Method of protecting cesspool working member of crushed stone cleaner from overloads and device for implementation thereof

Abstract

FIELD: machines for making railways.SUBSTANCE: invention relates to track machines for repair and restoration of railway track, carried out without removal of rail-and-sleeper grid. Method of protecting a crushed stone cleaning machine from overloads consists in the fact that load sensors are installed on elements of the cesspool, by means of which the load value on the cesspool elements is measured in real time, signals from load sensors are received during passage of cesspool elements through the face, based on the obtained data, performing the prediction of an increase in the load on the elements of the cesspool and the evaluation of the current state of the elements of the cesspool, and speed control of cesspool and crushed stone cleaning machine is carried out automatically taking into account performed measurements and calculations. Obtaining and processing of measurement data, automatic control of cesspool chain speed with due allowance for these measurements and in particular prediction of increase of load on separate elements of cesspool are implemented in the crushed stone cleaning machine cesspool working element protection device.EFFECT: service life of the cesspool working member of the crushed stone cleaner is increased, damage and destruction of its structural elements are prevented in a timely manner and assemblies while maintaining maximum possible efficiency of crushed stone cleaner, higher safety of its operation.8 cl, 5 dwg

Description

[0001] Field of technology to which the invention relates

[0002] The present invention relates to the field of railway transport, namely to track machines for repairing and restoring a railway track, namely to machines with a scraper excavator device having a closed cesspool chain for cutting out a ballast layer with subsequent cleaning of the ballast and placing it back on the track.

[0003] Technology Level

[0004] Despite the fact that the field of technology to which the invention relates can be assessed in recent decades as developing with weakly expressed dynamics, and usually relying on long-known, firmly established in practice and the market technical solutions, the search for and implementation of technical solutions aimed at increasing the productivity of track and, in particular, ballast cleaning machines (hereinafter - BSCM), at achieving the maximum possible speed of their movement in the operating mode, as well as at optimizing the operation of individual components of the structure, expressed in increasing the wear resistance and reliability of the mechanical parts and units of these machines, still remains relevant.

[0005] For example, Russian Federation patent for utility model RU 178588 U1 (published April 11, 2018, Bulletin No. 11) describes an improved ballast layer cutting device with a closed scraper-chain working element, which has reduced abrasive wear of the working chute and reduced friction in the base of the blade mounted on the chain, reducing the cutting device's power while maintaining its performance. This result is achieved by the fact that roller bearings with the ability to roll are installed in the bases of the blades, and the bottom and side walls of the working chute are designed as driven belt conveyors, the working sections of which are designed to move at the same speed and direction of the sanitation chain. When a support roller is installed in the sole of the shovel chain blade, less abrasion of its surface occurs due to the fact that the blade moves along the crushed stone not by dragging, but by rolling the support roller.

[0006] The proposed design is implemented by manufacturing a special blade that has a groove that ensures unimpeded rotation of the roller, holes for installing the roller axis, installing roller supports for the conveyors in place of the bottom and one of the side walls of the working chute, as well as installed belts, drives and tensioning devices.

[0007] A minor drawback of the proposed technical solution is its design complexity. However, there is a significant drawback: when cutting out the ballast, the immediate impact loads are the primary destructive external factor affecting the septic system. Although reducing friction may be beneficial for the internal system, this will not protect it from serious damage, such as blade torsion, upon contact with irregularities in the ballast.

[0008] In Russian Federation patent for utility model RU 170376 U1 (published April 24, 2017, Bulletin No. 12), the authors propose using frequency converters in the electric drives of the septic tank and vibrating screen to ensure stable operation and smooth speed adjustment of electric motors in the drives of the septic tank and vibrating screen. This, according to the authors, improves the reliability and quality of the work performed. Specifically, this allows for smooth starting and stopping of the electric drive, increasing its reliability, especially under maximum load conditions, and also provides the ability to adjust the device's performance depending on the degree of contamination of the ballast and its particle size distribution.

[0009] Another drawback of this technical solution is the failure to account for instantaneous impact loads on the sanitation chain components during ballast removal. These can occur unpredictably: these can range from strong single impacts to series of impacts, and during normal ballast removal machine operation, their magnitude can instantly exceed the permissible level several times. Furthermore, as the load increases, the sanitation chain components, such as connecting links, inevitably become strained, resulting in a smoothing and reduction of the actual forces occurring in the sanitation chain. The large mass and inertia of the sanitation working element, as well as the significant distance between the load application point and the drive motor, hinder timely and efficient control of the ballast removal machine.

[0010] In Russian patent RU 2 234565 C1 (published August 20, 2004, Bulletin No. 23), the authors propose upgrading the ЩОМ sanitation unit by using a sanitation chain speed control system. The drive motor is equipped with a current sensor that acts as an overload protection device. If the maximum current value is exceeded, the entire machine automatically stops and rolls back a short distance. If the chain load does not decrease, the sanitation chain also stops. Control is available in both automatic and manual modes.

[0011] A drawback of the proposed system is that the speed of the sanitation chain and the sanitation control system as a whole is controlled solely by the estimated current load on the motor, which is an average estimated load on the entire moving part of the sanitation system, weighing approximately 4 tons and with a sanitation chain length of approximately 20 meters. This does not take into account the instantaneous impact load on each element of the sanitation chain, which can lead to exceeding the strength limits of both the sanitation chain elements and its drive, as well as the entire sanitation system, at load current values ​​below the specified thresholds. As in the previous case, the large mass and inertia of the sanitation system hinders timely and efficient control of the sanitation control system.

[0012] The closest to the claimed invention is the above-mentioned system for controlling the speed of movement of the cesspool chain of the cesspool working element ЩОМ, described in the Russian Federation patent for invention RU 2 234 565 C1 (published 08 / 20 / 2004 Bulletin No. 23).

[0013] The technical problem that the invention is aimed at solving is the insufficient efficiency of protecting the cesspool working element of a ballast cleaning machine from overloads and damage when operating in the maximum performance mode of the machine.

[0014] Disclosure of invention

[0015] To solve the technical problem mentioned above, it is proposed to use a method for protecting the cesspool working element of a ballast cleaning machine from overloads, which consists in the fact that

[0016] - continuously measure the values ​​of instantaneous impact loads on the cesspool chain of the cesspool working element along three axes in real time using three-axis load sensors installed on the elements of the cesspool chain;

[0017] - accumulate data on instantaneous impact loads along three axes using load sensors, measured over a full revolution of the sluice chain, and transmit them once upon entering the face zone to the receiving and computing module;

[0018] - when entering the face zone, the load sensors, based on the instantaneous impact load data, calculate and predict changes in load values, and also transmit real-time data on instantaneous impact load values ​​that exceed the threshold value via the receiving and computing module to the on-board computer;

[0019] - when the permissible values ​​are exceeded during direct measurement of instantaneous impact loads, as well as when the permissible values ​​are predicted to be exceeded, the data is transmitted to the on-board computer, which, through the power module, controls the drive of the cesspool chain and the drive of the ballast cleaning machine, reducing the speed of movement, up to a complete stop, of the ballast cleaning machine and the cesspool chain, and increasing the speed when the instantaneous load values ​​are below the maximum permissible values;

[0020] - based on the data obtained from three axes of load sensors for at least one full revolution of the cesspool chain, the degree of wear of the elements of the cesspool chain of the cesspool working element is monitored.

[0021] The method for protecting the cesspool working element of a ballast cleaning machine from overloads is implemented in a device that includes an on-board computer, load sensors, a receiving and computing module with a set of wireless network modules placed on the frame of the ballast cleaning machine in the immediate vicinity of the face area in two rows, a power module, wherein the load sensors are additionally equipped with three-axis vibroacoustic sensors and are made wireless with the ability to measure instantaneous loads along three axes and calculate the forecast of an increase in loads in real time at the face, collect data on the state of all elements of the cesspool chain and transmit data to the receiving and computing module, configured with the ability to process this data with subsequent transmission to the on-board computer, configured with the ability to control the drive of the cesspool chain and the drive of the ballast cleaning machine by means of the power module.

[0022] In the method for protecting the cesspool working element of a ballast cleaning machine from overloads, continuous measurement of the values ​​of instantaneous impact loads on the cesspool chain of the cesspool working element along three axes in real time can be carried out using strain gauges installed on the elements of the cesspool chain.

[0023] In the method of protecting the cesspool working element of a ballast cleaning machine from overloads, the cesspool chain elements may include links, blades, cutters, and pins.

[0024] In the device for protecting the cesspool working element of the ballast cleaning machine from overloads, the load sensors are preferably installed in such a way that at least two load sensors are simultaneously located in the face.

[0025] In the device for protecting the cesspool working element of a ballast cleaning machine from overloads, the load sensors are primarily designed with the ability to receive signals from them in the section of the cesspool chain located in the face.

[0026] In the device for protecting the cesspool working element of the ballast cleaning machine from overloads, the load sensors are mainly located on the blades of the cesspool chain.

[0027] In the device for protecting the cesspool working element of a ballast cleaning machine from overloads, vibration-acoustic sensors can be placed in the cutters of the cesspool chain blades.

[0028] The technical result ensured by the given set of features is the timely prevention of damage and destruction of the structural elements and units of the cesspool working body of the ballast cleaning machine while maintaining its maximum possible productivity by measuring instantaneous impact loads on the elements of the cesspool working body, predicting the degree of increase in loads, monitoring the degree of wear of the structural elements of the cesspool working body and controlling the drives of the cesspool chain and the SB in real time.

[0029] Leading specialists of West-Ter SPb LLC have established that the load on the elements of the cesspool chain when it moves in unevenly compacted ballast, as well as at the moment of impact of its elements on the heterogeneity of the ballast, can reach significant values ​​at accelerations of more than 1000 m / s 2The applied loads may exceed the yield strength of the steel from which the sanitation chain components are made, leading to elongation of connecting elements, cracking, increased wear of the components, and, ultimately, failure of blades, cutters, connecting links, and pins. Therefore, quantitative assessment of the load on sanitation chain components, control of the sanitation chain speed and the entire sanitation chain based on the measurements taken, and, in particular, forecasting the increase in load on individual chain components are appropriate measures taken to increase the service life of the sanitation chain, prevent damage and failure of structural components and assemblies, reduce operating costs, and improve sanitation chain safety.

[0030] Brief description of drawings (pictures)

[0031] The essence of the invention is explained by drawings and illustrations.

[0032] Figure 1 shows general views (side and top) of the ЩОМ.

[0033] Figure 2 shows a view of the septic tank working body from above.

[0034] Figure 3 shows a block diagram of the claimed device.

[0035] Figure 4 shows possible locations for placing load sensors on the septic tank chain elements.

[0036] Fig. 5 shows an example of data obtained from load cells.

[0037] The following designations are used in Figures 1-4:

[0038] 1 – crushed stone cleaning machine (SCHOM),

[0039] 2 – frame SCHOM,

[0040] 3 – cesspool working element,

[0041] 4 – power steering control cabin,

[0042] 5 – cesspool chain,

[0043] 6 – septic tank chain drive,

[0044] 7 – Idle guide chute,

[0045] 8 – working guide chute,

[0046] 9 – track beam,

[0047] 10 – shoulder blade,

[0048] 11 – cutter,

[0049] 12 – slaughter,

[0050] 13 – on-board computer,

[0051] 14 – load sensor,

[0052] 15 – receiving and computing module,

[0053] 16 – wireless network module,

[0054] 17 – power module,

[0055] 18 – PTO drive,

[0056] 19 – vibration acoustic sensor,

[0057] 20 – control board.

[0058] Implementation of the invention

[0059] The SGOM 1 shown in Fig. 1 includes a SGOM frame 2 on which a sanitation working element 3 and a control cabin 4 are mounted (for the purpose of simplifying the presentation, other parts of the SGOM 1, such as a screen, diesel engines, etc., are not indicated). The arrow in Fig. 1 indicates the direction of movement of the track machine.

[0060] The sanitation working element 3, the top view of which is shown in Fig. 2, consists of a sanitation chain 5, a sanitation chain drive 6 with an adjustable motor and a drive gearbox, idle 7 and working 8 guide chutes, connected to each other by a track beam 9. The sanitation chain 5 is a closed chain, the links of which contain blades 10 for capturing and moving ballast. The blades 10 are metal one-piece curved platforms with cutters 11 placed on them.

[0061] The lower section of the ballast chain 5 and the track beam 9 are positioned in a small area under the sleepers, previously cleared of ballast. The area of ​​the ballast prism where the ballast is removed is called the face 12.

[0062] The claimed device, as shown in Fig. 3, is part of the ЩОМ 1 and includes an on-board computer 13, load sensors 14, a receiving and computing module 15 with a set of wireless network modules 16 and a power module 17 connected to the drive 6 of the cesspool chain and to the drive 18 of the ЩОМ.

[0063] Each of the load sensors 14 is made in a shockproof housing and consists of a vibroacoustic sensor 19 and a control board 20 equipped with a data collection and calculation controller, a transceiver with an antenna, a battery and a vibration energy source.

[0064] Each of the vibroacoustic sensors 19 is an acceleration sensor chip electrically connected to the control board 20. The vibroacoustic sensor 19 can be located directly on the control board 20 or installed in the cesspool circuit element 5 at some distance from the control board 20.

[0065] Load sensors 14 can be equipped with either vibroacoustic three-axis sensors based on MEMS technology (accelerometers) or sensors based on a different operating principle (optical or strain gauges), providing acceleration measurements in a frequency band from 1 to 1000 Hz.

[0066] Load sensors 14, as shown in Fig. 4, are located preferably in every tenth element of the cesspool chain 5 at a distance of 2-3 meters from each other, so that at least two load sensors 14 are simultaneously located in the face 12. In Fig. 4, the direction of movement of the cesspool chain 5 is indicated by arrows, and one of the directions of data transmission to the receiving and computing module 15 is also schematically shown. For simplicity, wireless network modules 16 are not shown in Fig. 4.

[0067] The preferred method for installing each load sensor 14 is to place it directly in the cutters 11 of the blade 10, which are elements of the septic chain 5 of the septic working element 3, or directly on the blade 10.

[0068] Load sensors 14 may also be located on such elements of the septic tank chain 5 as connecting links and pins (not shown in Figs. 1-4). Placing load sensors 14 on each element of the septic tank chain 5 is beneficial because it allows for direct measurement of loads on all of its elements using highly accurate differential calculation methods. However, this increases the volume of transmitted information and calculations, which ultimately increases the cost of the equipment.

[0069] The receiving and computing module 15 consists of a group of wireless network modules 16 and a controller. Wireless network modules 16 are primarily located on frame 2 of the mining complex near face 12. Data is transmitted to the receiving and computing module 15 from load sensors 14 via a wireless channel using, for example, the ZigBee data transmission protocol or a similar one.

[0070] The location of wireless network modules 16 should ensure their direct visibility from each load cell 14 as they move under the sleepers. When the sluice chain 5 moves, load cells 14 are obscured by rails or sleepers. Therefore, to ensure continuous transmission of instantaneous impact load data, wireless network modules 16 should be arranged, for example, in two rows: one row directly above track beam 9, and the other horizontally offset at a viewing angle of 45-60 degrees to track beam 9.

[0071] Power module 17 is electrically connected to drive 6 of the cesspool chain and drive 18 of the ЩОМ and is a control module for power electronics - servo valves of a hydraulic motor or a frequency converter of an electric motor.

[0072] On-board computer 13, designed as a motherboard, is located in the control cabin 4 of the ЩОМ, equipped with software that allows the operator to monitor the data of measurements and processes performed in real time, as well as an Ethernet communication channel for connecting to the equipment available on ЩОМ 1.

[0073] The claimed device operates as follows. The cesspool chain 5, moved by the cesspool chain drive 6, captures the ballast located under the rail and sleeper grid using the blades 10, which is then transported along the working guide chute 8 to the cleaning device (screen).

[0074] Instantaneous impacts of ballast fractions, the value of which must be controlled, occur when the ballast is captured by the blades 10 in the face 12, as well as when the ballast extracted from the face 12 is transported along the working guide chute 8 to the cleaning device.

[0075] When ballast is captured, each instantaneous impact of its fractions on the elements of the cesspool chain 5 is recorded in real time by vibroacoustic sensors 19, by measuring the acceleration (deceleration) along three axes of the vibroacoustic sensors 19, and is converted by means of controllers located on the control boards 20 of the load sensors 14 into the value of the force acting on the elements of the cesspool chain 5. In a similar manner, the loads on the elements of the cesspool chain 5 are measured when it passes along the working guide chute 8.

[0076] The measurement of the acting forces is ensured in a range that includes the values ​​of forces at which deformations or destruction of the structure of the cesspool chain 5 and the cesspool working element 3 occur.

[0077] Based on this data, the controller of the control board 20 calculates the peak and average values ​​of the loads that occur during the movement of the cesspool chain 5, continuously accumulates and stores the data obtained along three axes from the vibroacoustic sensor 19 electrically connected to it for one or more full revolutions of the cesspool chain 5, and also monitors the supply voltage on the load sensor 14 and transmits this data, including information about the power supply level, to the receiving and computing module 15.

[0078] The measurement of the acting forces is accompanied by the simultaneous determination of the coordinates of the moving elements of the cesspool chain 5 relative to the face 12, the coordinates of the position of the inhomogeneities in the ballast, the time and speed of movement of the cesspool chain 5.

[0079] The position (coordinates) of specific blades 10 relative to the coordinates of the face 12 is determined relative to the corner rollers: when the elements of the sanitation chain rotate on the corner rollers that support the sanitation chain 5 during the transition from the idle guide chute 7 to the under-rail beam 9 and from the under-rail beam 9 to the working guide chute 8, characteristic accelerations occur, according to which the controller of the control board 20 determines the position of the blades 10, as well as the speed of movement of the sanitation chain 5.

[0080] The origin of the ballast coordinates is the lower left point of the idle guide chute 7. The origin of the septic tank chain 5 coordinates is the front pin of the blade 10 with the first identifier from the group of load sensors 14 installed on the elements of the septic tank chain 5.

[0081] Calculation of coordinates of ballast irregularities, compactions or obstacles causing increased load is performed by the receiving and computing module 15 based on the data received from load sensors 14 on the overload, the moment of its occurrence, the time of entry of the element of the septic tank chain 5 with the load sensor 14 into the face 12 and the speed of movement of this element of the septic tank chain 5. The calculation is performed for all load sensors 14 located in the wireless network.

[0082] Figure 5 shows an example of the initial data for calculations, control and display, namely the instantaneous accelerations occurring on one of the blades 10 when it passes through the face 12, and a graph of the calculated load based on vibration accelerations.

[0083] The load level on the septic tank 3 is characterized by three zones:

[0084] - the “green” zone (in Fig. 5 designated by the Roman numeral I) is limited from above by the load value at which the septic tank chain 5 and the septic tank working body 3 operate under maximum loads on the elements, ensuring the specified service life and permissible abrasive-impact wear of the elements of the septic tank working body 3.

[0085] - the “yellow” zone (in Fig. 5 designated by the Roman numeral II) includes the range of loads under which stretching and deformation (bending) of the elements of the septic tank chain 5, the formation of cracks in the material of the elements of the septic tank chain 5, damage and destruction of the cutters 11 of the blades 10, and increased abrasive-impact wear occur.

[0086] - the “red” zone (in Fig. 5 designated by the Roman numeral III) corresponds to load values ​​at which there is a high probability of fracture of the blades 10, rupture of the connecting links and destruction of other elements of the septic working body 3 due to rapid abrasive-impact wear.

[0087] Data transmission from load sensors 14 to the receiving and computing module 15, in order to save energy consumption, is carried out in two modes:

[0088] - if there are no deviations of loads from the specified range, the average and peak values ​​of the load for one revolution (several revolutions) of the sanitation chain 5 are transmitted once before the sanitation chain 5 enters the face 12;

[0089] - when the load on the elements of the cesspool chain 5 located in the face 12 is exceeded, data on instantaneous loads, as well as the place and time of their occurrence, are transmitted in real time.

[0090] Using the first data transmission mode allows you to monitor the overall load on the cesspool chain 5, as well as the state of each element of the cesspool chain 5 and the cesspool working element 3 as a whole.

[0091] Using the second mode allows for automatic control of the load value on the elements of the cesspool chain 5 in order to prevent its threshold value from being exceeded by controlling the cesspool chain drive 6 and the ЩОМ drive 18.

[0092] As the blades 10 pass through the ballast irregularities in the face 12, a gradual increase in load (cutting force) occurs from one blade 10 to the next. Under typical conditions, the cutting pitch (feed) is 5-10 mm per blade 10, with the normal speed of the shovel chain 5 being 2-3 m / s and the speed of the shovel 1 being 200-300 m / h. Therefore, the increase in load from one blade 10 to the next occurs relatively smoothly, within tens of milliseconds. This allows for the measurement of the resulting load, and, most importantly, for determining the increasing trend and predicting load changes.

[0093] The receiving and computing module 15 compares the load values ​​on the adjacent blades 10, determines the rate of increase in the load and, based on this data, predicts the load values ​​on the next blade 10, which approaches the place of increased load and, if its value falls into the “yellow” zone, generates and transmits a command to the on-board computer 13. In this case, the data on the permitted speeds are transmitted from the on-board computer 13 to the power module 17, which regulates the speed of movement of the ЩОМ 1 and the cesspool chain 5.

[0094] If the current or predicted value enters the "red" zone, the controller of the receiving and computing module 15 sends a command to the on-board computer 13 to stop the septic tank 1 and reduce the speed of the septic tank chain 5 until it stops completely. In accordance with the operating algorithm of the standard septic tank 1 control system, the septic tank 1 stops and makes a short reverse movement. If the load on the septic tank chain 5 does not return to optimal values, the septic tank chain 5 also stops.

[0095] When reducing the load in order to maintain the maximum speed and performance of the ЩОМ 1, the calculation of its decreasing trend is carried out in the same way.

[0096] Since the speed reset or increase must occur within milliseconds, the speed control of the ЩОМ 1 and the cesspool chain 5 is carried out automatically.

[0097] Thus, the control of the operating speeds of the cesspool chain 5 and the ЩОМ 1 is carried out on the basis of receiving and processing information coming from the load sensors 14 installed on the elements of the cesspool chain 5, which provide an analysis of the load on each element of the cesspool chain 5 during the process of cutting out crushed stone in real time.

[0098] In addition to direct control of the power module 17, the on-board computer 13 provides backup control of the power module 17, receiving data from the control computer ЩОМ 1, storing processed data, displaying information on the operator's monitor and transmitting data to remote users.

[0099] In addition to measuring the values ​​of forces arising on the elements of the septic tank chain 5, the claimed device uses analytical software algorithms that make it possible to evaluate the current state and degree of wear of both the elements of the septic tank chain 5 and the entire septic tank working element 3 by analyzing the spectra of vibroacoustic vibrations.

[0100] Thus, the proposed method for protecting the cesspool working body of a ballast cleaning machine from overloads and the device for implementing it make it possible to timely prevent damage and destruction of the structural elements of the mechanical parts and units of the cesspool working body of a ballast cleaning machine while maintaining its maximum possible productivity and thereby increase the efficiency of protecting the cesspool working body of a ballast cleaning machine from overloads, and, as a result, increase the service life of the cesspool working body of the SBCM, reduce operating costs and improve the safety of operation of the SBCM.

Claims

1. A method for protecting the cesspool working element of a ballast cleaning machine from overloads, which consists in the fact that carry out continuous measurement of the values ​​of instantaneous impact loads on the cesspool chain of the cesspool working element along three axes in real time by means of three-axis load sensors installed on the elements of the cesspool chain; accumulate data on instantaneous impact loads along three axes, measured over a full revolution of the sanitation chain, using load sensors, and transmit them once upon entering the face zone to the receiving and computing module; When entering the working face zone, load sensors, based on data on instantaneous impact loads, calculate and predict changes in load values, and also transmit data on instantaneous impact load values ​​exceeding the threshold value in real time via the receiving and computing module to the on-board computer; when the permissible values ​​are exceeded during direct measurement of instantaneous impact loads, as well as when predicting that the permissible values ​​will be exceeded, the data is transmitted to the on-board computer, which, through power modules, controls the drive of the cesspool chain and the drive of the ballast cleaning machine, reducing the speed of movement, up to a complete stop of the ballast cleaning machine and the cesspool chain, and increasing the speed when the instantaneous load values ​​are below the maximum permissible values; Based on the data obtained from the three axes of the load sensors for at least one full revolution of the cesspool chain, the degree of wear of the elements of the cesspool chain of the cesspool working element is monitored.

2. A device for protecting the cesspool working element of a ballast cleaning machine, which includes an on-board computer, load sensors, a receiving and computing module with a set of wireless network modules placed on the frame of the ballast cleaning machine in the immediate vicinity of the face in two rows, a power module, wherein the load sensors are additionally equipped with three-axis vibroacoustic sensors and are made wireless with the ability to measure instantaneous loads along three axes and calculate and predict an increase in loads in real time at the face, collect data on the state of all elements of the cesspool chain and transmit data to the receiving and computing module, configured with the ability to process this data with subsequent transmission to the on-board computer, configured with the ability to control the drive of the cesspool chain and the drive of the ballast cleaning machine by means of the power module.

3. The method according to paragraph 1, characterized in that continuous measurement of the values ​​of instantaneous impact loads on the cesspool chain of the cesspool working element along three axes in real time is carried out by means of strain gauges installed on the elements of the cesspool chain.

4. The method according to paragraph 1 or 3, characterized in that the elements of the cesspool chain are links, blades, cutters, and pins.

5. The device according to paragraph 2, characterized in that the load sensors are installed in such a way that at least two load sensors are simultaneously located in the face.

6. The device according to paragraph 2, characterized in that the load sensors are designed with the possibility of receiving signals from them in a section of the cesspool chain located in the face.

7. The device according to paragraph 2, characterized in that the load sensors are located on the blades of the septic tank chain.

8. The device according to paragraph 2, characterized in that the vibroacoustic sensors are located in the cutters of the septic chain blades.

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