Abstract: A farming system which identifies the boundaries of agricultural fields and performs functions based upon whether a vehicle is located within a particular field is disclosed. The system includes a location signal generation circuit which receives positioning signals and generates location signals representative of the location of the vehicle. The system further includes a memory circuit which stores geo-referenced digital maps of the fields and may include boundary data or application maps for each field. The system further includes a control circuit which compares the location signals to the data stored in the memory circuit to determine when the vehicle is located in a particular field. In one embodiment, the control circuit selects a variable-rate application map for the particular field and generates variable-rate control signals from the map data which are applied to a variable-rate applicator.

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: A method and system to determine the relationship between a laser plane and an external coordinate system using a mobile machine with a work implement is provided. The laser plane is intersected at three points by a laser receiver installed on a mast attached to the work implement. A position determining antenna located a known distance on the mast from the laser receiver is used to determine external coordinates at the position determining antenna point. An equation for the laser plane in external coordinate terms is determined based on the three external position coordinates and the known distance between the external coordinate system plane and the laser plane.

Abstract: A multi-product applicating system, seed planting system and control are provided for the dispensing of liquid or granular products in pre-selected amounts and planting seeds at pre-selected depths and frequencies. Three or more separate products can be dispensed simultaneously and constant control and monitoring of all products is provided for at the control console. Seed planting depth can also be continuously monitored. The present invention further provides a grid recipe system for creating a recipe which defines the amounts of each type of product to be applied to specific areas of the field and/or which defines a seed planting depths and frequencies for specific areas of the field. The grid recipe system utilizes the GPS and a data card having the recipe and/or seed depth/frequency stored thereon for controlling a computer which communicates with the control console of the present invention. The recipe and/or depth/frequency grid is created by the farmer based on personal knowledge and experience.

Abstract: A method for determining a series of work cycles for an earthmoving machine is disclosed. The method includes the steps of determining a plurality of parameters, modeling a volume of material to be moved, planning a series of work cycles to move the volume of material, and determining a level of productivity of the series of work cycles. The method also includes the steps of repeating the above steps a predetermined number of times and choosing an optimal series of work cycles to move the volume of material.

Abstract: A locus control system of hydraulic excavators whereby a target locus for a front device is set beforehand. A control unit calculates a position and posture of the front device based on signals from angle sensors, and calculates a target speed vector of the front device based on signals from control lever devices. Through this calculation process, the control unit maintains the target speed vector as it is when the front device is not near the target locus, and modifies the target speed vector to a vector pointing to a second point on the target locus advanced in the excavating direction by a second distance from a first point located on the target locus at a minimum distance from a tip of the front device, when the front device is near the target locus.

Abstract: The present invention provides a method for selecting a steering method for an earthmoving machine having a blade and first and second tracks. One embodiment of the present invention includes selecting a steering method based on the position error of the machine. In another embodiment of the present invention the steering method is selected based on the elevation of the work implement, and the position error.

Abstract: A method and apparatus for controlling an earthworking implement on an earthworking machine to preserve a crown on the surface of a road, including determining the position of the crown on the road surface, choosing a sloped grade on one side of the crown, positioning the earthworking implement on the sloped grade so that a first end of the earthworking implement is on the road surface. The processor determines a desired position of a second end of the earthworking implement so that the second end overlaps the crown and the earthworking implement does not cut the crown.

Abstract: A universal modular control system for controlling a mobile material distribution apparatus is disclosed. The universal modular control system is adaptable for use with any of a plurality of distribution apparatus. It includes a control module for controlling the distribution apparatus and a user console for communicating with a user. The control module and user console are coupled via a data link.

Abstract: A system for reducing oscillations of an implement carried by a vehicle in a lifted position during travel. The implement is coupled to an implement positioning system including an actuator for raising and lowering the implement in response to a control signal. The system includes at least one load sensor for sensing implement load, a position sensor for sensing implement position, and a control circuit configured to generate a control signal to the actuator in a first manner based at least upon implement position and in a second manner based at least upon implement load. The control circuit transitions from the first manner of operation to the second manner of operation upon detecting oscillations of the implement beyond a predetermined magnitude.

Abstract: A dozing system for use in a bulldozer, which is capable of performing an automatic dozing operation, according to working conditions and soil properties in the field. In this system, data on the relationships of the actual traveling distance of the bulldozer with actual tractive force exerted on the blade, with the position of the cutting edge of the blade relative to the ground, with the ratio of the amount of excavated soil loaded on the front surface of the blade to the loading capacity of the front surface of the blade, and with the pitch angle of the blade are stored, and based on the stored data, the blade is controlled so as to assume the desired position.

Abstract: A method is disclosed for controllably loading a haul vehicle 110, with a payload material 115 desired by a customer, using a mobile loading machine 120. An identification tag 135, located on the haul vehicle 110, is read by an identification tag reader 140, located on the mobile loading machine 120. A haul vehicle identification signal is produced from the reading, and compared to customer data files 125. A load command signal, containing selected information from the customer data file 125 that corresponds with the haul vehicle identification signal, is produced.

Abstract: A ground leveling control system for a bulldozer, comprising: (a) a cutting edge position detector for detecting a position of a cutting edge of a blade with respect to the ground; and (b) a blade controller for controlling the blade to be lifted or lowered such that the cutting edge position of the blade detected by the cutting edge position detector is kept coincident with a preset target cutting edge position.

Abstract: A dozing system for use in a bulldozer, having the capability of estimating a loading ratio (the ratio of soil loaded on the blade to the loading capacity of the blade) with high accuracy so that a mode shift from digging to carrying can be stably performed. Data pieces each representing the digging distance of the bulldozer and the associated loading ratio are obtained from n previous dozing operations and stored. The average of the stored data pieces obtained from n operations is calculated and according to the average, data representative of a digging distance and its associated loading ratio obtained from the present dozing operation is compensated.

Abstract: The invention relates to apparatus for monitoring the depth of a layer of a filter media such as sand in a filter such as a slow sand filter, comprising a leveller, in the embodiment a box leveller with a trailing smoothing device, wheel or roller, adapted to level the surface of the layer of sand and a laser device mounted on a mount which is movable substantially vertically and has a calibration means in the form of a visual calibration scale whereby to determine depth of filter media.

Abstract: A control system for engaging, disengaging and re-engaging a front wheel drive in an agricultural vehicle includes a control circuit configured to receive signals representative of vehicle operating parameters and to generate control signals corresponding to the desired state (i.e. engaged or disengaged) of a front wheel drive engagement circuit. Sensors are associated with the rear wheels, rear service brakes, implement positioning circuit, the vehicle body and the front axle to provide parameter signals related to wheel speed, braking, implement position and vehicle speed. Control logic executed by the control circuit in a continuously cycled routine determines the desired state of the engagement circuit based upon all operating parameters. The control circuit applies an appropriate control signal to the engagement circuit causing engagement or disengagement in accordance with the desired state.

Abstract: A control system is disclosed that controls the position of a grading implement of a construction machine according to a site plan. The control system has three basic components: a stationary tracking station, a computer connected to the tracking station, and an implement controller attached to the construction machine. The tracking station measures a distance and an azimuth (horizontal) angle to a remote target located on the construction machine and communicates that position information to the computer. The computer consults a stored site plan to determine what elevation is desired at that position and calculates a corresponding zenith (vertical) angle, and communicates the desired zenith angle to the tracking station. The tracking station in turn positions a zenith-reference laser beam at the desired zenith angle. The implement controller senses the zenith-reference laser beam and adjusts the grading implement relative to the zenith-reference laser beam until its desired position is obtained.

Abstract: A control system regulated the tilt of an implement of an earlier working machine. Fluid operated lift and tilt cylinders are connected to the implement. Hydraulic control valves deliver pressurized hydraulic fluid to the lift and tilt cylinders. A control lever produces an implement tilt command signal in response to position of the control lever. A controller receives the implement tilt command signal and responsively delivers an implement tilt control signal to the hydraulic valves to cause pressurized fluid flow to actuate at least one of the lift and tilt cylinders to tilt the implement. First and second displacement sensors produce first and second position signals indicative of the extension of the respective lift cylinders.

Abstract: A system and method for automatically controlling the position of a work implement movably connected to a work machine and maintaining the work implement at a preselected slope of cut relative to a geographic surface is provided. The system has first and second receiving devices mounted on the work implement for receiving position signals from a plurality of remote locations. A processor determines the actual slope of cut of the work implement based on the received position signals. An implement controller delivers an implement control signal in response to a difference between the actual and a preselected desired slope of cut of the work implement. An implement control system elevationally changes the slope of cut of the work implement at an automatic mode of operation of the system. The system is particularly suited for use on a geographic surface altering work machine.

Abstract: A conservation tillage implement including a shredder with a transverse rotor hood structure having one-piece end panels which are welded to each side of the hood and project rearwardly of the hood to receive a toolbar which extends the width of the implement. The center of the toolbar is connected to a pair of parallel upright central panels which are connected to the central rear portion of the hood. A reinforcing member extends from the central rear portion between the central panels around the top of the hood adjacent the hitch structure which connects the implement to a tractor. The end and central panels and reinforced hood structure define a compact, unobtrusive frame which is sturdy enough to pull heavy drawbar loads and resist heavy torque loading. In one embodiment of the invention, the toolbar supports a plurality of transversely adjustable deep tillage tools such as rippers, and disk structure is connected by adjustable bracket structure to the toolbar behind the rippers.

Abstract: The present invention provides a method for updating a site database. The site database models the elevation of a work site using a Triangular Irregular Network (TIN). The TIN is composed of a plurality of points. Each point has associated known X and Y coordinates and a known elevation and is associated with a set of other points in the network to form triangles. The work site is modified by a work machine. The method includes the steps of receiving a new set of points. The new set of points includes at least first and second points. The first and second points have associated X, Y, and Z coordinates. The method also includes the steps of comparing the new set of points with a previous set of points and updating the triangular irregular network with the new set of points if a minimum distance has been traversed by the work machine.

Abstract: The locating device for an agricultural machine controlled by an automatic steering system includes a first locating device component (OV1) directed at a first portion of a field on which agricultural material is not present, but adjacent an edge (GK) of the agricultural material and producing a first locating signal (OS1), a second locating device component (OV2) directed at a second portion of the field containing the material and adjacent, but not including, the edge of it and producing a second locating signal (OS2), a third locating device component (OV3) directed at a third portion of the field including the edge of the material and producing a third locating signal (OS3), a device for transmitting the first, second and third locating signals (OS1, OS2, OS3) to a regulating device (ST) for generating at least one hydraulic steering signal (SHL,SHR) from a standardized locating signal (NOS) to control the steerable wheels (HR) according to a predetermined locating criterion and a device for generating th

Abstract: A power attachment is attachable to a power machine which has a power circuit. The power machine also includes an operator input device receiving an operator input and providing an output signal indicative of the operator input. The attachment includes a tool and an actuator, coupled to the tool, to drive the tool. The actuator is also connectable to the power circuit of the power machine. A controller is operably coupled to the actuator and is operably coupleable to the operator input device. The controller controls operation of the tool based on an operator input signal provided by the operator input device.

Abstract: A linear excavation control apparatus for a hydraulic power shovel has a laser oscillator installed on the surface of a target area of excavation, a laser beam receiving unit mounted upon a vehicle body of the hydraulic power shovel and a controller for controlling an attitude of excavation by a bucket. The inclination of the laser beam receiving unit and the attitude of excavation of the bucket can be adjusted.

Abstract: A control system of an excavator. The excavator includes a lower running body, an upper pivoting body, a working device having a plurality of links attached to the upper pivoting body, a pivoting device, and a running device, actuators for actuating the working device, the pivoting device, and the running device, hydraulic control valves for controlling quantities of hydraulic fluid supplied to the actuators, sensors for detecting relative angular positions of the links, and a control system.

Abstract: A running slip control system for a bulldozer, comprising: (a) a running slip detector for detecting the running slip of a vehicle body; and (b) a blade controller for lifting a blade to eliminate the running slip when the running slip detector detects the occurrence of running slip.

Abstract: A system for controlling the cutting operation of a hydraulic backhoe having a bucket pivotally joined to one end of an arm, the other end of which is pivotally joined to one end of a boom having another end pivotally supported on a self propelled vehicle. Hydraulic jacks are provided for pivoting the boom relative to the vehicle, the arm relative to the boom, and the bucket relative to the arm. During each cutting operation the actual bucket speed relative to the arm and the actual arm speed relative to the boom are sensed and referred to a set of fuzzy control rules for obtaining command values for controlling the boom, arm and bucket jacks. The fuzzy control rules are so determined and utilized as to enable the machine to automatically take a cut in a manner suiting the hardness or other characteristics of the soil.

Abstract: A blade control system for a bulldozer, comprising: (a) a pitch angle detector for detecting a pitch angle of a vehicle body when the vehicle body inclines back and forth; (b) an actual tractive force detector for detecting an actual tractive force of the vehicle body; and (c) a controller for correcting the actual tractive force detected by the actual tractive force detector according to the pitch angle detected by the pitch angle detector and for controlling the blade to be lifted or lowered such that the corrected actual tractive force becomes equal to a target tractive force.

Abstract: A depth measuring apparatus for an excavator which includes an inclination sensor assembly mounted along the pivot axis between the stick arm boom and the bucket, a depth sensor mounted along the same pivot axis as well as a laser receiver for receiving a radiation establishing a reference level mounted coaxially with the pivot axis between the stick arm boom and the bucket such that after the reference level has been established, and the laser receiver is impinged by radiation each time it passes through the reference level, thereby zeroing out the measuring apparatus, the actual depth of a trench may be measured with respect to the reference level by considering the inclination of the bucket as well as the depth displayed by the depth sensor when the bucket is lowered into the trench.

Abstract: Excavating apparatus includes a vehicle having excavating means in the form of a pivotal cutting boom pivotably mounted by way of mounting means on the vehicle. The cutting boom has an endless cutting clain drivingly mounted thereon and the boom is pivoted relative to the vehicle so as to vary the depth to which a trench is current. In seeking to cut a trench having a level floor irrespective of any undulations in the surface upon which the vehicle travels, a sensor is associated with the apparatus and is arranged to receive a reference signal. Any variation in the location at which the reference signal impinges on the sensor, for instance due to the passage of the vehicle up an incline, serves to determine the angle at which the cutting boom extends from the vehicle and so vary the depth to which the trench is cut.

Abstract: A remotely guided brush cutting, chipping and clearing apparatus, dependent upon remote positioning data and radio communication signals, having an apparatus locator system for determining the location of the apparatus and a guidance system for achieving and maintaining the desired direction of travel for the apparatus, relative to the surface of the earth and method for guiding the apparatus.

Abstract: An improved skid steer vehicle that has a longitudinally extending main frame and wheels for supporting the main frame for movement over the ground. An operator's compartment spans substantially the entire lateral distance of the main frame in the fore and aft midportions thereof, An engine is contained within an engine compartment disposed rearward of the operator's compartment and includes an auxiliary hydraulic power supply driven off the engine. A pair of spaced apart actuating arms are operably coupled to the main frame at a first end and have a quick attaching mount disposed at a second end thereof. The improvement comprises a flail mower implement that has a quick attachment receiver that is adapted for selective engagement with the quick attaching mount of the pair of actuating arms.

Abstract: A laser receiving depth sensor is attached to the stick of an excavator or backhoe. A mounting bar is magnetically mounted to the stick and the sensor is adjustably slidable along said mounting bar when fixed at selected one of a plurality of positions along the mounting bar.

Abstract: An apparatus coupled to a work machine for assisting the work machine in removing a first layer of material from a second layer of material is provided. The work machine includes a work implement with a cutting portion. The work implement is elevationally movably connected to the work machine. The cutting portion extends in a direction transverse the longitudinal axis of the work machine. An electromagnetic unit, connected to the work machine, delivers electromagnetic radiation towards the surface, receives a reflection of the delivered electromagnetic radiation, and delivers a responsive first signal. The electromagnetic radiation penetrates the first layer of material and reflects off of the second layer of material. A controller receives the first signal, determines the distance between the electromagnetic unit and the second layer of material and responsively produces a distance signal. An implement controller receives the distance signal and responsively actuates the work implement relative to the frame.

Abstract: A method is provided for controlling the bounce of a work implement attached to a machine having an electro-hydraulic system. The method comprises the steps of sensing the operating pressure in an actuator arrangement connected between the frame of the machine and the work implement, monitoring an upper and a lower operating pressure level in the actuator arrangement to establish a threshold pressure level and altering the pressure level in the actuator arrangement in the event the threshold level is exceeded to re-establish the threshold pressure level. Once the original threshold level is attained, the system is reset. This effectively eliminates the bounce of the work implement at the initial onset of the bounce and resets the system to react to future bounces.

Abstract: A farm implement includes a plurality of equipment heads (such as planter heads) for engaging the earth and a carriage for mounting the heads for movement in a first direction. The equipment heads are kept level when moving in a first direction over terrain that is sloped and a second direction substantially perpendicular to the first direction so that the equipment heads remain in proper operative engagement with the earth. The leveling mechanism includes a channel shaped structure so that it is substantially stationary with respect to the carriage and extends substantially in a second direction, a movable ballast element mounted in the channel shaped structure, and a powered ballast moving device.

Abstract: The present invention provides a spatial positioning and measurement system and a reference station for determining the instantaneous position of a dynamic reference point. The reference station emits a primary laser beam, determines the terrestrial position of a local reference point located on the reference station using a satellite based global positioning system and transmits the terrestrial position. The system detects the primary laser beam and the terrestrial position of the local reference point and responsively determining the terrestrial position of the dynamic reference point.

Abstract: A motor grader includes a work implement operating device which permits operation of a plurality of direction control valve with reduced number of operation levers. The motor grader includes a wheeled body for traveling and carrying at least one work implement, at least one operation lever operable in a first direction for electrically generating a first operation command signal and a second direction perpendicular to the first direction for generating a second operation command signal and a mode selector selectable at least between a first mode and a second mode for generating a mode selection signal. A controller receives the first and second operation command signals and the mode selection signal for controlling different motor grader functions depending upon an input combination of the first and second operation command signals and the mode selection signal.

Abstract: Improved transmitter and receiver units for use in spatial measurement system that are easy and inexpensive to manufacture while providing a high degree of reliability are disclosed. Specifically, the laser transmitter includes a laser emitter, a bearing/motor assembly coupled to the laser emitter, the bearing/motor assembly including a rotatable hollow spindle shaft through which a laser beam generated by the laser emitter passes and a motor for driving the spindle shaft, a prism assembly coupled to the spindle shaft, wherein the prism assembly divides the laser beam generated by the laser emitter into a pair of fanned laser beams, and reflecting means for reflecting the fanned laser beams generated by the prism assembly as counter-rotating fanned laser beams. The receiver unit preferably includes at least one optical receiver coupled to an extension member, a processing unit coupled to the optical receiver, and a receiver interface coupled to the processing unit.

Abstract: In a scraper, or the like, having as its purpose the cutting of a level swath in an earthen terrain, and receiving the earth cut from the terrain, in which the cutting blade is mounted, in a level attitude, to a scraper frame, which frame is itself mounted on wheels for movement along the terrain, means for adjusting the wheels relative to the frame so as to maintain the level attitude of the blade over uneven terrain, or under conditions of uneven loading of the earth removed from the swath.

Abstract: A blade control system for use in a bulldozer comprising: a driving mode setting device which can set an automatic blade control mode during dozing operation; a running condition detector for detecting whether a transmission is placed in forward range or reverse range; and a blade controller for controlling tilting and lowering of a blade such that when the speed range detector has detected that the transmission is placed in forward range and the driving mode setting device has set the automatic blade control mode to start digging, the lower end of the blade becomes horizontal in relation to a vehicle body and is brought into contact with the ground.

Abstract: A tilt rate compensating implement system and method utilizes first hand second sensors for sensing the position of the rod end portion of first and second implement lift jacks. A controller calculates a tilt angle of the implement based on a difference in the amount of extension of the lift jacks. An inclinometer senses an angle of the frame relative to a predetermined plane and a tilt rate sensor senses the rate of change of the frame angle relative to said plane. A corrected frame angle based on signals from the inclinometer and tilt rate sensors is combined with the implement tilt angle to provide a corrected implement tilt angle. A display device displays the corrected implement tilt angle. The controller compares the corrected implement tilt angle to the desired implement tilt angle and actuates a fluid operated system to move a tilt jack in response to a difference between the desired and corrected implement tilt angles. The tilt angle control system is particularly suited for use on a bulldozer.

Abstract: System for positioning a vehicle within a predetermined area, which system is provided with a laser transmitter/receiver and three or more laser reflectors which are located outside and/or inside the predetermined area, the position of the laser transmitter/receiver with respect to the laser reflectors being determined continuously with the aid of a method known per se. The position of a reference point on the vehicle with respect to the laser reflectors is determined continuously with the aid of the laser transmitter/receiver . The vehicle is provided with movable parts with which predetermined work can be carried out and is provided with sensors with which the position of a number of movable parts of the vehicle is measured continuously, which parts are determining for the relative position, with respect to the reference point, of the location where the said work is carried out.

Abstract: A device for improving the workability and drivability of a tracked vehicle whose blade height is automatically controlled, in which when changeover of a speed step from reverse to forward is detected by a transmission lever position detector (3), a controller (15) controls to raise or lower the blade (8) to a target value which is the height of the blade (8) initially set by an initial height setter (4). With a blade raising lever (1) operated, the blade (8) is controlled to rise or lower in proportion to the height of the blade during manual operation. The height is detected by a blade-height detector (14) and the blade is controlled to rise or lower to a target value which is the detected value of height.

Abstract: An excavator control apparatus for shovel-type construction equipment includes an automatic digging control section, a digging load control device, and an operation command correcting device. The shovel-type construction equipment has a boom, an arm and a bucket that are successively and rotatably connected in an operation section. The boom, the arm and the bucket are each connected to at least one cylinder that extends and retracts according to the operation of a lever. The digging load control device permits an automatic digging routine to be executed by controlling the extension and retraction of the cylinder. The digging load control device transmits operation commands to the cylinder to maintain a digging load approximately equal to a set digging load during automatic digging. The operation command correcting device corrects the operation commands transmitted to the cylinder by manual operation of the lever without cancelling the automatic digging routine.

Abstract: A dozing control unit for a bulldozer, comprising an actual tractive force detector for detecting the actual tractive force of a vehicle body; a driving mode selector button capable of switching a manual operation mode to an automatic driving mode in dozing operation; and a blade controller for controlling a blade to be lifted or lowered such that if there is a difference between the actual tractive force detected by the actual tractive force detector and a target tractive force set for the automatic driving mode when the manual operation mode is switched to the automatic driving mode by the driving mode selector button, the actual tractive force gradually comes closer to the target tractive force.

Abstract: A control unit for controlling load on a bulldozer in the case of manual intervention, comprising: an actual tractive force detector for detecting the actual tractive force of a vehicle body; a target tractive force setting device for setting a target tractive force for an automatic blade control mode in dozing operation according to the actual tractive force detected by the actual tractive force detector; and a blade controller for controlling a blade to be lifted or lowered such that, if there is a difference between the target tractive force set by the target tractive force setting device when switching from the automatic blade control mode to a manual operation mode takes place in dozing operation and the actual tractive force detected by the actual tractive force detector when return from the manual operation mode to the automatic blade control mode takes place, the actual tractive force gradually comes closer to the target tractive force set when switching to the manual operation mode takes place.

Abstract: A tilt angle control system has first and second sensors for sensing the position of the rod end portion of first and second lift jacks. A controller calculates an actual tilt angle of an implement connected to the rod end portions of the lift jacks based on a difference in the amount of extension relative to a baseline. A display device displays the actual and desired tilt angles. The controller compares the actual tilt angle to a desired tilt angle and actuates a fluid operated system to move one of the first and second jacks in response to a difference between the desired and actual tilt angles. An inclinometer sensed angle of the machine relative to a horizontal plane is added to the actual tilt angle to correct the actual tilt angle of the implement. The tilt angle control system is particularly suited for use on a bulldozer.

Abstract: A straight-ahead traveling control system for a bulldozer comprising: (a) a driving mode setting device which can set an automatic blade control mode for dozing operation; (b) a yaw angle detector for detecting the yaw angle of a vehicle body in relation to a target traveling direction for the vehicle body; (c) a blade tilt angle detector for detecting the tilt angle of the blade tilting laterally in relation to the ground; and (d) a blade controller for controlling tilting of the blade based on a first blade tilting amount used for driving the vehicle body straight ahead and a second blade tilting amount used for forming a laterally horizontal earth surface after digging by the blade, the first blade tilting amount being obtained from the yaw angle of the vehicle body detected by the yaw angle detector and the second blade tilting amount being obtained from the tilt angle of the blade detected by the blade tilt angle detector, when the driving mode setting device has set the automatic blade control mode.

Abstract: An automatic lift and tip coordination system for use in connection with an off-highway vehicle having an implement causes an automatic adjustment to the implement lift actuators in response to an operator change in the implement tip angle so that the implement height remains constant.