Case Study of Vertical Slope Excavation Near Existing Buildings based on Visual Monitoring of Intelligent Robots

Case study of the vertical slope excavation near existing buildings based on visual monitoring of intelligent robots is conducted in the paper. A recent development in Western China required the excavation and vertical cut of a rock slope, which might cause large deformation or failure of existing buildings above the slope. The minimum horizontal distance between the buildings and the cut edge of the slope was 3 meters and the maximum excavation depth was 20 meters. The rock slope was composed of soil, weathered mudstone, sandstone and a set of bedding planes inclining outward was observed. Stabilizing piles strengthened by a series of tie-back anchors were designed to protect the cut slope. The lateral loads acting on the anchor cable and piles was determined by maximal value of the at-rest pressure and modified active pressure. It was observed that the construction sequence had a significant impact on the stability of the slopes. To achieve the efficient computer based analysis, the novel visual monitoring system and intelligent robot is combined. The motion control system of the intelligent robot controls the machine equipment and performs industrial operations and the core of the intelligent robot is the motion control system. A novel motion control algorithm is designed to deal with the challenges in complex scenarios. Through the testing on various applications, the robustness is validated.