We propose a new combined detection method for the hidden ground fissures using unmanned aerial vehicle (UAV) with infrared camera and ground-penetrating radar (GPR) and applied it in the panel No. 12203 of the Daliuta coal mine. Subsequently, the extensive UAV aerial photography was taken to obtain the ground surface temperature of the entire longwall panel. The GPR detections along three survey lines in the selected ground surface zone of interest were carried out to find the positions of hidden ground fissures induced by underground mining. Based on the temperature measurement and analysis, the temperature of the surface above the hidden ground fissure is higher than that of the surface in non-fissure zone. The location of the hidden ground fissure can be determined by selecting the zone with a surface temperature higher than the temperature threshold, which is equal to the maximum average temperature of each surface zone. The similar track of hidden fissures can be drawn by GPR detection. The hidden ground fissure, with longitudinal lengths of 1–5 m and staggering horizontal lengths of 1–3.5 m, is mainly distributed 20–50 m in front of the working face, and between the step-like fissures. As the working face advances, the hidden ground fissure is recoverable with a cyclic evolution of formation, longitudinal development, and pinch-out. The optimal period for fissure detection is 9:20 a.m. to 11:30 a.m. at the environmental condition of this study, during which the open fissure has the lowest temperature range compared with the ground surface and vegetation. The results show that the proposed synergistic method can efficiently and accurately locate the hidden ground fissures and explain the distribution mechanism of ground temperature values in the mining area.

我们提出了一种利用无人机（UAV）与红外摄像机和探地雷达（GPR）联合检测隐蔽地裂缝的新方法，并将其应用于大柳塔煤矿12203号面板。随后，进行了广泛的无人机航拍，以获得整个长壁板的地表温度。在选定的地表感兴趣区沿三个测线进行 GPR 探测，以找到地下采矿引起的隐藏地裂缝的位置。经测温分析，隐蔽地裂缝上方地表温度高于非裂缝区地表温度。隐藏地裂缝的位置可以通过选择地表温度高于温度阈值的区域来确定，该温度阈值等于每个地表区域的最高平均温度。通过 GPR 检测可以绘制出类似的隐藏裂缝轨迹。隐伏地裂缝纵长1～5 m，水平长1～3.5 m，交错分布，主要分布在工作面前方20～50 m处，阶梯状裂隙之间。随着工作面的推进，地层隐蔽裂隙可通过地层、纵向发展和尖灭的循环演化来恢复。在本研究的环境条件下，裂缝检测的最佳时间是上午 9 点 20 分到 11 点 30 分，在此期间，与地表和植被相比，张开裂隙的温度范围最低。结果表明，所提出的协同方法能够高效、准确地定位隐蔽地裂缝，解释矿区地温值分布机制。