Metro foundation pit construction collapse automatic monitoring and early warning method and system

Abstract

The application provides a subway foundation pit construction collapse automatic monitoring and early warning method and system, which utilizes deformation monitoring equipment and a robot to detect internal geological structures and external crack distribution of a subway foundation pit respectively, performs double analysis on the safety of the geological structure of the foundation pit from two aspects of the inside and outside of the subway foundation pit, maximally reduces external interference in the detection process, accurately and stably monitors the geological structure inside the subway foundation pit, and improves the reliability of the subway foundation pit collapse early warning.

Description

Technical Field

[0001] This invention relates to the technical field of subway construction monitoring, and in particular to an automatic monitoring and early warning method and system for subway foundation pit collapse. Background Technology

[0002] During subway construction, subway pits are formed at different underground locations. These pits form the main structure of the underground subway space, and their geological stability directly affects the safety of the construction. Currently, after excavation, triaxial accelerometers are installed on the inner surface of the pit to detect surface displacement. However, this method cannot provide dynamic and real-time monitoring of the internal geological structure. The results are easily affected by external factors, making it impossible to accurately and stably monitor the internal geological structure. Furthermore, it lacks the ability to conduct a dual analysis of the pit's geological safety from both internal and external perspectives, reducing the reliability of early warning systems for subway pit collapse. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an automatic monitoring and early warning method and system for subway foundation pit collapse. It involves installing deformation monitoring equipment at different locations within the subway foundation pit to obtain geological structural deformation information, thereby identifying stable or unstable geological areas. Furthermore, it utilizes images of the inner wall of the subway foundation pit collected by a robot to obtain information on the distribution of cracks in the foundation pit structure, thus determining whether there is a potential collapse hazard in the unstable geological areas. Based on the vibration status information of the unstable geological areas with potential collapse hazards, it further determines whether a collapse will occur and issues a broadcast alarm notification. This method utilizes deformation monitoring equipment and a robot to detect both the internal geological structure and external crack distribution of the subway foundation pit, performing a dual analysis of the foundation pit's geological structural safety from both internal and external perspectives. This minimizes external interference during the detection process, provides precise and stable monitoring of the internal geological structure of the subway foundation pit, and improves the reliability of subway foundation pit collapse early warning systems.

[0004] This invention provides an automatic monitoring and early warning method for subway foundation pit collapse, which includes the following steps:

[0005] Step S1: Deformation monitoring equipment is installed at different locations of the subway foundation pit to obtain geological structure deformation status information at different locations of the subway foundation pit; the geological structure deformation status information is analyzed and processed to classify the area where the subway foundation pit is located into a geologically stable area or a geologically unstable area.

[0006] Step S2: Instruct the robot to inspect and photograph the subway pit space corresponding to the geologically unstable area to obtain the corresponding images of the inner wall of the subway pit space; analyze and process the images of the inner wall of the subway pit space to obtain the distribution information of the pit structure cracks on the inner wall of the subway pit space, so as to determine whether there is a risk of collapse in the geologically unstable area.

[0007] Step S3: Obtain vibration status information of geologically unstable areas with potential collapse risks; determine whether a collapse event will occur based on the vibration status information; and issue a broadcast alarm notification based on the determination result.

[0008] Furthermore, in step S1, deformation monitoring equipment is installed at different locations in the subway foundation pit to obtain geological structural deformation status information at different locations of the subway foundation pit; the geological structural deformation status information is analyzed and processed to classify the area where the subway foundation pit is located into geologically stable areas or geologically unstable areas, specifically including:

[0009] Fiber optic grating deformation monitoring devices are installed at different depths at the top of the subway foundation pit to obtain geological structural deformation information at different depths at the top of the subway foundation pit; wherein, the geological structural deformation information includes the direction and magnitude of geological structural deformation of the geological layer at a specific depth.

[0010] If the geological deformation directions of the geological layers at different depths in a certain area at the top of the subway foundation pit intersect, or if the magnitude of the geological deformation of the geological layers at different depths is greater than the preset deformation magnitude threshold, then the corresponding area at the top of the subway foundation pit is identified as a geologically unstable area; otherwise, the corresponding area at the top of the subway foundation pit is identified as a geologically stable area.

[0011] Further, in step S2, the robot is instructed to inspect and photograph the subway pit space corresponding to the geologically unstable area to obtain images of the inner wall of the subway pit space; the images of the inner wall of the subway pit space are analyzed and processed to obtain information on the distribution of cracks in the pit structure on the inner wall of the subway pit space, thereby determining whether there is a risk of collapse in the geologically unstable area. Specifically, this includes:

[0012] The robot is instructed to move at a constant speed along a predetermined path in the subway pit space corresponding to the geologically unstable area.

[0013] During the uniform motion, the robot's camera is instructed to scan and photograph the inner wall of the subway pit space, so that the shooting direction of the camera is always perpendicular to the inner wall of the subway pit space, thereby obtaining the corresponding image of the inner wall of the subway pit space.

[0014] The image of the inner wall of the subway pit space is subjected to pixel grayscale processing and pixel sharpening processing to obtain the number of pit structure cracks and the average width of the cracks on the inner wall of the subway pit space.

[0015] If the number of cracks in the foundation pit structure corresponding to the geologically unstable area is greater than or equal to a preset number threshold or the average crack width is greater than or equal to a preset width threshold, then it is determined that the geologically unstable area has a potential collapse risk; otherwise, it is determined that the geologically unstable area does not have a potential collapse risk.

[0016] Furthermore, in step S3, vibration state information of geologically unstable areas with potential collapse hazards is obtained; based on the vibration state information, it is determined whether a collapse event will occur; and based on the determination result, a broadcast alarm notification is issued, specifically including:

[0017] The output optical signals of fiber optic grating deformation monitoring devices installed in geologically unstable areas with potential collapse hazards are collected. The output optical signals are analyzed and processed to obtain the actual vibration frequency and actual vibration amplitude of the geologically unstable areas with potential collapse hazards within a certain period of time, which are used as the vibration state information.

[0018] Based on the actual vibration frequency and the actual vibration amplitude, it is determined whether a collapse event will occur in a geologically unstable area with potential collapse risks.

[0019] If a collapse event is predicted, the alarm devices installed in the geologically unstable area where the collapse event is likely to occur and in the adjacent area will be instructed to issue a broadcast voice alarm.

[0020] Further, in step S3, instructing alarm devices installed in the geologically unstable area where a collapse event may occur and its adjacent areas to perform a broadcast voice alarm reminder operation specifically includes: the alarm devices installed in the geologically unstable area where a collapse event may occur and its adjacent areas determine the corresponding volume value for the broadcast voice alarm reminder operation based on the distance from the geologically unstable area where a collapse event may occur, the volume value of all voice information currently received by the alarm devices that belongs to the alarm reminder broadcast voice information, and the background volume of the current external environment. The process is as follows:

[0021] Step S301: Using the following formula (1), determine the volume value of alarm reminder broadcast voice information among all the voice information currently received by the alarm device based on the voice data received by the voice detection sensor installed on the alarm device itself.

[0022]

[0023] In the above formula (1), E represents the volume value of the alarm reminder broadcast voice information among all the voice information currently received by the alarm device; F(D) represents the voice data of the alarm reminder broadcast voice information among all the voice information currently received by the alarm device, which has an array form, and each element in the array corresponds to a voice amplitude value; F(D)-(i) represents the i-th voice amplitude value of F(D); G(i) represents the voice data of the preset standard alarm voice information, wherein the voice amplitude values ​​in the voice data of the preset standard alarm voice information are all preset standard amplitude values, and the volume value corresponding to the voice data of the preset standard alarm voice information is a fixed value E0; n represents the number of voice data included in the voice data of the alarm reminder broadcast voice information among all the voice information currently received by the alarm device;

[0024] Step S302: Using the following formula (2), based on the distance between the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area, and the volume value of all voice information currently received by the alarm devices that belongs to the alarm reminder broadcast voice information, the relevance value of the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area is obtained.

[0025]

[0026] In the above formula (2), R represents the correlation value of the alarm device installed in the geologically unstable area where a collapse event may occur and in the adjacent area; E max This indicates the maximum playback volume of the alarm device; S represents the distance of the alarm device installed in the geologically unstable area where a collapse event may occur, based on the distance from the geologically unstable area where the collapse event may occur; S min The alarm device installed in the geologically unstable area where a collapse event may occur and in the adjacent area is based on the distance to the nearest adjacent area of ​​the geologically unstable area where a collapse event may occur;

[0027] Step S303: Using the following formula (3), based on the correlation value of the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area, and the background volume of the current external environment, determine the volume value corresponding to the broadcast voice alarm reminder operation of the alarm devices installed in the adjacent area.

[0028] E c =max,(E w +R×E max ),E max -(3)

[0029] In the above formula (3), E c This indicates the volume level corresponding to the broadcast voice alarm notification operation of alarm devices installed in the vicinity; E w This indicates the background volume of the current external environment; max,,- indicates the operation of taking the largest of the two values ​​within the parentheses.

[0030] This invention also provides an automatic monitoring and early warning system for subway foundation pit construction collapse, which includes:

[0031] Deformation monitoring equipment is installed at different locations in the subway foundation pit to obtain information on the geological structural deformation status at different locations within the pit.

[0032] A central processing unit, connected to the deformation monitoring equipment, is used to analyze and process the geological structure deformation status information, and to classify the area where the subway foundation pit is located into a geologically stable area or a geologically unstable area.

[0033] The robot is used to inspect and photograph the subway pit space corresponding to the geologically unstable area, thereby obtaining the corresponding images of the inner wall of the subway pit space.

[0034] The central processing unit is also connected to the robot and is used to analyze and process the images of the inner wall of the subway pit space to obtain information on the distribution of cracks in the pit structure on the inner wall of the subway pit space, thereby determining whether there is a risk of collapse in the geologically unstable area.

[0035] The deformation monitoring equipment is also used to acquire vibration status information of geologically unstable areas with potential collapse risks;

[0036] The central processing unit also determines whether a collapse event will occur based on the vibration status information; and based on the determination result, instructs the corresponding alarm device to issue a broadcast alarm notification.

[0037] Furthermore, the deformation monitoring device is a fiber optic grating deformation monitoring device, which is installed at different depths at the top of the subway foundation pit to obtain geological structural deformation status information at different depths at the top of the subway foundation pit; wherein, the geological structural deformation status information includes the geological structural deformation direction and deformation magnitude of the geological layer at a specific depth.

[0038] The central processing equipment analyzes and processes the geological structure deformation state information, classifying the area where the subway foundation pit is located into geologically stable or geologically unstable areas, specifically including:

[0039] If the geological deformation directions of the geological layers at different depths in a certain area at the top of the subway foundation pit intersect, or if the magnitude of the geological deformation of the geological layers at different depths is greater than the preset deformation magnitude threshold, then the corresponding area at the top of the subway foundation pit is identified as a geologically unstable area; otherwise, the corresponding area at the top of the subway foundation pit is identified as a geologically stable area.

[0040] Furthermore, the central processing unit instructs the robot to move at a constant speed along a predetermined path in the subway pit space corresponding to the geologically unstable area.

[0041] During the uniform motion, the robot's camera is instructed to scan and photograph the inner wall of the subway pit space, so that the shooting direction of the camera is always perpendicular to the inner wall of the subway pit space, thereby obtaining the corresponding image of the inner wall of the subway pit space.

[0042] The central processing unit performs pixel grayscale processing and pixel sharpening processing on the image of the inner wall of the subway pit space to obtain the number of pit structure cracks and the average width of the cracks on the inner wall of the subway pit space.

[0043] If the number of cracks in the foundation pit structure corresponding to the geologically unstable area is greater than or equal to a preset number threshold or the average crack width is greater than or equal to a preset width threshold, then it is determined that the geologically unstable area has a potential collapse risk; otherwise, it is determined that the geologically unstable area does not have a potential collapse risk.

[0044] Furthermore, the central processing unit also collects the output optical signals of the fiber optic grating deformation monitoring equipment set up in the geologically unstable area with potential collapse risk, analyzes and processes the output optical signals to obtain the actual vibration frequency and actual vibration amplitude of the geologically unstable area with potential collapse risk within a certain period of time, and uses this as the vibration state information.

[0045] Based on the actual vibration frequency and the actual vibration amplitude, it is determined whether a collapse event will occur in a geologically unstable area with potential collapse risks.

[0046] If a collapse event is predicted, the alarm devices installed in the geologically unstable area where the collapse event is likely to occur and in the adjacent area will be instructed to issue a broadcast voice alarm.

[0047] Compared to existing technologies, this automatic monitoring and early warning method and system for subway foundation pit collapses sets up deformation monitoring equipment at different locations within the subway foundation pit to obtain geological structural deformation status information at different locations, thereby identifying stable or unstable geological structural areas. It then uses a robot to collect images of the inner wall surface of the subway foundation pit, obtaining information on the distribution of cracks in the foundation pit structure, thereby determining whether there is a potential collapse hazard in the unstable geological structural areas. Based on the vibration status information of the unstable geological structural areas with potential collapse hazard, it determines whether a collapse will occur and issues a broadcast alarm notification. By utilizing deformation monitoring equipment and a robot to detect the internal geological structure and external crack distribution of the subway foundation pit, it performs a dual analysis of the foundation pit's geological structural safety from both internal and external perspectives, minimizing external interference during the detection process, and providing precise and stable monitoring of the internal geological structure of the subway foundation pit, thus improving the reliability of subway foundation pit collapse early warnings.

[0048] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0049] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a flowchart illustrating the automatic monitoring and early warning method for subway foundation pit collapse provided by the present invention.

[0052] Figure 2 This is a structural schematic diagram of the automatic monitoring and early warning system for subway foundation pit collapse provided by the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] See Figure 1 This is a flowchart illustrating the automatic monitoring and early warning method for subway foundation pit collapse provided in an embodiment of the present invention. The automatic monitoring and early warning method for subway foundation pit collapse includes the following steps:

[0055] Step S1: Deformation monitoring equipment is installed at different locations of the subway foundation pit to obtain geological structure deformation status information at different locations of the subway foundation pit; the geological structure deformation status information is analyzed and processed to classify the area where the subway foundation pit is located into a geologically stable area or a geologically unstable area.

[0056] Step S2: Instruct the robot to inspect and photograph the subway pit space corresponding to the geologically unstable area to obtain the corresponding images of the inner wall of the subway pit space; analyze and process the images of the inner wall of the subway pit space to obtain the distribution information of the foundation pit structure cracks on the inner wall of the subway pit space, so as to determine whether there is a risk of collapse in the geologically unstable area.

[0057] Step S3: Obtain vibration status information of geologically unstable areas with potential collapse risks; determine whether a collapse event will occur based on the vibration status information; and issue a broadcast alarm notification based on the determination result.

[0058] The beneficial effects of the above technical solution are as follows: This automatic monitoring and early warning method for subway foundation pit collapse involves setting up deformation monitoring equipment at different locations within the subway foundation pit to obtain geological structural deformation status information at different locations, thereby identifying stable or unstable geological structural areas; then, by using a robot to collect images of the inner wall surface of the subway foundation pit, information on the distribution of foundation pit structural cracks on the inner wall surface is obtained, thereby determining whether there is a potential collapse hazard in the unstable geological structural areas; furthermore, based on the vibration status information of the unstable geological structural areas with potential collapse hazard, it is determined whether a collapse will occur, and a broadcast alarm notification is issued. It utilizes deformation monitoring equipment and a robot to detect the internal geological structure and external crack distribution of the subway foundation pit, respectively, performing a dual analysis of the foundation pit's geological structural safety from both internal and external perspectives, minimizing external interference during the detection process, and accurately and stably monitoring the internal geological structure of the subway foundation pit, thus improving the reliability of subway foundation pit collapse early warning.

[0059] Preferably, in step S1, deformation monitoring equipment is installed at different locations of the subway foundation pit to obtain geological structural deformation status information at different locations of the subway foundation pit; the geological structural deformation status information is analyzed and processed to classify the area where the subway foundation pit is located into geologically stable areas or geologically unstable areas, specifically including:

[0060] Fiber optic grating deformation monitoring devices are installed at different depths at the top of the subway foundation pit to obtain geological structural deformation information at different depths at the top of the subway foundation pit; the geological structural deformation information includes the direction and magnitude of geological structural deformation of the geological layer at a specific depth.

[0061] If the geological deformation directions of the geological layers at different depths in a certain area at the top of the subway foundation pit intersect, or if the magnitude of the geological deformation of the geological layers at different depths is greater than the preset deformation magnitude threshold, then the corresponding area at the top of the subway foundation pit is identified as a geologically unstable area; otherwise, the corresponding area at the top of the subway foundation pit is identified as a geologically stable area.

[0062] The beneficial effects of the above technical solution are as follows: In practical applications, fiber optic grating deformation monitoring devices can be installed at different depths of the soil structure at the top of the subway foundation pit. Each fiber optic grating deformation monitoring device is pre-buried at a different depth of the soil structure. This allows for independent detection of the geological deformation at different depths of the soil structure. Based on the specific direction and magnitude of the geological deformation at different depths of each area, it is easy to accurately identify whether the geological structure of the corresponding area is stable or not. This facilitates subsequent comprehensive inspection and photography of areas with unstable geological structures by robots.

[0063] Preferably, in step S2, the robot is instructed to inspect and photograph the subway pit space corresponding to the geologically unstable area to obtain images of the inner wall of the subway pit space; the images of the inner wall of the subway pit space are analyzed and processed to obtain information on the distribution of cracks in the pit structure on the inner wall of the subway pit space, thereby determining whether there is a risk of collapse in the geologically unstable area. Specifically, this includes:

[0064] The robot is instructed to move at a constant speed along a predetermined path in the subway pit space corresponding to the geologically unstable area.

[0065] During this uniform motion, the robot's camera is instructed to scan and photograph the inner wall of the subway pit space, ensuring that the camera's shooting direction is always perpendicular to the inner wall of the subway pit space, thereby obtaining the corresponding image of the inner wall of the subway pit space.

[0066] The image of the inner wall of the subway pit was processed by pixel grayscale and pixel sharpening to obtain the number of structural cracks and the average width of the cracks on the inner wall of the subway pit.

[0067] If the number of cracks in the foundation pit structure corresponding to the unstable geological structure area is greater than or equal to a preset number threshold or the average crack width is greater than or equal to a preset width threshold, then it is determined that the unstable geological structure area has a potential collapse risk; otherwise, it is determined that the unstable geological structure area does not have a potential collapse risk.

[0068] The beneficial effects of the above technical solution are as follows: by using the above method, the robot's camera is directed to take pictures of the inner wall of the subway pit space corresponding to the unstable geological structure area, ensuring that the captured images of the inner wall of the subway pit space can fully and clearly cover the distribution of all inner wall cracks, thereby making a quantitative judgment on whether there is a risk of collapse in the unstable geological structure area.

[0069] Preferably, in step S3, vibration state information of the geologically unstable area with potential collapse is obtained; based on this vibration state information, it is determined whether a collapse event will occur; and based on the determination result, a broadcast alarm notification is issued, specifically including:

[0070] The output optical signals of fiber optic grating deformation monitoring equipment set up in geologically unstable areas with potential collapse hazards are collected. The output optical signals are analyzed and processed to obtain the actual vibration frequency and actual vibration amplitude of the geologically unstable areas with potential collapse hazards within a certain period of time, which are used as the vibration state information.

[0071] Based on the actual vibration frequency and the actual vibration amplitude, determine whether a collapse event will occur in a geologically unstable area with potential collapse risks;

[0072] If a collapse event is predicted, the alarm devices installed in the geologically unstable area where the collapse event is likely to occur and in the adjacent area will be instructed to issue a broadcast voice alarm.

[0073] The beneficial effects of the above technical solution are as follows: Through this method, fiber optic grating deformation monitoring equipment can be used to detect the dynamic vibration characteristics of unstable geological structures with potential collapse risks. This facilitates real-time acquisition of the vibration status of these unstable geological structures. In fact, when a collapse event is imminent in an unstable geological structure with potential collapse risks, the corresponding actual vibration frequency will gradually increase, and the actual vibration amplitude will also gradually increase. Therefore, by analyzing the actual vibration frequency and amplitude of an unstable geological structure with potential collapse risks over a period of time, it is possible to accurately determine whether a collapse event will occur, facilitating subsequent targeted broadcast-style voice alarm reminders.

[0074] Preferably, in step S3, instructing alarm devices installed in the geologically unstable area where a collapse event may occur and in adjacent areas to perform a broadcast voice alarm reminder operation specifically includes: the alarm devices installed in the geologically unstable area where a collapse event may occur and in adjacent areas determine the corresponding volume value for the broadcast voice alarm reminder operation based on the distance from the geologically unstable area where a collapse event may occur, the volume value of all voice information currently received by the alarm devices that belongs to the alarm reminder broadcast voice information, and the background volume of the current external environment. The process is as follows:

[0075] Step S301: Using the following formula (1), determine the volume value of alarm reminder broadcast voice information among all the voice information currently received by the alarm device based on the voice data received by the voice detection sensor installed on the alarm device itself.

[0076]

[0077] In the above formula (1), E represents the volume value of the alarm reminder broadcast voice information among all the voice information currently received by the alarm device; F(D) represents the voice data of the alarm reminder broadcast voice information among all the voice information currently received by the alarm device, which has an array form, and each element in the array corresponds to a voice amplitude value; F(D)-(i) represents the i-th voice amplitude value of F(D); G(i) represents the voice data of the preset standard alarm voice information, in which the voice amplitude values ​​of the preset standard alarm voice information are all preset standard amplitude values, and the volume value corresponding to the voice data of the preset standard alarm voice information is a fixed value E0; n represents the number of voice data included in the voice data of the alarm reminder broadcast voice information among all the voice information currently received by the alarm device;

[0078] Step S302: Using the following formula (2), based on the distance between the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area, and the volume value of all voice information currently received by the alarm devices that belongs to the alarm reminder broadcast voice information, the relevance value of the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area is obtained.

[0079]

[0080] In the above formula (2), R represents the correlation value of the alarm device installed in the geologically unstable area where a collapse event may occur and in the adjacent area; E max This indicates the maximum playback volume of the alarm device; S represents the distance of the alarm device installed in the geologically unstable area where a collapse event may occur, based on the distance from the geologically unstable area where the collapse event may occur; S min The alarm device installed in the geologically unstable area where a collapse event may occur and in the adjacent area is based on the distance to the nearest adjacent area of ​​the geologically unstable area where a collapse event may occur;

[0081] Step S303: Using the following formula (3), based on the correlation value of the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area, and the background volume of the current external environment, determine the volume value corresponding to the broadcast voice alarm reminder operation of the alarm devices installed in the adjacent area.

[0082] E c =max,(E w +R×E max ),E max -(3)

[0083] In the above formula (3), E c This indicates the volume level corresponding to the broadcast voice alarm notification operation of alarm devices installed in the vicinity; E w This indicates the background volume of the current external environment; max,,- indicates the operation of taking the largest of the two values ​​within the parentheses.

[0084] The beneficial effects of the above technical solution are as follows: Using the above formula (1), based on the voice data received by the voice detection sensor installed on the alarm device itself, the volume value of the alarm reminder broadcast voice information among all the voice information currently received by the alarm device can be determined. Thus, by using voice detection and recognition and comprehensively analyzing the voice, the volume value of the alarm reminder broadcast voice information among the received voice information can be determined, which can reduce the influence of noise and ensure accuracy. Using the above formula (2), based on the distance between the alarm device installed in the geologically unstable area where a collapse event may occur and the adjacent area, and based on the volume value of the alarm reminder broadcast voice information among all the voice information currently received by the alarm device, the volume value of the alarm reminder broadcast voice information among all the received voice information can be determined, which can reduce the influence of noise and ensure accuracy. The volume value of the alarm reminder broadcast voice information is used to obtain the relevance value of the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area. This allows us to know the importance of the alarm devices in each adjacent area, which facilitates the subsequent allocation of linkage alarms and effectively utilizes the resources of the alarm devices. Using the above formula (3), based on the relevance value of the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area, as well as the background volume of the current external environment, the volume value corresponding to the broadcast voice alarm reminder operation of the alarm devices installed in the adjacent area is determined. This allows for intelligent and targeted linkage alarms with a louder volume for adjacent areas with a high degree of relevance.

[0085] See Figure 2 This is a structural schematic diagram of the automatic monitoring and early warning system for subway foundation pit construction collapse provided in an embodiment of the present invention. The automatic monitoring and early warning system for subway foundation pit construction collapse includes:

[0086] Deformation monitoring equipment is installed at different locations in the subway foundation pit to obtain information on the geological structural deformation status at different locations within the pit.

[0087] The central processing unit, which is connected to the deformation monitoring equipment, is used to analyze and process the deformation status information of the geological structure, and to divide the area where the subway foundation pit is located into a geologically stable area or a geologically unstable area.

[0088] The robot is used to inspect and photograph the subway pit space in the geologically unstable area to obtain images of the inner wall of the subway pit space.

[0089] The central processing unit is also connected to the robot to analyze and process the images of the inner wall of the subway pit space, obtain information on the distribution of cracks in the pit structure on the inner wall of the subway pit space, and thus determine whether there is a risk of collapse in the unstable geological area.

[0090] The deformation monitoring equipment is also used to obtain vibration status information of geologically unstable areas with potential collapse risks;

[0091] The central processing unit also determines whether a collapse event will occur based on the vibration status information; and based on the determination result, it instructs the corresponding alarm equipment to broadcast an alarm notification.

[0092] The beneficial effects of the above technical solution are as follows: The automatic monitoring and early warning system for subway foundation pit collapse is equipped with deformation monitoring devices at different locations within the subway foundation pit to obtain geological structural deformation status information at different locations, thereby identifying stable or unstable geological structural areas; then, images of the inner wall of the subway foundation pit space are collected using robots to obtain information on the distribution of foundation pit structural cracks on the inner wall of the subway foundation pit space, thereby determining whether there is a potential collapse hazard in the unstable geological structural areas; furthermore, based on the vibration status information of the unstable geological structural areas with potential collapse hazard, it is determined whether a collapse will occur, and a broadcast alarm notification is issued. It utilizes deformation monitoring devices and robots to detect the internal geological structure and external crack distribution of the subway foundation pit, respectively, performing a dual analysis of the foundation pit's geological structural safety from both internal and external perspectives, minimizing external interference during the detection process, and providing precise and stable monitoring of the internal geological structure of the subway foundation pit, thereby improving the reliability of the subway foundation pit collapse early warning system.

[0093] Preferably, the deformation monitoring device is a fiber optic grating deformation monitoring device, which is installed at different depths at the top of the subway foundation pit to obtain geological structural deformation status information at different depths at the top of the subway foundation pit; wherein, the geological structural deformation status information includes the geological structural deformation direction and deformation magnitude of the geological layer at a specific depth.

[0094] The central processing equipment analyzes and processes the geological deformation information, classifying the area where the subway foundation pit is located into geologically stable or geologically unstable areas, specifically including:

[0095] If the geological deformation directions of the geological layers at different depths in a certain area at the top of the subway foundation pit intersect, or if the magnitude of the geological deformation of the geological layers at different depths is greater than the preset deformation magnitude threshold, then the corresponding area at the top of the subway foundation pit is identified as a geologically unstable area; otherwise, the corresponding area at the top of the subway foundation pit is identified as a geologically stable area.

[0096] The beneficial effects of the above technical solution are as follows: In practical applications, fiber optic grating deformation monitoring devices can be installed at different depths of the soil structure at the top of the subway foundation pit. Each fiber optic grating deformation monitoring device is pre-buried at a different depth of the soil structure. This allows for independent detection of the geological deformation at different depths of the soil structure. Based on the specific direction and magnitude of the geological deformation at different depths of each area, it is easy to accurately identify whether the geological structure of the corresponding area is stable or not. This facilitates subsequent comprehensive inspection and photography of areas with unstable geological structures by robots.

[0097] Preferably, the central processing unit instructs the robot to move at a constant speed along a predetermined path in the subway pit space corresponding to the geologically unstable area;

[0098] During this uniform motion, the robot's camera is instructed to scan and photograph the inner wall of the subway pit space, ensuring that the camera's shooting direction is always perpendicular to the inner wall of the subway pit space, thereby obtaining the corresponding image of the inner wall of the subway pit space.

[0099] The central processing unit performs pixel grayscale and pixel sharpening processing on the image of the inner wall of the subway pit space to obtain the number of pit structure cracks and the average width of the cracks on the inner wall of the subway pit space.

[0100] If the number of cracks in the foundation pit structure corresponding to the unstable geological structure area is greater than or equal to a preset number threshold or the average crack width is greater than or equal to a preset width threshold, then it is determined that the unstable geological structure area has a potential collapse risk; otherwise, it is determined that the unstable geological structure area does not have a potential collapse risk.

[0101] The beneficial effects of the above technical solution are as follows: by using the above method, the robot's camera is directed to take pictures of the inner wall of the subway pit space corresponding to the unstable geological structure area, ensuring that the captured images of the inner wall of the subway pit space can fully and clearly cover the distribution of all inner wall cracks, thereby making a quantitative judgment on whether there is a risk of collapse in the unstable geological structure area.

[0102] Preferably, the central processing unit also collects the output optical signals of the fiber optic grating deformation monitoring equipment set up in the geologically unstable area with potential collapse risk, analyzes and processes the output optical signals to obtain the actual vibration frequency and actual vibration amplitude of the geologically unstable area with potential collapse risk within a certain period of time, and uses this as the vibration state information.

[0103] Based on the actual vibration frequency and the actual vibration amplitude, determine whether a collapse event will occur in a geologically unstable area with potential collapse risks;

[0104] If a collapse event is predicted, the alarm devices installed in the geologically unstable area where the collapse event is likely to occur and in the adjacent area will be instructed to issue a broadcast voice alarm.

[0105] The beneficial effects of the above technical solution are as follows: Through this method, fiber optic grating deformation monitoring equipment can be used to detect the dynamic vibration characteristics of unstable geological structures with potential collapse risks. This facilitates real-time acquisition of the vibration status of these unstable geological structures. In fact, when a collapse event is imminent in an unstable geological structure with potential collapse risks, the corresponding actual vibration frequency will gradually increase, and the actual vibration amplitude will also gradually increase. Therefore, by analyzing the actual vibration frequency and amplitude of an unstable geological structure with potential collapse risks over a period of time, it is possible to accurately determine whether a collapse event will occur, facilitating subsequent targeted broadcast-style voice alarm reminders.

[0106] As can be seen from the above embodiments, the automatic monitoring and early warning method and system for subway foundation pit collapse sets up deformation monitoring equipment at different locations in the subway foundation pit to obtain geological structural deformation status information at different locations, thereby identifying stable or unstable geological structural areas; then, it uses a robot to collect images of the inner wall surface of the subway foundation pit space to obtain information on the distribution of foundation pit structural cracks on the inner wall surface of the subway foundation pit space, thereby determining whether there is a potential collapse hazard in the unstable geological structural area; furthermore, based on the vibration status information of the unstable geological structural area with potential collapse hazard, it determines whether a collapse will occur and issues a broadcast alarm notification. It uses deformation monitoring equipment and a robot to detect the internal geological structure and external crack distribution of the subway foundation pit, respectively, and performs a dual analysis of the foundation pit geological structure safety from both internal and external aspects, minimizing external interference during the detection process, accurately and stably monitoring the internal geological structure of the subway foundation pit, and improving the reliability of the subway foundation pit collapse early warning.

[0107] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automatic monitoring and early warning method for subway foundation pit collapse, characterized in that, It includes the following steps: Step S1: Deformation monitoring equipment is installed at different locations of the subway foundation pit to obtain geological structure deformation status information at different locations of the subway foundation pit; the geological structure deformation status information is analyzed and processed to classify the area where the subway foundation pit is located into a geologically stable area or a geologically unstable area. Step S2: Instruct the robot to inspect and photograph the subway pit space corresponding to the geologically unstable area to obtain the corresponding images of the inner wall of the subway pit space; analyze and process the images of the inner wall of the subway pit space to obtain the distribution information of the pit structure cracks on the inner wall of the subway pit space, so as to determine whether there is a risk of collapse in the geologically unstable area. Step S3: Obtain vibration status information of geologically unstable areas with potential collapse risks; determine whether a collapse event will occur based on the vibration status information; and issue a broadcast alarm notification based on the determination result. In step S3, vibration state information of geologically unstable areas with potential collapse risks is obtained, and based on the vibration state information, it is determined whether a collapse event will occur. Based on the judgment result, the broadcast alarm notification specifically includes: The output optical signals of fiber optic grating deformation monitoring devices installed in geologically unstable areas with potential collapse hazards are collected. The output optical signals are analyzed and processed to obtain the actual vibration frequency and actual vibration amplitude of the geologically unstable areas with potential collapse hazards within a certain period of time, which are used as the vibration state information. Based on the actual vibration frequency and the actual vibration amplitude, it is determined whether a collapse event will occur in a geologically unstable area with potential collapse risks. If a collapse event is determined to occur, the alarm devices installed in the geologically unstable area where the collapse event is likely to occur and in the adjacent area are instructed to broadcast a voice alarm. In step S3, instructing alarm devices installed in geologically unstable areas where collapse events may occur and their adjacent areas to perform broadcast voice alarm reminders specifically includes: The alarm devices installed in geologically unstable areas where collapse events may occur and their adjacent areas determine the corresponding volume value for broadcast voice alarm reminders based on the distance from the geologically unstable area where the collapse event may occur, the volume value of all currently received voice information belonging to alarm reminder broadcast voice information, and the current background volume of the external environment. The process is as follows: Step S301: Using the following formula (1), determine the volume value of alarm reminder broadcast voice information among all the voice information currently received by the alarm device based on the voice data received by the voice detection sensor installed on the alarm device itself. （1）, In the above formula (1), This indicates the volume value of alarm notification broadcast messages among all the voice messages currently received by the alarm device; This represents the voice data that belongs to the alarm reminder broadcast voice information among all the voice information currently received by the alarm device. It is in the form of an array, and each element in the array corresponds to a voice amplitude value. express The amplitude value of the i-th speech wave; The voice data represents preset standard alarm voice information. The voice amplitude values ​​in the preset standard alarm voice information voice data are all preset standard amplitude values, and the volume values ​​corresponding to the preset standard alarm voice information voice data are all fixed values. ; This indicates the number of voice data points included in the alarm notification broadcast voice information out of all voice messages currently received by the alarm device. Step S302: Using the following formula (2), based on the distance between the alarm device installed in the geologically unstable area where a collapse event may occur and the adjacent area, and the volume value of all voice information currently received by the alarm device that belongs to the alarm reminder broadcast voice information, the relevance value of the alarm device installed in the geologically unstable area where a collapse event may occur and the adjacent area is obtained. （2）, In the above formula (2), This indicates the relevance value of alarm devices installed in geologically unstable areas where collapse events may occur, as well as in adjacent areas; This indicates the maximum playback volume of the alarm device; This indicates the distance between the alarm device installed in an area adjacent to a geologically unstable area where a collapse event may occur and the geologically unstable area where the collapse event may occur. This indicates the closest distance between the alarm device installed in an area adjacent to a geologically unstable area where a collapse event may occur and the geologically unstable area where a collapse event may occur; Step S303: Using the formula (3) below, based on the correlation value of the alarm devices installed in the geologically unstable area where a collapse event may occur and the adjacent area, and the background volume of the current external environment, determine the volume value corresponding to the broadcast voice alarm reminder operation of the alarm devices installed in the adjacent area. （3）, In the above formula (3), This indicates the volume level corresponding to the broadcast voice alarm notification operation of alarm devices installed in the vicinity; This indicates the background volume of the current external environment; This indicates the operation of taking the smaller of the two values ​​inside the parentheses.

2. The automatic monitoring and early warning method for subway foundation pit collapse as described in claim 1, characterized in that: In step S1, deformation monitoring devices are installed at different locations in the subway foundation pit to obtain information on the geological structure deformation status at different locations in the subway foundation pit. The geological structure deformation state information is analyzed and processed to classify the area where the subway foundation pit is located into geologically stable areas or geologically unstable areas, specifically including: Fiber optic grating deformation monitoring devices are installed at different depths at the top of the subway foundation pit to obtain geological structural deformation information at different depths at the top of the subway foundation pit; wherein, the geological structural deformation information includes the direction and magnitude of geological structural deformation of the geological layer at a specific depth. If the geological deformation directions of the geological layers at different depths in a certain area at the top of the subway foundation pit intersect, or if the magnitude of the geological deformation of the geological layers at different depths is greater than the preset deformation magnitude threshold, then the corresponding area at the top of the subway foundation pit is identified as a geologically unstable area; otherwise, the corresponding area at the top of the subway foundation pit is identified as a geologically stable area.

3. The automatic monitoring and early warning method for subway foundation pit collapse as described in claim 2, characterized in that: In step S2, the robot is instructed to inspect and photograph the subway pit space corresponding to the geologically unstable area to obtain images of the inner wall of the subway pit space. The images of the inner wall of the subway pit space are analyzed and processed to obtain information on the distribution of cracks in the pit structure, thereby determining whether there is a risk of collapse in the geologically unstable area. Specifically, this includes: The robot is instructed to move at a constant speed along a predetermined path in the subway pit space corresponding to the geologically unstable area. During the uniform motion, the robot's camera is instructed to scan and photograph the inner wall of the subway pit space, so that the shooting direction of the camera is always perpendicular to the inner wall of the subway pit space, thereby obtaining the corresponding image of the inner wall of the subway pit space. The image of the inner wall of the subway pit space is subjected to pixel grayscale processing and pixel sharpening processing to obtain the number of pit structure cracks and the average width of the cracks on the inner wall of the subway pit space. If the number of cracks in the foundation pit structure corresponding to the geologically unstable area is greater than or equal to a preset number threshold or the average crack width is greater than or equal to a preset width threshold, then it is determined that the geologically unstable area has a potential collapse risk; otherwise, it is determined that the geologically unstable area does not have a potential collapse risk.

4. An automatic monitoring and early warning system for subway foundation pit collapse, employing the automatic monitoring and early warning method for subway foundation pit collapse as described in any one of claims 1-3, characterized in that, include: Deformation monitoring equipment is installed at different locations in the subway foundation pit to obtain information on the geological structural deformation status at different locations within the pit. A central processing unit, connected to the deformation monitoring equipment, is used to analyze and process the geological structure deformation status information, and to classify the area where the subway foundation pit is located into a geologically stable area or a geologically unstable area. The robot is used to inspect and photograph the subway pit space corresponding to the geologically unstable area, thereby obtaining the corresponding images of the inner wall of the subway pit space. The central processing unit is also connected to the robot and is used to analyze and process the images of the inner wall of the subway pit space to obtain information on the distribution of cracks in the pit structure on the inner wall of the subway pit space, thereby determining whether there is a risk of collapse in the geologically unstable area. The deformation monitoring equipment is also used to acquire vibration status information of geologically unstable areas with potential collapse risks; The central processing unit also determines whether a collapse event will occur based on the vibration status information; and based on the determination result, instructs the corresponding alarm device to issue a broadcast alarm notification.

5. The automatic monitoring and early warning system for subway foundation pit collapse as described in claim 4, characterized in that: The deformation monitoring device is a fiber optic grating deformation monitoring device, which is installed at different depths at the top of the subway foundation pit to obtain geological structural deformation status information at different depths at the top of the subway foundation pit; wherein, the geological structural deformation status information includes the geological structural deformation direction and deformation magnitude of the geological layer at a specific depth. The central processing equipment analyzes and processes the geological structure deformation state information, classifying the area where the subway foundation pit is located into geologically stable or geologically unstable areas, specifically including: If the geological deformation directions of the geological layers at different depths in a certain area at the top of the subway foundation pit intersect, or if the magnitude of the geological deformation of the geological layers at different depths is greater than the preset deformation magnitude threshold, then the corresponding area at the top of the subway foundation pit is identified as a geologically unstable area; otherwise, the corresponding area at the top of the subway foundation pit is identified as a geologically stable area.

6. The automatic monitoring and early warning system for subway foundation pit collapse as described in claim 5, characterized in that: The central processing unit instructs the robot to move at a constant speed along a predetermined path in the subway pit space corresponding to the geologically unstable area. During the uniform motion, the robot's camera is instructed to scan and photograph the inner wall of the subway pit space, so that the shooting direction of the camera is always perpendicular to the inner wall of the subway pit space, thereby obtaining the corresponding image of the inner wall of the subway pit space. The central processing unit performs pixel grayscale processing and pixel sharpening processing on the image of the inner wall of the subway pit space to obtain the number of pit structure cracks and the average width of the cracks on the inner wall of the subway pit space. If the number of cracks in the foundation pit structure corresponding to the geologically unstable area is greater than or equal to a preset number threshold or the average crack width is greater than or equal to a preset width threshold, then it is determined that the geologically unstable area has a potential collapse risk; otherwise, it is determined that the geologically unstable area does not have a potential collapse risk.

7. The automatic monitoring and early warning system for subway foundation pit collapse as described in claim 6, characterized in that: The central processing unit also collects the output optical signals of the fiber optic grating deformation monitoring equipment set up in the geologically unstable area with potential collapse risk, analyzes and processes the output optical signals to obtain the actual vibration frequency and actual vibration amplitude of the geologically unstable area with potential collapse risk within a certain period of time, and uses this as the vibration state information. Based on the actual vibration frequency and the actual vibration amplitude, it is determined whether a collapse event will occur in a geologically unstable area with potential collapse risks. If a collapse event is predicted, the alarm devices installed in the geologically unstable area where the collapse event is likely to occur and in the adjacent area will be instructed to issue a broadcast voice alarm.

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