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In order to solve the problem of insufficient precision and ability of conventional exploration technology on the boundary of room pillar goaf, specific mining parameters, roof and surrounding rock stability and other factors, in this paper, the formation and occurrence characteristics of room and pillar goaf in Shenfu Mining Area are investigated in detail, and then the distribution range of room and pillar goaf is delineated by using ground geophysical fine imaging technology, and the target area is provided by the first borehole to guide drilling to quickly expose the goaf. Through high-precision hole peeping and 3D laser scanning technology, the accurate exploration of room pillar goaf in coal mine can be realized by continuous tracking. The advantage of this method is that it integrates the respective advantages of ground and borehole exploration technology through the surface geophysical fine imaging technology to guide drilling to quickly expose the room and pillar goaf, and the high-precision borehole scanning technology is used to realize the high-precision exploration of the room and pillar goaf boundary, specific mining parameters, roof and surrounding rock stability, and water accumulation conditions. At the same time, the drilling layout basis is sufficient, there is no invalid workload, saving the drilling quantity and drilling cost.