RU2710233C1 - System for controlling distance between bucket of excavator and wall surface of pipeline and method for its implementation - Google Patents

Abstract

FIELD: measurement technology.

SUBSTANCE: invention relates to device and method for determination of distance from bucket to body of product conduit during its opening. System includes a receiving part in form of a device for receiving, recording and processing a signal, and includes series-connected a block of receiving antennae, an amplifier, a decision device, the second input of which is connected to an inclination angle sensor, and the output is connected to the first input of the control unit, the second input of which is connected to the inclination angle sensor, and the control unit output is connected to the display panel interface, wherein the receiving antenna unit includes two antenna units located at distance of 400–600 mm relative to each other, wherein each antenna unit comprises three orthogonally located inductance coils, interacting with the transmitting part, comprising two electrodes, first electrode is connected to low-frequency field reference generator, second electrode and generator are grounded by bus. In insulation applied on pipe body, punctures are made with two electrodes, one electrode is connected to reference generator of low-frequency field and low-frequency alternating voltage is supplied to pipe body, unit of receiving antennae receives radiation, signal is transmitted to amplifier and then to decision device and distance to center of pipe body is determined by formula:

where: d is distance from center of pipe body to lower receiving unit; S is basic distance between receiving units; E_U is the signal amplitude on the upper receiving unit; E_L – signal amplitude on the lower receiving unit, simultaneously using the inclination angle sensor measuring the angle between the axial handle of the bucket and the horizontal, data are transmitted to the decision device, when the value of the critical value d is reached, the signal is transmitted to the control unit for switching on the light and sound indication.

EFFECT: technical result is higher accuracy of determination of critical distance between bucket of excavator and surface of pipeline wall.

2 cl, 2 dwg

Description

The invention relates to control devices for digging an excavator and is intended to determine the distance from the bucket to the pipe body of the product pipeline during its opening. FIELD OF THE INVENTION

The main problem during repair work related to opening the pipeline is to prevent damage to it by the excavator bucket.

Known excavator system to prevent damage to underground cables and pipes (https://dianetcom.ru/info/catalog/test_pribor/poisk_pribor/Ezidig). The system includes a sensor module, which is mounted on the boom of the excavator, directly in front of the bucket, a control module, a generator and a drum with a signal cable. The control module is installed in the operator's cab. The indicator of the control module is equipped with a control system that allows you to quickly and accurately configure the device for a particular task. To localize the pipes, it is necessary to connect a generator to the communication, which sends a signal to it at a frequency of 32.758 to the HZ. Preliminary localization of communications and marking of the directions of underground routes is carried out using a locator or ground penetrating radar. The signal from the generator connected to the cable drum enters the cable, which in turn is immersed in the ground at the work site. Through the cable in the ground, the signal of the generator is distributed, to which the locators and the system react.

A disadvantage of the known technical solution is that only the relative distance to the object is shown, without specifying it in meters.

A device is known for controlling the distance between the excavator bucket and the surface of the pipeline wall, which is the closest analogue (patent RU 2140493 publ. 10.27.1999), in which a transmitting inductance coil connected to an electromagnetic oscillation transmitter is fixed to the excavator boom. The receiving inductor covers the excavator platform, which is connected along the magnetic circuit formed by the excavator boom, the bucket, the gap between the bucket and the pipeline and the space between the pipeline and the excavator chassis, with the transmitting coil and connected to the receiver-converter connected to the blocking and signaling unit acting on the actuator of the excavator.

The disadvantages of the technical solution are: the complexity of mounting the receiving coil on the chassis of the excavator and the low accuracy of determining the distance.

The objective is to create a system and method for controlling the distance between the excavator bucket and the surface of the pipeline wall, which ensures safe opening of the pipeline.

The technical result consists in increasing the accuracy of determining the critical distance between the excavator bucket and the surface of the pipeline wall.

To solve this problem and achieve the noted technical result, the first object of the present invention proposes a system for controlling the distance between the excavator bucket and the surface of the pipeline wall, which contains a receiving part interacting with the transmitting part, according to the proposed solution, the receiving part is made in the form of a receiving, recording and signal processing and includes a series-connected block of receiving antennas, an amplifier, a resolver, the second input of which is connected to the sensor com of the tilt angle, and the output - with the first input of the control unit, the second input of which is connected to the angle sensor, and the output of the control unit is connected to the interface of the display panel, while the receiving antenna unit includes two antenna units located relative to each other at a distance of 400 600 mm, and each antenna unit contains three orthogonally located inductors, the transmitting part includes two electrodes mounted on the pipe body at a distance of 30-300 m, the first electrode is connected to the reference generator low frequency field which the second electrode is grounded and a generator bus at least 7.0 m from the axis of the pipe body.

To solve the same problem and achieve the same technical result, a second object of the present invention proposes a method for controlling the distance between the excavator bucket and the surface of the pipeline wall, which consists in creating an electromagnetic field in which punctures are made by two electrodes spaced apart from the insulation on the pipe body. at a distance of 30-300 m from each other, providing electrical contact between the pipe body and the electrodes, one electrode is connected to the reference generator of the low-frequency field and serves TERM low frequency voltage to the body tube unit receives radiation reception antennas, the signal transmitted to the amplifier and then to a decision unit, and determine the distance to the center of the pipe body according to the formula:

Where:

d is the distance from the center of the pipe body to the lower receiving unit;

S is the base distance between the receiving units;

E _B is the amplitude of the signal at the upper receiving unit;

E _H - the amplitude of the signal at the lower receiving unit,

at the same time, using the angle sensor, the angle between the axle handle of the bucket and the horizontal are measured, the data obtained are transmitted to a decisive device, when a critical value d is reached, the signal is sent to the control unit to turn on the light and sound indicators.

The invention is illustrated by drawings.

In FIG. 1 and FIG. 2 shows a functional diagram of the receiving part of the system and a functional diagram of the transmitting part.

1 - block receiving antennas;

2 - power amplifier;

3 - a decisive device;

4 - control unit;

5 - display panel interface;

6 - tilt angle sensor;

7 - display panel;

8 - reference generator of the low-frequency field;

9 - the first electrode;

10 - second electrode;

11 - pipe body;

12 - pipe insulation.

The implementation of the invention

The system for determining the critical distance between the approaching bucket of the excavator and the body of the pipe contains a receiving part, a transmitting part and an indication unit.

The receiving part is made in the form of a device for receiving, processing and recording a signal (PRORO). The PMD includes a series-connected block of receiving antennas 1, an amplifier 2, a resolver 3, the second input of which is connected to the angle sensor 6, the output of the resolver 3 is connected to the first input of the control unit 4, the second input of which is connected to the angle sensor 6, and the output the control unit 4 is connected to the interface 5 of the display panel 7. The control devices are mounted directly on the handle of the excavator. The block of receiving antennas 1 is located on the body of the handle and includes two antenna blocks arranged in such a way that their sensitivity axes are directed coaxially along the axis of the antenna pattern. When the handle is directed towards the body of the pipe, the first antenna unit will be located closer to the pipeline 400 mm - 600 mm closer to the pipe.

The transmitting part includes a reference generator 8 and the first and second steel electrodes 9 and 10, which are installed on the embankment of the pipe body 11 and provide a low-frequency voltage to the pipe body 11.

The display panel 7 is installed in the operator's cab and serves to display current information, as well as to issue light and sound signals when the mechanism reaches a critical distance.

The method of controlling the distance between the excavator bucket and the surface of the pipeline wall is as follows.

In the area of overburden operations, an alternating voltage of low frequency of the reference generator 8, which is fixed by the receiving part of the system, is supplied to the pipe body 11. The body of the pipe 11 is used as a transmitting antenna, the radiation of which is received by omnidirectional antennas.

To feed the alternating voltage of the low frequency of the generator 8 in the overburden area on the axial line of the route to the pipe body 11, the first electrode 9 punctures the insulation 12 to the pipe body 11 to ensure electrical contact between the pipe body 11 and the first electrode 9. After 30-300 meters from the installation site of the first electrode 9 in the direction of stripping on the axial line of the route, the second electrode 10 punctures the insulation to the body of the pipe 11.

и полученная информация передается через блок управления 4 и интерфейс 5 на панель индикации 7. Датчик угла наклона 6 измеряет угол между осевой рукояти и горизонталью и передает информацию в решающее устройство 3 и в блок управления 4. При достижении ковшом критического значения расстояния d, решающее устройство 3 выдает сигнал на блок управления 4, который через интерфейс 5 включает световую и звуковую индикацию на панели индикации 7 в кабине экскаватора.The first electrode 9 is connected to the reference generator 8. The Earth terminal of the generator 8 and the second electrode 10 are grounded at a distance of at least 7 meters from the work site. Grounding ensures uniform formation of an electromagnetic field around a portion of the pipe body 11. After this, an alternating low-voltage voltage of the reference generator 8 is supplied to the pipe body 11. When the low-frequency field generator 8 is connected to the pipe body 11, a magnetic field is formed around it. Since the blocks of the receiving antennas are located at a distance of 400-600 mm from each other, the level of received electromagnetic signals in the first and second receiving blocks are different. The receiving antenna blocks contain three orthogonally located inductors. This arrangement of coils provides an almost unchanged resulting value of the amplitude in each block during the rotations of the missile defense. The radiation from the body of the pipe 11 falls on the block receiving antennas 1 and after the amplifier 2 - on the decisive device 3. The decisive device 3 calculates the distance to the center of the body of the pipe according to the formula:

and the received information is transmitted through the control unit 4 and the interface 5 to the display panel 7. The angle sensor 6 measures the angle between the axial handle and the horizontal and transmits the information to the solving device 3 and to the control unit 4. When the bucket reaches a critical distance d, the solving device 3 provides a signal to the control unit 4, which through the interface 5 includes light and sound indication on the display panel 7 in the cab of the excavator.

The proposed solution can be used when performing work on any soil other than rocky, as well as in wetlands and in difficult weather conditions.

Claims (9)

1. The control system of the distance between the excavator bucket and the surface of the pipeline wall, including the receiving part, interacting with the transmitting part, characterized in that the receiving part is made in the form of a device for receiving, recording and processing a signal and includes a series of receiving antennas, an amplifier, a resolving device , the second input of which is connected to the angle sensor, and the output is to the first input of the control unit, the second input of which is connected to the angle sensor, and the output of the control unit connected to the interface of the display panel, while the receiving antenna unit includes two antenna units located relative to each other at a distance of 400-600 mm, each antenna unit containing three orthogonally located inductors, the transmitting part includes two electrodes mounted on the pipe body at a distance 30-300 m, the first electrode is connected to the reference generator of the low-frequency field, and the second electrode and generator are grounded by a bus at a distance of at least 7.0 m from the axis of the pipe body. 2. The method of controlling the distance between the excavator bucket and the surface of the pipeline wall, which consists in creating an electromagnetic field, characterized in that the insulation applied to the pipe body performs punctures with two electrodes spaced 30-300 m apart, providing electrical contact between the pipe body and the electrodes, one electrode is connected to the reference generator of the low-frequency field and an alternating voltage of low frequency is applied to the pipe body, the block of receiving antennas receives radiation, the signal is transmitted amplifier and then to a decision unit, and determine the distance to the center of the pipe body according to the formula:

Where: d is the distance from the center of the pipe body to the lower receiving unit; S is the base distance between the receiving units; E _B is the amplitude of the signal at the upper receiving unit; E _H - the amplitude of the signal at the lower receiving unit, at the same time, using the tilt angle sensor, measure the angle between the axle handle of the bucket and the horizontal, the data is transmitted to the resolver, when the critical value d is reached, the signal is sent to the control unit to turn on the light and sound indicators.

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