To minimize the excavation damage of underground pipelines, in this article, we propose to provide real-time feedback to operators by monitoring the distance information from the underground pipeline. Despite multiple efforts to locate underground ferromagnetic pipelines using the magnetic anomaly detection, it has not been implemented in real-time excavation operations due to low signal-to-noise ratios, unknown external magnetic interference (EMI), and high computational power. To address these limitations, we propose an approach to locating a custom-designed wireless sensor system on the excavator bucket to increase accuracy of real-time distance estimation with efficient EMI cancelation. We present the system using a 14:1 lab-scaled excavator and six sizes of ferromagnetic pipes. To create a distance estimation model of each pipe, we measure the magnetic anomaly caused by ferromagnetic pipes from eight distances (from 5 to 75 mm, spaced 10 mm apart). The wireless system with the localization algorithm successfully estimates the distance between the sensor and the pipe with a less than 4.38 ± 1.62 mm error overall. This pilot study shows that the proposed system with the localization algorithm is able to accurately locate pipes. This will lay the foundation for providing accurate spatial information, and ultimately prevent critical excavation/drilling damage at construction sites.

中文翻译：

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使用安装在挖掘机上的低成本无线磁传感器进行地下金属管道定位

为了最大限度地减少地下管道的开挖破坏，在本文中，我们建议通过监测与地下管道的距离信息来向运营商提供实时反馈。尽管使用磁异常检测来定位地下铁磁管道，但由于低信噪比、未知的外部磁干扰 (EMI) 和高计算能力，它尚未在实时挖掘作业中实施。为了解决这些限制，我们提出了一种在挖掘机铲斗上定位定制设计的无线传感器系统的方法，以通过有效的 EMI 消除来提高实时距离估计的准确性。我们使用 14:1 实验室规模的挖掘机和六种尺寸的铁磁管道展示该系统。要创建每个管道的距离估计模型，我们从八个距离（从 5 到 75 毫米，间隔 10 毫米）测量由铁磁管引起的磁异常。具有定位算法的无线系统成功地估计了传感器和管道之间的距离，总体误差小于 4.38 ± 1.62 mm。该试点研究表明，所提出的具有定位算法的系统能够准确定位管道。这将为提供准确的空间信息奠定基础，并最终防止施工现场的严重挖掘/钻孔损坏。该试点研究表明，所提出的具有定位算法的系统能够准确定位管道。这将为提供准确的空间信息奠定基础，并最终防止施工现场的严重挖掘/钻孔损坏。该试点研究表明，所提出的具有定位算法的系统能够准确定位管道。这将为提供准确的空间信息奠定基础，并最终防止施工现场的严重挖掘/钻孔损坏。