Foundation pit slope excavation control device and method

Abstract

The invention provides a foundation pit slope excavation control device and a method thereof.The foundation pit slope excavation control device is characterized in that a light source system is used for emitting first infrared rays to a foundation pit slope and emitting second infrared rays to the bottom of a foundation pit; the photoelectric sensor array is used for receiving the emitted first infrared rays and second infrared rays and / or receiving reflected rays of the second infrared rays and generating corresponding feedback information; the data analysis system determines the actual excavation face slope rate and the actual excavation depth based on feedback information received by the photoelectric sensor array; the slope ratio of the actual excavation face is compared with the slope ratio of a preset standard excavation face, and if the difference exceeds a preset threshold value, an alarm instruction is sent to an alarm system. The light source system and the data analysis system are used for collecting slope data, so that the recognition accuracy is improved, and the construction safety is improved; the equipment is low in labor consumption and high in efficiency.

Description

Technical Field

[0001] The invention relates to a foundation pit slope excavation control device and method. Background Art

[0002] Since the underground soil of some construction projects is relatively hard, the construction often adopts the slope excavation method. During the foundation pit excavation construction, due to the on-site geological environment factors and actual construction errors, the slope rate of the foundation pit often fails to meet the requirements of the plan and drawings, thus affecting the stability of the foundation pit slope, posing safety hazards and affecting the acceptance. Summary of the invention

[0003] The object of the present invention is to provide a foundation pit slope excavation control device and method.

[0004] In order to solve the above problems, the present invention provides a foundation pit slope excavation control device and method thereof, comprising: A light source system, used for emitting second infrared rays toward the slope of the foundation pit and toward the bottom of the foundation pit; A photoelectric sensor array, used for receiving the emitted first infrared ray, the second infrared ray and / or the reflected light of the received second infrared ray, and generating feedback information corresponding to the first infrared ray, the second infrared ray and / or the reflected light; A data analysis system is used to determine the actual excavation surface slope and the actual excavation depth based on the feedback information received by the photoelectric sensor array; and compare the actual excavation surface slope with the preset standard excavation surface slope. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; The alarm system is used to send out an alarm signal based on an alarm instruction.

[0005] Furthermore, in the above device, the light source system comprises: Infrared device; a switch device connected to the infrared device; The angle adjustment device connected to the infrared device is used to adjust the angles of the first and second infrared rays emitted.

[0006] Furthermore, in the above device, the data analysis system comprises: An input device, used to obtain the target slope rate and target depth, and send them to the angle adjustment device of the light source system; A collecting device collects feedback information corresponding to the first infrared ray, the second infrared ray and / or the reflected light of the second infrared ray from the photoelectric sensor array; A feedback device is used to determine the actual excavation surface slope and the actual excavation depth based on the feedback information received from the photoelectric sensor array; and compare the actual excavation surface slope with the target excavation surface slope to determine the difference. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; and compare the actual excavation depth with the target excavation depth to determine the difference. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; The angle adjustment device of the light source system is used to emit a first infrared ray to the slope of the foundation pit and a second infrared ray to the bottom of the pit based on the target slope gradient and the target depth.

[0007] Furthermore, in the above device, the alarm system includes: a warning light and an audio device.

[0008] Furthermore, in the above-mentioned device, the data analysis system is used to determine the actual excavation surface slope based on the position and angle change of the first infrared ray reaching the photoelectric sensor array in the corresponding feedback information.

[0009] Furthermore, in the above-mentioned device, the data analysis system is used to calculate the distance traveled by the second infrared ray and / or the reflected light of the second infrared ray based on the time when the photoelectric sensor array receives the second infrared ray or the reflected light of the second infrared ray in the corresponding feedback information, and obtain the actual excavation depth according to the distance and the emission angle of the second infrared ray.

[0010] Furthermore, in the above device, the first infrared rays of the foundation pit slope are multiple and are respectively set at different positions of the same foundation pit slope.

[0011] Furthermore, in the above device, there are multiple second infrared rays at the bottom of the foundation pit, which are respectively set at different positions of the bottom of the same foundation pit.

[0012] Further, in the above device, the photoelectric sensor array is arranged at the top edge of the foundation pit slope when acquiring the actual excavation surface slope and the actual excavation depth; Alternatively, the photoelectric sensor array is set at the top edge of the foundation pit slope when obtaining the actual excavation surface slope; the photoelectric sensor array is set at the reflective area of ​​the foundation pit bottom when obtaining the actual excavation depth. According to another aspect of the present invention, there is also provided a foundation pit slope excavation control method, using any one of the foundation pit slope excavation control devices described above, the method comprising: Before the first foundation pit excavation or before the next level of foundation pit excavation after the foundation pit platform is completed, install a bracket outside the control line at the top of the foundation pit slope or the top of the excavation surface, then install the light source system on the bracket, and input the target slope rate and target depth on the input device; When excavating the foundation pit every day, the excavation depth, division of the excavation area and excavation duration of the foundation pit are set based on the target slope gradient and target depth; The light source system emits divergent infrared rays to the slope and bottom of the foundation pit. Three first infrared rays are emitted to the slope of the foundation pit for subsequent comparison with the actual excavation surface slope; three second infrared rays are emitted to the bottom of the foundation pit for subsequent control of the excavation depth. At the beginning of excavation, ensure that the first infrared ray emitted to the foundation pit slope coincides with the design requirement foundation pit slope corresponding to the target slope rate, and excavate according to the range of the first infrared ray emitted to the foundation pit slope; At 1 / 2 of the construction time on the day and the time when the construction is completed, the light source system emits a first infrared ray that coincides with the current actual foundation pit slope and a second infrared ray toward the current actual foundation pit bottom. The data analysis system determines the actual excavation surface slope based on the position and angle change of the first infrared ray reaching the photoelectric sensor array in the corresponding feedback information of the photoelectric sensor array; calculates the distance traveled by the second infrared ray or the reflected light of the second infrared ray based on the time when the photoelectric sensor array receives the second infrared ray or the reflected light of the second infrared ray in the corresponding feedback information, and obtains the actual excavation depth according to the distance and the emission angle of the second infrared ray; compares the actual excavation surface slope with the target excavation surface slope, and if the difference exceeds the preset threshold, issues an alarm command to the alarm system; compares the actual excavation depth with the target excavation depth, and if the difference exceeds the preset threshold, issues an alarm command to the alarm system.

[0013] Compared with the prior art, the present invention uses a light source system to emit a first infrared ray to the foundation pit slope and a second infrared ray to the foundation pit bottom; a photoelectric sensor array is used to receive the emitted first infrared ray, the second infrared ray and / or the reflected light of the second infrared ray, and generate feedback information corresponding to the first infrared ray, the second infrared ray and / or the reflected light; a data analysis system is used to determine the actual excavation surface slope and the actual excavation depth based on the feedback information received by the photoelectric sensor array; and compare the slope of the actual excavation surface with the preset standard excavation surface slope, and if the difference exceeds the preset threshold, an alarm instruction is issued to the alarm system; the alarm system is used to issue an alarm signal based on the alarm instruction. The present invention collects slope data by the light source system and the data analysis system, thereby improving the accuracy of identification and the safety of construction; the present invention uses the equipment with low labor consumption and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a single-stage slope reduction of a foundation pit slope excavation control device according to an embodiment of the present invention; Figure 2It is a schematic diagram of a multi-level slope reduction device for excavating a foundation pit slope according to an embodiment of the present invention; Figure 3 is a schematic diagram of a light source system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] like Figures 1 to 3 As shown, the present invention provides a foundation pit slope excavation control device, comprising: A light source system 1, used for emitting a first infrared ray 3 toward the slope of the foundation pit and a second infrared ray 4 toward the bottom of the foundation pit; A photoelectric sensor array, used for receiving the emitted first infrared ray, the second infrared ray and / or the reflected light of the received second infrared ray, and generating feedback information corresponding to the first infrared ray, the second infrared ray and / or the reflected light; A data analysis system is used to determine the actual excavation surface slope and the actual excavation depth based on the feedback information received by the photoelectric sensor array; and compare the actual excavation surface slope with the preset standard excavation surface slope. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; The alarm system is used to send out an alarm signal based on an alarm instruction.

[0017] Here, the photoelectric sensor array can be set at the top 6 edge of the foundation pit slope when obtaining the actual excavation surface slope and the actual excavation depth; Alternatively, the photoelectric sensor array is set at the top edge of the foundation pit slope when obtaining the actual excavation surface slope; the photoelectric sensor array is set at the reflective area at the bottom of the foundation pit when obtaining the actual excavation depth.

[0018] The photoelectric sensor array and the light source system can also be installed at opposite positions on the top of the foundation pit slope. The light source system emits rays parallel to the designed slope gradient toward the excavation surface in the foundation pit. The photoelectric sensor array obtains relevant information by receiving the reflected light of the first infrared rays and the second infrared rays, and then calculates the slope and depth of the actual excavation surface.

[0019] The present invention relates to foundation pit excavation slope control technology. The equipment is mainly composed of a light source system, a data analysis system, an alarm system, etc. Through light source control and data analysis alarm, it is ensured that the slope rate meets the design requirements, prevents large slope rate errors during foundation pit excavation, and avoids safety accidents at the construction site.

[0020] like Figure 3As shown, in one embodiment of the foundation pit slope excavation control device of the present invention, the light source system 1 includes: Infrared device 2; A switch device 10 connected to the infrared device; The angle adjustment device 11 connected to the infrared device is used to adjust the angles of the first and second infrared rays emitted.

[0021] Here, the light source system is mainly composed of a switch device, an infrared device, and an angle adjustment device, and mainly emits infrared rays.

[0022] Switching device: used to control the on and off of the light source system, so as to start the equipment for monitoring when needed, and shut it down when not needed to save energy or avoid unnecessary interference.

[0023] Infrared device: It is the core component of the light source system and is responsible for emitting infrared rays. Infrared rays have strong directionality and penetration, can be well propagated in the foundation pit environment, and are not easily disturbed by external light, thus providing a stable signal source for accurate monitoring.

[0024] Angle adjustment device: The emission angle of infrared rays can be adjusted according to actual needs. By accurately adjusting the angle, the infrared rays can accurately irradiate the excavation surface area that needs to be monitored, ensuring the accuracy and comprehensiveness of monitoring. For example, according to the shape, size and depth of the foundation pit, as well as the excavation requirements at different locations, the angle of the infrared rays can be flexibly adjusted to cover the entire excavation surface and obtain accurate optical path information.

[0025] In one embodiment of the foundation pit slope excavation control device of the present invention, the data analysis system comprises: An input device, used to obtain the target slope rate and target depth, and send them to the angle adjustment device of the light source system; A collecting device collects feedback information corresponding to the first infrared ray, the second infrared ray and / or the reflected light of the second infrared ray from the photoelectric sensor array; A feedback device is used to determine the actual excavation surface slope and the actual excavation depth based on the feedback information received from the photoelectric sensor array; and compare the actual excavation surface slope with the target excavation surface slope to determine the difference. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; and compare the actual excavation depth with the target excavation depth to determine the difference. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; The angle adjustment device of the light source system is used to emit a first infrared ray to the slope of the foundation pit and a second infrared ray to the bottom of the pit based on the target slope gradient and the target depth.

[0026] Here, the data analysis system is composed of a feedback device and a collection device, which mainly obtains the actual excavation slope based on the first infrared ray, the second infrared ray and / or the reflected light of the second infrared ray on site, and compares the actual excavation slope with the standard excavation surface slope required by the input design and plan. The allowable deviation value is determined based on the actual situation of the project. If the difference exceeds the allowable value, the alarm system will be triggered.

[0027] In one embodiment of the foundation pit slope excavation control device of the present invention, Figure 3 As shown, the alarm system includes: a warning light 12 and an audio device 13.

[0028] Here, the alarm system mainly consists of warning lights and sound devices.

[0029] In one embodiment of the foundation pit slope excavation control device of the present invention, the data analysis system is used to determine the actual excavation surface slope based on the position and angle change of the first infrared ray reaching the photoelectric sensor array in the corresponding feedback information; based on the time when the photoelectric sensor array receives the second infrared ray or the reflected light of the second infrared ray in the corresponding feedback information, calculate the distance traveled by the second infrared ray and / or the second infrared ray, and obtain the actual excavation depth based on the distance and the emission angle of the second infrared ray.

[0030] Here, the photoelectric sensor array receives the first infrared ray directly emitted by the light source system. The light source system emits rays parallel to the designed slope gradient. When the slope of the excavation surface changes, the position and angle of the first infrared ray reaching the photoelectric sensor array will also change accordingly. By analyzing these changes, the actual slope of the excavation surface can be calculated.

[0031] When the slope of the excavation surface changes, the intersection position of the first infrared ray and the excavation surface will also change accordingly, and the position and intensity of the first infrared ray received by the photoelectric sensor array will also change accordingly. By analyzing these changes, the actual slope of the excavation surface can be calculated.

[0032] When obtaining the actual excavation surface slope, the photoelectric sensor array mainly receives the direct first infrared light emitted by the light source system, and calculates the slope by analyzing the position and angle change of the direct first infrared light reaching the photoelectric sensor array. When obtaining the actual excavation surface depth, the measurement can be carried out by receiving reflected light, and the relevant information of the direct light can be combined to improve the accuracy and reliability of the measurement.

[0033] When obtaining the actual excavation depth, the second infrared ray can be controlled by the emission depth first: the three second infrared rays emitted by the light source system to the bottom of the pit are used to control the excavation depth. These three second infrared rays are emitted from the point light source at the slope. The emission angle and length are determined according to the designed excavation depth and the slope position relationship, which can be understood as a virtual straight line from a certain point on the slope to the bottom of the pit. Secondly, if the photoelectric sensor array is set in the reflection area at the bottom of the foundation pit, the time when the second infrared light reaches the photoelectric sensor array can be measured; if the photoelectric sensor array is set at the top 6 edge of the foundation pit slope, the time when the reflected light of the second infrared light reaches the photoelectric sensor array is measured. Specifically, when the second infrared ray is emitted to the bottom of the pit, it will be reflected back from the bottom of the pit. By measuring the time from the emission of the ray to the reception of the reflected light, combined with the propagation speed of the second infrared ray and its reflected light in the air, the distance traveled by the second infrared ray and its reflected light can be calculated. Finally, determine the excavation depth: Since the location of the emission point of the second infrared ray is known (based on a fixed point on the slope), the vertical depth of the pit bottom relative to the emission point can be determined based on the calculated ray propagation distance and emission angle, and geometric calculation methods such as trigonometric functions can be used to obtain the actual excavation depth. Compare the actual excavation depth with the excavation depth of the foundation pit set on the day to understand whether the excavation depth meets the requirements.

[0034] In one embodiment of the foundation pit slope excavation control device of the present invention, there are multiple first infrared rays of the foundation pit slope, which are respectively set at different positions of the same foundation pit slope; there are multiple second infrared rays of the foundation pit bottom, which are respectively set at different positions of the same foundation pit bottom.

[0035] Here, the average value of the three rays of the first infrared ray can be taken to determine the actual excavation surface slope; the average value of the three rays of the second infrared ray can be taken to determine the actual excavation depth.

[0036] like Figures 1 to 3 According to another aspect of the present invention, a foundation pit slope excavation control construction method is also provided, using the above foundation pit slope excavation control device, the method comprising: Step S1, before the first foundation pit excavation or before the next level of foundation pit excavation after the foundation pit platform 9 is completed, the bracket 5 is installed outside the control line of the foundation pit slope top 6 or the top of the foundation pit platform 9, and then the light source system 1 is installed on the bracket, and the target slope rate and target depth are input on the input device; Here, you can input data such as the slope required by the design drawing into the device. Then you can debug the device to ensure that the light can be emitted normally.

[0037] Step S2, when excavating the foundation pit every day, based on the target slope gradient and target depth, set the excavation depth of the foundation pit for the day (which can be different every day), excavation area (different slopes and depths are required for different areas of the actual equipment layout) and excavation duration; Step S3, the light source system emits infrared rays in a divergent state to the foundation pit slope 7 and the foundation pit bottom 8, wherein three first infrared rays are emitted to the foundation pit slope for subsequent comparison with the actual excavation surface slope; three second infrared rays are emitted to the foundation pit bottom for subsequent control of the excavation depth; Step S4, when excavation starts, ensure that the first infrared ray emitted to the foundation pit slope coincides with the design requirement foundation pit slope corresponding to the target slope gradient, and excavate according to the range of the first infrared ray emitted to the foundation pit slope; Here, before digging, ensure that the intercepting ditch is put into use. The intercepting ditch can be set on the top of the slope to block the water outside the pit from entering. The equipment is set in the intercepting ditch; Before excavation, first check the on-site positioning control lines (piles) and elevation control piles, and release the gray lines between the upper and lower blocks. After the verification is qualified, excavation can be carried out; When digging, the principle of "division and block" can be followed, and the principle of "time and space effect" of soil can be used to excavate in a limited time, symmetrically and in parallel. The light source system is set at the top of each block.

[0038] Step S5, at 1 / 2 of the construction time on the day and the time when the construction is completed, the light source system emits a first infrared ray that overlaps with the current actual foundation pit slope and emits a second infrared ray to the current actual foundation pit bottom, and the data analysis system determines the actual excavation surface slope based on the position and angle change of the first infrared ray arriving at the photoelectric sensor array in the corresponding feedback information of the photoelectric sensor array; based on the time when the photoelectric sensor array receives the second infrared ray or the reflected light of the second infrared ray in the corresponding feedback information, calculate the distance traveled by the second infrared ray or the reflected light of the second infrared ray, and obtain the actual excavation depth according to the distance and the emission angle of the second infrared ray; compare the actual excavation surface slope with the target excavation surface slope, if the difference exceeds the preset threshold, issue an alarm command to the alarm system; compare the actual excavation depth with the target excavation depth, if the difference exceeds the preset threshold, issue an alarm command to the alarm system.

[0039] Here, the data analysis system compares the feedback from the emitted rays with the input design and scheme required slope, and the allowable deviation value is determined based on the actual project situation; if the actual deviation exceeds the control requirements, the alarm system is activated to remind on-site construction adjustments to ensure the safety of foundation pit excavation.

[0040] In summary, the present invention collects slope data by means of a light source system and a data analysis system, thereby improving the accuracy of identification and the safety of construction; the present invention uses the equipment with low labor consumption and high efficiency.

[0041] For detailed contents of the system embodiments of the present invention, please refer to the corresponding parts of the method embodiments, which will not be described in detail here.

[0042] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0043] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0044] Obviously, those skilled in the art can make various changes and modifications to the invention without departing from the spirit and scope of the invention. Thus, if these modifications and variations of the invention fall within the scope of the claims of the invention and their equivalents, the invention is also intended to include these modifications and variations.

Claims

1. A foundation pit slope excavation control device, characterized in that: include: A light source system, used for emitting a first infrared ray toward the slope of the foundation pit and a second infrared ray toward the bottom of the foundation pit; A photoelectric sensor array, used for receiving the emitted first infrared ray, the second infrared ray and / or the reflected light of the received second infrared ray, and generating feedback information corresponding to the first infrared ray, the second infrared ray and / or the reflected light; A data analysis system is used to determine the actual excavation surface slope and the actual excavation depth based on the feedback information received by the photoelectric sensor array; and compare the actual excavation surface slope with the preset standard excavation surface slope. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; The alarm system is used to send out an alarm signal based on an alarm instruction.

2. The foundation pit slope excavation control device according to claim 1, characterized in that: The light source system comprises: Infrared device; a switch device connected to the infrared device; The angle adjustment device connected to the infrared device is used to adjust the angles of the first and second infrared rays emitted.

3. The foundation pit slope excavation control device according to claim 2, characterized in that: The data analysis system comprises: An input device, used to obtain the target slope rate and target depth, and send them to the angle adjustment device of the light source system; A collecting device collects feedback information corresponding to the first infrared ray, the second infrared ray and / or the reflected light of the second infrared ray from the photoelectric sensor array; A feedback device is used to determine the actual excavation surface slope and the actual excavation depth based on the feedback information received from the photoelectric sensor array; and compare the actual excavation surface slope with the target excavation surface slope to determine the difference. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; and compare the actual excavation depth with the target excavation depth to determine the difference. If the difference exceeds a preset threshold, an alarm instruction is issued to the alarm system; The angle adjustment device of the light source system is used to emit a first infrared ray to the slope of the foundation pit and a second infrared ray to the bottom of the pit based on the target slope gradient and the target depth.

4. The foundation pit slope excavation control device according to claim 1, characterized in that: The alarm system comprises: a warning light and an audio device.

5. The foundation pit slope excavation control device according to claim 1, characterized in that: The data analysis system is used to determine the actual excavation surface slope based on the position and angle change of the first infrared ray reaching the photoelectric sensor array in the corresponding feedback information.

6. The foundation pit slope excavation control device according to claim 1, characterized in that: The data analysis system is used to calculate the distance traveled by the second infrared ray and / or the reflected light of the second infrared ray based on the time when the photoelectric sensor array receives the second infrared ray or the reflected light of the second infrared ray in the corresponding feedback information, and obtain the actual excavation depth according to the distance and the emission angle of the second infrared ray.

7. The foundation pit slope excavation control device according to claim 1, characterized in that: The first infrared rays of the foundation pit slope are multiple, which are respectively set at different positions of the same foundation pit slope.

8. The foundation pit slope excavation control device according to claim 1, characterized in that: There are multiple second infrared rays at the bottom of the foundation pit, which are respectively set at different positions of the bottom of the same foundation pit.

9. The foundation pit slope excavation control device according to claim 1, characterized in that: The photoelectric sensor array is set at the top edge of the foundation pit slope when obtaining the actual excavation surface slope and the actual excavation depth; Alternatively, the photoelectric sensor array is set at the top edge of the foundation pit slope when obtaining the actual excavation surface slope; the photoelectric sensor array is set at the reflective area of ​​the foundation pit bottom when obtaining the actual excavation depth.

10. A foundation pit slope excavation control method, characterized in that: Using the foundation pit slope excavation control device according to any one of claims 1 to 9, the method comprises: Before the first foundation pit excavation or before the next level of foundation pit excavation after the foundation pit platform is completed, install a bracket outside the control line at the top of the foundation pit slope or the top of the excavation surface, then install the light source system on the bracket, and input the target slope rate and target depth on the input device; When excavating the foundation pit every day, the excavation depth, division of the excavation area and excavation duration of the foundation pit are set based on the target slope gradient and target depth; The light source system emits divergent infrared rays to the slope and bottom of the foundation pit. Three first infrared rays are emitted to the slope of the foundation pit for subsequent comparison with the actual excavation surface slope; three second infrared rays are emitted to the bottom of the foundation pit for subsequent control of the excavation depth. At the beginning of excavation, ensure that the first infrared ray emitted to the foundation pit slope coincides with the design requirement foundation pit slope corresponding to the target slope rate, and excavate according to the range of the first infrared ray emitted to the foundation pit slope; At 1 / 2 of the construction time on the day and the time when the construction is completed, the light source system emits a first infrared ray that coincides with the current actual foundation pit slope and a second infrared ray toward the current actual foundation pit bottom. The data analysis system determines the actual excavation surface slope based on the position and angle change of the first infrared ray reaching the sensor in the corresponding feedback information of the photoelectric sensor array; calculates the distance traveled by the second infrared ray or the reflected light of the second infrared ray based on the time of receiving the second infrared ray or the reflected light of the second infrared ray in the corresponding feedback information, and obtains the actual excavation depth based on the distance and the emission angle of the second infrared ray; compares the actual excavation surface slope with the target excavation surface slope, and if the difference exceeds the preset threshold, issues an alarm command to the alarm system; compares the actual excavation depth with the target excavation depth, and if the difference exceeds the preset threshold, issues an alarm command to the alarm system.

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