200, which can be located outside the mobile anchor drilling rig 100, such as... Figure 2 As shown. The remote control device 200 may be, for example, a server located remotely from the mobile bolting rig 100, such as outside the tunnel 140. The functionality of the controller 114 may be distributed between the mobile bolting rig 100 (e.g., a local controller of the mobile bolting rig 100) and the remote control device 200. Information can be exchanged between the remote control device 200 and the mobile bolting rig 100 via a communication interface, which includes any suitable wireless or wired connection. Examples of suitable communication interfaces will be provided. Figure 8 Describe it.

[0025] Controller 114 can be configured to determine and / or maintain a digital bolting plan. The digital bolting plan, a three-dimensional (3D) model and / or kinematic model of the mobile bolting rig 100 can be stored in controller 114, for example, based on pre-configurations of these models. Alternatively, controller 114 can be configured to receive the digital bolting plan or one or more of the models from the mobile bolting rig 100 or a data management server. Controller 114 can also be configured to receive, for example, scanned sensor data from sensor 112 from the mobile bolting rig 100, and controller 114 can be configured to use the sensor data to detect bolts mounted on the rock surface 142. Therefore, exemplary embodiments of this disclosure can be implemented locally by the mobile bolting rig 100, implemented by the remote control device 200, or implemented by a system including the mobile bolting rig 100 and the remote control device 200.

[0026] Figure 3 Examples of installed and planned bolt fans on a rock surface are illustrated. A prior bolt fan may include bolts 302 already installed on the rock surface 142. This prior bolt fan may be positioned substantially perpendicular to the travel direction of the mobile bolt drilling rig 100. x On the plane of the tunnel 140. Controller 114 can be configured to determine the position of anchor bolts in subsequent anchor bolt fans, such as a first subsequent anchor bolt fan (fan 1) and a second subsequent anchor bolt fan (fan 2). Each anchor bolt fan can be aligned with the longitudinal direction along the tunnel 140 (in this example, ). x The position of the axis is related to the position of the axis.

[0027] When considering x When anchor bolts are driven at a specific point on the shaft, the anchor bolt fan can be configured to begin installation from the top of the tunnel 140, for example, from the highest point of the top, and move downwards along the rock surface 142, such that the anchor bolts on the tunnel wall 140 are installed after the anchor bolts on the top of the tunnel 140, or vice versa. The tunnel wall 140 may include rock surfaces 142 relative to... z The portion of the axis with an inclination angle below a threshold (e.g., less than 45°). The top of tunnel 140 may include the portion of the rock surface 142 relative to... z The portion of the axis whose tilt angle is higher than this threshold (e.g., greater than 45°).

[0028] The first and subsequent bolt fan can be in the direction of travel of the mobile bolt drilling rig 100 ( x The second subsequent bolt fan is adjacent to the previous bolt fan in the direction of travel of the mobile bolt drilling rig 100. xThe first subsequent bolt fan is adjacent to the first subsequent bolt fan. Therefore, the first subsequent bolt fan can be located between the previous bolt fan and the second subsequent bolt fan. The first subsequent bolt fan can be adjacent to both the previous bolt fan and the second subsequent bolt fan. Adjacent bolt fans can refer to bolt fans that are next to a specific bolt fan in the direction of travel of the mobile bolting rig or in the opposite direction of travel.

[0029] The positions of subsequent bolt fans can be initially defined in the digital bolting plan. Alternatively, controller 114 can be configured to determine the positions of bolts in subsequent bolt fans when the digital bolting plan does not indicate any initial positions for bolts in subsequent bolt fans. Controller 114 can be configured to determine (e.g., adjust) the positions of bolts in subsequent bolt fans based on previous bolt fans. Although Figure 3 Two subsequent bolt fans are illustrated, but controller 114 can be configured to determine bolt positions for one or more (e.g., two, three, four...) subsequent bolt fans.

[0030] Figure 4 Examples of the previous bolt fan ('o') and the subsequent bolt fan ( ‘x’ An example of a top view of the [structure / structure]. Controller 114 can be configured to determine the position of the anchor bolts in a previous anchor bolt fan. Controller 114 can be further configured to determine the line of the previous anchor bolt fan, as will be described below. Figure 5 As further described. It should be noted that, since the top and / or walls of the tunnel 140 may have curved profiles, this line lies on a plane (e.g., a plane perpendicular to the direction of travel of the mobile bolt drilling rig 100). yz The plane can be a curve. Alternatively, the controller 114 can be configured to project the position of the anchor in the previous anchor fan onto a plane (e.g., x). y (plane), and determine the line of the previous anchor fan on that plane, thus obtaining a straight line.

[0031] Figure 5 An example of a method for determining the anchor placement points of subsequent anchor fans based on previous anchor fans is illustrated.

[0032] In operation 501, controller 114 may be configured to acquire a bolting plan, such as a digital bolting plan. Controller 114 may be configured to retrieve the bolting plan from a memory associated with controller 114 (e.g., the memory of the mobile bolting rig 100). Alternatively, controller 114 may be configured to receive the bolting plan, for example, via a communication interface (e.g., from a remote server) or user interface 810. The bolting plan may be configured to indicate the planned relative positions of bolts and / or bolt fans, such as the planned distance between bolts in adjacent bolt fans, or the planned distance between adjacent bolt fans. Adjacent bolts or adjacent bolt fans may refer to bolts or bolt fans that are adjacent to each other, for example, adjacent to each other in the direction of travel of the mobile bolting rig 100. The bolting plan may include any suitable digital data format configured to indicate the planned positions of bolts or bolt fans, for example, in a coordinate system stationary relative to the rock surface 142 (e.g., F...). 坑道 As indicated in the diagram. Controller 114 can be configured to map the planned position of the anchor bolt or anchor fan to its own coordinate system (F). 钻车 The bolting plan can also be further configured to indicate the planned distance between adjacent bolts in the same bolt sector.

[0033] In operation 502, controller 114 can be configured to acquire scan data of rock surface 142. The scan data may include 3D scan data of rock surface 142, for example, acquired by sensor 112. Controller 114 can be configured to control the scanning of rock surface 142 to acquire the scan data. Controller 114 can be configured to initiate a scan of rock surface 142, for example, by sending a request to sensor 112 to initiate a scan.

[0034] Sensor 112 can be arranged such that when the mobile anchor drill rig 100 operates near the rock surface 142, the sensor signal of sensor 112 is configured to be directed towards the rock surface 142. Scan data can include data captured by sensor 112 during scanning of the rock surface 142. Controller 114 can be configured to acquire the scan data of the rock surface 142, for example, by receiving the scan data from sensor 112. However, controller 114 can also be configured to process (e.g., select or filter) the raw sensor data provided by sensor 112 to obtain the scan data.

[0035] It should be noted that controller 114 can be configured to initiate a scan of the rock surface 142 when the mobile bolting rig 100 is not at the planned bolting position for installing the next bolt fan. For example, controller 114 can be configured to initiate a scan of the rock surface 142 before the mobile bolting rig 100 reaches the planned bolting position for installing the next bolt fan. Controller 114 can be configured to control the scan of the rock surface 142 such that the scan data is acquired while the mobile bolting rig 100 is moving away from the previous bolting position. Controller 114 can be configured to determine the planned bolting position based on the scan data, for example, enabling the mobile bolting rig 100 to install one or more subsequent bolt fans, for example, based on a kinematic model of the mobile bolting rig 100.

[0036] For example, controller 114 can be configured to initiate a scan of rock surface 142 in response to determining that the mobile bolting rig 100 is within a predetermined range of the planned bolting location, to acquire the scan data, wherein the planned bolting location may include the planned location of the mobile bolting rig 100 (e.g., carrier 110) for bolting subsequent bolts into a bolt fan. This has the advantage of speeding up bolting because the scan can be initiated before reaching the planned bolting location of the mobile bolting rig 100. It should be noted that controller 114 can be configured to post-process the scan data to compensate for movement of the mobile bolting rig 100 during or after scanning the rock surface 142.

[0037] In operation 503, controller 114 can be configured to detect previous bolt fans already installed on rock surface 142. Controller 114 can be configured to determine the position of bolts in the previous bolt fans on rock surface 142 based on the scan data. Detecting bolts in the previous bolt fans can include detecting salient features of the bolts in the scan data (e.g., point cloud data), such as, for example, the protrusion of the bolts from rock surface 142. Controller 114 can be configured to detect bolts in the previous bolt fans, for example, based on applying any suitable computer vision or pattern recognition algorithm to the scan data. The position of the bolts in the previous bolt fans can be determined in the coordinate system (F) of the mobile bolt drilling rig 100. 钻车 The coordinate system can be stationary relative to the mobile bolt drilling rig 100 (e.g., vehicle 110). Alternatively, the controller 114 can be configured to map the determined bolt position to an external coordinate system, such as a coordinate system stationary relative to the rock surface 142 (e.g., F). 坑道 ).

[0038] For example, controller 114 can be configured to initially provide a coordinate system (F) for the anchor bolts in the previous bolt fan relative to the mobile bolt drill rig 100. 钻车 Information about the position of the anchor bolts in the previous bolt fan relative to the mobile bolt drilling rig 100. Therefore, the controller 114 can be configured to provide positional information about the position of the anchor bolts in the previous bolt fan relative to the mobile bolt drilling rig 100 during scanning by the sensor 112. Subsequently, after movement of the mobile bolt drilling rig 100, the position of the anchor bolts in the previous bolt fan can be updated in the coordinate system of the mobile bolt drilling rig 100 to keep their position relative to the rock surface 142 stationary. Scans can also be performed at multiple locations of the mobile bolt drilling rig 100. As described above, the controller 114 can compensate for movement of the mobile bolt drilling rig 100 during or after scanning.

[0039] In operation 504, controller 114 can be configured to determine the position of anchor bolts in subsequent bolt sectors on the rock surface 142. Controller 114 can be configured to determine the position of anchor bolts in subsequent bolt sectors based on the positions of anchor bolts in previous bolt sectors as determined in operation 503.

[0040] As a first option, controller 114 can be configured to determine the position of anchors in subsequent anchor fans such that the anchors in the subsequent anchor fans are configured to be positioned at a planned distance from the corresponding adjacent anchor in the adjacent anchor fan in a direction substantially perpendicular to the adjacent anchor fan. Figure 6 An example of this scheme is provided. Figure 6 and Figure 7 All illustrations show the locations of the installed anchor bolts in the previous anchor bolt sector and the planned anchor bolt locations in the two subsequent anchor bolt sectors (facing the bottom of tunnel 140).

[0041] For example, anchor 612 in the first subsequent anchor sector (sector 1) can be configured to be positioned at a planned distance from the corresponding adjacent anchor 602 in the previous anchor sector. d x At location ), the anchor bolt 624 in the second subsequent anchor bolt sector (sector 2) can be configured to be positioned at a planned distance from the corresponding adjacent anchor bolt 614 in the first subsequent anchor bolt sector. d x At point ), where the first subsequent bolt fan is an adjacent bolt fan of the second subsequent bolt fan (fan 2). It should be noted that the planned distance may include the distance between corresponding bolts in adjacent bolt fans. xComponents, such as distance in the direction of travel of the mobile bolting rig 100. This distance may be substantially perpendicular to the previous bolting sector, or perpendicular to the plane defined by the previous bolting sector. For example, controller 114 may be configured to determine the position of bolt 616 in the first subsequent bolting sector (sector 1), such that it passes through the planned location of bolt 616 and is perpendicular to the direction of travel ( x ) direction ( y The distance between the line and the corresponding anchor 606 in the previous anchor fan is equal to the planned distance ( d x This is along the y The axis selection provides freedom in choosing the position of the anchor bolts in the subsequent anchor bolt fan, while ensuring that the anchor bolts are installed at the appropriate distance in the travel direction of the mobile anchor bolt drilling rig 100.

[0042] As a second option, controller 114 can be configured to determine the position of a line from a previous bolt fan based on the scan data. For example, controller 114 can be configured to perform line fitting on a set of points representing the bolt positions of a previous bolt fan. This line fitting may include fitting the position of the bolts in the previous bolt fan along... x The axis is averaged, or any other suitable line fitting method is used. The line of the previous bolt fan can be substantially perpendicular to the longitudinal direction of tunnel 140. During bolt driving, the travel direction (x) of the mobile bolt drill rig 100 can be substantially the same as the longitudinal direction of tunnel 140. The controller 114 can also be further configured to determine the location of bolts in subsequent bolt fans based on the position of the line of the previous bolt fan. Figure 7 An example of this method is illustrated. It should be noted that the line lies on a plane (in this example, it is...). yz A plane can be a straight line or a curve.

[0043] For example, the anchor bolt 712 in the first subsequent anchor bolt sector (sector 1) can be configured to be positioned at a planned distance from the line of the previous anchor bolt sector. d x The planned distance indication can be included in the bolting plan and can be configured to indicate the planned distance between adjacent bolt fans. The bolt 724 in the second subsequent bolt fan (fan 2) can be configured to be positioned at twice the planned distance (2) from the line of the previous bolt fan (the previously installed bolt fan). d x In summary, controller 114 can be configured to determine the positions of anchors in subsequent anchor fans such that these anchors are located at an integer multiple (e.g., 2) of the planned distance from the previous anchor fan. d x 3 dx 4 d x (At) . In existence N In the case of a subsequent anchor fan, controller 114 can be configured to determine N The position of the anchor bolt in the subsequent anchor bolt sector, such that the first... n The anchor in each anchor fan is located at a distance n from the line of the previous anchor fan. d x At, where the integer n = 1… N Determining the location of subsequent anchor bolts based on the lines of previous anchor bolts has the advantage of making the bolting pattern more consistent, as it avoids anchor location drift, such as due to individual anchor locations deviating from the planned location. Deviation of individual anchor locations may be caused by installation errors or by adjustments to the anchor position during installation, for example, to avoid installing anchors in steep depressions on the rock surface 142.

[0044] The planned distance from the previous anchor fan line can still be the distance from that line. x- The component, or in the case of a curve, can be the x-component of the distance from the plane containing the line. Similarly, this provides freedom in selecting the position of anchor bolts in subsequent bolt fans along the y-axis, while ensuring that the anchor bolts are installed at the appropriate distance in the direction of travel of the mobile bolt drilling rig 100.

[0045] exist Figure 6 and Figure 7 In both cases, controller 114 can be configured to determine the position of anchors in subsequent bolt sectors, such that adjacent anchors in the same bolt sector have a predetermined distance between them. d y (or at most that distance). d x and d y One or both of these can be indicated in the anchor bolting plan.

[0046] Back Figure 5In operation 505, controller 114 can be configured to output an indication of the determined position of the anchor bolts in the subsequent bolt fan. When controller 114 is located on the mobile bolt rig 100, controller 114 can be configured to provide this indication via an internal communication interface (e.g., a data bus) of the mobile bolt rig 100, for example, to another subsystem of the mobile bolt rig 100. Alternatively or additionally, controller 114 can be configured to send the indication, or cause the transmission of the indication, for example, to a remote control device 200, via an external communication interface of the mobile bolt rig 100. When controller 114 is located outside the mobile bolt rig 100 (e.g., at the remote control device 200), controller 114 can be configured to send the indication to the mobile bolt rig 100. Transmitting the indication via an internal or external communication interface is provided as an example of outputting the indication. Alternatively, controller 114 can be configured to output the instruction to a software component of the mobile bolting rig 100 within a computer.

[0047] In operation 506, controller 114 can be configured to induce visualization of the determined position of the anchor bolts in the subsequent bolt fan. For example, controller 114 can be configured to send control commands to the display of the mobile bolt drilling rig 100 to visualize the determined anchor bolt position, for example, as an overlay on a 3D visualization image of the rock surface 142. This has the advantage of enabling a human operator of the mobile bolt drilling rig 100 (whether remotely or in the cab of the mobile bolt drilling rig 100) to control the installation of the anchor bolts based on their determined positions.

[0048] In operation 507, controller 114 can be configured to control the installation of subsequent bolts into the rock surface 142. For example, controller 114 can be configured to control the movement of boom 120 and the operation of bolting machine 124 to implement the installation of subsequent bolts at the determined bolt location. Controller 114 can be configured to send control commands to devices (e.g., actuators) configured to cause movement of boom 120 or operation of bolting machine 124 (e.g., drilling or bolting).

[0049] Figure 5 Some operations in this process may be optional, and these operations may be performed in different orders, where appropriate. For example, controller 114 may be configured to acquire the bolting plan at any suitable time before determining the bolting position of the subsequent bolting sector (see operation 504). Controller 114 may be configured to perform one or more of operations 505 to 507, or terminate the method after operation 504.

[0050] Figure 8 An example of a device configured to implement one or more exemplary embodiments is illustrated. Device 800 may be or include: a control device, such as a server, communicatively coupled to the mobile bolting rig 100; a control device located on the mobile bolting rig 100; a controller 114; the mobile bolting rig 100 itself; or, in short, any device or system configured to implement the functionality described herein. Although device 800 is illustrated as a single device, it should be understood that, where applicable, the functionality of device 800 may be distributed across multiple physically separate devices, such as the mobile bolting rig 100 and the remote control device 200.

[0051] Device 800 may include at least one processor 802. The at least one processor 802 may include one or more of various processing devices, such as a coprocessor, microprocessor, controller, digital signal processor (DSP), processing circuitry with or without a matching DSP, or other various processing devices, including integrated circuits, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontroller units (MCUs), hardware accelerators, dedicated computer chips, etc.

[0052] Device 800 may further include at least one memory 804. The at least one memory 804 may be configured to store, for example, computer program code, such as operating system software and application software. The at least one memory 804 may include one or more volatile memory devices, one or more non-volatile memory devices, and / or combinations thereof. For example, the memory may be embodied as a magnetic storage device (such as a hard disk drive), a magneto-optical storage device, or a semiconductor memory (such as a mask read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a flash memory ROM, a random access memory (RAM), etc.). Memory 804 is provided as an example of a (non-transitory) computer-readable medium. The term "non-transitory" as used herein is a limitation on the medium itself (i.e., a tangible medium, not a signal), not a limitation on the persistence of data storage (e.g., the difference between RAM and ROM). The at least one memory 804 may also be embodied separately from device 800, for example as a computer-readable (storage) medium, examples of which include memory sticks, optical discs (CDs), etc.

[0053] When device 800 is configured to implement a certain function, one or more components of device 800 (e.g., the at least one processor 802 and / or the at least one memory 804) may be configured to implement that function. Furthermore, when the at least one processor 802 is configured to implement a certain function, that function may be implemented using program code 806 contained, for example, in the at least one memory 804.

[0054] The functionality described herein can be performed, at least in part, by one or more computer program product components (e.g., software components). According to one example embodiment, device 800 includes a processor or processor circuitry (e.g., a microcontroller) configured via program code 806 such that, when executed, the program code 806 performs embodiments of the operations and functionality described herein. Program code 806 is provided as an example of instructions that, when executed by the at least one processor 802, cause device 800 to perform the corresponding function.

[0055] For example, controller 114 may be implemented at least in part as program code 806, which is configured to cause device 800 to perform the functionality of controller 114. Similarly, the transmission or reception of data (e.g., bolting plans, bolting position indications, or control commands) via the internal or external communication interface of the mobile bolting rig 100 may be controlled by software.

[0056] Alternatively or additionally, the functionality described herein may be performed at least in part by one or more hardware logic components. Examples of hardware logic components that may be used, such as but not limited to, include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural network processing units (NPUs), tensor processing units (TPUs), and the like.

[0057] Device 800 may include a communication interface 808 configured to enable device 800 to send and / or receive information. Communication interface 808 may include internal or external communication interfaces, such as a wireless communication interface between the mobile anchor drilling rig 100 and the remote control device 200. Device 800 may further include other components and / or functions, such as, for example, a user interface 810, which includes 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. User interface 810 enables a human operator to monitor various functions and data, such as, for example, the determined anchor position, the position of the installed anchor, etc.

[0058] Device 800 can be configured to perform or cause to perform any aspect of the methods described herein. Furthermore, a computer program or a computer program product may include instructions that, when executed by device 800, cause device 800 to perform any aspect of the methods described herein. Additionally, device 800 may include means for performing any aspect of the methods described herein. In one example, the means includes at least one processor 802 and at least one memory 804 containing program code 806 (instructions) configured to, when executed by the at least one processor 802, cause device 800 to perform the methods. In summary, computer program instructions can be executed on means that provide general processing capabilities. Such means may, for example, be embedded in a computer, server, or similar device. Therefore, the methods can be computer-implemented methods, for example based on algorithms that can be executed by general processing capabilities, an example of which is the at least one processor 802. Device 800 may include means for sending or receiving information, such as one or more wired or wireless (e.g., radio) transmitters or receivers that may be coupled to or configured to be coupled to one or more antennas, or transmitters and / or receivers of wired communication interfaces.

[0059] According to a first aspect, device 800 can be configured to control a mobile bolt drilling rig. The device may include: at least one processor; and at least one memory containing computer program code, the at least one memory and the computer program code being configured, via the at least one processor, to cause the device to perform at least the following operations: acquire scan data of a rock surface; determine, based on the scan data, the position of at least one bolt in a previous bolt fan on the rock surface; and determine, based on the determined position of the at least one bolt in the at least one bolt in the previous bolt fan, the position of at least one bolt in at least one subsequent bolt fan on the rock surface.

[0060] According to an example embodiment of the first aspect, the computer program code is configured to cause the device, via the at least one processor, to perform at least one of the following operations: outputting an indication of the determined position of the at least one anchor bolt in the at least one subsequent bolt fan; visualizing the determined position of the at least one anchor bolt in the at least one subsequent bolt fan on a display; or controlling the driving of the at least one anchor bolt into the rock surface based on the determined position of the at least one anchor bolt in the at least one subsequent bolt fan.

[0061] According to an example embodiment of the first aspect, the computer program code is configured to, via the at least one processor, cause the device to: acquire a bolting plan indicating a planned distance between bolts in adjacent bolting sectors; and determine the position of at least one bolt in the at least one subsequent bolting sector such that the at least one bolt in the at least one subsequent bolting sector is configured to be positioned in a direction substantially perpendicular to the adjacent bolting sector at a distance from the planned distance from an adjacent bolt in the adjacent bolting sector.

[0062] According to an example embodiment of the first aspect, the computer program code is configured to, via the at least one processor, cause the device to: determine the position of a line of a previous bolt fan based on the scan data; and determine the location of an anchor in at least one subsequent bolt fan based on the position of the line of the previous bolt fan.

[0063] According to an example embodiment of the first aspect, the computer program code is configured to, via the at least one processor, cause the device to: determine the line of the previous anchor fan based on line fitting of the position of the anchor bolts in the previous anchor fan on the rock surface.

[0064] According to an example embodiment of the first aspect, the computer program code is configured to, via the at least one processor, cause the device to: acquire a bolting plan indicating a planned distance between adjacent bolt fans; and determine the position of a bolt in the at least one subsequent bolt fan such that the bolt in the at least one subsequent bolt fan is configured to be positioned in a direction substantially perpendicular to the previous bolt fan at a distance from the line of the previous bolt fan or an integer multiple of the planned distance.

[0065] According to an example embodiment of the first aspect, the line of the prior anchor fan is substantially perpendicular to the longitudinal direction of the tunnel defining the rock surface.

[0066] According to an example embodiment of the first aspect, the computer program code is configured to, via the at least one processor, cause the device to: in response to determining that the mobile bolt drilling rig is within a predetermined range from a planned location for bolting the at least one subsequent bolt fan, initiate a scan of the rock surface to obtain the scan data.

[0067] According to an example embodiment of the first aspect, the computer program code is configured to, via the at least one processor, cause the device to: send a request to at least one scanning device of the mobile anchor drilling rig to initiate a scan of the rock surface, thereby enabling the scanning of the rock surface.

[0068] According to an example embodiment of the first aspect, at least one scanning device of the mobile anchor drilling rig includes at least one camera, at least one radio detection and ranging sensor or at least one optical detection and ranging sensor.

[0069] According to an example embodiment of the first aspect, the scan data includes three-dimensional scan data of the rock surface.

[0070] According to a second aspect, a mobile bolting rig includes the device described in any example embodiment of the first aspect. For example, the mobile bolting rig may include: at least one processor; and at least one memory containing computer program code, the at least one memory and the computer program code being configured to, via the at least one processor, cause the mobile bolting rig to perform at least the following operations: acquire scan data of a rock surface; determine, based on the scan data, the position of at least one bolt in a previous bolting fan on the rock surface; and determine, based on the determined position of the at least one bolt in the at least one bolt in the previous bolting fan, the position of at least one bolt in at least one subsequent bolting fan on the rock surface.

[0071] Figure 9 An example of a method for controlling a mobile bolt drilling rig according to a third aspect of this disclosure is illustrated. The method may include a computer-implemented method executed by, for example, device 800 (such as controller 114).

[0072] In step 901, the method may include acquiring scan data of the rock surface.

[0073] In step 902, the method may include determining the location of at least one anchor bolt in a previous anchor bolt fan on the rock surface based on the scan data.

[0074] In step 903, the method may include determining the position of at least one anchor in at least one subsequent anchor on the rock surface based on the determined position of the at least one anchor in the previous anchor fan.

[0075] According to an example embodiment of the third aspect, the method includes at least one of the following operations: outputting an indication of the determined position of the at least one anchor bolt in the at least one subsequent anchor bolt fan; visualizing the determined position of the at least one anchor bolt in the at least one subsequent anchor bolt fan on a display; or controlling the anchoring of the at least one anchor bolt in the at least one subsequent anchor bolt fan to the rock surface based on the determined position of the at least one anchor bolt in the at least one subsequent anchor bolt fan.

[0076] According to an example embodiment of the third aspect, the method includes: obtaining a bolting plan indicating a planned distance between bolts in adjacent bolting sectors; and determining the position of at least one bolt in the at least one subsequent bolting sector such that the at least one bolt in the at least one subsequent bolting sector is configured to be positioned in a direction substantially perpendicular to the adjacent bolting sector at a distance from the planned distance from an adjacent bolt in the adjacent bolting sector.

[0077] According to an example embodiment of the third aspect, the method includes: determining the position of a line of a previous bolt fan based on the scan data; and determining the location of an anchor in the at least one subsequent bolt fan based on the position of the line of the previous bolt fan.

[0078] According to an example embodiment of the third aspect, the method includes: determining the line of the previous anchor fan based on line fitting of the position of the anchor bolt in the previous anchor fan on the rock surface.

[0079] According to an example embodiment of the third aspect, the method includes: obtaining a bolting plan indicating a planned distance between adjacent bolt fans; and determining the position of a bolt in at least one subsequent bolt fan such that the bolt in the at least one subsequent bolt fan is configured to be positioned in a direction substantially perpendicular to the previous bolt fan at a distance from the line of the previous bolt fan at or an integer multiple of the planned distance.

[0080] According to an example embodiment of the third aspect, the line of the prior anchor fan is substantially perpendicular to the longitudinal direction of the tunnel defining the rock surface.

[0081] According to an example embodiment of the third aspect, the method includes: in response to determining that a mobile bolt drilling rig is within a predetermined range from a planned location for bolting the at least one subsequent bolt fan, inducing a scan of the rock surface to obtain the scan data.

[0082] According to an example embodiment of the third aspect, the method includes: sending a request to at least one scanning device of a mobile anchor drilling rig to initiate a scan of a rock surface, thereby enabling the rock surface to be scanned.

[0083] According to an example embodiment of the third aspect, the at least one scanning device of the mobile anchor drilling rig includes at least one camera, at least one radio detection and ranging sensor or at least one optical detection and ranging sensor.

[0084] According to an example embodiment of the third aspect, the scan data includes three-dimensional scan data of the rock surface.

[0085] The method can be executed by controller 114, mobile bolt drilling rig 100, or remote control device 200, for example, when executed on processor 802 based on program code 806. Various examples of the method have been explained in the above functional description of controller 114, mobile bolt drilling rig 100, and / or remote control device 200, and therefore will not be repeated here. It should be understood that, unless expressly prohibited, the described exemplary embodiments can be combined in different ways.

[0086] According to a fourth aspect, an apparatus may include: means for acquiring scan data of a rock surface; means for determining, based on the scan data, the position of at least one anchor bolt in a previous bolt fan on the rock surface; and means for determining, based on the determined position of the at least one anchor bolt in the previous bolt fan, the position of at least one anchor bolt in at least a subsequent bolt fan on the rock surface. The apparatus may include means for performing any example embodiment of the method of the third aspect.

[0087] According to a fifth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, computer program product, or (non-transitory) computer-readable medium may include program instructions that, when executed by a device, cause the device to perform at least the following operations: acquire scan data of a rock surface; determine, based on the scan data, the position of at least one anchor bolt in a previous bolt fan on the rock surface; and, based on the determined position of the at least one anchor bolt in the previous bolt fan, determine the position of at least one anchor bolt in at least one subsequent bolt fan on the rock surface. The computer program, computer program product, or (non-transitory) computer-readable medium may include program instructions that, when executed by a device, cause the device to perform any example embodiment of the method described in the third aspect.

[0088] Although the subject matter has been described in language specific to structural features and / or actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed only as examples of implementing the claims, and other equivalent features and actions are also intended to be included within the scope of the claims.

[0089] It should be understood that the advantages and benefits described above may apply to one embodiment or multiple embodiments. These embodiments are not limited to those that solve any or all of the problems described above, or those that have any or all of the advantages and benefits described above. Furthermore, references to “an” should be understood to refer to one or more such entries.

[0090] The steps or operations of the methods described herein can be performed in any suitable order, or simultaneously where appropriate. Furthermore, individual steps can be removed from any method without departing from the scope of the subject matter described herein. Aspects of any of the above exemplary embodiments can be combined with aspects of any other described exemplary embodiments to form further exemplary embodiments without sacrificing the sought technical effects.

[0091] As used herein, the term "comprising" means including the indicated methods, steps, or elements, but such steps or elements are not included in an exclusive list, and a method or apparatus may include additional steps or elements.

[0092] As used herein, phrases such as “at least one of the following: ”, “at least one of ”, and similar expressions, where the two or more elements are linked by “and” or “or”, mean at least one element, at least any two or more elements, or at least all elements. The term “or” should be understood to also cover the case where both items separated by “or” are included. Therefore, “or” should be understood as an inclusive “or” rather than an exclusive “or”.

[0093] While some objects may be referred to as "first" or "second," this does not necessarily indicate any order or importance of these objects. Rather, such qualifiers may be used solely for the purpose of distinguishing these objects.

[0094] It should be understood that the above description is given by way of example only, and various modifications can be made by those skilled in the art. The above specification, examples, and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above by way of a degree of specificity or by reference to one or more individual embodiments, those skilled in the art can make numerous modifications to the disclosed embodiments without departing from the scope of this specification.

Claims

1. A device for controlling a mobile anchor drilling rig, the device comprising: At least one processor; as well as At least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured to cause the device to perform at least the following operations via the at least one processor: Acquire scan data of the rock surface; Based on the scan data, the location of at least one anchor bolt in a previous anchor bolt fan, including the anchor bolt already installed on the rock surface, is determined; as well as Based on the determined position of at least one anchor in at least one subsequent anchor in the rock surface, the position of at least one anchor in at least one subsequent anchor in the rock surface is determined.

2. The device of claim 1, wherein the at least one memory and the computer program code are further configured to cause the device to perform at least one of the following operations via the at least one processor: Output an indication of the determined position of at least one anchor bolt in at least one subsequent anchor bolt sector. The determined position of at least one anchor in the at least one subsequent anchor fan is visualized on the display, or Based on the determined position of the at least one anchor bolt in the at least one subsequent bolt fan, the driving of the at least one anchor bolt in the at least one subsequent bolt fan is controlled on the rock surface.

3. The device according to claim 1 or 2, wherein the at least one memory and the computer program code are further configured to cause the device to: Obtain a bolting plan, the bolting plan indicating the planned distance between bolts in adjacent bolt sectors; and The position of at least one anchor in the at least one subsequent anchor fan is determined such that the at least one anchor in the at least one subsequent anchor fan is configured to be positioned at a planned distance from an adjacent anchor in the adjacent anchor fan in a direction substantially perpendicular to the adjacent anchor fan.

4. The device according to claim 1 or 2, wherein the at least one memory and the computer program code are further configured to cause the device to: Based on the scan data, the position of the line of the previous anchor bolt fan is determined; and Based on the position of the line of the previous anchor fan, the location of the anchor of the at least one subsequent anchor fan is determined.

5. The device of claim 4, wherein the at least one memory and the computer program code are further configured to cause the device to: The line of the previous anchor fan is determined by line fitting to the position of the anchor bolt on the rock surface.

6. The device according to claim 4 or 5, wherein the at least one memory and the computer program code are further configured to cause the device to: Obtain a bolting plan, the bolting plan indicating the planned distance between adjacent bolt sectors; and The positions of the anchors of the at least one subsequent anchor fan are determined such that the anchors of the at least one subsequent anchor fan are configured to be positioned in a direction substantially perpendicular to the previous anchor fan at a distance from the planned distance or an integer multiple of the planned distance from the line of the previous anchor fan.

7. The device according to any one of claims 4 to 6, wherein the line of the prior anchor fan is substantially perpendicular to the longitudinal direction of the tunnel defining the rock surface.

8. The device according to any one of claims 1 to 7, wherein the at least one memory and the computer program code are further configured to cause the device to: In response to determining that the mobile bolt drilling rig is within a predetermined range from the planned bolting location of the at least one subsequent bolt fan, the rock surface is scanned to obtain the scan data.

9. The device of claim 8, wherein the at least one memory and the computer program code are further configured to cause the device to: A request is sent to at least one scanning device of the mobile anchor drilling rig to initiate a scan of the rock surface, thereby enabling the rock surface to be scanned.

10. The device of claim 9, wherein the at least one scanning device of the mobile anchor drilling rig comprises at least one camera, at least one radio detection and ranging sensor or at least one optical detection and ranging sensor.

11. The device according to any one of claims 1 to 10, wherein the scanning data includes three-dimensional scanning data of the rock surface.

12. A mobile anchor drilling rig, comprising the equipment according to any one of claims 1 to 11.

13. A method for controlling a mobile bolt drilling rig, the method comprising: Acquire scan data of the rock surface; Based on the scan data, the location of at least one anchor bolt in a previous anchor bolt fan, including the anchor bolt already installed on the rock surface, is determined; as well as Based on the determined position of at least one anchor in at least one subsequent anchor in the rock surface, the position of at least one anchor in at least one subsequent anchor in the rock surface is determined.

14. A computer program comprising instructions that, when executed by a device, cause the device to perform at least the following operations: Acquire scan data of the rock surface; Based on the scan data, the location of at least one anchor bolt in a previous anchor bolt sector, including anchor bolts already installed on the rock surface, is determined; and Based on the determined position of at least one anchor in at least one subsequent anchor in the rock surface, the position of at least one anchor in at least one subsequent anchor in the rock surface is determined.

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