A monitoring method and device, equipment, and storage medium for a foundation pit and a cofferdam

Abstract

The present invention provides a monitoring method and device, equipment, and storage medium for a foundation pit and a cofferdam. The monitoring method for the foundation pit and the cofferdam may include: obtaining a monitoring image of the foundation pit and the cofferdam at the construction site, with a first preset identifier fixed on the foundation pit and a second preset identifier fixed on the cofferdam; performing target recognition on the monitoring image to identify the first preset identifier on the foundation pit and the second preset identifier on the cofferdam; determining a first current coordinate of the first preset identifier in a preset coordinate system and determining a second current coordinate of the second preset identifier in the preset coordinate system; comparing the first current coordinate with a first initial coordinate to obtain a first comparison result; comparing the second current coordinate with a second initial coordinate to obtain a second comparison result; and judging whether the foundation pit and the cofferdam have undergone morphological changes according to the first comparison result and the second comparison result. The present invention avoids problems such as low equipment reuse rate and high input cost caused by embedding monitoring equipment, and improves the accuracy of recognition.

Description

Technical Field

[0001] The present invention relates to the technical field of construction site monitoring. More specifically, the present invention can provide a monitoring method, device, equipment, and storage medium for foundation pits and cofferdams. Background Art

[0002] The cofferdam at the construction site is the safeguard line of the project. During the construction process, it is necessary to monitor the deformation of the foundation pit and the cofferdam to meet the requirements of the safe operation of the project, which is of great significance for safe construction. For those skilled in the art, embedding monitoring equipment is the most commonly used monitoring scheme for foundation pits and cofferdams. Among them, the embedded monitoring equipment includes displacement monitoring integrated machines, inclinometer cables, static level gauges, water level gauges, etc., which can be specifically used to monitor whether the foundation pit and the cofferdam are deformed. These devices are generally directly demolished after the construction is completed. It can be seen that the conventional technical scheme has the problem of low reuse rate of monitoring equipment, which significantly increases the construction cost, and the recognition accuracy and precision are limited. Summary of the Invention

[0003] To solve the problem of low reuse rate of monitoring equipment in the conventional scheme, the present invention can provide a monitoring method, device, equipment, and storage medium for foundation pits and cofferdams, which can achieve the purpose of monitoring the foundation pit and the cofferdam while avoiding the problem of low equipment reuse rate and reducing the construction cost.

[0004] To achieve the above technical purpose, the present invention provides a monitoring method for foundation pits and cofferdams, including: obtaining a monitoring image of the foundation pit and the cofferdam at the construction site, with a first preset identifier fixed on the foundation pit and a second preset identifier fixed on the cofferdam; performing target recognition on the monitoring image to identify the first preset identifier on the foundation pit and the second preset identifier on the cofferdam; determining a first current coordinate of the first preset identifier in a preset coordinate system, and determining a second current coordinate of the second preset identifier in the preset coordinate system; comparing the first current coordinate with a first initial coordinate to obtain a first comparison result; comparing the second current coordinate with a second initial coordinate to obtain a second comparison result; the first initial coordinate is the initial coordinate of the first preset identifier in the preset coordinate system; the second initial coordinate is the initial coordinate of the second preset identifier in the preset coordinate system; judging whether the foundation pit and the cofferdam have undergone morphological changes according to the first comparison result and the second comparison result.

[0005] To achieve the above technical objectives, the present invention can further provide a monitoring device for a foundation pit and a cofferdam, including: an image acquisition module for acquiring monitoring images of the foundation pit and the cofferdam at the construction site, with a first preset identifier fixed on the foundation pit and a second preset identifier fixed on the cofferdam; a target recognition module for performing target recognition on the monitoring images to identify the first preset identifier on the foundation pit and the second preset identifier on the cofferdam; a coordinate determination module for determining the first current coordinate of the first preset identifier in a preset coordinate system and for determining the second current coordinate of the second preset identifier in the preset coordinate system; a coordinate comparison module for comparing the first current coordinate with the first initial coordinate to obtain a first comparison result; and for comparing the second current coordinate with the second initial coordinate to obtain a second comparison result; the first initial coordinate being the initial coordinate of the first preset identifier in the preset coordinate system; the second initial coordinate being the initial coordinate of the second preset identifier in the preset coordinate system; a form monitoring module for judging whether the form of the foundation pit and the cofferdam has changed according to the first comparison result and the second comparison result.

[0006] To achieve the above technical objectives, the present invention can provide a computer device, including a memory and a processor, where computer-readable instructions are stored in the memory. When the computer-readable instructions are executed by the processor, the processor is caused to execute the steps of the monitoring method for a foundation pit and a cofferdam in one or more embodiments of the present invention.

[0007] To achieve the above technical objectives, the present invention can further provide a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors are caused to execute the steps of the monitoring method for a foundation pit and a cofferdam in one or more embodiments of the present invention.

[0008] The beneficial effects of the present invention are as follows:

[0009] The present invention can identify the first current coordinate of the first preset identifier fixed on the foundation pit and the second current coordinate of the second preset identifier fixed on the cofferdam, so as to effectively monitor the foundation pit and the cofferdam through the first comparison result between the first current coordinate representing the position of the foundation pit and the first initial coordinate and the second comparison result between the second current coordinate representing the position of the cofferdam and the second initial coordinate. The present invention effectively avoids problems such as low equipment reuse rate and high input cost caused by separately embedding monitoring equipment. While realizing the overall monitoring of the construction site, it can also effectively and quantitatively monitor the states of the foundation pit and the cofferdam, significantly improving the accuracy and precision of recognition, and providing an excellent user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 Shows a schematic flow chart of the monitoring method for a foundation pit and a cofferdam in one or more embodiments of the present invention.

[0011] Figure 2 Shows a schematic diagram of setting one identification mark on the cofferdam at the construction site in one or more embodiments of the present invention.

[0012] Figure 3 Shows a schematic diagram of setting two identification marks on the cofferdam at the construction site in one or more embodiments of the present invention.

[0013] Figure 4 Shows a schematic diagram of determining the final monitoring result in a manner of cross-checking based on the first monitoring result and the second monitoring result in one or more embodiments of the present invention.

[0014] Figure 5 Shows a schematic diagram of the process of calibrating a monocular camera and performing stereo rectification in one or more embodiments of the present invention.

[0015] Figure 6 Shows a schematic diagram of the judgment situation matrix for whether the slope has displacement in one or more embodiments of the present invention.

[0016] Figure 7 Shows a schematic diagram of the process of training an image dynamic recognition model based on the images collected by a monocular camera in one or more embodiments of the present invention.

[0017] Figure 8 Shows a schematic diagram of the process of training an image dynamic recognition model based on the images collected by a binocular camera in one or more embodiments of the present invention.

[0018] Figure 9 Shows a schematic diagram of the monitoring screen of the intelligent video monitoring system during the specific implementation of the present invention in one or more embodiments of the present invention.

[0019] Figure 10 Shows a schematic diagram of the composition of the monitoring device for the foundation pit and the cofferdam in one or more embodiments of the present invention.

[0020] Figure 11 Shows a schematic diagram of the composition of the internal structure of a computer device in one or more embodiments of the present invention. Detailed implementation manners

[0021] The following combines the description of the accompanying drawings of the specification to explain and illustrate in detail a monitoring method, device, equipment, and storage medium for a foundation pit and a cofferdam provided by the present invention.

[0022] Compared with the solution of pre-buried monitoring equipment, one or more embodiments of the present invention can provide a monitoring method for a foundation pit and a cofferdam, including: obtaining a monitoring image of the foundation pit and the cofferdam at the construction site, with a first preset identifier fixed on the foundation pit and a second preset identifier fixed on the cofferdam; performing target recognition on the monitoring image to identify the first preset identifier on the foundation pit and the second preset identifier on the cofferdam; determining the first current coordinate of the first preset identifier in a preset coordinate system and determining the second current coordinate of the second preset identifier in the preset coordinate system; comparing the first current coordinate with the first initial coordinate to obtain a first comparison result; comparing the second current coordinate with the second initial coordinate to obtain a second comparison result; the first initial coordinate is the initial coordinate of the first preset identifier in the preset coordinate system; the second initial coordinate is the initial coordinate of the second preset identifier in the preset coordinate system; judging whether the foundation pit and the cofferdam have undergone morphological changes according to the first comparison result and the second comparison result. Based on the obtained monitoring image of the foundation pit and the cofferdam at the construction site, the present invention identifies the first preset identifier on the foundation pit and the second preset identifier on the cofferdam, so as to identify the first current coordinate of the first preset identifier fixed on the foundation pit and the second current coordinate of the second preset identifier fixed on the cofferdam, and realizes the effective monitoring of the foundation pit and the cofferdam through the first comparison result of the first current coordinate representing the position of the foundation pit and the first initial coordinate, and the second comparison result of the second current coordinate representing the position of the cofferdam and the second initial coordinate. The present invention effectively avoids problems such as low equipment reuse rate and high input cost caused by separately pre-burying monitoring equipment, can effectively and quantitatively monitor the states of the foundation pit and the cofferdam while realizing the overall monitoring of the construction site, ensures the safe operation of the project, and significantly improves the accuracy and precision of recognition, with excellent user experience.

[0023] As Figure 1 shown, at least one embodiment of the present invention can provide a monitoring method for a foundation pit and a cofferdam. The monitoring method for the foundation pit and the cofferdam of the present invention may include but is not limited to steps S100 to S500.

[0024] Step S100, obtaining a monitoring image of the foundation pit and the cofferdam at the construction site, with a first preset identifier fixed on the foundation pit and a second preset identifier fixed on the cofferdam. The first preset identifier and the second preset identifier in the embodiment of the present invention are within the field of view of the imaging device so as to appear in the monitoring image.

[0025] As Figure 2As shown, it schematically provides a schematic diagram of the positional relationship between the foundation pit 10 and the cofferdam 20 at the construction site. Among them, a first preset identifier 11 is fixed on the foundation pit 10, and a second preset identifier is fixed on the cofferdam 20. The first preset identifier and the second preset identifier can be printed with waterproof materials and have black or white borders for easy detection. For example, the first preset identifier 11 can be fixedly installed inside the foundation pit 10, and the second preset identifier can be fixedly installed on the top and / or the wall of the cofferdam 20. During specific implementation, the specific fixed positions of the first preset identifier 11 and the second preset identifier are adjusted according to the actual situation to achieve the technical purpose of the present invention. Regarding the size of the second preset identifier, in the embodiments of the present invention, it can be determined according to the width of the cofferdam, for example, 80% of the width of the cofferdam; the size of the first preset identifier 11 can be the same as that of the second preset identifier. During specific implementation, the embodiments of the present invention can conduct on-site investigations on the engineering cofferdam, foundation pit, and the actual situation of video monitoring to clarify the selection of the imaging device and the monitoring position. The imaging device can include at least one of a monocular camera and a binocular camera, combined with Figure 7 As shown, the monocular camera and the binocular camera can be, for example, bullet cameras. After determining the monitoring position, the orientation and angle of the video camera can be adjusted. It can be seen that in addition to the original use of observing the on-site image information in the monitoring video, this embodiment also uses the monitoring video for the monitoring of the foundation pit and the cofferdam.

[0026] As Figure 3 shown, in one or more embodiments of the present invention, the second preset identifier on the cofferdam includes a third preset identifier and a fourth preset identifier; the third preset identifier is fixed on the top of the cofferdam and the fourth preset identifier is fixed on the wall of the cofferdam; or, the third preset identifier is fixed on the wall of the cofferdam and the fourth preset identifier is fixed on the top of the cofferdam. Combined with Figure 2 and Figure 3 In the schematic diagram, the second preset identifier may include a third preset identifier 21, or the second preset identifier includes a third preset identifier 21 and a fourth preset identifier 22. In this example, the third preset identifier 21 is fixed on the top of the cofferdam and the fourth preset identifier 22 is fixed on the wall of the cofferdam. In the embodiments of the present invention, obtaining the monitoring images of the foundation pit and the cofferdam at the construction site may include: obtaining the first real-time image of the foundation pit and the cofferdam at the construction site through a monocular camera, and obtaining the second real-time image of the foundation pit and the cofferdam at the construction site through a binocular camera; the monitoring images include the first real-time image and the second real-time image.

[0027] The embodiments of the present invention can obtain the monitoring images of the foundation pit and the cofferdam at the construction site at a set frequency. The set frequency can be, for example, once per hour. The obtained monitoring images include the first preset identifier inside the foundation pit and the second preset identifier on the top (and / or the wall) of the cofferdam.

[0028] In at least one embodiment of the present invention, obtaining monitoring images of the foundation pit and cofferdam at the construction site includes: obtaining in real time the monitoring images of the foundation pit and cofferdam collected by a camera device in real time. Compared with the conventional solution, which often has the problem of being difficult to detect deformation and damage of the foundation pit and cofferdam in the first time, the present invention has the function of real-time monitoring of the foundation pit and cofferdam, so as to be able to detect problems in time, minimize the losses caused by the damage of the foundation pit and cofferdam, and greatly improve the safety of the construction site.

[0029] Step S200, perform object recognition on the monitoring images to identify the first preset identifier on the foundation pit and the second preset identifier on the cofferdam.

[0030] Taking the example of collecting monitoring images by a monocular camera and a binocular camera at the same time, in at least one embodiment of the present invention, performing object recognition on the monitoring images includes: performing object recognition on the first preset identifier and the third preset identifier on the same plane in the first real-time image. The same plane in the embodiment of the present invention may be, for example, the same horizontal plane, and performing object recognition on the first preset identifier and the fourth preset identifier on different planes in the second real-time image. The different planes in the embodiment of the present invention may be, for example, different horizontal planes.

[0031] Taking the monitoring images collected by using a monocular camera or a binocular camera alone as an example, by detecting two preset Arucomarker (binary square markers) identifiers, the first preset identifier on the foundation pit and the second preset identifier on the cofferdam are determined. Since only a monocular camera or only a binocular camera is used at this time, the two preset Aruco markers in this embodiment can respectively correspond to the first preset identifier and the second preset identifier.

[0032] This embodiment applies video monitoring and image recognition technologies to the damage monitoring of the foundation pit and cofferdam, and innovatively applies Aruco marker to the recognition of the damage form of the foundation pit and cofferdam, which can improve the probability of identifying on-site safety problems. In the embodiment of the present invention, a trained image dynamic recognition model can be used to identify the first preset identifier on the foundation pit and the second preset identifier on the cofferdam. The object recognition algorithm adopted by the image dynamic recognition model is reasonably selected according to the actual situation, and the present invention does not limit this.

[0033] Step S300, determine the first current coordinate of the first preset identifier in the preset coordinate system, and determine the second current coordinate of the second preset identifier in the preset coordinate system. The coordinate system involved in the embodiment of the present invention may be, for example, the world coordinate system. Of course, other coordinate systems can also be selected according to the actual situation.

[0034] Taking the example of simultaneously collecting monitoring images based on a monocular camera and a binocular camera, the second preset identifier in one or more embodiments of the present invention may include a third preset identifier and a fourth preset identifier. Determining the second current coordinate of the second preset identifier in the preset coordinate system includes: determining the third current coordinate of the third preset identifier in the preset coordinate system and determining the fourth current coordinate of the fourth preset identifier in the preset coordinate system; wherein, the second current coordinate in this embodiment includes the third current coordinate and the fourth current coordinate.

[0035] For the monitoring images collected by a monocular camera or a binocular camera, at least one embodiment of the present invention determines the first current coordinate of the first preset identifier in the preset coordinate system, including: detecting the coordinates of multiple edge points of the detection frame corresponding to the first preset identifier in the preset coordinate system to calculate the coordinates of the center point of the detection frame corresponding to the first preset identifier in the preset coordinate system, and taking the coordinates of the center point of the detection frame corresponding to the first preset identifier in the preset coordinate system as the first current coordinate; determining the second current coordinate of the second preset identifier in the preset coordinate system, including: detecting the coordinates of multiple edge points of the detection frame corresponding to the second preset identifier in the preset coordinate system to calculate the coordinates of the center point of the detection frame corresponding to the second preset identifier in the preset coordinate system, and taking the coordinates of the center point of the detection frame corresponding to the second preset identifier in the preset coordinate system as the second current coordinate. Taking the detection frames corresponding to the first preset identifier and the second preset identifier in the embodiment of the present invention as rectangular frames as an example, multiple edge points of the detection frame in this embodiment can be respectively the four corner positions of the rectangular frame on the image, and then the coordinates of the center point position of the rectangular frame are determined according to the coordinates of the four corner positions of the rectangular frame, and then the coordinates of the preset identifier are determined based on the coordinates of the center point position, that is, determining the first current coordinate of the first preset identifier in the preset coordinate system and determining the second current coordinate of the second preset identifier in the preset coordinate system. In the process of detecting the coordinates of multiple edge points of the detection frame corresponding to the first preset identifier in the preset coordinate system and detecting the coordinates of multiple edge points of the detection frame corresponding to the second preset identifier in the preset coordinate system, the embodiment of the present invention can first determine the coordinates of each point in the camera coordinate system, and then determine the coordinates of each point in the preset coordinate system according to the conversion relationship between the camera coordinate system and the preset coordinate system, that is, determining the coordinates of multiple edge points of the first preset identifier in the preset coordinate system and the coordinates of multiple edge points of the second preset identifier in the preset coordinate system. At least one embodiment of the present invention can improve the accuracy of the calculation results of the first current coordinate of the first preset identifier and the second current coordinate of the second preset identifier by means of determining the center point coordinates through multiple edge point coordinates, thereby providing accurate data support for the monitoring of the foundation pit and the cofferdam, and further improving the reliability of the foundation pit and cofferdam monitoring.

[0036] Optionally, in this embodiment, the first current coordinate of the first preset identifier in the preset coordinate system is used as the origin, that is, the coordinate of the center point of the detection frame corresponding to the first preset identifier is used as the origin in the preset coordinate system. Based on this, the coordinate of the center point of the detection frame corresponding to the second preset identifier is determined in the preset coordinate system. It can be seen that in this embodiment, the first current coordinate is used as the origin, and the second current coordinate is formed based on the preset coordinate system with the first current coordinate as the origin. Through the above improved solution, this embodiment can directly highlight the distance between the second current coordinate and the first current coordinate, which is further helpful for determining the change of the second current coordinate, so as to monitor the foundation pit and the cofferdam according to the second current coordinate and the first current coordinate.

[0037] Step S400: Compare the first current coordinate with the first initial coordinate to obtain a first comparison result; compare the second current coordinate with the second initial coordinate to obtain a second comparison result. The first initial coordinate is the initial coordinate of the first preset identifier in the preset coordinate system; the second initial coordinate is the initial coordinate of the second preset identifier in the preset coordinate system.

[0038] In one or more embodiments of the present invention, comparing the second current coordinate with the second initial coordinate to obtain a second comparison result may include: comparing the third current coordinate with the third initial coordinate to obtain a third comparison result; comparing the fourth current coordinate with the fourth initial coordinate to obtain a fourth comparison result. The second comparison result includes the third comparison result and the fourth comparison result; the second current coordinate includes the third current coordinate and the fourth current coordinate, and the second initial coordinate includes the third initial coordinate and the fourth initial coordinate.

[0039] Step S500: Determine whether the foundation pit and the cofferdam have undergone morphological changes according to the first comparison result and the second comparison result. The embodiments of the present invention realize effective detection of the morphological changes of the foundation pit and the cofferdam, and assist in identifying whether the foundation pit and the cofferdam have undergone deformation in a more intuitive and faster way.

[0040] In one or more embodiments of the present invention, based on the third comparison result and the fourth comparison result determined in step S400, determining whether the foundation pit and the cofferdam have undergone morphological changes according to the first comparison result and the second comparison result may include: determining a first monitoring result based on the first comparison result and the third comparison result; determining a second monitoring result based on the first comparison result and the fourth comparison result; determining the final monitoring result of the foundation pit and the cofferdam according to the first monitoring result and the second monitoring result. It can be seen that the embodiments of the present invention can also realize two-way verification and identification based on the first monitoring result of the monocular camera and the second monitoring result of the binocular camera, greatly improving the accuracy and precision of the morphological identification of the foundation pit and the cofferdam, and significantly reducing the losses caused by the damage of the foundation pit and the cofferdam.

[0041] Such as Figure 4As shown, at least one embodiment of the present invention can provide a technical solution for mutual verification based on two monitoring results. Determining the final monitoring results of the foundation pit and the cofferdam according to the first monitoring result and the second monitoring result may include: if neither the first monitoring result nor the second monitoring result shows a morphological change, the final monitoring result is that there is no morphological change in the foundation pit and the cofferdam; if at least one of the first monitoring result and the second monitoring result shows a morphological change, the final monitoring result is that there is a morphological change in the foundation pit and the cofferdam; if both the first monitoring result and the second monitoring result show a morphological change, the final monitoring result is that displacement occurs and damage forms appear in the foundation pit and the cofferdam; if only one of the first monitoring result and the second monitoring result shows a morphological change, the final monitoring result is slight displacement and slight changes in the foundation pit and the cofferdam.

[0042] In at least one embodiment of the present invention, judging whether there is a morphological change in the foundation pit and the cofferdam according to the first comparison result and the second comparison result includes: if the distance difference between the first current coordinate and the first initial coordinate in the first comparison result is less than the first set value, and the distance difference between the second current coordinate and the second initial coordinate in the second comparison result is greater than or equal to the second preset value, it is determined that there has been a morphological change in the foundation pit and the cofferdam. The first set value and the second set value involved in the present invention can be reasonably set according to the actual situation. For example, the first set value is 5 cm and the second set value is 8 cm. Of course, it is not limited thereto, as long as the technical purpose of the present invention can be achieved. Figure 6 As shown, if the distance difference between the first current coordinate and the first initial coordinate in the first comparison result is less than the first set value, it is determined that the coordinate of the first preset identifier in the foundation pit remains unchanged; if the distance difference between the second current coordinate and the second initial coordinate is greater than or equal to the second preset value, it is determined that the coordinate of the second preset identifier on the cofferdam top or the cofferdam wall changes; thus, it can be judged that displacement occurs on the slope and damage forms appear on the slopes of the foundation pit and the cofferdam. By judging the distance difference between the first current coordinate and the first initial coordinate and the distance difference between the second current coordinate and the second initial coordinate, the morphological change of the foundation pit and the cofferdam can be effectively and quantitatively judged, for example, the slope displacement situation can be effectively detected.

[0043] As Figure 9 As shown, the monitoring method for the foundation pit and the cofferdam in at least one embodiment of the present invention further includes: sending out a warning signal corresponding to the morphological change of the foundation pit and the cofferdam. In one or more embodiments of the present invention, the morphological changes that have occurred in the foundation pit and the cofferdam may include, but are not limited to, displacement of the slope. Among them, the slope may include the area between the cofferdam and the center of the foundation pit. Figure 9The figure exemplarily shows the screen of the intelligent video monitoring system applying the present invention. In the case of generating a warning signal, messages and thumbnail reminders can be given beside the screen of the intelligent video monitoring system, such as "Warning Signal Prompt 01" in the figure. Therefore, the present invention can achieve the purpose of combining video monitoring with the identification of the failure modes of the foundation pit and the cofferdam slope, and can also trigger the corresponding warning signal. Based on the above and combined with the real-time monitoring of the foundation pit and the cofferdam, the present invention can quickly trigger a warning when problems such as slope failure occur and inform the user in a timely manner. In addition, the present invention can also present the on-site damage situation more directly and intuitively.

[0044] In at least one embodiment of the present invention, judging whether the foundation pit and the cofferdam have morphological changes according to the first comparison result and the second comparison result includes: if the first comparison result is that the distance difference between the first current coordinate and the first initial coordinate is less than the first set value, and the second comparison result is that the distance difference between the second current coordinate and the second initial coordinate is less than the second preset value, it is determined that the foundation pit and the cofferdam have not had morphological changes. Combined Figure 6 As shown, since the distance difference between the first current coordinate and the first initial coordinate in this embodiment is less than the first set value, it is determined that the first preset identification coordinate in the foundation pit remains unchanged; since the distance difference between the second current coordinate and the second initial coordinate in this embodiment is less than the second preset value, it is determined that the second preset identification coordinate on the cofferdam top or the cofferdam wall remains unchanged; the present invention judges that the foundation pit and the cofferdam have not had morphological changes and the slope is not damaged according to the above conditions, and continuously performs data collection and comparison. It can be seen that this embodiment reliably monitors the morphological changes of the foundation pit and the cofferdam based on the first preset identification coordinate and the second preset identification coordinate.

[0045] In at least one embodiment of the present invention, judging whether the foundation pit and the cofferdam have morphological changes according to the first comparison result and the second comparison result includes: if the first comparison result is that the distance difference between the first current coordinate and the first initial coordinate is greater than or equal to the first preset value, the camera device for collecting monitoring images is recalibrated and stereoscopically corrected, and then it is judged whether the foundation pit and the cofferdam have morphological changes based on the monitoring images collected by the camera device after recalibration and stereoscopic correction. Similar to the calibration and stereoscopic correction process after the installation of the camera device, combined Figure 5As shown, the imaging device is, for example, a camera. The calibration process includes the calibration of the camera's internal parameters and external parameters. For the calibration of the camera's internal parameters, the checkerboard calibration method can be used to calibrate the internal parameters of the camera, thereby determining the camera internal parameter matrix. For the calibration of the camera's external parameters, the top or wall of the cofferdam and the markings in the foundation pit are used to calibrate the camera's external parameters to determine the camera external parameter matrix. The stereo calibration process includes an image correction process based on the camera distortion parameters to achieve image correction. In this embodiment, the positions of the first preset marking and the second preset marking are calculated based on the images collected by the calibrated and stereo-calibrated camera, and then the first current coordinate and the second current coordinate are determined. Both the first current coordinate and the second current coordinate can be 2D coordinates (e.g., X O , Y O ) or 3D coordinates (e.g., X W , Y W , Z W ).

[0046] In at least one embodiment of the present invention, the monitoring method performs target recognition on the monitoring image through a trained image dynamic recognition model, determines the first current coordinate and the second current coordinate, and monitors the foundation pit and the cofferdam based on the first comparison result and the second comparison result. The present invention can collect video monitoring image data of the foundation pit and the cofferdam as a training set to train the image dynamic recognition model, so as to execute the above process through the trained image dynamic recognition model. Based on the above image dynamic recognition model, the present invention can further improve the recognition accuracy of the morphology of the foundation pit and the cofferdam and enhance the intelligent level of monitoring.

[0047] Combined with Figure 6 shown, if the distance difference between the first current coordinate and the first initial coordinate in the first comparison result is greater than or equal to the first preset value, it is determined that the coordinate of the first preset marking in the foundation pit has changed. At this time, there are two cases: if the coordinate of the second preset marking remains unchanged, the image dynamic recognition model used for monitoring can be circularly trained; if the coordinate of the second preset marking changes, it means that the camera may have moved. In this embodiment, the camera is recalibrated and the image dynamic recognition model used for monitoring is circularly trained under this condition.

[0048] As Figure 7As shown, the embodiment of the present invention needs to perform preparation work before performing cyclic training, including determining the video camera of the gun and performing image correction. The image correction process may include determining the distortion coefficient; the preparation work also includes the algorithm level. In this embodiment, two preset identifiers need to be created. For example, two Aruco marker (binary square marker) identifiers are generated by OpenCV (an open source cross-platform computer vision and machine learning software library). Each identifier corresponds to a unique index code (ID). For a monocular camera, a cofferdam identifier position, that is, a corresponding index code, specifically ID=2, can be used to monitor the cofferdam top, and the index code corresponding to the foundation pit is ID=1, which can be used to monitor the inside of the foundation pit. Specifically, it can correspond to a fixed position on the ground of the foundation pit during monitoring; for a binocular camera, a cofferdam identifier position, that is, a corresponding index code, specifically ID=3, can be used to monitor the cofferdam wall, and the index code corresponding to the foundation pit is ID=1, which can be used to monitor the inside of the foundation pit. Specifically, it can correspond to a fixed position on the ground of the foundation pit during monitoring; then a coordinate system used in the algorithm calculation process can be created, for example, a camera coordinate system. The on-site monitoring equipment of the embodiment of the present invention may be, for example, a camera device, specifically a gun-type device at the side of the cofferdam, so as to be able to completely capture the markings on the cofferdam top and cofferdam wall and the markings in the foundation pit.

[0049] The n-times cycle training process of the image dynamic recognition model in the embodiment of the present invention can be as follows: Figure 7As shown, n is an integer and the specific value of n is selected or set according to the actual training results. During the model training process: First, taking a monocular camera (the same applies to a binocular camera) as an example, monocular camera calibration and stereo rectification are performed. The calibration process includes, but is not limited to, the calibration of internal parameters (intrinsic parameters) and external parameters (extrinsic parameters). The internal parameters include, for example, pixels, focal length, etc., and the external parameters include position, angle, direction, etc. The stereo rectification process includes, for example, image rectification. Second, image data acquisition is carried out. The frequency of data acquisition can be, for example, once per hour, but of course is not limited to this, and target recognition is performed on the acquired images to identify the first preset identifier and the second preset identifier corresponding to the two index codes as above. The embodiment of the present invention can determine the first preset identifier by identifying the positions of the four corners of the first preset identifier on the image and determine the second preset identifier by identifying the positions of the four corners of the second preset identifier on the image. Third, planar positioning is performed on the first preset identifier and the second preset identifier respectively. For example, taking the first preset identifier with ID = 1 installed in the foundation pit as the origin, and determining the coordinates of the second preset identifier with ID = 2 installed on the cofferdam top. It can be understood that the current positioning coordinate system is the camera coordinate system. The embodiment of the present invention must restore the coordinates of the first preset identifier and the coordinates of the second preset identifier to the world coordinates. For example, it is achieved through the conversion between the camera coordinate system and the world coordinate system. Finally, it is judged whether the foundation pit and the cofferdam have changed by monitoring the coordinate changes, which may include: judging whether the coordinates of the first preset identifier in the foundation pit have changed, that is, judging whether the origin coordinates have changed. If the origin coordinates have changed, it indicates that the camera may have moved and the steps of monocular camera calibration and stereo rectification are returned. In the case where the origin coordinates have not changed, judging whether the coordinates of the second preset identifier on the cofferdam top have changed. If the coordinates of the second preset identifier have changed, it is determined that the slope has displaced. If the coordinates of the second preset identifier have not changed, it can be determined that the slope has not displaced, the foundation pit and the cofferdam slope are normal, and the data acquisition step is returned. The above process is executed n times for comparative judgment and training until the monitoring results of the foundation pit and the cofferdam match the actual situation.

[0050] As Figure 8 shown, compared with the process of training an image dynamic recognition model based on images collected by a monocular camera, the process of training an image dynamic recognition model based on images collected by a binocular camera has the following differences: The preset identifiers include cofferdam wall identifiers, the cofferdam wall identifier and the identifier in the foundation pit are not on the same horizontal plane, and the cameras to be calibrated include a No. 1 monocular camera and a No. 2 monocular camera. The relevant implementation details involved in the training of the image dynamic recognition model are similar to the process of training an image dynamic recognition model based on images collected by a monocular camera, and will not be elaborated here.

[0051] In summary, based on the innovation of applying Aruco marker to the identification of the failure modes of foundation pits and cofferdams, the present invention also innovatively adopts monocular camera recognition, binocular camera recognition, and bidirectional verification recognition methods of monocular and binocular to perform image recognition on the damage conditions of foundation pits and cofferdams, solves the problem of insufficient recognition accuracy of conventional solutions, thereby timely discovers possible problems of foundation pits and cofferdams, and effectively reduces the losses caused by the damage of foundation pits and cofferdams.

[0052] As Figure 10 shown, based on the same inventive technical concept as the monitoring method of foundation pits and cofferdams provided by the embodiments of the present invention, at least one embodiment of the present invention can also provide a monitoring device for foundation pits and cofferdams.

[0053] The monitoring device for foundation pits and cofferdams may include, but is not limited to, an image acquisition module, a target recognition module, a coordinate determination module, a coordinate comparison module, and a morphology monitoring module, which are specifically described as follows.

[0054] The image acquisition module is used to acquire monitoring images of foundation pits and cofferdams at the construction site, with a first preset identifier fixed on the foundation pit and a second preset identifier fixed on the cofferdam.

[0055] Optionally, the image acquisition module is used to acquire the first real-time image of the foundation pit and the cofferdam at the construction site through a monocular camera, and the image acquisition module is used to acquire the second real-time image of the foundation pit and the cofferdam at the construction site through a binocular camera; the monitoring image includes the first real-time image and the second real-time image.

[0056] Optionally, the image acquisition module can be used to acquire the monitoring images of the foundation pit and the cofferdam collected in real time by the imaging device in real time.

[0057] The target recognition module is used to perform target recognition on the monitoring image to identify the first preset identifier on the foundation pit and the second preset identifier on the cofferdam.

[0058] Optionally, the target recognition module is used to perform target recognition on the first preset identifier and the third preset identifier in the same plane in the first real-time image, and the target recognition module is used to perform target recognition on the first preset identifier and the fourth preset identifier in different planes in the second real-time image.

[0059] The coordinate determination module is used to determine the first current coordinate of the first preset identifier in the preset coordinate system, and is used to determine the second current coordinate of the second preset identifier in the preset coordinate system.

[0060] Optionally, the second preset identifier on the cofferdam includes a third preset identifier and a fourth preset identifier. The coordinate determination module is configured to determine a third current coordinate of the third preset identifier in a preset coordinate system and determine a fourth current coordinate of the fourth preset identifier in the preset coordinate system; wherein, the second current coordinate includes the third current coordinate and the fourth current coordinate.

[0061] Optionally, the third preset identifier is fixed to the top of the cofferdam, and the fourth preset identifier is fixed to the cofferdam wall; alternatively, the third preset identifier is fixed to the cofferdam wall, and the fourth preset identifier is fixed to the top of the cofferdam.

[0062] Optionally, the coordinate determination module can be used to detect the coordinates of multiple edge points of the detection frame corresponding to the first preset identifier in the preset coordinate system, so as to calculate the coordinates of the center point of the detection frame corresponding to the first preset identifier in the preset coordinate system, and use the coordinates of the center point of the detection frame corresponding to the first preset identifier in the preset coordinate system as the first current coordinate.

[0063] Optionally, the coordinate determination module can also be used to detect the coordinates of multiple edge points of the detection frame corresponding to the second preset identifier in the preset coordinate system, so as to calculate the coordinates of the center point of the detection frame corresponding to the second preset identifier in the preset coordinate system, and use the coordinates of the center point of the detection frame corresponding to the second preset identifier in the preset coordinate system as the second current coordinate.

[0064] The coordinate comparison module is configured to compare the first current coordinate with the first initial coordinate to obtain a first comparison result; and to compare the second current coordinate with the second initial coordinate to obtain a second comparison result; the first initial coordinate is the initial coordinate of the first preset identifier in the preset coordinate system; the second initial coordinate is the initial coordinate of the second preset identifier in the preset coordinate system.

[0065] Optionally, the second current coordinate includes the third current coordinate and the fourth current coordinate, and the second initial coordinate includes the third initial coordinate and the fourth initial coordinate. The coordinate comparison module is configured to compare the third current coordinate with the third initial coordinate to obtain a third comparison result; the coordinate comparison module is configured to compare the fourth current coordinate with the fourth initial coordinate to obtain a fourth comparison result; the second comparison result includes the third comparison result and the fourth comparison result.

[0066] The morphology monitoring module is configured to determine whether the morphology of the foundation pit and the cofferdam has changed according to the first comparison result and the second comparison result.

[0067] Optionally, the morphology monitoring module is configured to determine a first monitoring result based on the first comparison result and the third comparison result; determine a second monitoring result based on the first comparison result and the fourth comparison result; and determine the final monitoring result of the foundation pit and the cofferdam according to the first monitoring result and the second monitoring result.

[0068] Optionally, the morphology monitoring module is used to determine that the final monitoring result is that the foundation pit and the cofferdam have not changed in morphology based on that neither the first monitoring result nor the second monitoring result shows a morphological change; the morphology monitoring module is used to determine that the final monitoring result is that the foundation pit and the cofferdam have changed in morphology based on that at least one of the first monitoring result and the second monitoring result shows a morphological change.

[0069] Optionally, the morphology monitoring module can be used to compare the first current coordinate with the first initial coordinate to obtain a first comparison result; the first initial coordinate is the initial coordinate of the first preset identifier in the preset coordinate system; the morphology monitoring module can also be used to compare the second current coordinate with the second initial coordinate to obtain a second comparison result; the second initial coordinate is the initial coordinate of the second preset identifier in the preset coordinate system; the morphology monitoring module can be used to determine whether the foundation pit and the cofferdam have changed in morphology based on the first comparison result and the second comparison result.

[0070] Optionally, the morphology monitoring module is used to determine that the foundation pit and the cofferdam have changed in morphology based on that the distance difference between the first current coordinate and the first initial coordinate in the first comparison result is less than the first set value and the distance difference between the second current coordinate and the second initial coordinate in the second comparison result is greater than or equal to the second preset value.

[0071] Optionally, the monitoring of the foundation pit and the cofferdam further includes a morphology warning module. The morphology warning module can be used to issue a warning signal corresponding to the morphological change of the foundation pit and the cofferdam.

[0072] Among them, the morphological changes that have occurred to the foundation pit and the cofferdam include slope displacement.

[0073] Optionally, the morphology monitoring module is used to determine that the foundation pit and the cofferdam have not changed in morphology based on that the distance difference between the first current coordinate and the first initial coordinate in the first comparison result is less than the first set value and the distance difference between the second current coordinate and the second initial coordinate in the second comparison result is less than the second preset value.

[0074] Optionally, the morphology monitoring module is used to, based on that the distance difference between the first current coordinate and the first initial coordinate in the first comparison result is greater than or equal to the first preset value, recalibrate and stereoscopically correct the camera device for collecting monitoring images, and is used to determine whether the foundation pit and the cofferdam have changed in morphology based on the monitoring images collected by the camera device after recalibration and stereoscopic correction.

[0075] Optionally, the image acquisition module, the target recognition module, the coordinate determination module, and the morphology monitoring module in at least one embodiment of the present invention can be integrated into an image dynamic recognition model, and the monitoring images are subjected to target recognition, determination of the first current coordinate and the second current coordinate, and monitoring of the foundation pit and the cofferdam can be performed based on the first comparison result and the second comparison result through the trained image dynamic recognition model.

[0076] As Figure 11 shown, one or more embodiments of the present invention can provide a computer device, which includes a memory and a processor. Computer-readable instructions are stored in the memory. When the computer-readable instructions are executed by the processor, the processor is caused to execute the steps of the monitoring method for foundation pits and cofferdams in any embodiment of the present invention. Among them, the detailed implementation process of the monitoring method for foundation pits and cofferdams involved in the present invention has been described in detail in this specification and will not be elaborated here.

[0077] As Figure 11 shown, one or more embodiments of the present invention can also provide a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors are caused to execute the steps of the monitoring method for foundation pits and cofferdams in any embodiment of the present invention. Among them, the detailed implementation process of the monitoring method for foundation pits and cofferdams involved in the present invention has been described in detail in this specification and will not be elaborated here.

[0078] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, which can be specifically implemented in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable storage medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM, or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable storage medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0079] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0080] In the description of this specification, the description referring to terms such as "this embodiment", "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0081] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0082] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and simple improvements made to the substantial content of the present invention should be included in the protection scope of the present invention.

Claims

1. A monitoring method for a foundation pit and a cofferdam, characterized in that Including: Through a camera device for observing the construction site, the monitoring images of the foundation pit and the cofferdam at the construction site are obtained in real time. A first preset identifier is fixed on the foundation pit, and a second preset identifier is fixed on the cofferdam; the second preset identifier on the cofferdam includes: a third preset identifier fixed on the top of the cofferdam and a fourth preset identifier fixed on the cofferdam wall, or a third preset identifier fixed on the cofferdam wall and a fourth preset identifier fixed on the top of the cofferdam; Perform target recognition on the monitoring images to recognize the first preset identifier on the foundation pit and the second preset identifier on the cofferdam; Determine the first current coordinate of the first preset identifier in a preset coordinate system; and determine the second current coordinate of the second preset identifier in the preset coordinate system, including: determining the third current coordinate of the third preset identifier in the preset coordinate system and determining the fourth current coordinate of the fourth preset identifier in the preset coordinate system; the second current coordinate includes the third current coordinate and the fourth current coordinate; Compare the first current coordinate with the first initial coordinate to obtain a first comparison result for characterizing the position of the foundation pit; compare the second current coordinate with the second initial coordinate to obtain a second comparison result for characterizing the position of the cofferdam, including: comparing the third current coordinate with the third initial coordinate to obtain a third comparison result, and comparing the fourth current coordinate with the fourth initial coordinate to obtain a fourth comparison result; the second comparison result includes the third comparison result and the fourth comparison result, the first initial coordinate is the initial coordinate of the first preset identifier in the preset coordinate system, the second initial coordinate is the initial coordinate of the second preset identifier in the preset coordinate system, and the second initial coordinate includes the third initial coordinate and the fourth initial coordinate; According to the first comparison result and the second comparison result, determine whether the foundation pit and the cofferdam have undergone morphological changes, including: based on the first comparison result and the third comparison result, determine a first monitoring result, based on the first comparison result and the fourth comparison result, determine a second monitoring result, and determine the final monitoring result of the foundation pit and the cofferdam according to the first monitoring result and the second monitoring result; the determining the final monitoring result of the foundation pit and the cofferdam according to the first monitoring result and the second monitoring result includes: if both the first monitoring result and the second monitoring result are that no morphological changes have occurred, then the final monitoring result is that the foundation pit and the cofferdam have not undergone morphological changes.

2. The monitoring method for foundation pit and cofferdam according to claim 1, characterized in that The determining the final monitoring result of the foundation pit and the cofferdam according to the first monitoring result and the second monitoring result further includes: If at least one of the first monitoring result and the second monitoring result is that morphological changes have occurred, then the final monitoring result is that the foundation pit and the cofferdam have undergone morphological changes.

3. The monitoring method for the foundation pit and the cofferdam according to claim 1 or 2, wherein, The acquisition of the monitoring images of the foundation pit and cofferdam at the construction site includes: obtaining the first real-time image of the foundation pit and cofferdam at the construction site through a monocular camera, and obtaining the second real-time image of the foundation pit and cofferdam at the construction site through a binocular camera; the monitoring images include the first real-time image and the second real-time image. The target recognition of the monitoring images includes: performing target recognition on the first preset identifier and the third preset identifier in the same plane in the first real-time image, and performing target recognition on the first preset identifier and the fourth preset identifier in different planes in the second real-time image.

4. The monitoring method of the foundation pit and cofferdam according to claim 1, characterized in that, The determination of whether the foundation pit and cofferdam have undergone morphological changes based on the first comparison result and the second comparison result includes: If the first comparison result is that the distance difference between the first current coordinate and the first initial coordinate is less than the first set value, and the second comparison result is that the distance difference between the second current coordinate and the second initial coordinate is greater than or equal to the second preset value, it is determined that the foundation pit and cofferdam have undergone morphological changes.

5. The monitoring method for foundation pit and cofferdam according to claim 4, characterized in that, It further includes: Sending out a warning signal corresponding to the morphological changes of the foundation pit and cofferdam.

6. The monitoring method of the foundation pit and cofferdam according to claim 4, wherein The morphological changes that have occurred to the foundation pit and cofferdam include slope displacement.

7. The monitoring method of the foundation pit and cofferdam according to claim 1, wherein, The determination of whether the foundation pit and cofferdam have undergone morphological changes based on the first comparison result and the second comparison result includes: If the first comparison result is that the distance difference between the first current coordinate and the first initial coordinate is less than the first set value, and the second comparison result is that the distance difference between the second current coordinate and the second initial coordinate is less than the second preset value, it is determined that the foundation pit and cofferdam have not undergone morphological changes.

8. The monitoring method of the foundation pit and cofferdam according to claim 1, characterized in that, The determination of whether the foundation pit and cofferdam have undergone morphological changes based on the first comparison result and the second comparison result includes: If the first comparison result is that the distance difference between the first current coordinate and the first initial coordinate is greater than or equal to the first preset value, the camera device for collecting the monitoring images is recalibrated and stereoscopically corrected, and then it is determined whether the foundation pit and cofferdam have undergone morphological changes based on the monitoring images collected by the camera device after recalibration and stereoscopic correction.

9. The monitoring method of the foundation pit and cofferdam according to claim 1, wherein The determination of the first current coordinate of the first preset identifier in the preset coordinate system includes: detecting the coordinates of multiple edge points of the detection frame corresponding to the first preset identifier in the preset coordinate system, calculating the coordinates of the center point of the detection frame corresponding to the first preset identifier in the preset coordinate system, and taking the coordinates of the center point of the detection frame corresponding to the first preset identifier in the preset coordinate system as the first current coordinate; Determining the second current coordinate of the second preset identifier in the preset coordinate system includes: detecting the coordinates of multiple edge points of the detection frame corresponding to the second preset identifier in the preset coordinate system to calculate the coordinates of the center point of the detection frame corresponding to the second preset identifier in the preset coordinate system, and using the coordinates of the center point of the detection frame corresponding to the second preset identifier in the preset coordinate system as the second current coordinate.

10. The monitoring method for foundation pits and cofferdams according to claim 1 or 2, characterized in that the monitoring method performs target recognition on the monitoring image through a trained image dynamic recognition model, determines the first current coordinate and the second current coordinate, and monitors the foundation pit and the cofferdam based on the first current coordinate and the second current coordinate.

11. A monitoring device for a foundation pit and a cofferdam, characterized in that, including: An image acquisition module, configured to obtain, in real time, a monitoring image of a foundation pit and a cofferdam at a construction site through a camera device for observing the construction site. A first preset identifier is fixed on the foundation pit, and a second preset identifier is fixed on the cofferdam; the second preset identifier on the cofferdam includes: a third preset identifier fixed on the top of the cofferdam and a fourth preset identifier fixed on the cofferdam wall, or a third preset identifier fixed on the cofferdam wall and a fourth preset identifier fixed on the top of the cofferdam; A target recognition module, configured to perform target recognition on the monitoring image to recognize the first preset identifier on the foundation pit and the second preset identifier on the cofferdam; A coordinate determination module, configured to determine the first current coordinate of the first preset identifier in the preset coordinate system and to determine the second current coordinate of the second preset identifier in the preset coordinate system; wherein, the coordinate determination module is configured to determine the third current coordinate of the third preset identifier in the preset coordinate system and determine the fourth current coordinate of the fourth preset identifier in the preset coordinate system; the second current coordinate includes the third current coordinate and the fourth current coordinate; A coordinate comparison module, configured to compare the first current coordinate with a first initial coordinate to obtain a first comparison result for characterizing the position of the foundation pit; and to compare the second current coordinate with a second initial coordinate to obtain a second comparison result for characterizing the position of the cofferdam, wherein, the coordinate comparison module is configured to compare the third current coordinate with a third initial coordinate to obtain a third comparison result, the coordinate comparison module is configured to compare the fourth current coordinate with a fourth initial coordinate to obtain a fourth comparison result, the second comparison result includes the third comparison result and the fourth comparison result, the first initial coordinate is the initial coordinate of the first preset identifier in the preset coordinate system, the second initial coordinate is the initial coordinate of the second preset identifier in the preset coordinate system, and the second initial coordinate includes the third initial coordinate and the fourth initial coordinate; The shape monitoring module is used to determine whether the shape of the foundation pit and the cofferdam has changed according to the first comparison result and the second comparison result; the shape monitoring module is used to determine the first monitoring result based on the first comparison result and the third comparison result; the shape monitoring module is used to determine the second monitoring result based on the first comparison result and the fourth comparison result; the shape monitoring module is used to determine the final monitoring result of the foundation pit and the cofferdam according to the first monitoring result and the second monitoring result; the shape monitoring module is used to determine that the final monitoring result is that the shape of the foundation pit and the cofferdam has not changed according to that neither the first monitoring result nor the second monitoring result shows a shape change.

12. A computer device, characterized in that, It includes a memory and a processor. Computer-readable instructions are stored in the memory. When the computer-readable instructions are executed by the processor, the processor is caused to execute the steps of the monitoring method for the foundation pit and the cofferdam according to any one of claims 1-10.

13. A storage medium storing computer-readable instructions, characterized in that, When the computer-readable instructions are executed by one or more processors, the one or more processors are caused to execute the steps of the monitoring method for the foundation pit and the cofferdam according to any one of claims 1-10.

Images