Totally-closed unmanned foundation pit operation device and method

Abstract

The invention provides a totally-closed unmanned foundation pit operation device and method. The totally-closed unmanned foundation pit operation device comprises an air bag closing subsystem, an unmanned excavation subsystem, an unmanned transportation subsystem, an environment monitoring subsystem and an online management and control subsystem. The air bag sealing subsystem comprises an air bag structure, a fixing system, an air pressure regulation and control system and an entrance and exit design and is used for sealing a foundation pit and providing a controllable operation environment. The unmanned excavation subsystem comprises an unmanned excavator and a remote operation platform; the unmanned transportation subsystem comprises an unmanned earthwork vehicle and an automatic path planning module; the environment monitoring subsystem is arranged at an air bag inlet and outlet and used for monitoring operation environment parameters in real time. The online management and control subsystem is used for coordinating soil loading operation and safe access management and control, and system linkage is achieved based on environment monitoring data and control logic. According to the device, a three-in-one framework of closed isolation, intelligent equipment and unmanned management and control is adopted, so that the pollution soil treatment process is green and environment-friendly, and the construction quality is guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of underground engineering technology, and specifically relates to a fully enclosed unmanned foundation pit operation device and method. Background Technology

[0002] Currently, the remediation of contaminated soil still relies on the conventional method of manually operating excavators to dig the soil, which is then transported by dump trucks to treatment sites for chemical processing. This method has the following shortcomings:

[0003] First, contaminated soil often contains heavy metals, volatile organic compounds (VOCs) or persistent organic pollutants (POPs). Under traditional manual operation methods, operators are directly exposed to the contaminated environment, which can easily lead to health risks such as poisoning and respiratory diseases.

[0004] Secondly, during the excavation process, a large amount of volatile organic compounds will diffuse into the air, polluting air quality.

[0005] Third, the remediation of contaminated soil requires extremely high precision in the excavation boundary (the error usually needs to be controlled within ±10cm). Excessive excavation may lead to the contamination of clean soil, while insufficient excavation will leave pollutants behind.

[0006] Therefore, how to provide a fully enclosed unmanned pit operation device and method is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] To address the problems associated with conventional manual excavator operation for transporting contaminated soil to designated locations for chemical treatment, a fully enclosed unmanned foundation pit operation device and method is proposed. This method employs a three-in-one architecture of "enclosed isolation + intelligent equipment + unmanned management," achieving a green, healthy, and environmentally friendly contaminated soil treatment process. It reduces labor costs, protects the health of operators, avoids environmental pollution, and ensures construction quality.

[0008] The technical solution of the fully enclosed unmanned foundation pit operation device and method of the present invention is as follows:

[0009] A fully enclosed unmanned foundation pit operation device includes an airbag sealing subsystem, an unmanned excavation subsystem, an unmanned transportation subsystem, an environmental monitoring subsystem, and an online control subsystem. The airbag sealing subsystem includes an airbag structure, a fixing system, an air pressure control system, and an entrance / exit design, used to seal the foundation pit and provide a controllable operating environment. The unmanned excavation subsystem includes an unmanned excavator and a remote operation platform for automated excavation of earthwork within the foundation pit. The unmanned transportation subsystem includes an unmanned dump truck and an automatic path planning module for automated earthwork transportation. The environmental monitoring subsystem is located at the airbag entrance / exit for real-time monitoring of operating environment parameters. The online control subsystem coordinates earth loading operations and safe access control, achieving system linkage based on environmental monitoring data and control logic.

[0010] Furthermore, the airbag structure is made of three layers of composite material: an inner layer of airtight PVDF membrane with a thickness of 0.2 mm, a middle layer of Kevlar fiber reinforced mesh with a tensile strength ≥800 MPa, and an outer layer of weather-resistant TPU coating with an UV aging resistance rating of UV3. The planar dimensions of the airbag structure are such that the length of each side is 1.5–2 m larger than the outer edge of the pit to allow for anchoring space. Considering the excavation requirements, the height of the airbag is at least 2.5 m above the ground on all sides, and the central height after inflation is 4 m above the ground, with a 15%–20% allowance for folding to avoid excessive stretching. Two Beidou reference stations are arranged inside the airbag structure to correct the excavator's positioning deviation in real time through differential signals, ensuring centimeter-level positioning accuracy even under complex working conditions (such as obstruction by earthwork accumulation).

[0011] Furthermore, the fixing system includes a concrete edge beam set along the perimeter of the foundation pit retaining wall, with a cross section of 300mm×500mm and a beam height of 3m. The edge of the airbag is embedded in a pre-reserved groove in the beam and filled with sealant to ensure an air leakage rate of ≤0.5% / 24h and thus ensure airtightness.

[0012] Furthermore, the air pressure control system includes two screw air compressors with a discharge capacity ≥3m³. 3 / min, pressure ≥0.8MPa, the air pressure inside the airbag is monitored in real time by a distributed pressure sensor with an accuracy of ±2Pa. When the pressure is below 500Pa, air is automatically replenished, and when it is above 800Pa, the pressure relief valve is opened to maintain the air pressure in the range of 600 to 700Pa.

[0013] Furthermore, the unmanned excavator includes a 20t-class hydraulic excavator, a positioning unit, a bucket coordinate calculation unit, an actuator, and an environmental perception unit. The positioning unit includes a Beidou RTK module with a positioning accuracy of ±1cm in plane and ±2cm in elevation, as well as an inertial navigation system with a dynamic accuracy of 0.1°. The bucket coordinate calculation unit is implemented by installing inclinometers on the boom, stick, and bucket, with a dynamic accuracy of 0.1°. The actuator includes a modified electro-hydraulic proportional valve with a control accuracy of ±0.5%, enabling remote proportional control of the boom, stick, and bucket. The environmental perception unit includes high-definition cameras installed in front of and on both sides of the cab for remote real-time monitoring of the construction process.

[0014] Furthermore, the unmanned dump truck includes a 25t-class dump truck, a positioning system, and an autonomous driving kit. The positioning system includes a Beidou RTK module with a positioning accuracy of ±1cm in plane and ±2cm in elevation. The autonomous driving kit includes a steer-by-wire system with a steering angle accuracy of ±0.5°, an electronic braking system with a response time ≤0.3s, and a multi-modal sensor fusion system, including millimeter-wave radar and an AI intelligent recognition module. The automatic path planning module is based on a preset transportation route, including three key nodes: a loading area, a main transportation channel, and a waiting area. It generates an initial optimal path through an intelligent algorithm. The path planning uses path length weighting of 60%, turning frequency weighting of 30%, and slope change weighting of 10% as control parameters. When dispatching multiple dump trucks, a spatiotemporal partitioning strategy is adopted to allocate loading, transportation, and waiting time slots to each truck, and real-time location monitoring is achieved through Beidou positioning technology to maintain a safe distance of ≥5m.

[0015] Furthermore, the environmental monitoring subsystem is located at the airbag inlet / outlet and includes:

[0016] Dust monitoring sensor for monitoring PM2.5 and PM10, with a measurement range of 0–1000 μg / m³. 3 The accuracy is ±10%.

[0017] The gas monitoring sensor uses an electrochemical sensor to detect the concentrations of CO, NO2, and volatile organic compounds, with a resolution of 0.1 ppm.

[0018] Meteorological parameter sensors are used to monitor temperature, humidity, and air pressure.

[0019] Furthermore, the online control subsystem includes a loading coordination control module, which allows unloading when the bucket's horizontal coordinates are within the dump truck's loading area; and a safety access control module, which controls the opening of the airbag inlet / outlet based on environmental monitoring data: when designing the inlet / outlet, two openable valves are set on the side of the airbag as vehicle passages, the area inside the inlet / outlet is the work area, and the middle of the two inlets / outlets is a buffer zone. When the monitoring data of the work area exceeds the standard, the inner inlet / outlet is prohibited from being opened; when the monitoring data of the buffer zone exceeds the standard, the outer inlet / outlet is prohibited from being opened; and both inlets / outlets are prohibited from being opened simultaneously.

[0020] The present invention also provides a fully enclosed unmanned foundation pit operation method, which employs the aforementioned fully enclosed unmanned foundation pit operation device, and the method includes the following steps:

[0021] Step S1, establish the airbag environment: construct a concrete edge beam around the foundation pit, and fix the edge of the composite material airbag in the pre-reserved groove of the beam, and form an airtight seal by injecting sealant; start the air compressor to inflate the airbag until the internal air pressure reaches the predetermined working pressure range; monitor the internal air pressure of the airbag in real time through distributed pressure sensors, and dynamically control the air compressor and pressure relief valve based on the monitoring results to stably maintain the internal air pressure of the airbag within the predetermined working pressure range;

[0022] Step S2, Unmanned excavation and transportation collaborative operation:

[0023] Based on the fusion positioning technology of Beidou RTK and inertial navigation, the spatial position and attitude of the unmanned excavator are acquired in real time; the spatial coordinates of the bucket are calculated in real time using inclinometers installed on the boom, stick, and bucket of the unmanned excavator; based on the preset global path planning, the unmanned dump truck is dispatched to the loading area; the global path planning generates the optimal path using path length, number of turns, and slope change as weighted parameters; the monitoring screen and equipment status parameters are received on the remote operation platform, and control commands are sent through the force feedback joystick to drive the unmanned excavator to perform earthwork excavation; the spatial coordinates of the bucket are compared with the coordinates of the unmanned dump truck's loading area in real time, and when it is determined that the bucket is located in the loading area, the unmanned excavator is controlled to perform the unloading action;

[0024] Step S3, Safety and Environmental Linkage Control:

[0025] In the inlet and outlet areas of the airbag, environmental parameters, including at least dust concentration and harmful gas concentration, are monitored in real time; based on these environmental parameters, interlocking logic control of the inlet and outlet valves is executed.

[0026] When the environmental parameters in the work area exceed the first safety threshold, the system prohibits the opening of the inner valve;

[0027] When the environmental parameters of the buffer exceed the second safety threshold, the system prohibits the opening of the outer valve;

[0028] The control system ensures that the inner valve and the outer valve do not open at the same time;

[0029] Step S4, Multi-vehicle scheduling and transportation:

[0030] The system assigns loading, transportation, and waiting slots to multiple unmanned dump trucks and monitors them in real time using BeiDou positioning.

[0031] The unmanned dump truck is controlled to automatically travel along the planned path to the unloading area to unload soil, and then return to the waiting area;

[0032] In the waiting area, the unmanned dump truck switches to manual driving mode.

[0033] The fully enclosed unmanned foundation pit operation device and method of the present invention have the following technical effects:

[0034] This invention discloses a fully enclosed unmanned foundation pit operation device, comprising an airbag sealing subsystem, an unmanned excavation subsystem, an unmanned transportation subsystem, an environmental monitoring subsystem, and an online control subsystem. The airbag sealing subsystem includes an airbag structure, a fixing system, an air pressure regulation system, and an entrance / exit design, used to seal the foundation pit and provide a controllable operating environment. The unmanned excavation subsystem includes an unmanned excavator and a remote operation platform, used to achieve automatic excavation of earthwork within the foundation pit. The unmanned transportation subsystem includes an unmanned dump truck and an automatic path planning module, used to achieve automatic transportation of earthwork. The environmental monitoring subsystem is located at the airbag entrance / exit, used to monitor operating environment parameters in real time. The online control subsystem coordinates earth loading operations and safe access control, achieving system linkage based on environmental monitoring data and control logic. This fully enclosed unmanned foundation pit operation device and method has the following advantages:

[0035] (1) It avoids excavator operators and dump truck drivers from working in highly polluted areas, thus protecting the health of the operators;

[0036] (2) It isolates the spread of dust and volatile organic pollutants during the excavation process, thus avoiding environmental pollution;

[0037] (3) High-precision centimeter-level positioning accuracy ensures excavation accuracy and avoids missing pollutants;

[0038] (4) Pre-setting vehicle routes avoids congestion and collisions. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a fully enclosed unmanned foundation pit operation device in one embodiment of the present invention.

[0040] In the picture:

[0041] 1-Screw air compressor, 2-Pit enclosure, 31-Work area edge beam, 32-Buffer zone edge beam, 4-Inner entrance / exit, 5-Environmental monitoring station, 6-Outer entrance / exit, 7-Waiting area, 8-Work area, 9-Buffer zone. Detailed Implementation

[0042] The fully enclosed unmanned foundation pit operation device and method of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0043] refer to Figure 1 The structural composition of the fully enclosed unmanned pit operation device of the present invention will be described in detail.

[0044] Please continue to refer to this. Figure 1 A fully enclosed unmanned foundation pit operation device includes an airbag sealing subsystem, an unmanned excavation subsystem, an unmanned transportation subsystem, an environmental monitoring subsystem, and an online control subsystem. The airbag sealing subsystem includes an airbag structure, a fixing system, an air pressure regulation system, and an entrance / exit design, used to seal the foundation pit and provide a controllable operating environment. The unmanned excavation subsystem includes an unmanned excavator and a remote operation platform, used to realize the automatic excavation of soil within the foundation pit. The unmanned transportation subsystem includes an unmanned dump truck and an automatic path planning module, used to realize the automatic transportation of soil. The environmental monitoring subsystem is located at the airbag entrance / exit, used to monitor the operating environment parameters in real time. The online control subsystem is used to coordinate soil loading operations and safe access control, and realizes system linkage based on environmental monitoring data and control logic.

[0045] In this embodiment, more preferably, the airbag structure is made of three layers of composite material: an inner layer of airtight PVDF membrane with a thickness of 0.2 mm, a middle layer of Kevlar fiber reinforced mesh with a tensile strength ≥800 MPa, and an outer layer of weather-resistant TPU coating with an UV aging resistance rating of UV3. The planar dimensions of the airbag structure are such that the length of each side is 1.5–2 m larger than the outer edge of the pit to allow for anchoring space. Considering the excavation requirements, the height of the airbag is at least 2.5 m above the ground on all sides, and the height of the center after inflation is 4 m above the ground, with a 15%–20% allowance for folding to avoid excessive stretching. Two Beidou reference stations are arranged inside the airbag structure to correct the excavator's positioning deviation in real time through differential signals, ensuring centimeter-level positioning accuracy even under complex working conditions (such as obstruction by earthwork accumulation).

[0046] In this embodiment, more preferably, the fixing system includes concrete edge beams arranged around the perimeter of the foundation pit retaining wall 2. The edge beams include working area edge beams 31 and buffer zone edge beams 32, with a cross section of 300mm×500mm and a beam height of 3m. The edge of the airbag is embedded in the reserved groove of the beam and filled with sealant to ensure that the air leakage rate is ≤0.5% / 24h and to ensure airtightness.

[0047] In this embodiment, more preferably, the air pressure control system includes two screw air compressors 1 with a discharge volume ≥3m3 / min and a pressure ≥0.8MPa. The system monitors the air pressure inside the airbag in real time through distributed pressure sensors with an accuracy of ±2Pa. When the pressure is below 500Pa, the system automatically replenishes air, and when it is above 800Pa, the system opens the pressure relief valve to maintain the air pressure in the range of 600 to 700Pa.

[0048] In this embodiment, more preferably, the unmanned excavator includes a 20t-class hydraulic excavator, a positioning unit, a bucket coordinate calculation unit, an actuator, and an environmental perception unit. The positioning unit includes a Beidou RTK module with a positioning accuracy of ±1cm in plane and ±2cm in elevation, as well as an inertial navigation system with a dynamic accuracy of 0.1°. The bucket coordinate calculation unit is implemented by installing inclinometers on the boom, stick, and bucket, with a dynamic accuracy of 0.1°. The actuator includes a modified electro-hydraulic proportional valve with a control accuracy of ±0.5%, enabling remote proportional control of the boom, stick, and bucket. The environmental perception unit includes high-definition cameras installed in front of and on both sides of the cab for remote real-time monitoring of the construction process.

[0049] In this embodiment, more preferably, the unmanned dump truck includes a 25t-class dump truck, a positioning system, and an autonomous driving kit; the positioning system includes a Beidou RTK module with a positioning accuracy of ±1cm in plane and ±2cm in elevation; the autonomous driving kit includes a steer-by-wire system with a steering angle accuracy of ±0.5°, an electronic braking system with a response time ≤0.3s, and a multi-modal sensor fusion system, including millimeter-wave radar and an AI intelligent recognition module; the automatic path planning module is based on a preset transportation route, including three key nodes: a loading area, a main transportation channel, and a waiting area, and generates an initial optimal path through an intelligent algorithm. The path planning uses path length weighting of 60%, turning number weighting of 30%, and slope change weighting of 10% as control parameters; when dispatching multiple dump trucks, a spatiotemporal partitioning strategy is adopted to allocate loading, transportation, and waiting time slots to each truck, and real-time location monitoring is achieved through Beidou positioning technology to maintain a safe vehicle distance ≥5m.

[0050] In this embodiment, more preferably, an environmental monitoring subsystem, such as an environmental monitoring station 5, is disposed at the airbag inlet / outlet, including:

[0051] Dust monitoring sensor for monitoring PM2.5 and PM10, with a measurement range of 0–1000 μg / m³. 3The accuracy is ±10%.

[0052] The gas monitoring sensor uses an electrochemical sensor to detect the concentrations of CO, NO2, and volatile organic compounds, with a resolution of 0.1 ppm.

[0053] Meteorological parameter sensors are used to monitor temperature, humidity, and air pressure.

[0054] In this embodiment, more preferably, the online control subsystem is equipped with a soil loading coordination control module, which allows unloading when the horizontal coordinate of the bucket is within the soil loading area of ​​the dump truck; the safety access control module controls the opening of the airbag inlet and outlet based on environmental monitoring data: when designing the inlet and outlet, two openable valves are set on the side of the airbag as vehicle passages, the inlet and outlet is the working area 8, and the middle of the two inlet and outlet is the buffer zone 9. When the monitoring data of the working area 8 exceeds the standard, the inner inlet and outlet 4 is prohibited from being opened; when the monitoring data of the buffer zone 9 exceeds the standard, the outer inlet and outlet 6 is prohibited from being opened; and the two inlet and outlet are prohibited from being opened at the same time.

[0055] Please continue to refer to this. Figure 1 The present invention also provides a fully enclosed unmanned foundation pit operation method, which employs the aforementioned fully enclosed unmanned foundation pit operation device, and the method includes the following steps:

[0056] Step S1, establish the airbag environment: construct a concrete edge beam around the foundation pit, and fix the edge of the composite material airbag in the pre-reserved groove of the beam. Form an airtight seal by injecting sealant; start the air compressor to inflate the airbag until the internal air pressure reaches the predetermined working pressure range; monitor the internal air pressure of the airbag in real time through distributed pressure sensors, and dynamically control the air compressor and pressure relief valve based on the monitoring results to stably maintain the internal air pressure of the airbag within the predetermined working pressure range.

[0057] Step S2, Unmanned excavation and transportation collaborative operation:

[0058] Based on the fusion positioning technology of Beidou RTK and inertial navigation, the spatial position and attitude of the unmanned excavator are acquired in real time; the spatial coordinates of the bucket are calculated in real time by inclinometers installed on the boom, stick and bucket of the unmanned excavator; based on the preset global path planning, the unmanned dump truck is dispatched to the loading area; the global path planning generates the optimal path with path length, number of turns and slope change as weighted parameters; the monitoring screen and equipment status parameters are received on the remote operation platform, and control commands are sent through the force feedback joystick to drive the unmanned excavator to dig earth; the spatial coordinates of the bucket are compared with the coordinates of the unmanned dump truck loading area in real time, and when it is determined that the bucket is in the loading area, the unmanned excavator is controlled to perform the unloading action;

[0059] Step S3, Safety and Environmental Linkage Control:

[0060] In the airbag inlet and outlet areas, environmental parameters, including at least dust concentration and harmful gas concentration, are monitored in real time; based on these environmental parameters, interlocking logic control of the inlet and outlet valves is executed.

[0061] When the environmental parameters in operating area 8 exceed the first safety threshold, the system prohibits the opening of the inner valve.

[0062] When the environmental parameters of buffer 9 exceed the second safety threshold, the system prohibits the opening of the outer valve;

[0063] The control system ensures that the inner valve and the outer valve do not open at the same time;

[0064] Step S4, Multi-vehicle scheduling and transportation:

[0065] The system assigns loading, transportation, and waiting slots to multiple unmanned dump trucks and monitors them in real time using BeiDou positioning.

[0066] Control the unmanned dump truck to automatically drive along the planned path to the unloading area to unload soil, and then return to the waiting area;

[0067] In waiting area 7, the unmanned dump trucks are switched to manual driving mode.

[0068] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A fully-enclosed unmanned excavation device, characterized by, The system comprises an airbag sealing subsystem, an unmanned excavation subsystem, an unmanned transportation subsystem, an environment monitoring subsystem, and an online management and control subsystem. The airbag sealing subsystem comprises an airbag structure, a fixing system, a gas pressure regulating system, and an entrance and exit design, which is used to seal the foundation pit and provide a controllable working environment. The unmanned excavation subsystem comprises an unmanned excavator and a remote operation platform, which is used to realize automatic excavation of earthwork in the foundation pit. The unmanned transportation subsystem comprises an unmanned earthwork vehicle and an automatic path planning module, which is used to realize automatic transportation of earthwork. The environment monitoring subsystem is arranged at the airbag entrance and exit, which is used to monitor the working environment parameters in real time. The online management and control subsystem is used to coordinate the earth loading operation and the safety access control, and realizes system linkage based on the environment monitoring data and control logic.

2. The fully-enclosed unmanned foundation pit operating device according to claim 1, characterized in that, The airbag structure is made of three layers of composite materials, the inner layer is a gas-tight PVDF film, the middle layer is a Kevlar fiber reinforced net, and the outer layer is a weather-resistant TPU coating. The airbag structure has a single side length of 1.5-2 m larger than the outer edge of the foundation pit, a height of 2.5 m above the ground on all sides, a central height of 4 m above the ground after inflation, and a reserved wrinkle allowance of 15%-20%. Two Beidou reference stations are arranged inside the airbag structure to correct the positioning deviation of the unmanned excavator in real time through differential signals.

3. The fully-enclosed unmanned foundation pit operating device according to claim 1, characterized in that, The fixing system comprises a concrete pressing beam arranged along the periphery of the foundation pit support, the airbag edge is embedded in the beam body reserved slot and filled with sealing glue, so that the air leakage rate is less than or equal to 0.5% / 24h.

4. The fully-enclosed unmanned foundation pit operating device according to claim 1, characterized in that, The gas pressure regulating system comprises two screw air compressors, which monitors the air pressure inside the airbag in real time through a distributed pressure sensor, automatically supplies air when the pressure is lower than 500 Pa, opens the pressure relief valve when the pressure is higher than 800 Pa, and maintains the air pressure in the range of 600-700 Pa.

5. The fully-enclosed unmanned foundation pit operating device according to claim 1, characterized in that, The unmanned excavator comprises a 20t level hydraulic excavator, a positioning unit, a bucket coordinate calculation unit, an actuator, and an environment sensing unit. The positioning unit comprises a Beidou RTK module. The bucket coordinate calculation unit comprises an inclination instrument arranged on the boom, dipper stick, and bucket respectively. The actuator comprises an electro-hydraulic proportional valve for remote proportional control of the boom, dipper stick, and bucket. The environment sensing unit comprises high-definition cameras installed in front of the cockpit and on both sides, which are used for real-time monitoring of the construction process.

6. The fully-enclosed unmanned foundation pit operating device according to claim 1, characterized in that, The unmanned earthwork vehicle comprises a 25t level self-unloading vehicle, a positioning system, and an automatic driving kit. The positioning system comprises a Beidou RTK module. The automatic driving kit comprises a steer-by-wire system, an electronic brake system, and a multi-modal sensor fusion system, which comprises a millimeter wave radar and an AI intelligent recognition module.

7. The fully-enclosed unmanned foundation pit operating device according to claim 1, characterized in that, The automatic path planning module is based on a preset transportation route, which contains three key nodes of earth loading area, transportation main channel, and waiting area, and generates an initial optimal path through intelligent algorithm. When multiple earthwork vehicles are dispatched, a time and space partition strategy is adopted to allocate earth loading, transportation, and waiting time slots for each vehicle, and real-time position supervision is realized through Beidou positioning technology, and the safety distance is kept greater than or equal to 5 m.

8. The fully-enclosed unmanned foundation pit operating device according to claim 1, characterized in that, The environment monitoring subsystem is arranged at the airbag entrance and exit, which comprises: Dust monitoring sensor, for monitoring PM2.5 and PM10, range 0-1000 μg / m 3 , accuracy ±10%; Gas monitoring sensors, using electrochemical sensors, detect CO, NO2 and organic volatile concentrations with a resolution of 0.1 ppm; Weather parameter sensors for monitoring temperature, humidity and air pressure.

9. The fully-enclosed unmanned foundation pit operating device according to claim 1, characterized in that, The online management and control subsystem includes a soil loading collaborative management module that allows unloading when the bucket horizontal coordinates are within the earthmoving vehicle soil loading area; a safety access control module that controls the opening of the airbag access based on environmental monitoring data: when the work area monitoring data exceeds the standard, the inner side access is prohibited from opening; when the buffer area monitoring data exceeds the standard, the outer side access is prohibited from opening; and both accesses are prohibited from opening simultaneously.

10. A fully enclosed unmanned excavation method, characterized by, The method comprises the following steps: Step S1, establishing an airbag environment: constructing a concrete edge beam on the periphery of the foundation pit, and fixing the edge of the composite material airbag in the reserved slot of the beam body to form an airtight seal by pouring sealing glue; starting the air compressor to inflate the airbag until the internal air pressure reaches the predetermined working pressure range; real-time monitoring of the airbag internal air pressure is performed by a distributed pressure sensor, and based on the monitoring results, the air compressor and pressure relief valve are dynamically controlled to stabilize and maintain the airbag internal air pressure within the predetermined working pressure range; Step S2, collaborative operation of unmanned excavation and transportation: the spatial position and attitude of the unmanned excavator are obtained in real time based on the Beidou RTK and inertial navigation fusion positioning technology; the spatial coordinates of the bucket are calculated in real time by the inclinometer installed on the movable arm, dipper and bucket of the unmanned excavator; based on the preset global path planning, the unmanned earthmoving vehicle is dispatched to travel to the soil loading area; The global path planning generates an optimal path with path length, number of turns and slope change as weighted parameters; the remote operation platform receives monitoring images and equipment state parameters, and sends control instructions through the force feedback joystick to drive the unmanned excavator to excavate earthwork; the spatial coordinates of the bucket and the coordinates of the unmanned earthmoving vehicle soil loading area are compared in real time, and when it is determined that the bucket is located in the soil loading area, the unmanned excavator is controlled to perform the unloading action; Step S3, safety and environmental linkage control: at least including dust concentration, harmful gas concentration, environmental parameters are monitored in real time at the airbag access area; based on the environmental parameters, the interlocking logic control of the access valve is executed: When the environmental parameters of the work area exceed the first safety threshold, the system prohibits the opening of the inner side valve; When the environmental parameters of the buffer area exceed the second safety threshold, the system prohibits the opening of the outer side valve; The control system ensures that the inner side valve and the outer side valve are not opened at the same time; Step S4, multi-vehicle scheduling and transportation: Multiple unmanned earthmoving vehicles are assigned to soil loading, transportation and waiting time and space slots, and real-time monitoring is performed through Beidou positioning; The unmanned earthmoving vehicle is controlled to automatically travel along the planned path to the unloading area to unload, and then returns to the waiting area; In the waiting area, the unmanned earthmoving vehicle is converted to manual driving mode.

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