Towards a novel auto-rotating LiDAR platform for cavity surveying
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This paper presents the conceptual design, construction, and preliminary testing of a novel auto-rotating platform for cavity surveying. Cavity surveying involves generating a 3D model of an opening from acquired point cloud data. 3D models are used for volume estimation, stope reconciliation, dilution control, convergence monitoring, and rock mass stability analysis. In contrast to conventional cavity monitoring systems (CMS), which employ a rotating light detection and ranging (LiDAR) sensor attached to a stationary boom, the presented novel platform consists of a single point LiDAR sensor attached to an auto-rotating body as a unique solution to the cavity surveying problem. A proof of concept device consisting of a four-blade rotor and a data acquisition system was constructed and dropped from a five-metre overhang. Although auto-rotation was not reached, the set of indoor drop tests provide preliminary results that illustrate the design concept and describes the impact of design parameters.