Abstract: A tilling apparatus and a method of tilling soils which includes the use of a rotational shaft having a number of cutter assemblies located at spaced apart locations on the shaft in which each cutter assembly has a multitude of blades which rotate as the rotary shaft rotates to form a plurality of spaced apart trenches having the same spacing as the spacing of the cutters, and a width caused by the width of the blades. As the blades dig the trench, the soil contacted by the blades is granulated and is tossed about by the spinning blades so that some soil falls back into the trench and some falls along the periphery of the trench to form rows of aerated granules which promote enhanced growth of plants or seeds in the trench and along the edge of the trench to improve the yield of pasture having the trenches. Various attachments can be provided on the tilling apparatus, either in front of or towards the rear of the spinning blades for different purposes, such as rippers, seeders, levellers, or similar.

Abstract: A discharge device includes a plurality of material conveying components, an adjustable shear ledge, and an adjustable shroud to convey materials from a container of a material spreader out onto an open area. The adjustable shear ledge includes at least one longitudinal mounting member such that the adjustable shear ledge may be translated towards or away from the plurality of material conveying components to maintain a predetermined gap distance. The adjustable shroud may also be pivotably connected to the adjustable shear ledge such that the adjustable shroud can be pivoted towards or away from the plurality of material conveying components. The adjustable shear ledge and the adjustable shroud may be moved accordingly to maintain a preferred gap distance and to maintain concentricity with a swing of the material conveying components in order to reduce wear on components and promote spread performance of the material spreader.

Abstract: A sapling reducing implement for reducing a sapling generally includes a drum, a plurality of reducing elements, a plurality of shields, and a pair of skids. The drum is configured to be rotatably driven and to carry the reducing elements thereon. The shields at least partially surround the drum and reducing elements. The reducing elements are configured to extend within an inch of the ground during a downward portion of the drum's rotational cycle. The shields define, at least in part, a tree entrance opening to receive the sapling. The ground skids are respectively attached to the side shields and can engage the ground during travel.

Abstract: A discharge device includes a plurality of material conveying components, an adjustable shear ledge, and an adjustable shroud to convey materials from a container of a material spreader out onto an open area. The adjustable shear ledge includes at least one longitudinal mounting member such that the adjustable shear ledge may be translated towards or away from the plurality of material conveying components to maintain a predetermined gap distance. The adjustable shroud may also be pivotably connected to the adjustable shear ledge such that the adjustable shroud can be pivoted towards or away from the plurality of material conveying components. The adjustable shear ledge and the adjustable shroud may be moved accordingly to maintain a preferred gap distance and to maintain concentricity with a swing of the material conveying components in order to reduce wear on components and promote spread performance of the material spreader.

Abstract: There is a need to predict a driving environment with high responsiveness by a simple configuration. There is provided a driving environment prediction device that predicts a driving environment of a vehicle that causes a vehicle stop. The driving environment prediction device comprises: a first vehicle stop time rate calculator which is configured to calculate a rate of vehicle stop time in a first period, as a first vehicle stop time rate (shorter-period vehicle stop time rate); a second vehicle stop time rate calculator which is configured to calculate a rate of vehicle stop time in a second period which is longer than the first period, as a second vehicle stop time rate (longer-period vehicle stop time rate); and a driving environment predictor which is configured to predict the driving environment, based on the shorter-period vehicle stop time rate and the longer-period vehicle stop time rate.

Abstract: A method of selectively eradicating plants includes generating images of multiple plants arranged in a bed using a camera mounted to a mobile chassis moving along the bed, determining respective locations of the multiple plants from the generated images, selecting from among the multiple plants one or more target plants to be eradicated, and eradicating the one or more target plants by accelerating a blade of a rotary cutter to strike the one or more target plants as the mobile chassis moves along the bed, and to decelerate the blade to avoid eradicating unselected plants as the mobile chassis moves along the bed, wherein the rotary cutter is carried by the mobile chassis and rotatable about an axis extending in the direction along which the mobile chassis is moved.

Abstract: A trailer includes a chassis having a hitch, an axle having a pair of tractive elements rotatably coupled to the chassis, an actuator coupled to the chassis and positioned to steer the pair of tractive elements, and a processing circuit. The processing circuit has an input for receiving a transmission gear of a tractor vehicle and a variable output for engaging the actuator. The processing circuit is configured to control the steering of the pair of tractive elements according to a control strategy that varies based on the transmission gear of the tractor vehicle.

Abstract: A residue clearing apparatus for a shank of an agricultural implement includes a spoked wheel adapted for attachment to the implement such that the spoked wheel rotates about a wheel axis oriented substantially horizontal and perpendicular to an operating travel direction of the implement and forward of the shank. A drive is operative to rotate the spoked wheel. The spoked wheel is oriented such that ends of spokes of the spoked wheel pass above the ground forward of the shank, and such that the ends of the spokes of the spoked wheel pass adjacent to a front face of the shank. The spokes may be resiliently or pivotally mounted to the wheel.

Abstract: A device for removing obstructions from a work site. The device is attachable to the front of a work machine. The device comprises a frame, a flange, a rotatable cutting member supported on the flange, and a motor that rotates the cutting member. The flange is non-rotatable, but is movable along at least one length relative to the frame. The motor may be supported on the flange. The device further comprises a plurality of removably attachable blocking members for decreasing the range of travel of debris generated during operation of the cutting member. The rotatable cutting member is movable about three axes relative to the flange such that changes in conditions or temperatures do not cause the cutting member to break.

Abstract: A transition region control system has one or more sensors configured to transmit a signal representative of a speed of a work machine moving over a first surface. The transition region control system also has one or more surfacing components configured to form a second surface generally coplanar to the first surface, wherein the second surface may include a transition region generally non-coplanar to the first surface. The transition region control system further has a data input system configured to transmit data representative of the transition region to a controller. The controller may be configured to determine the speed of the work machine based on the signal received from the one or more sensors and control the operation of at least one of the one or more surfacing components to at least partially form the transition region based on the speed of the work machine and the data representative of the transition region.

Abstract: The invention concerns an apparatus comprising an arm (4) which, mounted on a support at one of its ends, comprises several elements (5, 6, 7) articulated on one another about horizontal pins (8, 9) and equipped, at its other end, with a tool-holder (15). At its free end, the arm is equipped with a rotary actuator (12) with rotation pin (12) transverse to the hinge pins (8, 9) of the elements (5, 6, 7) of the arm, and on the lower part of which is fixed a housing (15) containing a motor (16) designed to drive an output shaft (23) transverse to the rotary actuator axis and at the tip of which is mounted cantilevered a tool (33, 34). The invention is applicable to tillage on steep grounds or with marked irregular features, such as trenches.

Abstract: A grass dethatcher includes a plurality of housings fixedly mounted on a rotatably shaft, with flexible nylon filaments secured to each housing. In operation, as the shaft is rotated, the centrifugal force extends each flexible nylon filament generally perpendicular to the horizontal shaft, and with the filaments in a radially disposed position to effect dethatching of the lawn.

Abstract: Tool for soil cultivating machine, such as a weeding machine, hoeing machine, and vineyard plow, includes a rotor on which interchangeable tools are mounted. The tool comprises a fixing end located in an upper space zone, this end being arranged or configured so that it can be mounted with freedom of pivoting. The tool includes a connecting portion located in an intermediate space zone, the intermediate portion extending downwardly from the fixing end, and an active portion located in a lower space zone. The soil cultivating machine includes a rotor rotating about a vertical or substantially vertical axis and is provided, at its periphery, with interchangeable tools, wherein the rotor is arranged so as to enable the tools to be mounted with freedom of pivoting during operation.

Abstract: An ergonomic hand control is disclosed. The hand control includes a joystick that is moveable along a plurality of axes and movement of the joystick along any of the axes transmits an electronic input signal to an electronic control computer for controlling a plurality of motor grader functions. A second end of the joystick includes a finger rest and a series of ledges that are separated from each other by a riser. Mounted on each ledge is a switch. Movement of the switches along any of a plurality of axes is used to control one of a number of motor grader functions through the electronic control computer. The design of the hand control permits an operator to properly position a hand on the hand control without requiring the operator to look at the hand control.

Abstract: Ground clearing apparatus (10) and a method for transporting the apparatus are provided. The ground clearing apparatus (10) includes a plurality of ground clearing tools (20) attached to a rotating shaft (18). The ground clearing tools include a chain (22) having a plurality of links and a hammer (24) attached to one end of the chain (22). The rotation of the shaft (18) causes the hammer (24) to strike objects in its path and generally mill the ground surface.

Abstract: An apparatus and method for controlling the clamping forces on an object being held between a bucket and a thumb of a work machine is disclosed. The apparatus and method controls the head and rod end pressures of the bucket and thumb hydraulic cylinders to substantially maintain a desired clamping pressure on the gripped object, thereby providing at a touch of a switch, a work machine that can be controlled as the thumb and forefinger combination of the human hand which gives a "wristlike" action to the bucket thumb combination.

Abstract: In the field of agricultural tractor and implement combinations, there have been numerous attempts at improving the efficiency of isolated sub-systems such as the engine, the implement control and the transmission. Such sub-systems have individually successfully been automated, but previous attempts to automate the entire control of a tractor during eg. plowing operations have previously failed. Accordingly, a control apparatus has been provided for a tractor/implement combination to include a control apparatus comprising a plurality of microprocessors. The microprocessors are arranged in a hierarchical control strategy that includes a steady state reference model of various performance parameters of the tractor/implement combination.

Abstract: A computer-aided farming system having a first control system which receives data defining a plurality of parameters. The first control system responsively determines a plurality of nodes located at an agricultural field, and determines a condition status associated with each node. The system also has a second control system located on an agricultural machine which receives data defining the nodes and the condition status at each node. The second control system then plans a path as a function of the nodes, and determines a desired work operation relative to each node. A machine controller controls the agricultural machine to perform the desired work operation at each node.

Abstract: A system and method for automatically moving the blade of a motor grader from a present blade position to a mirror image position. The method includes the steps of: providing an electronic controller, blade controls having position sensors, and an input switch; obtaining information from the position sensors indicating the position of the blade controls; determining the present blade position; receiving an input signal from the input switch requesting a mirror image position; calculating the mirror image position of the present blade position; and producing a control signal for actuating the blade controls to move the blade from the present blade position to the mirror image position.

Abstract: An electronic control device for management of the steering in earth-moving machines, essentially comprises a programmable logic electronic control unit (1) which is arranged as an interface between a pushbutton console (2) for setting a steering mode and an input diagnostics system (3) associated with the functions of the gearcase and the engine and with positioning of the wheels of the machine. The setting of a steering mode on the pushbutton console (2) is made possible by simultaneous selection of at least two switches (50). The input diagnostics system (3) of the electronic control unit (1) comprises a front wheel alignment sensor (28) and a rear wheel alignment sensor (29) which are respectively positioned in the region of the front and rear axles of the earth-moving machine and are designed to detect respectively the alignment position of the front and rear wheels with respect to the longitudinal axis of the machine itself.

Abstract: A blade control system is configured to control the spatial orientation of an earthmoving blade mounted on a frame of an earthmoving machine for working a surface of earth to a desired shape. The blade slope angle required to maintain a selected cross-slope angle is calculated and the blade slope is then controlled so that the sensed blade slope angle is substantially equal to the calculated blade slope angle. The method and apparatus of the present invention is capable of maintaining the desired cross-slope even when the motorgrader is steered through a turn. The control system includes an input circuit, a sensor system and a processor. The input circuit is arranged to generate an output signal representative of the desired shape of the surface of earth to be worked. The sensor system includes a first sensor coupled to the frame of the earthmoving machine to generate a first signal indicative of a longitudinal slope angle of the frame with respect to horizontal.

Abstract: An apparatus and method is disclosed for wireless remote control of an output element coupled to a work vehicle. The output element performs work external to the vehicle and is actuated by an actuator controlled by an output controller in response to at least a remote control signal. The apparatus includes a wireless remote transmitter movable with respect to the vehicle and a wireless receiver supported by the vehicle. The transmitter has an actuatable input device for generating a command signal, a transmitter antenna, and a transmitter control circuit which receives the command signal from the input device, generates the remote control signal in response to the command signal, and applies the remote control signal to the transmitter antenna for wireless transmission to the work vehicle.

Abstract: A method and apparatus for accurately positioning a tool on a mobile machine are provided. The machine is equipped with a satellite positioning system (SPS) receiver, a robotic total station with an integrated scanning laser and a storage facility storing a digital terrain model (DTM) of a work area. The machine operates within the work area and a number of stationary reflectors are positioned at various locations about the work area. The SPS receiver determines the current location of the machine. A system controller then references the DTM to determine the closest stationary reflector to the current location of the machine. Location data of the closest reflector is then provided to the robotic total station, which locates the closest reflector. The scanning laser then locks on to the reflector and the system controller determines the angle between the laser and the reflector.

Abstract: A bottom cultivating machine including a laser emitter for emitting a plane signal of a laser beam, a laser detector which is secured to a frame and detects the plane signal to output an attitude control signal, a horizontal detector having a horizontal sensor which is secured to the frame and serves to detect the level of the front end portion of the bottom cultivating machine in a cultivation progress direction, and a controller for controlling the height of the bottom cultivating machine on the basis of the attitude control signal and controlling the attitude of the bottom cultivating machine on the basis of a signal output from the horizontal sensor by upwardly or downwardly moving a gage wheel or a heel which is provided at the rear portion of the bottom cultivating machine.

Abstract: In one embodiment of the present invention, an apparatus and method for determining a path or series of paths at a work site for a mobile machine capable of operating autonomously or semi-autonomously is provided. The present invention determines a series of rows that are substantially parallel to the machine's heading. The width of the rows is based on the width of the path worked by one or more of the machine's work implements. The work site is bounded by three or more corner points and the perimeter of the work site is defined by boundary lines connecting the corner points. A first line substantially perpendicular to the machine's heading is calculated starting at an initial corner point and ending at a terminal point along the line having a distance approximately equal to the width of the path. A second line parallel to the machine's heading and passing through the terminal point is determined.

Abstract: A cross slope level/torsion control for mobile machines is disclosed. At least two crawler tracks or four wheels or rail bogies are provided for transporting and elevating the frame with at least one crawler track or two wheels or rail bogies on a reference side of the mobile machine and at least one crawler track or two wheels or rail bogies on cross slope side of the mobile machine. At least four jacking points having variable vertical extension are placed between the crawler tracks, wheels or rail bogies and frame with two jacking points being on the reference side of the mobile machine and two jacking points being on the cross slope side of the mobile machine. The reference side of the mobile machine tracks a reference in elevation and adapts a desired reference attitude. An attitude sensor on the reference side of the mobile machine measures the actual attitude of the reference side relative to gravity.

Abstract: An arrangement for controlling at least one adjusting element of a work vehicle has a control unit electrically connectable with adjusting elements, at least one operating element electrically connected with the control unit and operative for actuating a control function processed in the control unit, the control unit being provided with a structure which, in dependence on a sequence provided by an operator, supply adjusting functions as adjusting signals to the corresponding adjusting elements.

Abstract: In one embodiment of the present invention, a motion planning algorithm is used to control an autonomous machine. The motion planning algorithm consists of a template or script which captures the general trends of the motion, while parameters in the script are filled in with the kinematic details for a specific machine and set of movements. A learning algorithm computes the script parameters by using feedback of how the machine performed during the preceding cycle with the current parameter set, and adjusting the parameters to improve the machine's performance during succeeding work cycles. The new parameters are evaluated by the learning algorithm using a predictive function approximator to test various performance criteria such as the time required to perform a task and the accuracy with which the task was performed.

Abstract: A slope excavation control system for a hydraulic excavator and a slope excavation method using a hydraulic excavator include an external reference 80 which extends horizontally in the direction of advance of a target slope face. A vertical distance hry and a horizontal distance hrx from the external reference to a reference point on a target slope face, and an angle of the target slope face are set by using a setting device. When a front reference provided at a bucket end is aligned with the external reference and an external reference setting switch is depressed, a control unit calculates a vertical distance hfy and a horizontal distance hfx from a body center of the excavator to the external reference, then calculates a vertical distance hsy and a horizontal distance hsx from the body center to the reference point of the target slope face by using the distances hsy and hsx as modification values.

Abstract: A site database structure for storing elevation data for access by an application program being executed on a control system on a work machine. The data is stored in a Triangular Irregular Network (TIN). The elevation of a point on the work site based on the three points forming the triangle containing the point.

Abstract: A device for stabilizing mast tilting angle of a cargo equipment with a tilt-cylinder for controlling the angle of the mast; a main valve for driving said tilt-cylinder according to the operation of the driver as to the direction of the hydraulic fluid; and a plurality of solenoid valve, selectively opening fluid passages in response to electric signals, and deciding the supply direction of the hydraulic fluid to drive said tilt-cylinder. The tilt-cylinder controls the mast angle through the supply of the hydraulic fluid.

Abstract: The present invention provides a construction equipment control system, comprising a rotary laser irradiating system for forming a laser beam reference plane by the laser beam and capable to tilt the laser beam reference plane, a level sensor installed on a ground leveling tool of construction equipment and for performing photodetection of the laser beam to give instruction on a height of the ground leveling tool, a GPS receiving system for detecting a position of the construction equipment, and a control device for controlling a gradient of the laser beam reference plane formed by the rotary laser irradiating system based on the detection result of the position of the construction equipment by the GPS receiving system, whereby ground leveling operation for a horizontal surface, an inclined surface and a curved surface can be performed by measuring the position of the construction equipment at real time and by controlling the height of the ground leveling tool based on working data.

Abstract: An electrohydraulic control system for loading a bucket of an earthmoving machine includes sensors for sensing when the machine is crowding a pile of material to be loaded. A command signal generator monitors the sensed "crowd" parameters to trigger one of a learning or playback mode for hydraulic cylinder command signals when the parameter indicates pile contact.

Abstract: A system or method for controlling the position of an implement coupled to a work vehicle. The implement is moveable by a hydraulic positioning assembly including an actuator and a valve assembly which control the flow of fluid to the actuator in response to control signals. The valve assembly includes raise and lower valves, each valve requiring a control signal equal to a threshold value before the valve opens and fluid begins to flow. The system includes a sensor to detect the position of the implement and a control circuit. In response to a change in a position command, the control circuit applies a control signal to the appropriate raise or lower valve based upon the respective threshold value. The control signal may include a component for moving the implement at a desired rate of movement. After undesirable implement movement is detected, the control circuit modifies the threshold value.

Abstract: A method for determining the front and rear axle weights of an earth moving machine. The method includes determining the weight of a portion of the earth moving machine, and the forces acting on the lift cylinder pin, lift arm pin, and the tilt cylinder pin. The axle weights are determined in response to the above mentioned weights and forces.

Abstract: An apparatus and method for rotatably positioning a machine housing is disclosed. A pump produces pressurized fluid to a motor that responsively rotates the machine housing. A control valve regulates fluid flow from the pump to the motor. A position sensor detects the rotational position of the housing and responsively produces an actual position signal. A device produces a signal indicative of a desired rotational position of the housing. A controller compares the desired and actual position signals, responsively produces an error signal, multiplies the error signal by a variable gain value representative of the housing acceleration and delivers a control signal to the control valve to rotate the housing to the desired position.

Abstract: A method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model of the desired site geography, and a second digital three-dimensional model of the actual site geography are stored in a digital data storage facility. The machine is equipped with a position receiver to determine in three-dimensional space the location of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual site geography into conformity with the desired site geography.

Abstract: A control device and its method by which interference between a blade (10) of a bulldozer and a vehicle body can be prevented even when a pitch back angle of the blade (10) is made large and a tilt speed is increased to greatly change a tilt angle. Therefore, the device comprises left and right detecting means (20a, 20b, 23a, 23b) for detecting an amount of tilt of the blade (10), left and right tilt limiting valves (37, 38) connected to operating units (35a, 35b) of first and second directional control valves (35, 36), and a controller (50) outputting a command to the left and right tilt limiting valves (37, 38) so as to stop a tilting action of the blade (10) when a difference between amounts of tilt detected by the left and right detecting means (20a, 20b, 23a, 23b) reaches a predetermined limit value.

Abstract: An improved accuracy is ensured for the calculation of the travel distance of a bulldozer by obtaining the accurate vehicle speed and travel direction of the bulldozer. To this end, arrangement is made such that a check is made to determine whether actual tractive force F exerted on the blade exceeds a predetermined shoe slip threshold value F.sub.0 ; switching between vehicle speed detectors (between a Doppler sensor and Sprocket rotating speed detector) is made according to the determination so that suitable one of the vehicle speed detectors detects the vehicle speed of the bulldozer; and the vehicle speed detected by the selected vehicle speed detector is integrated, whereby the travel distance of the bulldozer is calculated.

Abstract: A hitching system for a tractor or similar vehicle which includes a parallelogram of four rigid members rotatably connected together at the ends of each of the members and in which the members are arranged to provide at least one member which is positioned vertically and moves essentially in the vertical direction despite variations in the surface of the terrain and the height to which the movable vertically positioned member is adjusted. This movable, vertically positioned member is connected to a blade, such as a box blade, to cause the blade to be held with its lower surface generally parallel to the desired final grade of the terrain. The blade is adjusted in the vertical direction as necessary to level the surface of the terrain by a hydraulic cylinder. A laser guidance system is included in a preferred embodiment to control this hydraulic cylinder and the height of the blade with respect to the terrain.

Abstract: A system and method for monitoring the position of a motor grader blade relative to a motor grader frame. The method includes the steps of: providing an electronic controller, blade controls having position sensors, and frame controls having position sensors; monitoring the output of the position sensors to ascertain the position of the blade controls and the frame controls; receiving an input signal requesting a repositioning of the blade or the frame; determining the present blade position and the present frame position; calculating a future blade position and a future frame position based on the repositioning request; predicting an intersection of the future blade position and the future frame position; and producing an action to prevent the intersection of the future blade position and the future frame position.

Abstract: A sectional rate control unit for an agricultural implement is disclosed herein. The sectional rate control unit is preferably used with a planting system including a planting implement coupled to a work vehicle. The implement includes a frame having at least one section supporting multiple row units which are configured to apply a product (e.g., seed, fertilizer, insecticide, herbicide) to the rows in a field. Each section includes a product delivery apparatus having a target delivery rate controlled by a section application control signal and at least one product channel for delivering an amount of the product to each of the row units. The control unit includes an electronic product sensor coupled to each of the sections and the product channel. The product sensor is configured to generate a product rate signal representative of the amount of the product delivered to the row units. An electronic display located in the cab is configured to generate an image in response to a display signal.

Abstract: A control apparatus for a hydraulic excavator is capable of carrying out precise operations according to various kinds of classifications of works without requiring switching operations by an operator and management according to work records. The apparatus includes a classification of work discriminating section for recognizing a classification of work being carried out by the hydraulic excavator on the basis of data detected by sensors for detecting an operating amount of a lever for a boom and the like; sections for setting an operating mode of hydraulic pumps absorbing horse power and the like, according to the classification of work recognized; a hydraulic pump control section for controlling the hydraulic pumps according to the set operating mode; and an auto acceleration control section for making effective or invalid the auto acceleration control for controlling speed of an engine to a low speed when work stops.

Abstract: Smooth, effective dumping is achieved by automating. A switching point, at which a carrying mode is switched to a dumping mode during automatic driving in a dozing operation, is set beforehand. A dumping attitude of the blade is also preset for a desired traveling distance of the bulldozer from the switching point to a dumping point. The actual traveling distance of the bulldozer from the switching point is detected, based on which the blade is controlled so as to take the preset attitude.

Abstract: A method for monitoring a vehicle tool including inputting tool data indicative of the location of the vehicle tool to a data processor, inputting data to the data processor on a topography model in which the vehicle tool is to operate, operating the data processing to compare the vehicle tool location with the model, outputting from the data processor to a visual display, data indicative of the difference in location between the vehicle tool and an adjacent surface of the model, displaying on the visual display an image of the topography model, a representation of the location of the vehicle tool and a representation of the distance of the vehicle tool to the adjacent surface of the model.

Abstract: An infinitely adjustable position sensor is provided. The position sensor can be used as a head position switch which generates an output indicative of a position of a harvesting head of a harvesting vehicle, or in similar applications with other types of equipment. The sensor includes a body attachment mechanism for coupling the sensor to the body of the vehicle or other equipment, and a head attachment mechanism for coupling the sensor to the feeder house which supports the harvesting head. For adjustment of the sensor, particularly prior to operation, visual feedback is provided by an LED ring in order to inform the operator of the state or position of the sensor.

Abstract: A traveling construction apparatus includes a flame having first and second ground engaging traveling gears connected to the frame and spaced apart in a direction of travel. A traveling gear height adjuster is connected between the frame and the first traveling gear. A plurality of height sensors are provided for measuring a height above the ground without engaging the ground. A height controller system is provided for actuating the traveling gear height adjuster in response to input signals from the sensors. A floating boom is connected to the frame and has the sensors mounted on the boom. The boom displaces each of the sensors a substantially equal distance relative to the ground in response to an extension or contraction of the traveling gear height adjuster.

Abstract: An electrohydraulic control system for loading a bucket of a work machine includes sensors for producing signals representative of bucket position and forces. A command signal generator receives the signals and calculates a target angle on the basis of accumulated energy, and a force vector angle representing actual forces produced at an reference point on the bucket. Lift and tilt command signals are modified in response to differences between the target and actual angles, and used to controllably extend the lift cylinder to raise the bucket through the material, while racking the bucket at rates calculated to efficiently capture the material.

Abstract: An electrohydraulic control system for loading a bucket of an earthmoving machine includes sensors for producing machine parameter signals representative of how strongly the machine is crowding the pile of material to be loaded. A command signal generator monitors crowd factors corresponding to the sensed parameters to determine when the bucket contacts the pile, then generates bucket lift hydraulic cylinder command signals to maintain a traction force. The command signal generator next determines from the crowd factors when the pile is engaged near the machine capacity, then generates bucket tilt hydraulic cylinder command signals in proportion to the monitored crowd factors to rack the bucket at rates calculated to efficiently capture the material.

Abstract: An integrated earth contouring system uses a postioning system such as a GPS system to track the location of an earthmover on a work site. A display device visible to a driver of the earthmover displays a difference between an existing surface contour and a desired surface contour of the work site. The display device may show a three-dimensional image which rotates or a two-dimensional image having a cursor which rotates to represent the earthmover. A blade sensor tracks the position of the earthmover blade, and the display is updated to show changes in the existing surface contour when the earthmover is moved on the site with the blade height between the height of the existing surface and the height of the desired surface. An orientation sensor on board the earthmover provides the microprocessor with the orientation of the earthmover, and a memory unit is provided to allow storage and retrieval of surface data by the microprocessor.