Underground goaf drill-borne seismic wave space observation method

Abstract

The invention relates to the technical field of geophysical exploration, in particular to an underground goaf drill-borne seismic wave space observation method. According to the method, a drill hole layout scheme is determined according to a possible position of an underground goaf and a preliminary geological survey result, equipment installation is carried out, seismic wave signals are collected, the collected signals are transmitted to ground receiving equipment, and the ground receiving equipment uniformly transmits and stores signals from drill holes and the ground through a data exchange module; the method comprises the following steps: carrying out primary processing on seismic wave data, then marking an acquired waveform, separating an effective wave from an interference signal, and carrying out three-dimensional modeling on a seismic wave signal by using a wave field reverse time imaging technology; the accuracy of the three-dimensional model is verified by comparing the actual measurement value of seismic wave propagation with the modeling result; and performing integrated analysis on a three-dimensional modeling result and actual geological conditions of the underground goaf, generating a technical report and an attached drawing according to the result, and visually displaying a detection result. According to the invention, the detection efficiency and precision are obviously improved.

Description

Technical Field

[0001] The present invention relates to the field of geophysical detection technology, in particular to the field of underground void detection, and more particularly to a method for spatial observation of drill-borne seismic waves in underground voids. Background Art

[0002] The formation of underground voids is often associated with mining, engineering construction, and natural geological processes. These voids can have a significant impact on surface structure and safety. Therefore, the detection and monitoring of underground voids is an important means of ensuring surface stability and safety. Under current technology, underground void detection technologies primarily include seismic wave detection, geological radar, and gravity measurement. Seismic wave detection technology, due to its advantages of deep detection, high resolution, and ability to provide three-dimensional spatial structural information about the void, is widely used for the detection and evaluation of underground voids. However, existing seismic wave detection systems still have deficiencies in their technical measures and methods, limiting their effectiveness and efficiency in practical applications.

[0003] Traditional seismic wave detection methods usually use ground-based geophones, combined with seismic waves generated by earthquake sources, to record the reflection and refraction information generated by the wave field during the propagation of the underground medium to infer the characteristics of the underground structure. However, this method faces the following major problems in practical application: (1) Insufficient spatial resolution: Ground-based geophones are limited by the density of points and terrain conditions, making it difficult to accurately detect complex voids; (2) Low signal-to-noise ratio: Strong surface noise, especially in mining areas, urban construction areas or construction sites, can easily interfere with seismic wave signals and reduce the reliability of detection results; (3) Lack of three-dimensional spatial detection capabilities: Conventional detection methods usually use a two-dimensional data acquisition mode, which is difficult to fully reflect the three-dimensional spatial distribution and evolution characteristics of voids.

[0004] In order to improve the detection accuracy and resolution, borehole seismic wave detection technology has gradually been introduced into the field of underground void detection. This technology directly detects the underground medium by placing seismic detectors in the borehole, reducing surface noise interference and improving the depth resolution of data acquisition. However, the borehole seismic wave detection technology still has the following problems: (1) Equipment complexity: The integration of drilling equipment and seismic wave detection equipment is low, and the operation is cumbersome, resulting in greater difficulty in deployment and maintenance in actual applications. (2) Low data acquisition efficiency: Existing borehole seismic wave detection systems mostly adopt a step-by-step acquisition mode, and the acquisition process takes a long time, which is difficult to meet the rapid detection needs of complex engineering sites. (3) Insufficient data processing: In existing systems, the integration capability between borehole data and surface data is limited, making it difficult to form a comprehensive void detection result and unable to fully characterize the spatial structure characteristics of the void.

[0005] At present, the detection of underground voids usually relies on the combination of the above-mentioned ground seismic wave detection method and borehole seismic wave detection technology. However, these technologies have significant defects in data synchronization, system integration and field adaptability. Specifically, they include: (1) Data synchronization lag: The data transmission and integration between the ground and drilling equipment rely on manual operation, which makes it difficult to achieve real-time data synchronization and easily leads to delays in detection results. (2) Error accumulation problem: The data transmission method with manual intervention is prone to introduce human errors, resulting in deviations in the detection data, which in turn affects the accurate identification of void characteristics. (3) Lack of spatial integrated detection capabilities: Existing technologies are difficult to fully integrate ground and borehole detection data, and fail to achieve three-dimensional spatial detection and all-round observation of underground voids. Summary of the Invention

[0006] In view of the shortcomings of existing underground void detection technology in terms of accuracy, real-time performance and three-dimensional modeling capabilities, especially the many technical bottlenecks in seismic wave signal transmission, data processing efficiency and spatial analysis of complex underground structures, the present invention provides a method for underground void space observation by drilling-borne seismic waves. This method uses boreholes as a carrier, combines seismic wave detection equipment with borehole detection technology, and realizes real-time synchronization and three-dimensional spatial observation of ground and borehole data through integrated hardware equipment and intelligent data processing methods. It aims to solve the problems of insufficient detection accuracy, difficult data integration and low operating efficiency in the existing technology, thereby improving the accuracy, efficiency and reliability of underground void detection. A method for underground void space observation by drilling-borne seismic waves mainly includes the following steps:

[0007] S1: Determine the drilling layout plan based on the possible location of the underground void and the preliminary geological survey results, and install the equipment, including the drill-mounted sensor device, fixed support structure, signal transmission device, and seismic source equipment;

[0008] S2: Collect seismic wave signals, including seismic wave signal collection inside the borehole and on the ground;

[0009] Seismic wave signal acquisition in boreholes: Drill-borne seismic wave sensors are used to collect, in real time, seismic wave signals propagating in the underground medium after excitation by the earthquake source, including reflected waves, refracted waves, and diffracted waves. The collected signals are filtered to eliminate environmental noise, improve signal quality, and convert analog signals into digital signals.

[0010] Ground seismic wave signal acquisition: a multi-channel seismic detector array is deployed on the ground to synchronously acquire seismic wave signals on the ground;

[0011] S3: The collected digital signals are transmitted to the ground receiving device through the wireless communication module or cable. The ground receiving device transmits and stores the signals from the borehole and the ground in a unified manner through the data exchange module.

[0012] S4: After receiving the seismic wave signal from the data exchange center, the data processing terminal performs preliminary processing on the data, including denoising, normalization, and waveform analysis. It then annotates the collected waveforms, separates effective waves from interference signals, and uses wave field time-reversal imaging technology to create a three-dimensional model of the seismic wave signal.

[0013] S5: Verify the accuracy of the 3D model by comparing the actual measured values of seismic wave propagation with the modeling results. If the model error is large, readjust the modeling parameters or collect additional data for optimization.

[0014] S6: Integrate and analyze the 3D modeling results with the actual geological conditions of the underground voids, including the formation mechanism and stability evaluation of the voids, and generate a technical report and accompanying drawings based on the 3D modeling results to intuitively display the detection results.

[0015] A computer device includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0016] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above method.

[0017] A computer program product includes a computer program or instructions, which implement the steps of the above method when the program or instructions are executed by a processor.

[0018] The beneficial effects brought about by the technical solution provided by the present invention are:

[0019] (1) The present invention achieves high-precision detection of underground voids through a highly sensitive drill-borne seismic wave sensor and a wave field time-reversal imaging algorithm, significantly improving detection efficiency and accuracy. Furthermore, the present invention reduces the real-time data synchronization delay compared to traditional methods, significantly improving the real-time and reliability of detection results.

[0020] (2) The present invention significantly shortens the detection cycle through a real-time data acquisition and transmission mechanism. This improvement stems from the realization of automated data transmission and processing, which eliminates manual intervention and redundant processes, and meets the needs of rapid detection under complex working conditions. The present invention has significant results in energy saving and resource conservation. By optimizing the number of drill holes and reducing equipment energy consumption, under the same detection conditions, the number of drill holes is reduced, the energy consumption of single-hole equipment is reduced, and the total energy consumption is reduced. At the same time, the consumption of materials such as steel pipes and concrete during construction is reduced, and the overall project cost is significantly reduced. In addition, the modular design of the system also reduces the complexity of equipment maintenance and upgrades.

[0021] (3) The present invention adopts modular design and automated test control unit, making the operation simpler and more intuitive. Compared with traditional methods, the operation steps are reduced, the number of on-site operators is reduced, and the labor intensity is significantly reduced. At the same time, the present invention supports rapid deployment and debugging, adapts to various working conditions, and greatly improves the convenience of detection work. By reducing the number of drilling holes and energy consumption, the present invention effectively reduces surface vegetation damage and carbon dioxide emissions, and is more environmentally friendly. In addition, by accurately detecting the morphology and distribution of underground voids, potential hidden dangers are discovered in a timely manner, the safety of engineering operations is improved, and the possibility of major accidents such as mine collapse is reduced.

[0022] (4) The present invention combines high-sensitivity sensors, multi-directional signal acquisition, real-time data synchronization, and three-dimensional modeling technology to achieve comprehensive improvements in detection efficiency, accuracy, and real-time performance. Its three-dimensional modeling errors are reduced, data transmission efficiency is improved, and the total detection cost is reduced. Through the precise analysis of underground voids, it provides reliable technical support for geological disaster warning, mine safety operations, and underground engineering design. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0024] Figure 1 This is a flow chart of a method for spatial observation of underground empty area seismic waves by drilling according to an embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the underground void area drilling-borne seismic wave spatial observation in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0027] Example 1

[0028] Please refer to Figure 1-2 , Figure 1 This is a flow chart of a method for observing underground empty area seismic waves by drilling in an embodiment of the present invention. Figure 2 Schematic diagram of the structure of the underground empty area drilling seismic wave spatial observation in an embodiment of the present invention, the method specifically includes the following steps:

[0029] S1: Drilling layout and equipment installation

[0030] Drilling Design and Implementation: Based on the potential location of the underground void and preliminary geological survey results, determine the drilling layout plan, including borehole depth, location, and spacing. Drilling is carried out in the target area to ensure that the boreholes cover the potential locations of the underground void. The borehole diameter must meet the size requirements of the drill-borne seismic observation device to ensure smooth equipment deployment.

[0031] Equipment installation: specifically refers to the installation and configuration of the core components of the drill-borne seismic wave sensor device to ensure that they can work properly and collect effective seismic wave signals; the specific installation method is: (1) Installation of the drill-borne seismic wave sensor device: Place the drill-borne seismic wave sensor device in the borehole and use the fixed support structure of the equipment (such as an expansion support device) to firmly install it on the inner wall of the borehole. Adjust the direction of the sensor so that it can effectively receive seismic wave signals from different directions. (2) Layout of other auxiliary equipment: Install a signal transmission device at the top of the borehole and connect it to the ground receiving equipment through a cable or wireless communication module. Set up a source device near the borehole to excite seismic waves.

[0032] Environmental Adaptability Adjustment: The drill-mounted device's protective structure is adjusted based on the drilling environment's temperature, humidity, and other conditions to ensure long-term, stable operation. The drill-mounted seismic wave sensor, a core component of the system, is primarily used to collect and transmit seismic wave signals from the underground medium within the borehole. Designed with the specific requirements of the drilling environment in mind, this device features high sensitivity, stability, strong anti-interference capabilities, and efficient data transmission.

[0033] The overall structure of the drill-borne seismic wave sensing device includes: a sensing module, a data acquisition module, a wireless communication module, a power supply module, a casing and a fixing device. Among them, the sensing module is the core component of the device and is used to sense seismic wave signals. The data acquisition module is used to collect, amplify and pre-process the signals output by the sensor. The wireless communication module is used to transmit the collected seismic wave data to the ground receiving equipment wirelessly. The power supply module is used to provide continuous power supply for the entire device. The casing and fixing device are used to provide structural support and environmental protection to ensure that the device can operate stably in the borehole.

[0034] S2: Seismic wave signal acquisition

[0035] Source excitation: A seismic source device (such as a blasting source or a mechanical source) is placed near the borehole to excite seismic waves of a specific frequency and energy. The frequency and energy of the source excitation are adjusted to ensure that the seismic waves penetrate the underground void and return to the drill rig or surface receiving equipment.

[0036] In-borehole seismic wave signal acquisition: The drill-mounted seismic wave sensor collects, in real time, seismic wave signals, including reflected, refracted, and diffracted waves, propagating through the underground medium after being excited by the earthquake source. The collected signals are filtered using a built-in preprocessing module to eliminate environmental noise and improve signal quality. The signals are then amplified and sampled, converting the analog signals into digital signals.

[0037] Ground seismic signal acquisition: A multi-channel geophone array is deployed on the ground to synchronously collect seismic wave signals from the surface. The ground acquisition equipment works in conjunction with drilling equipment to ensure that the collected signals cover the complete wavefield information of the target area.

[0038] S3: Data transfer and synchronization

[0039] Data transmission mechanism: The drill rig transmits the collected digital signals to the ground receiving device via a wireless communication module (such as LoRa, Wi-Fi) or cable. The ground receiving device uses a data exchange module to uniformly transmit and store the signals from the borehole and the ground.

[0040] Data exchange center setup: The data exchange center is the core module of the system, used to achieve real-time data transmission and synchronization between the drilling rig, ground receiving equipment and data processing terminals. The data exchange center uses API (application programming interface) or WEB SERVICE (network service interface) to connect with various devices, including:

[0041] Data storage unit: stores real-time transmitted data;

[0042] Data format conversion unit: adapts and converts data formats from different sources to ensure data compatibility.

[0043] During the data synchronization process, the data exchange center automatically synchronizes the borehole and surface data based on preset time intervals or trigger conditions (such as after the completion of the source excitation). When the data transmission is completed, the data exchange center sends an update notification to the data processing terminal.

[0044] S4: Data processing and 3D modeling

[0045] Preliminary data analysis: After the data processing terminal receives the seismic wave signal from the data exchange center, it first performs preliminary processing on the data, including denoising, normalization, and waveform analysis.

[0046] The collected waveforms are marked to separate effective waves (such as reflected waves and refracted waves) from interference signals.

[0047] 3D modeling algorithm: 3D modeling of seismic wave signals using reverse time migration (RTM) technology is performed. The specific steps include:

[0048] (1) Model initialization: Construct a preliminary three-dimensional model of the underground medium based on the borehole location and seismic wave propagation path.

[0049] (2) Wave field propagation simulation: The seismic wave propagation equation is used to perform forward simulation of the wave field in the underground medium to obtain simulated wave field data.

[0050] (3) Inversion calculation: Compare the measured data with the simulated data, optimize the three-dimensional model parameters through iterative inversion, and gradually approach the real structure of the underground void.

[0051] (4) Error correction: Based on multi-point observation data from boreholes and the ground, the model errors are corrected to improve the accuracy of the model.

[0052] (5) 3D model visualization: Use visualization software to present the modeling results as 3D images, including the shape, size, spatial distribution of the voids, and the geological characteristics of the surrounding medium. To facilitate analysis, various forms of graphics (such as cross-sections, isosurfaces, and volume renderings) can be generated.

[0053] S5: Result Verification and Optimization

[0054] Model Verification: Verify the accuracy of the 3D model by comparing actual measurements of seismic wave propagation with the modeled results. If the model error is large, readjust the modeling parameters or collect additional data for optimization.

[0055] Multi-point verification: Verify the accuracy of the void model by placing verification points outside the drill hole area through additional observations. Compare the verification results with the original model to optimize the representation of the void boundary and morphology.

[0056] On-site verification: The model results can be verified on-site in combination with other detection methods (such as geological radar and gravity measurement) to further confirm the authenticity of the void area.

[0057] S6: Result analysis and report generation

[0058] (1) Data integration and analysis: Integrate and analyze the 3D modeling results with the actual geological conditions of the underground void, including the formation mechanism of the void and stability evaluation. Analyze the mechanical properties of the medium surrounding the void to provide a basis for subsequent treatment.

[0059] (2) Output: Generate a technical report based on the 3D modeling results. The report content includes: the shape, location and size of the underground void.

[0060] The technical report reflects the geological characteristics of the void area and its impact on surface stability, the reliability analysis of the detection data and the error range of the model.

[0061] Illustration generation: Generate various forms of illustrations, including three-dimensional spatial maps, cross-sectional maps, contour maps, etc. of the void area to intuitively display the detection results.

[0062] The method is based on a drill-borne seismic wave sensor device, a data exchange center, and a data processing terminal. After the drill-borne seismic wave sensor device collects data, it transmits it to the ground equipment via a wireless module. The data exchange center receives the data and performs storage, format conversion, and synchronous updates. The data processing terminal calls the data in real time for analysis and modeling, and returns the analysis results. The drill-borne seismic wave sensor device includes a sensor module, a data processing module, a wireless communication module, a power supply module, a shell, and a fixing device. The present invention enhances the spatial resolution and stability of seismic wave signal acquisition by deploying a highly sensitive, multi-directional detection seismic wave sensor device in the borehole. Through the wireless communication module and the data exchange center, the real-time transmission and synchronous processing of seismic wave data between the borehole and the ground are realized. Based on wave field time-reversal imaging technology and iterative optimization algorithm, the collected data is subjected to three-dimensional inversion modeling to reconstruct the spatial structure of the underground void. A modular hardware and software system is designed to facilitate on-site deployment, maintenance, and expansion. The present invention exhibits significant technical advantages in terms of detection accuracy, efficiency, cost savings, ease of operation, and environmental friendliness. The details are as follows:

[0063] 1. Drill-borne seismic wave sensing device

[0064] The drill-mounted seismic wave sensor is the core acquisition component of this invention, used to collect high-precision, high-resolution seismic wave signals from underground media in real time in a drilling environment, ensuring the reliability of void detection. Its design and application are key to ensuring detection accuracy and efficiency. The device adopts a high-strength, corrosion-resistant casing design, adapted to the high-pressure and high-humidity drilling environment, and can operate stably for a long time in the drilling environment and adapt to various complex geological conditions. The adjustable expansion support device ensures the stable installation of the sensor in the borehole. Among them:

[0065] Sensing Module: This module integrates highly sensitive seismic wave sensors capable of capturing longitudinal, shear, and diffracted wave signals. It utilizes a multi-directional detection array to support three-dimensional seismic wave signal acquisition.

[0066] Data processing module: including Figure 2 The signal booster and data collector in the system have real-time filtering functions to remove environmental noise interference from seismic wave signals. Signal amplification and analog-to-digital conversion ensure stable signal transmission.

[0067] Wireless communication module: Supports LoRa or Wi-Fi protocols and can wirelessly transmit collected data to ground equipment, achieving low-power and high-efficiency data transmission.

[0068] 2. Data Exchange Center

[0069] Efficient and stable data transmission ensures real-time performance throughout the entire system. Data synchronization and update mechanisms reduce the risk of errors caused by manual operations. This ensures data standardization and consistency, laying the foundation for subsequent modeling and analysis.

[0070] Function: The data exchange center is the core data transmission and storage module of the system, responsible for achieving real-time synchronization and interaction of data between drilling sensors, ground equipment and data processing terminals.

[0071] Data Transmission and Format Conversion: Equipped with API and WEB SERVICE interfaces for connecting drill-mounted seismic wave sensors, ground receiving equipment, and data processing terminals. A built-in data format conversion module ensures data compatibility between different devices.

[0072] Data correspondence storage: This stores the data correspondence between the data collected by the onboard sensor and the ground equipment and data processing terminals. This includes the storage and maintenance of primary correspondence (data table level) and secondary correspondence (field level).

[0073] Data synchronization mechanism: Realizes real-time synchronization of drilling data and ground data, reducing data latency. Supports two-way data updates to ensure data consistency across all modules.

[0074] Storage and notification functions: Real-time storage of sensor data and sending data update notification messages to related devices. Supports simultaneous access and data call from multiple devices.

[0075] 3. Data processing terminal and 3D modeling technology

[0076] Accurately model underground voids and analyze spatial structures under complex geological conditions. Efficient and fast data processing supports real-time analysis and dynamic optimization. Modeling results are provided in a variety of formats for intuitive display and subsequent application.

[0077] Function: The data processing terminal is used to receive and process data transmitted from the data exchange center. Through the built-in 3D modeling algorithm module, it models and analyzes the underground void area and generates a high-precision 3D spatial structure model.

[0078] Automated Test Control Unit: Automatically acquires feedback data from sensors and the data exchange center. It processes and analyzes the data based on pre-set test cases and modeling rules. It supports real-time comparison of theoretical feedback data with measured data to determine whether test results meet expectations.

[0079] 3D Modeling Algorithm: Using wavefield time-reversal imaging technology, seismic wave signals are inverted and calculated to generate a 3D model of the void. An iterative optimization algorithm dynamically adjusts model parameters to reduce errors. Multi-dimensional visualization output is supported, including the shape, size, and spatial distribution of the void.

[0080] Visualization and Report Generation: Provides 3D images and data charts to intuitively display the distribution of voids. Automatically generates technical reports that record the test process and results, providing a basis for engineering decision-making.

[0081] 4. Overall system architecture and communication process

[0082] Efficient collaboration between modules significantly improves overall system performance. Data flow is fully controllable, reducing potential errors caused by human intervention. The system's robustness allows for long-term exploration in complex geological conditions.

[0083] Function: The overall system architecture design is the basis for ensuring efficient collaboration between modules, and the smooth transmission and processing of data is achieved through modular design.

[0084] Modular design: The drill-mounted seismic sensor, data exchange center, and data processing terminal are all independent and can be flexibly combined or expanded according to needs. Standardized interfaces are provided to ensure seamless connection between different modules.

[0085] Communication Process: Sensors collect data and transmit it to ground equipment via wireless modules. The data exchange center receives the data and stores, converts its format, and synchronizes updates. The data processing terminal uses the data in real time for analysis and modeling, and returns the analysis results.

[0086] Real-time monitoring and feedback: The system supports real-time monitoring of data transmission and processing status, enabling timely detection and troubleshooting. Log files are automatically generated to record the entire data processing process, facilitating subsequent inspection and optimization.

[0087] 5. Data collection and comparison mechanism

[0088] Function: Data collection and comparison are important links to ensure the accuracy of system detection. By comparing the feedback data with the theoretical value in real time, it is determined whether the test results meet expectations.

[0089] Feedback data collection: data is obtained from the drilling sensor device, ground equipment and data exchange center respectively.

[0090] Log files are uniformly used to record the data processing process to facilitate subsequent analysis.

[0091] Theoretical data comparison: Set theoretical feedback values for different test cases. The automated test control unit compares the measured data with the theoretical values and analyzes the test results.

[0092] Exception handling: When the comparison results do not meet expectations, an exception report is automatically generated and prompted to the operator. Secondary processing and review of abnormal data is supported.

[0093] Example 2

[0094] A computer device includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0095] Example 3

[0096] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above method.

[0097] Example 4

[0098] A computer program product includes a computer program or instructions, which implement the steps of the above method when the program or instructions are executed by a processor.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for observing underground empty area seismic waves by drilling, characterized in that: The method is implemented based on a borehole-borne seismic wave spatial observation system for underground void areas. The system includes a borehole-borne seismic wave sensor device, a data exchange center, and a data processing terminal. The borehole-borne seismic wave sensor device collects data and transmits it to ground equipment via a wireless module. The data exchange center receives the data and stores, converts the format, and synchronously updates it. The data processing terminal calls the data in real time for analysis and modeling, and returns the analysis results. The system also includes a sensor module, a data processing module, a wireless communication module, a power supply module, a housing, and a fixing device. The method specifically includes the following steps: S1: Determine the drilling layout plan and install equipment based on the possible location of the underground void and the preliminary geological survey results; S2: Collect seismic wave signals, including seismic wave signal collection inside the borehole and on the ground; Seismic wave signal acquisition in boreholes: Drill-borne seismic wave sensors are used to collect, in real time, seismic wave signals propagating in the underground medium after excitation by the earthquake source, including reflected waves, refracted waves, and diffracted waves. The collected signals are filtered to eliminate environmental noise, improve signal quality, and convert analog signals into digital signals. Ground seismic wave signal acquisition: a multi-channel seismic detector array is deployed on the ground to synchronously acquire seismic wave signals on the ground; S3: The collected digital signals are transmitted to the ground receiving device through the wireless communication module or cable. The ground receiving device transmits and stores the signals from the borehole and the ground in a unified manner through the data exchange module. S4: After receiving the seismic wave signal from the data exchange center, the data processing terminal performs preliminary processing on the data, including denoising, normalization, and waveform analysis. It then annotates the collected waveforms, separates effective waves from interference signals, and uses wave field time-reversal imaging technology to create a three-dimensional model of the seismic wave signal. S5: Verify the accuracy of the 3D model by comparing the actual measured values of seismic wave propagation with the modeling results. If the model error is large, readjust the modeling parameters or collect additional data for optimization. S6: Integrate and analyze the 3D modeling results with the actual geological conditions of the underground voids, including the formation mechanism and stability evaluation of the voids, and generate a technical report and accompanying drawings based on the 3D modeling results to intuitively display the detection results.

2. The method for observing underground empty area seismic waves by drilling according to claim 1, characterized in that: In S1, the drilling layout plan includes the depth, location, and spacing of the drilling holes, and drilling construction is carried out in the target area to ensure that the drilling holes can cover the potential locations of the underground void area.

3. The method for observing underground empty area seismic waves by drilling according to claim 1, wherein: In S3, during the data synchronization process, the data exchange center automatically synchronizes and updates the data collected from the borehole and the ground according to the preset time interval or trigger condition; when the data transmission is completed, the data exchange center sends an update notification to the data processing terminal.

4. The method for observing underground empty area seismic waves by drilling according to claim 1, wherein: In S4, the process of 3D modeling is as follows: (1) Model initialization: Construct a preliminary three-dimensional model of the underground medium based on the borehole location and seismic wave propagation path; (2) Wave field propagation simulation: Use the seismic wave propagation equation to perform forward simulation of the wave field in the underground medium to obtain simulated wave field data; (3) Inversion calculation: Compare the measured data with the simulated data, optimize the three-dimensional model parameters through iterative inversion, and gradually approach the real structure of the underground void; (4) Error correction: Based on multi-point observation data from boreholes and the ground, the model errors are corrected to improve the accuracy of the model; (5) Three-dimensional model visualization: Use visualization software to present the modeling results as three-dimensional images, including the shape, size, spatial distribution of the voids and the geological characteristics of the surrounding medium; To facilitate analysis, various forms of graphics can be generated, including cross-sections, isosurfaces, and volume renderings.

5. The method for observing underground empty area seismic waves by drilling according to claim 1, wherein: In S5, multi-point verification and field verification methods are combined to optimize the model results.

6. The method for observing underground empty area seismic waves by drilling according to claim 1, wherein: In S6, the report content includes: the shape, location and size of the underground void; the accompanying drawings include: a three-dimensional spatial map, a cross-sectional map, and a contour map of the void.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory, wherein: The processor executes the computer program to implement the steps of the underground empty area drilling-borne seismic wave spatial observation method as described in any one of claims 1-6.

8. A computer-readable storage medium, characterized in that A computer program is stored, and when the program is executed by a processor, the steps of the underground empty area drilling-borne seismic wave spatial observation method as described in any one of claims 1 to 6 are implemented.

9. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed by a processor, implements the steps of the underground void area drilling-borne seismic wave spatial observation method as described in any one of claims 1 to 6.

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