GSMS: a goaf scanning and modeling system for underground mines based on a quadruped robot

Abstract Underground mining creates goafs, impacting resource extraction and safety. To address the issues of low efficiency and high reliance on manual operations in traditional techniques, this paper proposes a goaf scanning and modeling system (GSMS) for underground mine based on a quadruped robot. This system performs three-dimensional modeling of goafs through two main modules: frontend mapping and backend optimization, and evaluates the modeling accuracy using a multi-dimensional precision evaluation module. To validate the effectiveness of this system, both simulation and field experiments were conducted. The experimental results indicate that the goaf models established using GSMS achieved a level of accuracy comparable to traditional methods: the volume error of the constructed goaf models compared to the reference models was less than 3%, and the average profile contour similarity exceeded 98%.