The design of an automated 3D-thermal mine scanning tool

The design of an automated tool for creating thermally textured 3D maps of a mine is presented. The tool is intended to simplify the process of gathering data underground, to test loose rock detection algorithms that will be deployed on a mine safety robot. The scanner needs to be robust and portable to enable it to be used easily in the cramped conditions of an underground mine. The scanner design presented uses off-the-shelf components for an automated scanning device, smaller than a ruggedised laptop, that can produce thermally textured 3D models of a mine hanging wall (roof) and indicate the results of a loose rock detection algorithm.