Abstract:The detection of concealed goaf has become a research topic in recent years. In this paper, Unmanned Aerial Vehicle (UAV) equipped with launcher is used to arrange detection lines and measuring points at high-altitude plane, which overcomes the difficulty of arranging the detective work on the steep hillsides and eliminates the detection error resulting from the topography, landforms, and other environmental conditionsin detecting working zone. By detecting and analyzing some known goafs, the validity and accuracy of this method is verified, and the frequency domain intervals and parameter corrections for other subsequent detections are provided. The study shows that this method has the advantages of strong applicability, high work efficiency, and high accuracy. It is a detection method that can be used in concealed goaf and the deformation of goaf can be identified during the analysis.