Abstract: Novel tools and techniques for controlling heavy equipment vehicles, such as tractors, graders, road-forming machines, and the like. Some techniques allow a control system of a heavy equipment vehicle to transition from receiving position data from one positioning device to receiving data from another without ceasing operation and/or while limiting any resulting discontinuity in a manipulated ground surface to within acceptable tolerances.

Abstract: Embodiments of the present invention are directed to systems for performing non-contact based determination of the position of an implement. In one embodiment, a non-contact based measurement system is used to determine the relative position of an implement coupled with a mobile machine. The geographic position of the mobile machine is determined and the geographic position of said implement based upon the geographic position of the mobile machine and the position of the implement relative to the mobile machine.

Abstract: Terrain-based machines are provided comprising a translational chassis movement indicator, a terrain-based implement, an implement inclinometer, and an implement state estimator. The translational chassis movement indicator provides a measurement indicative of movement of the machine chassis in one or more translational degrees of freedom. The implement inclinometer comprises (i) an implement accelerometer, which provides a measurement indicative of acceleration of the terrain-based implement in one or more translational or rotational degrees of freedom and (ii) an implement angular rate sensor, which provides a measurement of a rate at which the terrain-based implement is rotating in one or more degrees of rotational freedom.

Abstract: Novel tools and techniques for controlling road-forming machines, such as paving machines, graders, and the like. Some techniques allow a control system of a road-forming machine to transition from receiving position data from one positioning device to receiving data from another without ceasing operation and/or while limiting any resulting discontinuity in the formed road surface to within acceptable tolerances.

Abstract: Earthmoving machines are provided comprising a translational chassis movement indicator, an earthmoving implement inclinometer, and an implement state estimator. The translational chassis movement indicator provides a measurement indicative of movement of the machine chassis in one or more translational degrees of freedom. The implement inclinometer comprises (i) an implement accelerometer, which provides a measurement indicative of acceleration of the earthmoving implement in one or more translational or rotational degrees of freedom and (ii) an implement angular rate sensor, which provides a measurement of a rate at which the earthmoving implement is rotating in one or more degrees of rotational freedom.

Abstract: System and method for presenting a visual image of a work site for an earthmoving machine. In one embodiment, target design data for the work site may be received. A spatial location and orientation for an earthmoving machine operating in relation to the work site may also be received. A visual image of at least a portion of the work site may be received from an imaging device mounted to the earthmoving machine. A visual image of the portion of the work site may be displayed with a subset of the design data overlaying the visual image, wherein the subset of the design data relates to the portion of the work site.

Abstract: A control for an excavator of the type having a plurality of hydraulic cylinders for moving excavator components such that digging is accomplished at a worksite with an excavator bucket or other excavator implement, includes a plurality of hydraulic control valves, each of which is associated with a respective one of the hydraulic cylinders for controlling the application of hydraulic fluid pressure to the respective one of the hydraulic cylinders, and a plurality of manually actuated joystick valves for supplying hydraulic fluid pressure to the respective hydraulic control valves to control the movement of the hydraulic cylinders. The control includes a sensor arrangement for sensing the position of one or more excavator components.

Abstract: An earthmoving system including a bulldozer has a pair of GPS receivers mounted on the cutting blade of the bulldozer. The cutting blade is supported by a blade support extending from the frame. The blade support includes a pair of hydraulic cylinders for raising and lowering the blade in relation to the frame and a blade tilt cylinder for controlling the lateral tilt of the cutting blade. Sensors, including gyroscopic sensors and an accelerometer, sense rotation of the frame about three orthogonal axes and vertical movement of the bulldozer frame that would affect the position of the blade. A control is responsive to the pair of GPS receivers and to the gyroscopic sensors, for controlling the operation of the hydraulic cylinders and thereby the position of the cutting blade.

Abstract: A control for an excavator of the type having a plurality of hydraulic cylinders for moving excavator components such that digging is accomplished at a worksite with an excavator bucket or other excavator implement, includes a plurality of hydraulic control valves, each of which is associated with a respective one of the hydraulic cylinders for controlling the application of hydraulic fluid pressure to the respective one of the hydraulic cylinders, and a plurality of manually actuated joystick valves for supplying hydraulic fluid pressure to the respective hydraulic control valves to control the movement of the hydraulic cylinders. The control includes a sensor arrangement for sensing the position of one or more excavator components.

Abstract: A monitor system for an electric cable shovel determines when the shovel has completed a digging operation, and a subsequent dumping operation. The system includes an inclinometer, a current sensor, and a monitor circuit. The inclinometer is mounted on the dipper arm for providing an output indicative of the inclination of the dipper arm. The current sensor senses the level of the electrical current supplied to the electric motor. The monitor circuit determines when the current sensor provides an indication of a current level in excess of a digging current threshold level for a period of time in excess of a predetermined period, and during such period of time the inclinometer indicates that the inclination of the dipper arm is below a digging threshold inclination. In such a case, the monitor circuit provides an output indicating that the shovel has completed a digging operation.

Abstract: A method of determining the heading of an excavator at a worksite uses a magnetic field sensor, mounted on the excavator, inclinometers that provide an indication of the pitch and roll of the excavator, a gyroscopic sensor that senses the rotational rate of the excavator about the Z axis of the magnetic field sensor, and a processor circuit, having an associated memory. A calibration table of data is created and stored using the gyroscopic sensor as the excavator is rotated at a uniform velocity. The sensed indications of the magnetic field from the coordinate reference frame of the sensor are transformed to the local level plane coordinate reference frame using the outputs from the inclinometers.

Abstract: A control and a method of control for a machine that applies a material to a subgrade at a work site and pulls a floating screed, having a screed plate, over the top surface of the material behind the machine is useful in paving with asphalt material. The floating screed is attached to the machine by a tow arm at a tow point on said tow arm. The vertical height of the tow point is controlled by an hydraulic cylinder on said machine in response to a valve control signal applied to an hydraulic valve by a valve control drive. The screed determines the thickness of the material on the subgrade and is manipulated by adjusting the height of the tow point. A first sensor is mounted on the floating screed for sensing three-dimensional position. A second sensor for senses the pitch of said screed. A processor circuit is responsive to the first and second sensors for determining the height of the trailing edge of the screed plate and the movement of the screed over the top surface of the material.

Abstract: A three dimensional machine scanning arrangement for a machine traveling over a worksite includes a pair of scanners that are mounted on the machine. Each of the pair of scanners measures distances to a number of points on the ground at the worksite. One of the pair of scanners faces rearward and the other of the pair of scanners is faces forward. A control is responsive to the pair of scanners. The control determines the contour of the worksite. A display, mounted on the machine, is responsive to the control for displaying the contour of the worksite.

Abstract: A machine control and guidance system for an earthmoving machine, includes one or more sensors and a portable digital media device mounted on the earthmoving machine. The portable digital media device may comprise an iPhone, an iTouch, or other similar device. Each of the sensors senses the position or orientation of a portion of the earthmoving machine and provides a wireless output signal indicating the position or orientation. The portable digital media device is in wireless communication with each of the sensors. The device has an associated display and a memory in which is stored an application program which permits the device to determine the position of one or more portions of the earthmoving machine and to display the position of one or more portions of the earthmoving machine on the display.

Abstract: A monitor system for an electric cable shovel determines when the shovel has completed a digging operation, and a subsequent dumping operation. The system includes an inclinometer, a current sensor, and a monitor circuit. The inclinometer is mounted on the dipper arm for providing an output indicative of the inclination of the dipper arm. The current sensor senses the level of the electrical current supplied to the electric motor. The monitor circuit determines when the current sensor provides an indication of a current level in excess of a digging current threshold level for a period of time in excess of a predetermined period, and during such period of time the inclinometer indicates that the inclination of the dipper arm is below a digging threshold inclination. In such a case, the monitor circuit provides an output indicating that the shovel has completed a digging operation.

Abstract: System and method for providing an excavation characteristic associated with an earthmoving machine. In one embodiment, a radio frequency identification (RFID) tag associated with an attachment mounted to an earthmoving machine may be identified. An optical benchmark signal may be detected, by an optical receiver. The position of the attachment relative to the earthmoving machine may be determined based, at least in part, on identification of the RFID tag. The position of the attachment may be provided to an operator of the earthmoving machine.

Abstract: A system and method for sensing surface compaction effected by a compactor machine of the type having a vibrating compacting roller, and providing a sensor signal indicating sensed surface compaction to a control mounted on the compactor machine, includes a sensor for sensing compaction and providing a signal indicating sensed surface compaction. The sensor is mounted on the compacting roller support of the compactor machine. The system includes a vibration-to-electric energy converter, mounted with the sensor on the compacting roller support and subjected to vibration. The converter converts the vibration energy to electric energy which may be supplied to the sensor and to a transmitter. The transmitter is powered by the electric energy from said vibration-to-electric energy converter and transmits the sensor signal to a receiver on the machine. The receiver provides the sensor signal to a control for the machine.

Abstract: A loader and a control system for a loader provide for monitoring the position of a part of the implement carried by the loader. The loader has a body with left and right upright tower portions, and a loader drive system including ground engaging drive elements. Left and right interconnected lift arm assemblies each have an implement lift arm pivotally connected with a corresponding tower portion of the body at a lift arm pivot point. A lift actuator is connected between the body and the lift arm. The implement is pivotally connected with the lift arm assemblies about an implement pivot axis. The lift arm pivot point and the implement pivot axis in side elevation define a straight reference line. At least one implement tilt actuator is connected between at least one of the lift arm assemblies and the implement. A position sensor is mounted on the body at the level of, or above, the lift arm pivot points.

Abstract: A control is provided for a machine that applies a material to a subgrade and pulls a floating screed over the top surface of the material behind the machine. The floating screed is attached to the machine by at least one tow arm at a tow point on the tow arm. The vertical height of the tow point is controlled by a hydraulic cylinder on the machine in response to a valve control signal applied to a hydraulic valve. The screed determines the thickness of the material on the subgrade as it is manipulated by adjusting the height of the tow point such that the top surface of the material follows a reference surface. A first sensor is mounted on the machine, adjacent the front of the machine, for sensing the relative height of the reference surface and providing a first sensor output related thereto. A second sensor for senses the height of the tow point relative to the machine and provides a second sensor output related thereto.

Abstract: A method of calibrating an electrically actuated hydraulic valve in a system that controls the flow of hydraulic fluid to a hydraulic cylinder connected to a machine element operates automatically. The system includes an ultrasonic sensor providing an indication of the position of the machine element. The calibration method includes the step of automatically applying a command signal to the hydraulic valve while monitoring the ultrasonic sensor to determine the level of the command signal required to cause the hydraulic cylinder to begin to move. The calibration method includes the additional step of automatically applying in succession a plurality of command signals of increasing level to the hydraulic valve while monitoring the ultrasonic sensor to determine the speed of movement of the hydraulic cylinder resulting from each of the command signals.