VACUUM EXCAVATION FOR LOCAL TRANSMISSION SYSTEM AND METHOD

Abstract

 A system and a method for vacuum excavation of local transmission are provided. The system for vacuum excavation of local transmission may include an end effector coupled to a vacuum hose. The end effector may include a manifold coupled to one or more valves and one or more pipes, each coupled to one of the one or more valves. The excavator head may include a nozzle array coupled to the one or more pipes, wherein the nozzle array may include one or more nozzles, each coupled to one of the one or more pipes. The one or more valves may be controlled to actuate individually, as a subset, or collectively, thus changing an air pattern exhausted from the nozzles.

Description

RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63/485,413, titled "VACUUM EXCAVATION SYSTEM AND METHOD," filed February 16, 2023, the entire disclosure of which is incorporated herein by reference.

FIELD OF THE INVENTION

[0002] This disclosure generally relates to vacuum excavation. More specifically, this disclosure relates to a method and a system for vacuum excavation of a local transmission system.

BACKGROUND OF THE INVENTION

[0003] Vacuum excavation (VacEx) has become a routine working practice for utilities during their maintenance, repair, and replacement of buried assets. Benefits in urban environments include more rapid exposure of the assets, particularly where multiple and congested services are present, smaller excavation footprint, reduced damage to assets, improved operative safety, and reduced disruption and delay to highway users.

[0004] In contrast to its deployment in urban environments, the gas industry has made only limited use of the technology for local transmission system (LTS) asset excavations in rural environments despite its acceptance as an approved practice under current safe working guidelines.

[0005] The challenges of LTS asset excavation in rural environments are different from those deployed in urban environments. Unlike an urban setting where a rapid, low-intervention dig with minimal impact on road users may be desirable; in a rural setting, there is a need to safely displace hand-digging operations in close proximity to higher-risk underground assets.

[0006] Conventional methods for excavations over and around LTS assets are both time-consuming and costly. Although commercially available VacEx systems exist, their use is restricted due to the challenging legislative and physical environments of the LTS, hence very few excavations have been performed with LTS over recent years.

[0007] On the LTS, excavated spoil volumes tend to be high and concentrated on a specific project site, with rural locations presenting unique challenges in terms of site access. For example, the ground type may vary considerably in and between different sites, ranging from freely draining sandy and loamy soils through raised bog peat soils to thick impermeable clayey soils and lime-rich soils over chalk or limestone that may be hazardous. The variable site conditions result in increased safety concerns, logistical challenges, and increased time to perform operations. In some cases, it may take tens of thousands of operative hours to excavate an asset by hand, which is labor-intensive and expensive. Thus, there is an ongoing need to enhance the productivity and efficiency of underground excavation while reducing costs, minimizing downtime, and improving the safety of workers within the gas industry.

[0008] Air excavation involves using compressed air to disturb the earth's soil, which may then be vacuumed up into a debris tank. Air excavation may be used to safely expose underground utilities and allow backfill with the dry material. In some cases, air excavation may be especially suited to displace hand digging around LTS assets in certain rural environments such as excavation within a danger zone (such as within 0.6 meters) of pipelines or as a hand tool assistance method in the digging of deep (such as greater than 1.5 meters) trial holes used to determine pipeline location and depth. There is a need for improved vacuum excavation tools and methods to improve excavation efficiency and effectively perform efficient excavation in variable site conditions.

BRIEF SUMMARY OF THE INVENTION

[0009] A system and method for vacuum excavation of local transmission system (VELTS) are provided. The VELTS system is designed to efficiently remove soil using one or more air nozzles and a vacuum hose.

[0010] A system for vacuum excavation of local transmission is provided. The system may include an end effector coupled to a vacuum hose. The end effector may include a manifold coupled to one or more valves and one or more pipes, each coupled to one of the one or more valves. The system may further include an excavator head including a nozzle array coupled to the one or more pipes. The nozzle array includes one or more nozzles, each coupled to one of the one or more pipes.

[0011] In some aspects, the manifold further comprises a top plate coupled to a bottom plate. The system can further include an inlet coupled to the top plate of the manifold. The one or more valves may be coupled to the bottom plate of the manifold. The system can also include a pressure regulator in some embodiments. In some forms, the bottom plate of the manifold includes a channel. The channel is designed to direct air received from the inlet. In some aspects, the one or more valves are provided in the form of a pilot solenoid valve. In some embodiments, the one or more valves are provided in the form of an air logic control valve. The one or more nozzles are each configured to exhaust air at a supersonic speed. In some forms, the one or more valves are configured such that only one nozzle of the one or more nozzles exhausts air at one time. In some embodiments, the one or more valves are configured such that only two nozzles exhaust air at one time. The two nozzles can be positioned opposite from another on the nozzle array.

[0012] In one aspect, a method for vacuum excavation of local transmission is provided. The method may include providing one or more nozzles in the form of a nozzle array and one or more valves, each coupled to the one or more nozzles. The one or more valves can be actuated such that air is exhausted from the one or more nozzles. The air agitates material to be excavated and the agitated material is suctioned through a vacuum hose.

[0013] In some aspects, one valve of the one or more valves is actuated at a time. In some embodiments, two valves of the one or more valves are actuated at a time. The method can further include providing a delay between actuating a first set of one or more valves and a second set of one or more valves. In some forms, the method can also include providing a delay between actuating a first valve and actuating a second valves.

[0014] In another aspect, a system for vacuum excavation of local transmission is provided. The system can include an end effector coupled to a vacuum hose. The end effector can include an inlet coupled to a top plate of a manifold and one or more valves coupled to a bottom plate of the manifold. The system can further include one or more pipes coupled to the one or more valves. The system can also include an excavator head including a nozzle array. The nozzle array includes one or more nozzles, each coupled to a pipe of the one or more pipes.

[0015] In some aspects, the system further includes a pressure regulator coupled to the bottom plate of the manifold. In some forms, the one or more nozzles include a converging portion provided between a first end and a throat portion. The one or more nozzles also include a diverging portion provided between a second end and the throat portion. In some aspects, the converging portion has a first diameter at the first end and a second diameter at the throat portion, wherein the first diameter is larger than the second diameter. The diverging portion has a third diameter at the throat portion and a fourth diameter at the second end, wherein the third diameter is smaller than the fourth diameter.

BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of embodiments of the invention:

FIG. 1 illustrates an isometric view of a vacuum excavator according to an embodiment;

FIG. 2 illustrates an enlarged isometric view of a first portion of the vacuum excavator of FIG. 1;

FIG. 3 illustrates a cross-sectional view of the first portion of the vacuum excavator of FIG. 2;

FIG. 4 illustrates an isometric view of a top plate of a manifold of the vacuum excavator of FIG. 1 according to an embodiment;

FIG. 5 illustrates an isometric view of a bottom plate of a manifold of the vacuum excavator of FIG. 1 according to an embodiment;

FIG. 6 illustrates an alternative enlarged isometric view of the first portion of the vacuum excavator of FIG. 1;

FIG. 7 illustrates a top plan view of the vacuum excavator of FIG. 1;

FIG. 8 illustrates a bottom plan view of the vacuum excavator of FIG. 1;

FIG. 9 illustrates an enlarged isometric view of a second portion of the vacuum excavator of FIG. 1;

FIG. 10 illustrates a top isometric view of an excavator head according to an embodiment;

FIG. 11 illustrates a side isometric view of the excavator head of FIG. 10;

FIG. 12 illustrates a cross-sectional view of the excavator head of FIG. 11, showing a valve according to an embodiment;

FIG. 13 illustrates a top plan view of a control box for controlling one or more operations of the vacuum excavator according to an embodiment; and

FIGS. 14A-14C illustrate various valve patterns according to an embodiment.

[0017] Before explaining the disclosed embodiment of the present invention in detail, it is to be understood that the invention is not limited in its application to the details of the particular arrangement shown, since the invention is capable of other embodiments. Exemplary embodiments are illustrated in referenced figures of the drawings. It is intended that the embodiments and figures disclosed herein are to be considered illustrative rather than limiting. Also, the terminology used herein is for the purpose of description and not for limitation.

DETAILED DESCRIPTION

[0018] The following discussion is presented to enable a person skilled in the art to make and use embodiments of the invention. Various modifications to the illustrated embodiments will be readily apparent to those skilled in the art, and the generic principles herein can be applied to other embodiments and applications without departing from embodiments of the invention. Thus, embodiments of the invention are not intended to be limited to embodiments shown, but are to be accorded the widest scope consistent with the principles and features disclosed herein. The following detailed description is to be read with reference to the figures, in which like elements in different figures have like reference numerals. The figures, which are not necessarily to scale, depict selected embodiments and are not intended to limit the scope of embodiments of the invention. Skilled artisans will recognize the examples provided herein have many useful alternatives and fall within the scope of embodiments of the invention.

[0019] Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the attached drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein are for the purpose of description and should not be regarded as limiting. For example, the use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items.

[0020] As used herein, unless otherwise specified or limited, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, unless otherwise specified or limited, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings.

[0021] As used herein, unless otherwise specified or limited, "at least one of A, B, and C," and similar other phrases, are meant to indicate A, or B, or C, or any combination of A, B, and/or C. As such, this phrase, and similar other phrases can include single or multiple instances of A, B, and/or C, and, in the case that any of A, B, and/or C indicates a category of elements, single or multiple instances of any of the elements of the categories A, B, and/or C.

[0022] As shown in FIGS. 1-14, a vacuum excavation of local transmission (VELTS) system 100 is provided herein. Referring first to FIGS. 1 and 2, the VELTS system 100 may include a vacuum hose 200 that may be coupled to a boom arm (not shown) through a connection 210 disposed on a terminal end thereof. The VELTS system 100 is designed to be used with standard vacuum excavation (VacEx) trucks that are in communication with one or more vacuum hoses (e.g., 10 inches). In some embodiments, non-standardized VacEx equipment may also be used with the VELTS system 100. The VacEx truck may generate suction such that extracted materials (such as soil or dirt) may be vacuumed through the vacuum hose 200.

[0023] The VELTS system 100 may further include an end effector 300 disposed at a first end thereof and an excavator head 400 disposed at a second end thereof. The end effector 300 may be provided on and circumscribe an exterior of the vacuum hose 200. In some embodiments where the vacuum hose 200 is provided in the form of a cylindrical tube, the end effector 300 may be provided in the form of a cylindrical disk or tube that is concentric to the vacuum hose 200.

[0024] The end effector 300 may include an inlet assembly 310 protruding outwardly therefrom. The inlet assembly 310 is designed to accept compressed air from an external compressor (not shown). The inlet assembly 310 may further include a compressor coupling 312 at a terminal end such that the inlet assembly 310 may be coupled to an external source providing compressed air. The compressor coupling 312 may be provided in the form of a standard compressor connection or other suitable connection.

[0025] The end effector 300 may also include a manifold 320. The manifold 320 is designed to regulate and/or direct the air received from the inlet assembly 310 toward and into one or more valves 330. The manifold 320 is defined by a top plate 322 (see FIG. 4) and a bottom plate 324 (see FIG. 5). The top plate 322 and the bottom plate 324 may be coupled to each other using fasteners, for example, thus forming the manifold 320. One or more second fittings 316 may be used to couple the one or more valves 330 to the bottom plate 324.

[0026] The VELTS system 100 may further include one or more pipes 340 extending between the one or more valves 330 and the excavator head 400. The excavator head 400 may be coupled to the pipes 340 through one or more third fittings 344 (see FIG. 9). The excavator head 400 may further include a nozzle array 410, described in more detail in connection with FIGS. 8 and 9.

[0027] FIG. 3 is a partial cross-section of the first end of the VELTS system including the end effector 300 and the manifold 320, illustrating an embodiment of the connection(s) between the top plate 322 and the bottom plate 324 with the one or more valves 330 and the one or more pipes 340.

[0028] Referring to FIG. 4, the top plate 322 of the manifold 320 may include a first cylindrical opening 323 extending entirely therethrough that may be coupled to the inlet assembly 310 using the first fitting 314 (see FIG. 2).

[0029] As shown in FIG. 5, the bottom plate 324 of the manifold 320 is defined by a channel 325 and one or more second openings 326 extending through the bottom plate 324. The channel 325 is designed to direct air received from the inlet assembly 310 toward the one or more second openings 326.

[0030] Each of the one or more second openings 326 may be coupled to a respective valve 330 using a second fitting 316 (see FIG. 2). The valves 330 may be provided in the form of pilot solenoid valves, direct-acting solenoid valves, air logic valves, or other suitable valves.

[0031] The one or more valves 330 may be actuated by an operator, automatically via software, or using air logic operated controls. For example, the operator may actuate one or more of the valves 330 using a control box 900, discussed in more detail with respect to FIG. 13. In some embodiments, the valves may be actuated or otherwise controlled using a wireless communication protocol. In some embodiments, the valves may be actuated using a hydraulic and pneumatic system, including but not limited to air logic-operated controls. In some aspects, the one or more valves 330 are plumbed to initiate in a predefined sequence based on an air supply, in lieu of an electrical signal for electrically actuating the one or more valves 330. In this non-limiting example, the air logic-operated control provides a hands-free valve control arrangement rather than electronically actuating the valves from a controller (remote or otherwise).

[0032] Each of the one or more valves 330 may be coupled to a respective conduit or pipe 340 (see FIGS. 1 and 2) extending downwardly therefrom. The number of pipes 340 provided may depend on and be equal to the number of valves 330 provided. For example, in a nonlimiting embodiment, eight valves 330 and eight pipes 340 may be provided, with each valve 330 being coupled to a respective pipe 340.

[0033] In some aspects, the bottom plate 324 may also include one or more third openings 328. The third opening(s) 328 may be smaller than each of the one or more second openings 326 and disposed between two of the second openings 326. Some or each of the third openings 328 may be coupled to a pressure regulator 350 (see FIG. 6). The pressure regulator 350 is designed to monitor and regulate the air pressure within the manifold 320.

[0034] FIG. 7 illustrates a top plan view of the first end of the VELTS system 100, including the end effector 300, an internal portion of the vacuum hose 200, the top plate 322, and the connection 210 to couple the VELTS system 100 to a VacEx boom (not shown).

[0035] Referring to FIGS. 8-12, the VELTS system 100 may further include an excavator head 400 at a second end, opposite of the end effector 300 at the first end. The excavator head 400 may include a nozzle array 410 that includes one or more nozzles 500. The valves 330 at the first end of the end effector 300 are in communication with the nozzle array 410 via the pipes 340 such that each pipe 340 may be connected to a respective nozzle 500 using a third fitting 344 (see FIG. 9). Thus, in an embodiment where eight pipes 340 may be provided, the nozzle array 410 may include eight nozzles 500, such that each pipe 340 may be coupled to a valve 330 on the first end and a nozzle 500 on the second end of the VELTS system 100.

[0036] Referring to the example embodiment shown in FIG. 8, the nozzle array 410 may include eight nozzles 500 circumscribing the nozzle array 410 and generally evenly spaced radially around the excavator head 400. In some aspects, the nozzle array 410 may include fewer or more nozzles 500, and the nozzles 500 may be oriented in other configurations within the nozzle array 410 to form other air distribution flow paths and patterns.

[0037] FIGS. 10-12 illustrate the excavator head 400 in more detail. As illustrated in FIG. 11, the excavator head 400 is defined by a first portion 430, a second portion 440, and a third portion 450 forming the body of the excavator head 400. The first portion 430 (i.e., middle segment) connects the nozzle array 410. The second portion 440 (i.e., top segment) is disposed adjacent to the first portion 430 and extends upwardly where individual nozzles 500 of the nozzle array 410 extend beyond a horizontal plane defined by the first portion 430. The excavator head 400 may also include the third portion 450 (i.e., bottom segment) forming a base opposite from the second portion 440.

[0038] Returning to FIG. 10, the first portion 430 is defined by a first inner profile 432 that generally matches an exterior shape or cross-sectional profile of the vacuum hose 200. Thus, if the vacuum hose 200 is provided in the form of a cylindrical tube, the first inner profile 432 of the first portion 430 may be provided generally in a ring shape such that the first portion 430 may receive and connect to an exterior of the vacuum hose 200.

[0039] The third portion 450 may be defined by a second inner profile 452 that also generally corresponds to an exterior shape of the vacuum hose 200 similar to the first inner profile 432. However, the third portion 450 may also include a flange 451 on a terminal end thereof that protrudes inwardly toward a center of the excavator head 400 such that the flange 451 may overlap with a bottom portion of the vacuum hose 200, to secure and/or seal the vacuum hose 200 to the base of the second portion.

[0040] Referring to FIG. 11, the first portion 430 of the excavator head 400 may be defined by one or more substantially similar segments. The segments may each include a curvilinear first wall 434 having a first inner surface 436 defining the first inner profile 432 and a first outer surface 438. Thus, the first wall 434 may have a first thickness T1 defined by a distance between the first inner surface 436 and the first outer surface 438 (see FIG. 10). The first thickness T1 may be provided with a varying cross-sectional profile such that the first thickness may be greatest adjacent to the nozzles 500 and thinnest at an equidistant point therebetween. The first wall 434 may provide structural support for the nozzle array 410 and may connect one nozzle 500 to another. In some embodiments, both the first inner surface 436 and the first outer surface 438 may be provided in a concave shape. In some aspects, the first inner surface 436 and the first outer surface 438 may be provided in the form of other shapes or curvatures.

[0041] The third portion 450 of the excavator head 400 may be defined by one or more substantially similar segments. The third portion 450 segments each may include a curvilinear second wall 454 having a second inner surface 456 (see FIG. 10) defining the second inner profile 452 and a second outer surface 458. Thus, the second wall 454 may have a second thickness T2 defined by a distance between the second inner surface 456 and the second outer surface 458. The second wall 454 may also provide structural support (in addition to, or in lieu of, the first wall 434) for the nozzle array 410 and may also connect one nozzle 500 to another. In some embodiments, both the second inner surface 456 and the second outer surface 458 may be provided in a concave shape, though other suitable shapes may also be used and are contemplated herein.

[0042] In some embodiments, such as the ones illustrated in FIGS. 9-11, the second thickness T2 may be less than the first thickness T1. In other embodiments, the first wall 434 and the second wall 454 may be imparted with similar or the same thicknesses and/or shapes.

[0043] Referring to FIG. 12, a cross-sectional view of the excavator head 400 is illustrated, showing two nozzles 500 in detail. The nozzle 500 is defined by a first end 510 having a first diameter and a second end 520 having a second diameter opposite from the first end 510. The nozzle 500 may include a narrowed throat portion 530 disposed between the first end 510 and the second end 520. The throat portion 530 is defined by a third diameter and may be provided in the form of a cylindrical ring. Depending on the specific design of the nozzle 500, the first diameter may be larger than the second diameter, which is also larger than the third diameter, although other variations are also possible.

[0044] Referring to FIG. 12, a partial cross-section view of the excavator head 400 is provided. The first end 510 of the nozzle 500 is provided as an inlet to receive air from the one or more pipes 340. A converging portion 512 may be provided between the first end 510 and the throat portion 530. The converging portion 512 may transition the first diameter from the first end 510 toward the third diameter at the throat portion 530. The converging portion 512 may include one or more conical portions 514 and one or more concentric ring portions 516, each having a progressively smaller diameter toward the throat portion 530.

[0045] The second end 520 of the nozzle 500 is provided as an exhaust to release air externally (e.g., toward a pit for excavation). A diverging portion 522 may be provided between the second end 520 and the throat portion 530. The diverging portion 522 may transition the third diameter from the throat portion 530 toward the second diameter at the second end 520. The diverging portion 522 may include one or more conical portions 524 and one or more ring portions (not shown) each having a progressively larger diameter toward the second end 520.

[0046] The nozzles 500 are designed to exhaust air at a high speed (such as sonic or supersonic speed), creating air lances. Air from the external compressor may be injected into the nozzles 500 at a lower speed (e.g., a subsonic speed below Mach 1). As the air moves from the converging portion 512 toward the throat portion 530, the air may be compressed due to a change in volume and may start to increase in velocity and may drop in pressure. At the throat portion 530, the air may reach a critical point called "choked flow", resulting in the velocity of the air increasing to sonic speed (about Mach 1) at the throat portion 530. As the air moves from the divergent portion 522 toward the second end 520, the air may further increase in velocity and may drop in pressure. As the air reaches the second end 520 and exhausts therefrom, the air may reach supersonic speeds. Thus, the speed of the air lance may depend on the design of the nozzle(s) 500, as well as the external compressor.

[0047] The first end 510 of the nozzle 500 may be configured to accept compressed air at between about 200 pounds per square inch (psi) to about 400 psi, between about 250 psi to about 350 psi, about 300 psi, or about 350 psi.

[0048] The first end 510 of the nozzle 500 may also be configured to accept compressed air up to about 1,300 cubic feet per minute (cfm), between about 700 cfm to about 1,300 cfm, between about 800 cfm to about 1,200 cfm, between about 900 cfm to about 1,100 cfm, about 900 cfm, about 1,000 cfm, or about 1,100 cfm. In an example embodiment, the external compressor may be configured to provide compressed air at about 350 psi and about 900 cfm.

[0049] The second end 520 of the nozzle 500 may be configured to exhaust air at a high speed, such as about Mach 1, about Mach 1.5, about Mach 2, about Mach 2.5, about Mach 3, about Mach 3.5, about Mach 4, about Mach 4.5, about Mach 5, or at a speed exceeding Mach 5.

[0050] Referring to FIG. 13, one or more operations of the VELTS system 100 may be controlled by the control box 900, which is operatively connected to the VELTS system 100. The control box 900 may include a first interface 910, a second interface 920, and a third interface 930 disposed on a housing 940. The first interface 910 may be provided in the form of a power control to supply electrical power to the VELTS system 100 and power it on and off. The second interface 920 may be provided as a control mechanism for the nozzles 500. The third interface 930 may be provided as a control assembly for pressurization delays for the manifold 320. For example, the delays may be less than one second, about one second, about one to two seconds, about two seconds, about two to three seconds, about three seconds, more than three seconds, or other suitable time durations. The delays may allow time for the manifold 320 to repressurize after one or more nozzles release air. The first interface 910, the second interface 920, and the third interface 930 may each be one or more buttons, levers, knobs, switches, joysticks, or other suitable actuated mechanism to achieve a desired control state.

[0051] The control box 900 may be connected to the valves 330 through hard-wire or wireless protocols. For example, a plug connector (not shown) may be provided on the end effector 300 to accept a connection plug from the control box 900. As described above, in some embodiments, the VELTS system 100 can be operated hands-free using air-logic controls.

[0052] The control box 900 may further include a power source (not shown) of the first interface 910, such as a battery or a power plug to provide power to the control box 900. Moreover, the control box 900 may also include one or more indicators such as audible alarms, lights, displays, haptics, icons, etc. In some embodiments, the one or more indicators can be configured, monitored, and/or initiated using a notification module (not shown).

[0053] In some embodiments, an application running on a remote device (such as a cellular phone or a tablet) or software running on a computer (such as a personal computer or a laptop computer) may be used to control the VELTS system 100 in addition to, or lieu of, the control box 900. In some aspects, the control may be performed using a wireless communication protocol(s) (e.g., Wi-Fi, Blutooth, Zigbee, cellular, MQTT, RFID, etc.)

[0054] The housing 940 for the control box 900 may be provided in the form of a durable material, such as a waterproof or water-resistant and shock-resistant thermoplastic, or similar hard shell material to protect the interfaces and/or controls. In some aspects, the housing 940 may be provided in the form of a rubber or metal housing.

[0055] FIGS. 14A-14C illustrate several exemplary air patterns (shown by arrows) formed by the nozzles 500 of the VELTS system 100 when in use. A desired air pattern may be selected or switched using the control box 900. Alternatively or additionally, the desired air pattern may be selected automatically or manually by software and/or air logic controls.

[0056] FIG. 14A illustrates a first configuration such that one valve 330 may be configured to actuate at a time, resulting in one nozzle 500 exhausting air at a time. In the first configuration, each of the valves 330 may be configured to actuate in a circular sequence, resulting in a circular air pattern being emitted from the nozzle array 410.

[0057] FIG. 14B illustrates a second configuration such that opposing valves 330 may be configured to actuate following a pressurization delay, resulting in a star-like air pattern being emitted from the nozzle array 410.

[0058] FIG. 14C illustrates a third configuration such that a first set of opposing valves 330 may be configured to actuate simultaneously or substantially simultaneously. Following a pressurization delay, a second set of opposing valves 330 may be configured to actuate simultaneously or substantially simultaneously, and so forth, resulting in an opposing pair air pattern being emitted from the nozzle array 410.

[0059] The one or more valves 330 may be controlled to actuate in an open state for a first time duration, and an off state for a second time duration. For example, the one or more valves 330 may be controlled to actuate for about 1 second in the open state and 0 seconds in the off state, resulting in continuous or substantially continuous air exhaustion. Likewise, the one or more valves 330 may be controlled to actuate in the open state for about 1 second on and about 1 second in the off state, about 2 seconds on and 0 seconds off, about 2 seconds on and about 1 second off, about 2 seconds on and about 2 seconds off. As can be appreciated, other variations are also possible and are within the spirit of this disclosure.

[0060] Although FIGS. 14A-14C illustrate three possible air patterns, one can appreciate that many patterns are possible and are contemplated herein and may be actuated or pulsed in different manners depending on the differences of the soil or ground being excavated. Further, depending on the number of nozzles 500 provided on the nozzle array 410, further patterns and combinations may also be provided and are within the scope herein. The configuration of the nozzle(s) 500 can be used to increase the amount of soil agitation and improve the excavation system efficiency. Further, the nozzle 500 design and/or the configuration of the air patterns may be adjusted depending on the type of soil and moisture level. In at least this way, the new and novel VELTS system 100 can provide for an improved method of excavating soil by efficiently agitating the soil for removal through the vacuum hose.

[0061] Specific embodiments of a VELTS system 100 according to the present disclosure have been described for the purpose of illustrating the manner in which the invention can be made and used. It should be understood that the implementation of other variations and modifications of this invention and its different aspects will be apparent to one skilled in the art, and that this invention is not limited by the specific embodiments described. Features described in one embodiment can be implemented in other embodiments. The subject disclosure is understood to encompass the present invention and any and all modifications, variations, or equivalents that fall within the spirit and scope of the basic underlying principles disclosed and claimed herein.

[0062] Further aspects of the disclosure will be provided by way of example:

[0063] In Example 1, a system for vacuum excavation of local transmission, comprising: an end effector coupled to a vacuum hose; the end effector comprising: a manifold coupled to one or more valves; one or more pipes coupled to the one or more valves; and an excavator head including a nozzle array coupled to the one or more pipes, wherein the nozzle array includes one or more nozzles, each coupled to a pipe of the one or more pipes.

[0064] In Example 2, the system of Example 1, wherein the manifold further comprises a top plate coupled to a bottom plate.

[0065] In Example 3, the system of Example 2 further comprising: an inlet coupled to the top plate of the manifold; and the one or more valves each being coupled to the bottom plate of the manifold.

[0066] In Example 4, the system of Example 3 further comprising: a pressure regulator coupled to the manifold.

[0067] In Example 5, the system of Example 3 or 4, further comprising: a channel within the bottom plate of the manifold, wherein the channel is designed to direct air received from the inlet.

[0068] In Example 6, the system of any one of Examples 1 to 5, wherein the one or more valves are provided in a form of a pilot solenoid valve.

[0069] In Example 7, the system of any one of Examples 1 to 6, wherein the one or more valves are provided in a form of an air logic control valve.

[0070] In Example 8, the system of any one of Examples 1 to 7, wherein the one or more nozzles are each configured to exhaust air at a supersonic speed.

[0071] In Example 9, the system of any one of Examples 1 to 8, wherein the one or more valves are configured such that only one nozzle of the one or more nozzles exhausts air at one time.

[0072] In Example 10, the system of any one of Examples 1 to 9, wherein the one or more valves are configured such that only two nozzles of the one or more nozzles exhausts air at one time.

[0073] In Example 11, the system of Example 10, wherein the two nozzles are positioned opposite from each other on the nozzle array.

[0074] In Example 12, the method for vacuum excavation of local transmission comprising: providing one or more nozzles in a form of a nozzle array; providing one or more valves, wherein each of the one or more nozzles is coupled to a respective valve of the one or more valves; actuating the one or more valves such that air is exhausted from the one or more nozzles, wherein the air agitates material to be excavated; and providing suction through a vacuum hose to vacuum the agitated material.

[0075] In Example 13, the method of Example 12, wherein a single valve of the one or more valves is actuated at a time.

[0076] In Example 14, the method of Example 12 or 13, wherein two valves of the one or more valves is actuated at a time.

[0077] In Example 15, the method of any one of Examples 12 to 14 further comprising:

[0078] providing a delay between actuating a first set of the one or more valves and actuating a second set of the one or more valves.

[0079] In Example 16, the method of any one of Examples 12 to 15 further comprising:

[0080] providing a delay between actuating a first valve of the one or more valves and actuating a second valve of the one or more valves.

[0081] In Example 17, the system for vacuum excavation of local transmission, comprising: an end effector coupled to a vacuum hose, the end effector comprising: an inlet coupled to a top plate of a manifold; one or more valves coupled to a bottom plate of the manifold; one or more pipes each coupled to a valve of the one or more valves; and an excavator head including a nozzle array, wherein the nozzle array includes one or more nozzles, each coupled to a pipe of the one or more pipes.

[0082] In Example 18, the system of Example 17, further comprising a pressure regulator coupled to the bottom plate of the manifold.

[0083] In Example 19, the system of Example 17 or 18, wherein the one or more nozzles further comprise: a converging portion of a nozzle provided between a first end of the nozzle and a throat portion of the nozzle; and a diverging portion of the nozzle provided between a second end of the nozzle and the throat portion of the nozzle.

[0084] In Example 20, the system of Example 19, wherein the converging portion has a first diameter at the first end of the nozzle and a second diameter at the throat portion of the nozzle, wherein the first diameter is larger than the second diameter; and wherein the diverging portion of the nozzle has a third diameter at the throat portion of the nozzle and a fourth diameter and the second end of the nozzle, wherein the third diameter is smaller than the fourth diameter.

Claims

1. A system for vacuum excavation of local transmission, comprising:
an end effector coupled to a vacuum hose; the end effector comprising:

a manifold coupled to one or more valves;

one or more pipes coupled to the one or more valves; and

an excavator head including a nozzle array coupled to the one or more pipes, wherein the nozzle array includes one or more nozzles, each coupled to a pipe of the one or more pipes.

2. The system of claim 1, wherein the manifold further comprises a top plate coupled to a bottom plate.

3. The system of claim 2 further comprising:

an inlet coupled to the top plate of the manifold; and

the one or more valves each being coupled to the bottom plate of the manifold.

4. The system of claim 3 further comprising:
a pressure regulator coupled to the manifold.

5. The system of claim 3 or 4, further comprising:
a channel within the bottom plate of the manifold, wherein the channel is designed to direct air received from the inlet.

6. The system of any one of claims 1 to 5, wherein the one or more valves are provided in a form of a pilot solenoid valve.

7. The system of any one of claims 1 to 6, wherein the one or more valves are provided in a form of an air logic control valve.

8. The system of any one of claims 1 to 7, wherein the one or more nozzles are each configured to exhaust air at a supersonic speed.

9. The system of any one of claims 1 to 8, wherein the one or more valves are configured such that only one nozzle of the one or more nozzles exhausts air at one time.

10. The system of any one of claims 1 to 9, wherein the one or more valves are configured such that only two nozzles of the one or more nozzles exhausts air at one time.

11. The system of claim 10, wherein the two nozzles are positioned opposite from each other on the nozzle array.

12. A method for vacuum excavation of local transmission comprising:

providing one or more nozzles in a form of a nozzle array;

providing one or more valves, wherein each of the one or more nozzles is coupled to a respective valve of the one or more valves;

actuating the one or more valves such that air is exhausted from the one or more nozzles, wherein the air agitates material to be excavated; and

providing suction through a vacuum hose to vacuum the agitated material.

13. The method of claim 12, wherein a single valve of the one or more valves is actuated at a time, or wherein two valves of the one or more valves is actuated at a time.

14. The method of claim 12 or 13 further comprising:
providing a delay between actuating a first set of the one or more valves and actuating a second set of the one or more valves.

15. The method of any one of claims 12 to 14 further comprising:
providing a delay between actuating a first valve of the one or more valves and actuating a second valve of the one or more valves.

Drawing