Case studies of a borehole deployable robot for limestone mine profiling and mapping

Inherent dangers in mining operations motivate the use of robotic technology for addressing hazardous situations that prevent human access. In the context of this case study, we examine the application of a robotic tool for map verification and void profiling in abandoned limestone mines for analysis of cavity extent. To achieve this end, our device enables remote, highly accurate measurements of the subterranean voids to be acquired. In this paper we discuss the design of the. robotic tool, demonstrate its application in void assessment for prevention and response to subsidence, and present results from a case study performed in the limestone mines of Kansas City, Kansas.