Geometric modeling of the process of digging trench pits during pipeline repair

When performing work on the repair of the pipeline, the main machine designed for digging trench pits is a single-bucket excavator. Pit digging currently uses two excavators moving along the pipeline in parallel directions. In order to increase the efficiency of digging pits, it is necessary to check whether it is possible to dig pits with only one excavator located in the middle of the pipeline, as well as to dump soil into a dump located on both sides of the excavator's line of motion. Cases are considered when pit digging is performed by a non-modernized singlebucket excavator, an excavator with the ability to rotate the boom section and an excavator with the ability to rotate the bucket. The full cycle of the process of digging a pit with dumping of soil into a dump is also considered. On the basis of the research carried out, an algorithm for automated control of the movement of the excavator bucket when digging trench pits is developed. The results of computer simulation of the movement of the excavator manipulator when digging trench pits are presented.