Red layer tunnel deformation monitoring method and device based on wall-climbing robot

Abstract

The invention relates to the technical field of tunnel advanced geological forecast, in particular to a red-bed tunnel deformation monitoring method and device based on a wall-climbing robot, and the method comprises the steps: evaluating the structural characteristics, geological conditions and potential deformation regions of a red-bed tunnel, so as to determine at least one key monitoring region for monitoring, based on the three-dimensional model of the tunnel and the positioning marks in the tunnel, planning a crawling path of the wall-climbing robot capable of comprehensively covering at least one key monitoring area, starting the wall-climbing robot, controlling the wall-climbing robot to crawl on the tunnel wall surface of the red-bed tunnel according to the crawling path, and collecting monitoring data of the red-bed tunnel at the same time, and generating a deformation trend and / or a monitoring report of the red layer tunnel according to the monitoring data. Therefore, the problems of limited monitoring precision, difficulty in real-time monitoring, high cost, complicated operation, great influence of complicated geological conditions and the like in related technologies are solved.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel advanced geological prediction, and in particular to a method and device for monitoring deformation of a red layer tunnel based on a wall climbing robot. Background Art

[0002] As an important part of transportation infrastructure, the structural stability of red-bed tunnels is directly related to the safety of transportation. However, complex geological conditions and external factors may lead to safety hazards such as tunnel deformation and cracking. In related technologies, the monitoring of red-bed tunnels usually includes visual inspection, optical measurement, strain measurement and acoustic wave detection.

[0003] However, in the related technologies, the visual inspection method relies on manual observation, which is greatly affected by human factors and difficult to achieve real-time monitoring; the optical measurement method requires professional equipment, is costly, and its accuracy is easily affected by the environment; the sensors installed in the strain measurement method may cause damage to the structure and are complex to maintain; the acoustic wave detection method is susceptible to interference under complex geological conditions, resulting in inaccuracy. In summary, in the related technologies, there are problems such as limited monitoring accuracy, difficulty in real-time monitoring, high cost, complex operation, and great influence by complex geological conditions, which need to be improved urgently. Summary of the invention

[0004] The present application provides a red layer tunnel deformation monitoring method and device based on a wall-climbing robot to solve the problems in the related technology such as limited monitoring accuracy, difficulty in real-time monitoring, high cost, complex operation and great influence of complex geological conditions.

[0005] The first aspect of the present application provides a red layer tunnel deformation monitoring method based on a wall-climbing robot, comprising the following steps: evaluating the structural characteristics, geological conditions, and potential deformation areas of the red layer tunnel to determine at least one key monitoring area to be monitored; planning a crawling path of the wall-climbing robot that can fully cover at least one key monitoring area based on a three-dimensional model of the tunnel and positioning marks in the tunnel; starting the wall-climbing robot, controlling the wall-climbing robot to crawl on the tunnel wall of the red layer tunnel according to the crawling path, and collecting monitoring data of the red layer tunnel to generate a deformation trend and / or monitoring report of the red layer tunnel based on the monitoring data.

[0006] Through the above technical scheme, the embodiment of the present application can achieve comprehensive real-time monitoring by conducting a detailed assessment of the structural characteristics and geological conditions of the tunnel, accurately determining the key monitoring areas, and using a three-dimensional model to plan an effective crawling path, thereby improving the accuracy and efficiency of monitoring, and being able to timely collect and analyze tunnel deformation data and generate detailed monitoring reports, providing reliable technical support for the safe management and maintenance of the tunnel, and reducing the complexity and cost of manual intervention.

[0007] Optionally, in one embodiment of the present application, generating the deformation trend of the red layer tunnel according to the monitoring data includes: sending the monitoring data to a preset remote monitoring center; and receiving the deformation trend fed back by the remote monitoring center.

[0008] Through the above technical solution, the embodiment of the present application can realize timely analysis and feedback of the deformation trend of the red layer tunnel by sending the monitoring data to the remote monitoring center in real time. This method not only improves the efficiency and accuracy of monitoring, but also can quickly identify potential safety hazards and ensure the safe operation of the tunnel. At the same time, the professional analysis ability of the remote monitoring center can provide a scientific basis for subsequent maintenance decisions and further improve the intelligent level of tunnel management.

[0009] Optionally, in one embodiment of the present application, it also includes: determining whether the monitoring value in the monitoring data is greater than a preset alarm threshold; if the monitoring value is greater than the preset alarm threshold, generating an alarm signal so that relevant personnel can take corresponding measures.

[0010] Through the above technical solution, the embodiment of the present application can timely discover the potential risk of tunnel deformation by comparing the real-time monitoring data with the alarm threshold, thereby automatically generating an alarm signal and quickly notifying relevant personnel to take countermeasures. This efficient monitoring and alarm mechanism not only improves the timeliness and accuracy of tunnel safety monitoring, but also effectively reduces the safety hazards caused by deformation, ensures the safe operation of transportation infrastructure, and protects the lives and property of the people.

[0011] Optionally, in an embodiment of the present application, after generating the alarm signal, it also includes: generating maintenance suggestions based on the monitoring data; and pushing the maintenance suggestions to the user.

[0012] Through the above technical solution, the embodiment of the present application can not only promptly notify the user of potential safety hazards after generating an alarm signal, but also provide targeted solutions by generating specific maintenance suggestions. This information push can help users quickly take effective maintenance measures to improve the safety and operational efficiency of the tunnel.

[0013] Optionally, in one embodiment of the present application, the monitoring report includes at least one of the geological structural information such as the shape, size, support structure, stratum distribution, rock properties, faults, joints, etc. of the tunnel, including at least one of historical deformation records, on-site surveys, and numerical simulations.

[0014] Through the above technical solution, the embodiment of the present application can comprehensively and accurately obtain the shape, size, support structure, stratum distribution, rock properties, faults, joints and other geological structural information of the tunnel by integrating historical deformation records, on-site investigations and numerical simulations and other evaluation methods. This multi-dimensional monitoring report not only improves the accuracy and reliability of monitoring, but also can timely discover potential deformation trends, thereby providing strong data support for the safe maintenance and management of the tunnel.

[0015] The second aspect of the present application provides a red layer tunnel deformation monitoring device based on a wall-climbing robot, including: an evaluation module, used to evaluate the structural characteristics, geological conditions, and potential deformation areas of the red layer tunnel to determine at least one key monitoring area to be monitored; a planning module, used to plan a crawling path of the wall-climbing robot that can fully cover at least one key monitoring area based on a three-dimensional model of the tunnel and positioning marks in the tunnel; a monitoring module, used to start the wall-climbing robot, control the wall-climbing robot to crawl on the tunnel wall of the red layer tunnel according to the crawling path, and collect monitoring data of the red layer tunnel to generate a deformation trend and / or monitoring report of the red layer tunnel based on the monitoring data.

[0016] Through the above technical scheme, the embodiment of the present application can achieve comprehensive real-time monitoring by conducting a detailed assessment of the structural characteristics and geological conditions of the tunnel, accurately determining the key monitoring areas, and using a three-dimensional model to plan an effective crawling path, thereby improving the accuracy and efficiency of monitoring, and being able to timely collect and analyze tunnel deformation data and generate detailed monitoring reports, providing reliable technical support for the safe management and maintenance of the tunnel, and reducing the complexity and cost of manual intervention.

[0017] Optionally, in one embodiment of the present application, the monitoring module includes: a sending unit, used to send the monitoring data to a preset remote monitoring center; and a receiving unit, used to receive the deformation trend fed back by the remote monitoring center.

[0018] Through the above technical solution, the embodiment of the present application can realize timely analysis and feedback of the deformation trend of the red layer tunnel by sending the monitoring data to the remote monitoring center in real time. This method not only improves the efficiency and accuracy of monitoring, but also can quickly identify potential safety hazards and ensure the safe operation of the tunnel. At the same time, the professional analysis ability of the remote monitoring center can provide a scientific basis for subsequent maintenance decisions and further improve the intelligent level of tunnel management.

[0019] Optionally, in one embodiment of the present application, it also includes: a judgment module, used to judge whether the monitoring value in the monitoring data is greater than a preset alarm threshold; an early warning module, used to generate an alarm signal when the monitoring value is greater than the preset alarm threshold, so that relevant personnel can take corresponding measures.

[0020] Through the above technical solution, the embodiment of the present application can timely discover the potential risk of tunnel deformation by comparing the real-time monitoring data with the alarm threshold, thereby automatically generating an alarm signal and quickly notifying relevant personnel to take countermeasures. This efficient monitoring and alarm mechanism not only improves the timeliness and accuracy of tunnel safety monitoring, but also effectively reduces the safety hazards caused by deformation, ensures the safe operation of transportation infrastructure, and protects the lives and property of the people.

[0021] Optionally, in an embodiment of the present application, the monitoring module includes: a generating unit, configured to generate maintenance suggestions according to the monitoring data; and a pushing unit, configured to push the maintenance suggestions to the user.

[0022] Through the above technical solution, the embodiment of the present application can not only promptly notify the user of potential safety hazards after generating an alarm signal, but also provide targeted solutions by generating specific maintenance suggestions. This information push can help users quickly take effective maintenance measures to improve the safety and operational efficiency of the tunnel.

[0023] Optionally, in one embodiment of the present application, the monitoring report includes at least one of the geological structural information such as the shape, size, support structure, stratum distribution, rock properties, faults, joints, etc. of the tunnel, including at least one of historical deformation records, on-site surveys, and numerical simulations.

[0024] Through the above technical solution, the embodiment of the present application can comprehensively and accurately obtain the shape, size, support structure, stratum distribution, rock properties, faults, joints and other geological structural information of the tunnel by integrating historical deformation records, on-site investigations and numerical simulations and other evaluation methods. This multi-dimensional monitoring report not only improves the accuracy and reliability of monitoring, but also can timely discover potential deformation trends, thereby providing strong data support for the safe maintenance and management of the tunnel.

[0025] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the red layer tunnel deformation monitoring method based on a wall-climbing robot as described in the above embodiment.

[0026] The fourth aspect embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the program is executed by a processor, it implements the above-mentioned red layer tunnel deformation monitoring method based on a wall-climbing robot.

[0027] The fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned red layer tunnel deformation monitoring method based on a wall-climbing robot.

[0028] The embodiments of the present application can conduct comprehensive and real-time monitoring of red-layer tunnels, significantly improving the accuracy and efficiency of monitoring. By evaluating the structural characteristics and geological conditions of the tunnel in detail, the key monitoring areas are accurately determined, and the three-dimensional model is used to plan an effective crawling path to ensure comprehensive coverage. The monitoring data is transmitted to the remote monitoring center in real time to quickly analyze and feedback the deformation trend, timely identify potential safety hazards, and ensure the safe operation of the tunnel. At the same time, the system automatically generates an alarm signal by comparing the real-time data with the alarm threshold, and quickly notifies relevant personnel to take countermeasures to reduce the risk of safety hazards. After the alarm, the system not only provides maintenance suggestions, but also integrates historical deformation records, on-site surveys, and numerical simulations to generate multi-dimensional monitoring reports, providing reliable data support for the safe management and maintenance of the tunnel, improving the level of intelligence and operational efficiency, and safeguarding the lives and property of the people.

[0029] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 A flowchart of a red-layer tunnel deformation monitoring method based on a wall-climbing robot provided according to an embodiment of the present application;

[0032] Figure 2 It is a structural schematic diagram of a red-layer tunnel deformation monitoring device based on a wall-climbing robot provided according to an embodiment of the present application;

[0033] Figure 3 The figure is a structural example diagram of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The following describes the deformation monitoring method and device of a red-layer tunnel based on a wall-climbing robot according to an embodiment of the present application with reference to the accompanying drawings. In view of the problems of limited monitoring accuracy, difficulty in real-time monitoring, high cost, complicated operation, and being greatly affected by complex geological conditions in the related technologies mentioned in the above background technology, the present application provides a deformation monitoring method of a red-layer tunnel based on a wall-climbing robot. In this method, the structural characteristics and geological conditions of the tunnel can be evaluated in detail, the key monitoring areas can be accurately determined, and an effective crawling path can be planned using a three-dimensional model, thereby achieving comprehensive real-time monitoring, improving the accuracy and efficiency of monitoring, being able to collect and analyze tunnel deformation data in a timely manner, and generating detailed monitoring reports, providing reliable technical support for the safe management and maintenance of the tunnel, and reducing the complexity and cost of manual intervention. As a result, the problems of limited monitoring accuracy, difficulty in real-time monitoring, high cost, complicated operation, and being greatly affected by complex geological conditions in the related technologies are solved.

[0036] Specifically, Figure 1 A schematic flow chart of a method for monitoring deformation of a red-layer tunnel based on a wall-climbing robot provided in an embodiment of the present application.

[0037] like Figure 1 As shown, the red layer tunnel deformation monitoring method based on the wall climbing robot includes the following steps:

[0038] In step S101, the structural characteristics, geological conditions, and potential deformation areas of the red layer tunnel are evaluated to determine at least one key monitoring area.

[0039] It is understandable that the assessment may include, but is not limited to, assessments based on historical deformation records, on-site surveys, and numerical simulations, and the assessment content may include geological structural information such as the shape, size, support structure, stratigraphic distribution, rock properties, faults, and joints of the tunnel.

[0040] Specifically, the structural characteristics of the tunnel are analyzed: including a detailed understanding of the overall shape, size and design parameters of the tunnel. For example, the geometric characteristics of the tunnel's cross-sectional shape (such as circular, rectangular, etc.), length, width and height will directly affect the tunnel's load-bearing capacity and stability. In addition, the design and material selection of the tunnel's supporting structures (such as vaults, support beams, etc.) also need to be included in the evaluation scope, as these factors will affect the tunnel's performance under external pressure and environmental changes.

[0041] The assessment of geological conditions should include information such as the distribution of strata around the tunnel, rock properties, soil types, and groundwater levels. By analyzing this geological information, potential geological risks such as soil settlement and rock landslides can be identified. These risks may cause deformation or cracking during the use of the tunnel, thereby affecting the safety and stability of the tunnel.

[0042] For the analysis of historical deformation records, by reviewing past monitoring data, it is possible to identify the deformation trends and patterns of tunnels in different time periods. These historical data can not only provide reference for current monitoring work, but also help engineers predict possible deformation problems in the future, so as to take preventive measures in advance.

[0043] For the assessment of the on-site investigation, through field observation and measurement, monitoring personnel can obtain first-hand geological and structural information and discover potential hidden dangers and abnormal conditions. The on-site investigation can include a detailed inspection of the tunnel wall, supporting structure and surrounding environment to ensure that no factors that may affect the safety of the tunnel are missed.

[0044] Evaluation of numerical simulations can provide a powerful tool for understanding the behavior of tunnels under different conditions. By building mathematical models to simulate different load conditions, geological changes and environmental influences, it is possible to predict the performance of the tunnel in actual use. This simulation can not only help identify potential deformation areas, but also provide data support for the development of monitoring plans.

[0045] The embodiments of the present application can identify the areas in the tunnel where deformation is most likely to occur through detailed evaluation, thereby concentrating resources and energy on monitoring, avoiding unnecessary extensive monitoring, and improving the efficiency of monitoring.

[0046] In step S102, based on the three-dimensional model of the tunnel and the positioning marks in the tunnel, a crawling path of the wall-climbing robot is planned that can fully cover at least one key monitoring area.

[0047] It is understandable that the 3D model of the tunnel is usually obtained through advanced surveying and mapping technology (such as but not limited to laser scanning, drone aerial photography combined with 3D reconstruction software, etc.), which can accurately reflect the geometry, internal structure and surrounding environment of the tunnel, and provide a detailed spatial data basis for subsequent path planning. Through this high-precision 3D model, the wall-climbing robot can better understand the complexity and diversity of the tunnel, so as to develop a more reasonable monitoring path.

[0048] In some embodiments, the positioning marks in the tunnel are usually installed in prominent positions in the tunnel, such as but not limited to corners, support structures or specific marking points. They can be physical marks (such as but not limited to QR codes, reflective strips, etc.) or virtual marks (such as but not limited to pre-set coordinate points). These positioning marks provide an important reference for the navigation of the wall-climbing robot, enabling it to maintain accurate position perception in a complex tunnel environment.

[0049] In the actual implementation process, planning the crawling path of the wall-climbing robot is usually achieved through advanced algorithms and software tools, which can automatically generate the optimal crawling path based on the three-dimensional model of the tunnel and the information of the positioning landmarks.

[0050] The embodiment of the present application can realize accurate planning of the crawling path of the wall-climbing robot by comprehensively using three-dimensional models, positioning marks, advanced algorithms and control modules. This process not only improves the efficiency and accuracy of tunnel deformation monitoring, but also lays a solid foundation for subsequent data collection and analysis, ensuring the smooth progress of tunnel safety monitoring work.

[0051] In step S103, the wall-climbing robot is started and controlled to crawl on the tunnel wall of the red layer tunnel according to the crawling path while collecting monitoring data of the red layer tunnel to generate a deformation trend and / or monitoring report of the red layer tunnel according to the monitoring data.

[0052] It can be understood that deformation trend refers to the changing pattern or direction of tunnel wall deformation obtained through analysis of monitoring data. Monitoring of deformation trend can help to detect potential safety hazards early.

[0053] In the actual implementation process, the wall-climbing robot is started and controlled to move steadily on the tunnel wall according to the pre-planned crawling path. In this process, the robot will integrate a variety of sensors, such as displacement sensors, strain sensors, and inclination sensors, to monitor important parameters such as displacement and strain inside the tunnel in real time. These sensors can be flexibly added or replaced according to specific monitoring tasks to ensure the comprehensiveness and accuracy of monitoring data.

[0054] Furthermore, after the monitoring data is collected, it is transmitted to the remote monitoring center in real time. Using cloud computing and edge computing technologies, monitoring data can be quickly processed and analyzed. This computing mode allows users to access computing resources anytime and anywhere, thereby achieving real-time monitoring of data and timely discovery of potential deformation trends. Cloud computing ensures the efficiency of data processing by providing resources such as networks, servers, storage, and applications; while edge computing pushes computing power to the edge of the network, making data processing closer to users and devices, thereby reducing latency and improving response speed.

[0055] During the data processing process, the collected data is analyzed, useful deformation information is extracted, and a corresponding monitoring report is generated. The report not only contains real-time monitoring data, but also combines historical deformation records, on-site surveys, numerical simulations and other information to comprehensively evaluate the deformation status of the tunnel. In addition, the report will also put forward corresponding maintenance suggestions to guide subsequent maintenance and management work. When the value in the monitoring data exceeds the alarm threshold, the alarm mechanism will be automatically triggered, an alarm signal will be generated, and relevant personnel will be notified in time to take countermeasures. This mechanism ensures a rapid response to potential safety hazards and reduces the risk of accidents. After the alarm signal is generated, the system will also provide maintenance suggestions based on the monitoring data and push these suggestions to users, further enhancing the practicality and responsiveness of the monitoring system.

[0056] The embodiment of the present application can realize real-time monitoring and data collection of the tunnel by starting the wall-climbing robot and controlling it to crawl along a predetermined path on the wall of the red layer tunnel, ensuring full coverage of the monitoring area and obtaining high-precision deformation data. At the same time, real-time data collection and analysis can timely discover potential deformation trends, improve the efficiency and accuracy of monitoring, provide a reliable basis for the safe maintenance of the tunnel, and reduce the risk and cost of manual monitoring.

[0057] According to the red layer tunnel deformation monitoring method based on the wall-climbing robot proposed in the embodiment of the present application, it is possible to carry out a detailed evaluation of the structural characteristics and geological conditions of the tunnel, accurately determine the key monitoring areas, and use the three-dimensional model to plan an effective crawling path, thereby achieving comprehensive real-time monitoring, improving the accuracy and efficiency of monitoring, being able to timely collect and analyze tunnel deformation data, and generate detailed monitoring reports, providing reliable technical support for the safe management and maintenance of the tunnel, and reducing the complexity and cost of manual intervention.

[0058] Next, a red layer tunnel deformation monitoring device based on a wall-climbing robot proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0059] Figure 2 It is a block diagram of a red layer tunnel deformation monitoring device based on a wall-climbing robot according to an embodiment of the present application.

[0060] like Figure 2 As shown, the red layer tunnel deformation monitoring device 10 based on the wall-climbing robot includes: an evaluation module 100 , a planning module 200 and a monitoring module 300 .

[0061] Specifically, the evaluation module 100 is used to evaluate the structural characteristics, geological conditions, and potential deformation areas of the red layer tunnel to determine at least one key monitoring area for monitoring.

[0062] The planning module 200 is used to plan a crawling path of the wall-climbing robot that can fully cover at least one key monitoring area based on the three-dimensional model of the tunnel and the positioning marks in the tunnel.

[0063] The monitoring module 300 is used to start the wall-climbing robot, control the wall-climbing robot to crawl on the tunnel wall of the red layer tunnel according to the crawling path, and collect monitoring data of the red layer tunnel to generate a deformation trend and / or monitoring report of the red layer tunnel based on the monitoring data.

[0064] Optionally, in one embodiment of the present application, the monitoring module 300 includes: a sending unit and a receiving unit.

[0065] Wherein, the sending unit is used to send the monitoring data to a preset remote monitoring center.

[0066] A receiving unit is used to receive the deformation trend fed back by the remote monitoring center.

[0067] Optionally, in an embodiment of the present application, it further includes: a judgment module 400 and an early warning module 500.

[0068] Specifically, the judgment module 400 is used to judge whether the monitoring value in the monitoring data is greater than a preset alarm threshold.

[0069] The early warning module 500 is used to generate an alarm signal when the monitored value is greater than the preset alarm threshold, so that relevant personnel can take corresponding measures.

[0070] Optionally, in one embodiment of the present application, the monitoring module 300 includes: a generating unit and a pushing unit.

[0071] Wherein, the generating unit is used to generate maintenance suggestions according to the monitoring data.

[0072] A push unit is used to push the maintenance suggestion to the user.

[0073] Optionally, in one embodiment of the present application, the monitoring report includes at least one of the geological structural information such as the shape, size, support structure, stratum distribution, rock properties, faults, joints, etc. of the tunnel, including at least one of historical deformation records, on-site surveys, and numerical simulations.

[0074] It should be noted that the aforementioned explanation of the embodiment of the red layer tunnel deformation monitoring method based on the wall-climbing robot is also applicable to the red layer tunnel deformation monitoring device based on the wall-climbing robot of this embodiment, which will not be repeated here.

[0075] According to the red layer tunnel deformation monitoring device based on the wall-climbing robot proposed in the embodiment of the present application, it is possible to carry out a detailed evaluation of the structural characteristics and geological conditions of the tunnel, accurately determine the key monitoring areas, and use a three-dimensional model to plan an effective crawling path, thereby achieving comprehensive real-time monitoring, improving the accuracy and efficiency of monitoring, being able to timely collect and analyze tunnel deformation data, and generate detailed monitoring reports, providing reliable technical support for the safe management and maintenance of the tunnel, and reducing the complexity and cost of manual intervention.

[0076] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0077] A memory 301 , a processor 302 , and a computer program stored in the memory 301 and executable on the processor 302 .

[0078] When the processor 302 executes the program, the red layer tunnel deformation monitoring method based on the wall-climbing robot provided in the above embodiment is implemented.

[0079] Furthermore, the electronic device further comprises:

[0080] The communication interface 303 is used for communication between the memory 301 and the processor 302 .

[0081] The memory 301 is used to store computer programs that can be run on the processor 302 .

[0082] The memory 301 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0083] If the memory 301, the processor 302 and the communication interface 303 are implemented independently, the communication interface 303, the memory 301 and the processor 302 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0084] Optionally, in a specific implementation, if the memory 301, the processor 302 and the communication interface 303 are integrated on a chip, the memory 301, the processor 302 and the communication interface 303 can communicate with each other through an internal interface.

[0085] The processor 302 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0086] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned red layer tunnel deformation monitoring method based on a wall-climbing robot.

[0087] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned red layer tunnel deformation monitoring method based on a wall-climbing robot.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. 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 may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0089] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0090] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0091] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0092] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0093] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0094] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0095] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A red layer tunnel deformation monitoring method based on a wall climbing robot, characterized in that: The following steps are involved: Evaluate the structural characteristics, geological conditions, and potential deformation areas of the red bed tunnel to determine at least one key monitoring area for monitoring; Based on the three-dimensional model of the tunnel and the positioning marks in the tunnel, a crawling path of the wall-climbing robot is planned to fully cover at least one key monitoring area; The wall-climbing robot is started and controlled to crawl on the tunnel wall of the red layer tunnel according to the crawling path, while collecting monitoring data of the red layer tunnel to generate a deformation trend and / or a monitoring report of the red layer tunnel according to the monitoring data.

2. The method according to claim 1, characterized in that Generating the deformation trend of the red layer tunnel according to the monitoring data includes: Sending the monitoring data to a preset remote monitoring center; Receive the deformation trend fed back by the remote monitoring center.

3. The method according to claim 1, characterized in that Also includes: Determine whether the monitoring value in the monitoring data is greater than a preset alarm threshold; If the monitored value is greater than the preset alarm threshold, an alarm signal is generated to enable relevant personnel to take corresponding measures.

4. The method according to claim 3, characterized in that After generating the alarm signal, the method further comprises: generating maintenance recommendations based on the monitoring data; The maintenance suggestion is pushed to the relevant personnel.

5. The method according to claim 1, characterized in that: The monitoring report includes at least one of the geological structure information such as the shape, size, support structure, stratum distribution, rock properties, faults, joints, etc. of the tunnel from at least one of historical deformation records, on-site investigations, and numerical simulations.

6. A red layer tunnel deformation monitoring device based on a wall climbing robot, characterized in that: include: An assessment module for assessing the structural characteristics, geological conditions, and potential deformation areas of the red bed tunnel to determine at least one key monitoring area for monitoring; A planning module, for planning a crawling path of the wall-climbing robot that can fully cover at least one key monitoring area based on the three-dimensional model of the tunnel and the positioning marks in the tunnel; A monitoring module is used to start the wall-climbing robot, control the wall-climbing robot to crawl on the tunnel wall of the red layer tunnel according to the crawling path, and collect monitoring data of the red layer tunnel to generate a deformation trend and / or a monitoring report of the red layer tunnel based on the monitoring data.

7. The device according to claim 6, characterized in that The monitoring module comprises: A sending unit, used for sending the monitoring data to a preset remote monitoring center; A receiving unit is used to receive the deformation trend fed back by the remote monitoring center.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the red layer tunnel deformation monitoring method based on a wall-climbing robot as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the red layer tunnel deformation monitoring method based on a wall-climbing robot as described in any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that The computer program is executed to implement the red layer tunnel deformation monitoring method based on a wall climbing robot as described in any one of claims 1 to 5.

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