Hyperspectral scanning system for underground mine galleries and tunnels

Abstract

The object of the present invention is to provide a hyperspectral scanning system for underground mine galleries and tunnels. In order to achieve the above object, the hyperspectral scanning system for underground mine galleries and tunnels according to the present invention is characterized by comprising: an image capturing device for underground mine galleries and tunnels; a sensor unit which detects the operation of the image capturing device for underground mine galleries and tunnels and is located on the upper part of the image capturing device for underground mine galleries and tunnels; a hyperspectral unit composed of a hyperspectral camera; a light source unit composed of a halogen lamp and a floodlight; and a geometry unit composed of a stereo camera, LIDAR, and an inertial measurement unit (IMU).

Description

[Technical Field] 5

[001] The present disclosure relates to a hyperspectral scanning system for underground mine galleries and tunnels. In particular, the present disclosure relates to a hyperspectral scanning system enables fast and accurate acquisition of information on rocks and minerals on the surfaces of mine galleries and tunnels. The system is equipped with a light source that illuminates in the same direction as the observation direction of the hyperspectral camera, 10 ensuring high-intensity and uniform illumination regardless of the observation direction or angle. [Background]

[002] When applying conventional ground-based hyperspectral scanning systems in galleries 15 or tunnels, the use of artificial light sources is typical. However, since the light source is fixed in a specific position, the amount of light irradiated onto the target surface varies. This variation is further amplified when the camera rotates while recording data, causing fluctuations in light intensity depending on the distance from the target.

[003] As a result, the quality of the acquired data could not be consistently maintained. 2023344510   05 Jun 2026

[004] It is not feasible to obtain three-dimensional information within a gallery using a conventional hyperspectral scanning system platform that employs a tripod and an automatic rotation device. Instead, an additional LIDAR sensor must be used to acquire geometric information, leading to increased time and cost. 5

[005] Furthermore, when acquiring continuous data along an extended gallery, the conventional hyperspectral scanning system platform using a tripod and an automatic rotation device requires both the platform and the light source to be moved separately. This process significantly increases both time and cost. [005a] Any discussion of documents, acts, materials, devices, articles or the like which has 10 been included in the present specification is not to be taken as an admission that any or all of these matters form part of the prior art base or were common general knowledge in the field relevant to the present disclosure as it existed before the priority date of each of the appended claims. [005b] Throughout this specification the word "comprise", or variations such as "comprises" 15 or "comprising", will be understood to imply the inclusion of a stated element, integer or step, or group of elements, integers or steps, but not the exclusion of any other element, integer or step, or group of elements, integers or steps. [Summary] 2023344510   05 Jun 2026 [005c] Some embodiments relate to a hyperspectral scanning system for underground mine galleries and tunnels, the system comprising: an image capturing device for underground mine galleries and tunnels; and a sensor unit configured to detect operation of the image capturing device for underground mine galleries and tunnels, and located at an upper part of the image 5 capturing device for underground mine galleries and tunnels; a hyperspectral unit including a hyperspectral camera; a light source unit including a halogen lamp and a floodlight; a geometry unit including a stereo camera, LIDAR, and an inertial measurement unit (IMU); a driving unit located at an upper part of the image capturing device for underground mine galleries and tunnels; and a vertical support located at a center of the image capturing device for underground 10 mine galleries and tunnels to support the driving unit, and wherein the light source unit and the hyperspectral unit are mounted on the vertical support.

[006] Some embodiments of the present disclosure relate to a hyperspectral scanning system that enables fast and accurate acquisition of information on rocks and minerals on the surfaces of underground mine galleries and tunnels. 15

[007] Some embodiments of the present disclosure relate to a hyperspectral scanning system equipped with a light source that illuminates in the same direction as the observation direction of the hyperspectral camera, ensuring high-intensity and uniform illumination regardless of the observation direction or angle.

[008] Some embodiments of the present disclosure relate to a hyperspectral scanning system 2023344510   05 Jun 2026 in which an automatic rotation device is vertically mounted within the platform, enabling the observation of both the gallery walls and ceiling.

[009] Some embodiments of the present disclosure relate to a hyperspectral scanning system in which a stereo camera synchronized with the hyperspectral camera, LIDAR and an inertial 5 measurement unit (IMU) are integrally mounted in the sensor unit, enabling the simultaneous acquisition of geometric information of the hyperspectral images.

[010] Some embodiments of the present disclosure relate to a cart-type hyperspectral scanning system that, unlike conventional fixed systems, can continuously scan the entire gallery while moving without the need for resetting at each location. 10

[011] Some embodiments of the present disclosure relate to a hyperspectral scanning system for underground mine galleries and tunnels, the system comprising:

[012] a cart-type image capturing device;

[013] a sensor unit configured to detect operation of the cart-type image capturing device and 15 located at an upper part of the cart-type image capturing device;

[014] a hyperspectral unit including a hyperspectral camera;

[015] a light source unit including a halogen lamp and a floodlight; and

[016] a geometry unit including a stereo camera, LIDAR, and an inertial measurement unit (IMU). 2023344510   05 Jun 2026

[017] In some exemplary embodiments, the light source unit may be configured to illuminate in a direction same as an observation direction of the hyperspectral camera, ensuring high-intensity and uniform illumination regardless of the observation direction or angle.

[018] In some exemplary embodiments, the hyperspectral unit, the light source unit and the 5 geometry unit may be integrally mounted to the sensor unit.

[019] In some exemplary embodiments, the hyperspectral unit may be configured to collect hyperspectral images.

[020] In some exemplary embodiments, the geometry unit may be configured to perform three-dimensional reconstruction of the hyperspectral images by collecting geometric 10 information, and

[021] In some exemplary embodiments, the light source unit may be configured to emit light onto a target surface.

[022] In some exemplary embodiments, each line of the hyperspectral images and corresponding depth data may be projected in three dimensions by attitude information of the 15 inertial measurement unit (IMU).

[023] In some exemplary embodiments, the stereo camera, the LIDAR and the inertial measurement unit (IMU) may be integrally mounted to the sensor unit to simultaneously acquire geometric information of the hyperspectral images.

[024] In some exemplary embodiments, the stereo camera, the LIDAR and the inertial 2023344510   05 Jun 2026 measurement unit (IMU) may be configured to scan an entire gallery during movement.

[025] In some exemplary embodiments, the stereo camera and the LIDAR may generate an RGB three-dimensional model and depth data.

[026] In some exemplary embodiments, the inertial measurement unit (IMU) may generate 5 three-axis attitude information including roll, pitch and yaw.

[027] In addition, in order to achieve the purpose, an aspect of the present disclosure provides a hyperspectral scanning system for underground mine galleries and tunnels, the system comprising: 10

[028] a platform;

[029] a driving unit located at an upper part of the platform;

[030] a camera mounted at a front of the platform;

[031] a light mounted at a front of the platform; and

[032] a support located at a center of the platform to support the driving unit; 15

[033] a battery pack located at a lower part of the platform; and

[034] an inverter positioned aside of the battery pack.

[035] In some exemplary embodiments, the driving unit may include an automatic rotation device.

[036] In some exemplary embodiments, the driving unit may be configured to rotate the 2023344510   05 Jun 2026 sensor unit by 180°.

[037] In some exemplary embodiments, the battery pack may enable wireless operation of the platform, and the inverter may convert four of the battery packs to output an AC 200 V power supply. 5

[038] In some exemplary embodiments, wheels of a cart forming a part of the platform may be in form of air-inflated rubber tires, which mitigate shocks to the system when moving a gallery as an unpaved environment.

[039] In some exemplary embodiments, the platform may further comprise: a control unit; and a power supply unit of the platform. 10

[040] In some exemplary embodiments, the control unit may be configured to control the driving unit.

[041] In some exemplary embodiments, the power supply unit may supply power to a whole of the platform, and the platform may be formed in a shape of a cart to facilitate movement during exploration. 15

[042] Specific details of other exemplary embodiments are included in "Detailed Description" and accompanying "drawings".

[043] Advantages and / or features of the present disclosure, and a method for achieving the advantages and / or features will become obvious with reference to various exemplary 2023344510   05 Jun 2026 embodiments to be described below in detail together with the accompanying drawings.

[044] However, the present disclosure is not limited only to a configuration of each exemplary embodiment disclosed below, but may also be implemented in various different forms. The respective exemplary embodiments disclosed in this specification are provided only to 5 complete disclosure of the present disclosure and to fully provide those skilled in the art to which the present disclosure pertains with the category of the present disclosure, and the present disclosure will be defined only by the scope of each claim of the claims.

[045] The hyperspectral scanning system according to the present disclosure may offer synchronization with the scanning direction of the hyperspectral camera, facilitate easy 10 adjustment of the observation direction, and enhance the effectiveness of the light source system.  The hyperspectral scanning system may include a support equipped with a rotary stage that enables imaging of the ceiling of the gallery, as well as a sensor unit with integrated stereo camera, LIDAR, and an inertial measurement unit (IMU) for geometric correction. In addition, the system may be implemented as a cart-type platform equipped with a ground-based 15 hyperspectral camera, which may provide the advantage of unrestricted mobility. [Brief Description of Drawings]

[046] FIG. 1 is a diagram illustrating the platform of the hyperspectral scanning system for underground mine galleries and tunnels according to some embodiments. 2023344510   05 Jun 2026

[047] FIG. 2 is an enlarged view of the sensor unit of the platform according to some embodiments.

[048] FIG. 3 is a diagram showing the platform exploring and capturing images of a cave according to some embodiments. 5

[049] FIG. 4 is a diagram illustrating the imaging scene of Section 1 of the cave according to some embodiments.

[050] FIG. 5 is a diagram illustrating the imaging scene of Section 2 of the cave according to some embodiments.

[051] FIG. 6 is a diagram illustrating the imaging scene of Section 3 of the cave according to 10 some embodiments.

[052] FIG. 7 is a diagram illustrating the imaging scene of Section 4 of the cave according to some embodiments.

[053] FIG. 8 is a diagram illustrating the imaging scene of Section 5 of the cave according to some embodiments. 15

[054] FIG. 9 is a diagram illustrating the imaging scene of Section 6 of the cave according to some embodiments. [Detailed Description]

[055] According to some embodiments of the present disclosure, the hyperspectral scanning 2023344510   05 Jun 2026 system for underground mine galleries and tunnels comprises an image capturing device for underground mine galleries and tunnels; a sensor unit configured to detect operation of the image capturing device for underground mine galleries and tunnels, and located at an upper part of the image capturing device for underground mine galleries and tunnels; a hyperspectral 5 unit including a hyperspectral camera; a light source unit including a halogen lamp and a floodlight; and a geometry unit including a stereo camera, LIDAR, and an inertial measurement unit (IMU).

[056] Before describing the present disclosure in detail, the terms or words used in this specification should not be construed as being unconditionally limited to their ordinary or 10 dictionary meanings, and in order for the present disclosure to be described his / her disclosure in the best way, concepts of various terms may be appropriately defined and used, and furthermore, the terms or words should be construed as means and concepts which are consistent with a technical idea of the present disclosure.

[057] That is, the terms used in this specification are only used to describe some embodiments 15 of the present disclosure, and are not used for the purpose of specifically limiting the contents of the present disclosure, and it should be noted that the terms are defined by considering various possibilities of the present disclosure.

[058] Further, in this specification, it should be understood that, unless the context clearly indicates otherwise, the expression in the singular may include a plurality of expressions, and 2023344510   05 Jun 2026 similarly, even if it is expressed in plural, it should be understood that the meaning of the singular may be included.

[059] In the case where it is stated throughout this specification that a component "includes" another component, it does not exclude any other component, but may further include any other 5 component unless otherwise indicated.

[060] Furthermore, it should be noted that when it is described that a component "exists in or is connected to" another component, this component may be directly connected or installed in contact with another component, and in inspect to a case where both components are installed spaced apart from each other by a predetermined distance, a third component or means for 10 fixing or connecting the corresponding component to the other component may exist, and the description of the third component or means may be omitted.

[061] On the contrary, when it is described that a component is "directly connected to" or "directly accesses" to another component, it should be understood that the third element or means does not exist. 15

[062] Similarly, it should be construed that other expressions describing the relationship of the components, that is, expressions such as “between” and “directly between” or “adjacent to” and “directly adjacent to” also have the same purpose.

[063] In addition, it should be noted that if terms such as "one side surface", "other side surface", "one side", "other side", "first", "second", etc., are used in this specification, the terms 2023344510   05 Jun 2026 are used to clearly distinguish one component from the other component and a meaning of the corresponding component is not limited used by the terms.

[064] Further, in this specification, if terms related to locations such as "upper", "lower", "left", "right", etc., are used, it should be understood that the terms indicate a relative location 5 in the drawing with respect to the corresponding component and unless an absolute location is specified for their locations, these location-related terms should not be construed as referring to the absolute location.

[065] Further, in this specification, in specifying the reference numerals for each component of each drawing, the same component has the same reference number even if the component is 10 indicated in different drawings, that is, the same reference number indicates the same component throughout the specification.

[066] In the drawings attached to this specification, a size, a location, a coupling relationship, etc. of each component constituting the present disclosure may be described while being partially exaggerated, reduced, or omitted for sufficiently clearly delivering the spirit of the 15 present disclosure, and thus the proportion or scale may not be exact.

[067] Further, hereinafter, in describing the present disclosure, a detailed description of a configuration determined that may unnecessarily obscure the subject matter of the present disclosure, for example, a detailed description of a known technology including the prior art may be omitted. 2023344510   05 Jun 2026

[068] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to related drawings.

[069] The present disclosure relates to a hyperspectral scanning system for underground mine 5 galleries and tunnels.

[070] In particular, the present disclosure pertains to a hyperspectral scanning system that enables fast and accurate acquisition of information on rocks and minerals on the surfaces of mine galleries and tunnels. The system is equipped with a light source that illuminates in the same direction as the observation direction of the hyperspectral camera, ensuring high-intensity 10 and uniform illumination regardless of the observation angle.

[071] Herein, the cart-type image capturing device used in the hyperspectral scanning system for underground mine galleries and tunnels is defined as the “platform (100)”.

[072] FIG. 1 is a diagram illustrating the platform of the hyperspectral scanning system for underground mine galleries and tunnels according to some embodiments. 15

[073] FIG. 1 illustrates the shape of the platform (100).

[074] FIG. 2 is an enlarged view of a portion of FIG. 1, specifically the sensor unit (110) of the platform (100) according to some embodiments.

[075] Referring to FIGS. 1 and 2, it can be seen that the platform (100) includes a sensor unit (110), a light source unit (160), a hyperspectral unit (170), and a geometry unit (180). 2023344510   05 Jun 2026

[076] As shown in FIG. 2, the light source unit (160), the hyperspectral unit (170), and the geometry unit (180) may be integrally configured within the sensor unit (110).

[077] The light source unit (160) may be composed of a floodlight.

[078] The light source unit (160) including a halogen lamp and a floodlight can emit light 5 onto the target surface.

[079] The hyperspectral unit (170) may include a hyperspectral camera.

[080] The hyperspectral unit (170) including the hyperspectral camera may be the core component responsible for acquiring hyperspectral images.

[081] The light source unit (160) and the hyperspectral unit (170) may have synchronized 10 movements.

[082] The geometry unit (180) may include a stereo camera (220), LIDAR (210), and an inertial measurement unit (IMU) (200).

[083] The geometry unit (180) may acquire geometric information to perform threedimensional reconstruction of the hyperspectral images. 15

[084] The geometry unit (180) may simultaneously obtain geometric information of the hyperspectral images.

[085] The driving unit (140) may further include an automatic rotation device (S).

[086] Furthermore, the driving unit (140) may rotate the sensor unit (110).

[087] As shown in FIG. 2, the geometry unit (180), which includes the stereo camera (220), 2023344510   05 Jun 2026 LIDAR (210), and IMU (200), may be integrally mounted to the sensor unit (110).

[088] The stereo camera (220), the LIDAR (210), and the IMU (200), which are integrally mounted in the sensor unit (110) as part of the geometry unit (180), enable continuous scanning and imaging of the entire gallery without requiring separate setup during movement. 5

[089] Each line of the hyperspectral image and its corresponding depth data may be projected in three dimensions based on the attitude information from the IMU (200).

[090] The stereo camera (220) and the LIDAR (210) may generate an RGB three-dimensional model and depth data, while the IMU (200) may generate three-axis attitude information, including roll, pitch, and yaw. 10

[091] The main body of the platform (100) may be equipped with a driving unit (140) at the upper part of the platform (100).

[092] The support (150) may hold the camera (112), the light (114), and driving unit (140), while the battery pack (120) is positioned at the lower part, with an inverter (130) placed next to the battery pack (120). 15

[093] The driving unit (140) may rotate the sensor unit (110).

[094] The automatic rotation device (S) may be vertically mounted within the platform (100) to enable the observation of both the gallery walls and ceiling.

[095] The vertically mounted automatic rotation device (S) allows free rotation, improving the observation and imaging of the interior of the gallery while mitigating issues such as light 2023344510   05 Jun 2026 scattering in photos and videos.

[096] FIG. 3 is a diagram illustrating the platform (100) exploring and capturing images of the upper part of a cave. 5

[097] FIG. 3 represents a scene where the platform (100) is used to explore the cave and capture images of the upper part of the cave.

[098] The sections divided in FIGS. 4 to 9 are arbitrarily designated zones in the present disclosure and may differ from the zones shown in FIG. 3.

[099] The driving unit (140) may be divided into an automatic rotation device (A) mounted 10 with the hyperspectral unit (170) and the geometry unit (180), and an automatic rotation device (B) mounted with the light source unit (160). Each of the automatic rotation devices (A and B) can function independently while synchronizing their rotational axes and angular velocities, ensuring a uniform light distribution in the direction observed by the sensors.

[0100] Further, by aligning the rotation axis parallel to the progression direction of the 15 gallery or tunnel, hyperspectral images can be acquired in an “lT’-shaped pattern, covering both the sidewalls and the ceiling of the gallery or tunnel.

[0101] The automatic rotation device can be adjusted in height on the support (150) based on the distance to the observation target.

[0102] The battery pack (120) enables wireless operation of the main body. 2023344510   05 Jun 2026

[0103] Four of the battery packs (120) may be converted via the inverter (130) to output AC 200 V power supply.

[0104] The platform (100) may be designed as a two-tiered cart, facilitating smooth movement and imaging during exploration. 5

[0105] The wheels of the cart-type platform (100) may be air-inflated rubber tires, which mitigate shocks to the system when moving through unpaved gallery environments. This design helps prevent disturbances such as vibrations and blurring, ensuring stable image capture. 10

[0106] The control unit may control the sensor unit (110) and the driving unit (140).

[0107] The sensor unit (110) may be controlled by the control unit.

[0108] The sensor unit (110) may be positioned at the upper part of the platform (100).

[0109] The sensor unit (110) may provide a system capable of simultaneously acquiring geometric information of hyperspectral images. 15

[0110] Referring to FIG. 2, further details about the sensor unit (110) can be obtained.

[0111] The control unit may be equipped with at least one computer, which can control the attitude, rotation speed, start and stop angles of the driving unit (140) and manage the settings and data storage of the hyperspectral unit (170).

[0112] The computer used in the present disclosure may be a barebone computer. 2023344510   05 Jun 2026

[0113] According to some embodiments of the present disclosure, an NVIDIA Jetson Nano developer board can be separately used for data collection in the geometry unit (180).

[0114] The control unit may be connected via an intranet router, and the router may be equipped with wireless internet functionality, allowing for remote control of the system. 5

[0115] The power supply unit may provide power to the entire system.

[0116] The power supply unit may control the on / off operation of the platform (100).

[0117] The power supply unit may convert four parallel-connected DC 12 V 130 Ah lithium iron phosphate battery packs (120) via the inverter (130) to output AC 220 V power.

[0118] The entire system may be mounted on the two-tiered cart-type platform (100), 10 facilitating smooth movement and imaging during exploration.

[0119] The upper part of the platform (100) may house the sensors, the support (150), and the driving unit (140), while the lower part of the platform (100) may contain the power supply unit, which controls the platform (100).

[0120] The support (150) mounted on the upper part of the platform (100) may support 15 the sensors and the driving unit (140).

[0121] According to some embodiments of the present disclosure, the support (150) may be made of “Aluminum Profiles”.

[0122] In FIGS. 4 to 9, the cave represented in the present disclosure is arbitrarily 2023344510   05 Jun 2026 divided into six sections to illustrate the system's capability for multi-angle imaging according to some embodiments.

[0123] FIG. 4 is a diagram illustrating the imaging scene of Section 1 of the cave according to some embodiments. 5

[0124] FIG. 5 is a diagram illustrating the imaging scene of Section 2 of the cave according to some embodiments.

[0125] FIG. 6 is a diagram illustrating the imaging scene of Section 3 of the cave according to some embodiments.

[0126] FIG. 7 is a diagram illustrating the imaging scene of Section 4 of the cave 10 according to some embodiments.

[0127] FIG. 8 is a diagram illustrating the imaging scene of Section 5 of the cave according to some embodiments.

[0128] FIG. 9 is a diagram illustrating the imaging scene of Section 6 of the cave according to some embodiments. 15

[0129] According to some embodiments of the present disclosure, Sections 1 to 6 are arbitrarily divided into six parts.

[0130] FIG. 4 illustrates an image capture scene of Section 1 among the six divided sections.

[0131] FIG. 5 illustrates an image capture scene of Section 2 among the six divided 2023344510   05 Jun 2026 sections.

[0132] sections. FIG. 6 illustrates FIG. 7 illustrates an image capture scene of Section 3 among the six divided

[0133] an image capture scene of Section 4 among the six divided 5 sections.

[0134] FIG. 8 illustrates an image capture scene of Section 5 among the six divided sections.

[0135] FIG. 9 illustrates an image capture scene of Section 6 among the six divided sections. 10

[0136] Referring to FIGS. 4 to 9, it can be seen that the present disclosure enables the platform (100) to rotate and move freely, allowing exploration and imaging of each section of the cave.

[0137] The sections defined in the present disclosure are arbitrarily designated zones, and they may be modified depending on various situations and exemplary embodiments. 15

[0138] In the above, although several preferred embodiments of the present disclosure have been described with some examples, the descriptions of various exemplary embodiments described in the "Detailed Description" item are merely exemplary, and it will be appreciated by those skilled in the art that the present disclosure can be variously modified and carried out 2023344510   05 Jun 2026 or equivalent executions to the present disclosure can be performed from the above description.

[0139] In addition, since the present disclosure can be implemented in various other forms, the present disclosure is not limited by the above description, and the above description is for the purpose of completing the disclosure of the present disclosure, and the above 5 description is just provided to completely inform those skilled in the art of the scope of the present disclosure, and it should be known that the present disclosure is only defined by each of the claims.

[0140] The terms used in the present application are merely for the purpose of describing specific exemplary embodiments and are not intended to limit the scope of the 10 present disclosure. [Industrial Applicability]

[0141] According to the present disclosure, the hyperspectral scanning system enables synchronization with the scanning direction of the hyperspectral camera, facilitates easy 15 adjustment of the observation direction, and enhances the effectiveness of the light source system. The hyperspectral scanning system includes a support equipped with a rotary stage, allowing imaging of the ceiling of the gallery, as well as a geometrically calibrated sensor unit in which the stereo camera, LIDAR, and IMU are integrally mounted with the hyperspectral camera. In addition, the system may be implemented as a cart-type platform equipped with a 2023344510   05 Jun 2026 ground-based hyperspectral camera, which may provide the advantage of unrestricted mobility.

Claims

2023344510   05 Jun 2026[Claims]

1. A hyperspectral scanning system for underground mine galleries and tunnels, the system comprising:5           an image capturing device for underground mine galleries and tunnels; anda sensor unit configured to detect operation of the image capturing device for underground mine galleries and tunnels, and located at an upper part of the image capturing device for underground mine galleries and tunnels;a hyperspectral unit including a hyperspectral camera;10           a light source unit including a halogen lamp and a floodlight;a geometry unit including a stereo camera, LIDAR, and an inertial measurement unit (IMU);a driving unit located at an upper part of the image capturing device for underground mine galleries and tunnels; and15           a vertical support located at a center of the image capturing device for undergroundmine galleries and tunnels to support the driving unit, andwherein the light source unit and the hyperspectral unit are mounted on the vertical support.2023344510   05 Jun 2026

2. The system of claim 1,wherein the light source unit is configured to illuminate in a direction same as an observation direction of the hyperspectral camera.5

3. The system of claim 1,wherein the hyperspectral unit is configured to collect hyperspectral images,wherein the geometry unit is configured to perform three-dimensional reconstruction10 of the hyperspectral images by collecting geometric information, andwherein the light source unit is configured to emit light onto a target surface.

4. The system of claim 3,15           wherein each line of the hyperspectral images and corresponding depth data areprojected in three dimensions by attitude information of the inertial measurement unit (IMU).

5. The system of claim 3 or claim 4,2023344510   05 Jun 2026wherein the stereo camera, the LIDAR and the inertial measurement unit (IMU) are integrally mounted to the sensor unit to simultaneously acquire geometric information of the hyperspectral images, andwherein the stereo camera, the LIDAR and the inertial measurement unit (IMU) are5 configured to scan an entire gallery during movement.

6. The system of any one of claims 1 to 5,wherein the stereo camera and the LIDAR generate an RGB three-dimensional model10 and depth data, andwherein the inertial measurement unit (IMU) generates three-axis attitude information including roll, pitch and yaw.

7. 15           The system of any one of claims 1 to 6,wherein the driving unit includes an automatic rotation device.

8. The system of any one of claims 1 to 7,2023344510   05 Jun 2026wherein a battery pack is located at a lower part of the image capturing device, and wherein an inverter is positioned aside of the battery pack.

9. 5           The system of claim 8,wherein the battery pack enables wireless operation of the image capturing device, andwherein the inverter converts four of the battery packs to output an AC 200 V power supply.10

10. The system of any one of claims 1 to 9,wherein wheels of a cart forming a part of the image capturing device are in form of air-inflated rubber tires, which mitigate shocks to the system when moving a gallery as an unpaved environment.15

11. The system of any one of claims 1 to 9,wherein the image capturing device for underground mine galleries and tunnels further comprises:2023344510   05 Jun 2026a control unit; anda power supply unit of the image capturing device.

12. 5           The system of claim 11,wherein the control unit is configured to control the driving unit.

13. The system of claim 11 or claim 12,10           wherein the power supply unit supplies power to a whole of the image capturing device,andwherein the image capturing device is formed in a shape of a cart to facilitate movement during exploration.

Images