• 한국지구물리탐사학회:학술대회논문집
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• 2005.05a
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• pp.251-254
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• 2005

Microgravity survey was carried out in order to detect an abandoned mineshaft. We tested the feasibility of cavity detection by means of numerical modeling and applied microgravity survey to detecting an abandoned mineshaft in the vicinity of Hawson mines, Junnam. The result shows the response of mineshaft where we expected.

• Tunnel and Underground Space
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• v.34 no.1
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• pp.1-14
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• 2024

An image-reconstruction technology, involving the deployment of an unmanned mobility equipped with high-speed LiDAR (Light Detection And Ranging) has been proposed to reconstruct the shape of abandoned mine. Unmanned mobility operation is remarkably useful in abandoned mines fraught with operational difficulties including, but not limited to, obstacles, sludge, underwater and narrow tunnel with the diameter of 1.5 m or more. For cases of real abandoned mines, quadruped robots, quadcopter drones and underwater drones are respectively deployed on land, air, and water-filled sites. In addition to the advantage of scanning the abandoned mines with 2D solid-state lidar sensors, rotation of radiation at an inclination angle offers an increased efficiency for simultaneous reconstruction of mineshaft shapes and detecting obstacles. Sensor and robot posture were used for computing rotation matrices that helped compute geographical coordinates of the solid-state lidar data. Next, the quadruped robot scanned the actual site to reconstruct tunnel shape. Lastly, the optimal elements necessary to increase utility in actual fields were found and proposed.