The underground detection environment in coal mines is complex, with numerous interference sources. Traditional ground-penetrating radar (GPR) methods suffer from limited detection range, high noise levels, and weak deep signals, making it extremely difficult to accurately identify geological structures without stable feature feedback. During research, it was found that the detection energy of the same target significantly changes with the antenna direction. Based on this phenomenon, this paper proposes a geological radar advanced detection method using spatial scanning. This method overcomes constraints imposed by the underground coal mine environment on detection equipment, enhancing both detection range and accuracy compared to traditional approaches. Experiments using this method revealed pea-shaped response characteristics of planar geological structures in radar images, and the mechanisms behind their formation were analyzed. Additionally, this paper studied the changes in response characteristics under changes in target inclination, providing a basis for understanding the spatial distribution of geological structures. Finally, application experiments in underground coal mine environments explored the practical potential of this method. Results indicate that, compared to drilling data, this method achieves identification accuracies of 91.88%, 90.42%, and 78.72% for the depth and spatial extent of geological structures, providing effective technical support for coal mining operations.

The pipeline ground-penetrating radar stands as an indispensable detection device for ensuring underground space security. A wheeled pipeline robot is deployed to traverse the interior of urban underground drainage pipelines along their central axis. It is subject to influences such as resistance, speed, and human factors, leading to deviations in its posture. A guiding wheel is employed to rectify its roll angle and ensure the precise spatial positioning of defects both inside and outside the pipeline, as detected by the radar antenna. By analyzing its deflection factors and correction trajectories, the intelligent correction control of the pipeline ground-penetrating radar falls into the realm of nonlinear multi-constraint optimization. Consequently, a time-series-based correction angle prediction algorithm is proposed. The application of the long short-term memory (LSTM) deep learning model facilitates the prediction of correction angles and torque for the guiding wheel. This study compares the performance of LSTM with an autoregressive integrated moving average model under identical dataset conditions. The subsequent findings reveal a reduction of 4.11° and 8.25 N·m in mean absolute error, and a decrease of 10.66% and 7.27% in mean squared error for the predicted correction angles and torques, respectively. These outcomes are achieved utilizing the three-channel drainage pipeline ground-penetrating radar device with top antenna operating at 1.2 GHz and left/right antennas at 750 MHz. The LSTM prediction model intelligently corrects its posture. Experimental results demonstrate an average correction speed of 5 s and an average angular error of ±1°. It is verified that the model can correct its attitude in real-time with small errors, thereby enhancing the accuracy of ground-penetrating radar antennas in locating pipeline defects.

Drainage pipelines face significant threats to underground safety due to external defects. Ground Penetrating Radar (GPR) is a primary tool for detecting such defects from within the pipeline. However, existing methods are limited to single or multiple axial scan lines, which cannot provide the precise spatial coordinates of the defects. To address this limitation, this study introduces a novel GPR-based drainage pipeline inspection robot system integrated with multiple sensors. The system incorporates MEMS-IMU, encoder modules, and ultrasonic ranging modules to control the GPR antenna for axial and circumferential scanning. A novel Cross-Line Fusion of GPR (CLF-GPR) method is introduced to integrate axial and circumferential scan data for the precise localization of external pipeline defects. Laboratory simulations were performed to assess the effectiveness of the proposed technology and method, while its practical applicability was further validated through real-world drainage pipeline inspections. The results demonstrate that the proposed approach achieves axial positioning errors of less than 2.0 cm, spatial angular positioning errors below 2°, and depth coordinate errors within 2.3 cm. These findings indicate that the proposed approach is reliable and has the potential to support the transparency and digitalization of urban underground drainage networks.

Single-frequency ground penetrating radar (GPR) systems are fundamentally constrained by a trade-off between penetration depth and resolution, alongside issues like narrow bandwidth and ringing interference. To break this limitation, we have developed a multi-frequency data fusion technique grounded in convolutional sparse representation (CSR). The proposed methodology involves spatially registering multi-frequency GPR signals and fusing them via a CSR framework, where the convolutional dictionaries are derived from simulated high-definition GPR data. Extensive evaluation using information entropy, average gradient, mutual information, and visual information fidelity demonstrates the superiority of our method over traditional fusion approaches (e.g., weighted average, PCA, 2D wavelets). Tests on simulated and real data confirm that our CSR-based fusion successfully synergizes the deep penetration of low frequencies with the fine resolution of high frequencies, leading to substantial gains in GPR image clarity and interpretability.