Abstract: An automatic drive control system for a bulldozer comprising a digging start detector for detecting that the bulldozer is in a digging start position, a digging end detector for detecting that the bulldozer is in a digging end position, a driving direction detector for detecting the momentarily varying driving direction of the bulldozer, and a drive controller for shifting a transmission into a forward gear when the digging start detector detects that the bulldozer is presently in the digging start position; shifting the transmission into a reverse gear when the digging end detector detects that the bulldozer is presently in the digging end position; and controlling the bulldozer such that the driving direction detected by the driving direction detector is made coincident with a target driving direction when the bulldozer is moving from the digging start position towards the digging end position.

Abstract: An ultrasonic sensor for a construction implement is disclosed which provides an indication of the position of the sensor relative to a reference surface in two dimensions. In a preferred embodiment of the invention, a pair of sensors are positioned a predetermined distance from one another to transmit and receive ultrasonic waves to measure the time it takes the waves to travel to the reference surface and be reflected back to the ultrasonic transducers. Additionally, a transducer is disclosed which detects a side lobe of a acoustic wave transmitted by an acoustic transducer whereby the velocity of said acoustic pulse may be calculated.

Abstract: A device for controlling the height of a blade of a tracked vehicle includes a blade height position detector, a blade height controller for raising and lowering the blade, and a device for setting an initial height of the blade. When the transmission of the vehicle is shifted from the reverse to the forward position, the height of the blade is lowered to the target value. A switch selects between the target value set by the initial height setting device and a manually selected height depending whether or not the switching device selects the automatic operation or manual operation of the blade height controller.

Abstract: An earthmoving apparatus and method for grading a tract of land to a desired finish contour wherein a continuously updated contour map is displayed to the operator of the earthmoving apparatus during the grading process is provided. The earthmoving apparatus has a blade of known width for cutting and filling soil of the tract of land. Vertical blade movement and the x and y position of the earthmoving apparatus is continually detected by respective sensors as the earthmoving apparatus traverses the tract of land. An ultrasonic transmitter and receiver detects elevation of the soil, preferably located behind the blade, to provide updated soil elevation information. A computer then uses the aforesaid information to generate a visual representation of a contour map of the tract of land with cut and fill lines thereon.

Abstract: In controlling a hydraulic excavator equipped with a front mechanism having multiple foldable and rotatable joints, the controlling method described enables complex joint actions to be controlled readily by manipulating electrical joy sticks. Translational and rotational control commands are input to a certain point on the longitudinal axis of a rear arm through the joy sticks and cooperative actions of multiple joints are achieved simultaneously.

Abstract: An operator's actions for achieving a desired operation of a machine's actuator can be memorized in a teaching mode and the memorized information can be used for automatically reproducing the desired operation in a play back mode, to alleviate the operator's burden. A failure in the play back mode caused by the difference in the conditions under which the play back mode and the teaching mode are conducted can be eliminated, and the operation can be allowed to be continued in the manual mode even if a failure occurs in an automated operation control system. In order to achieve these, when a correction operation by the operator is detected in the play back mode, the play back mode is interrupted and the correction operation is processed with priority to the play back operation.

Abstract: A composting machine is used with an elongated reactor with flails mounted in a frame that moves longitudinally from a finishing end to a starting end during a processing pass. The flails move the organic material in the reactor along the reactor toward the finishing end. The flails are radially mounted on a shaft and the shaft rotates during the processing pass causing the flails to rotate as well. During a return pass, the flails can be made to occupy a horizontal plane so that the frame can return to the finishing end without raising the shaft vertically. Further, a skirt can be mounted adjacent to the flails to limit the distance that the material is moved by the flails. The distance of the skirt from a leading edge of the flails can be increased during the processing pass from the finishing end to the starting end. This allows the machine to be much more efficient as the level of the organic material can be maintained nearly constant from the starting end to the finishing end.

Abstract: A feedback mechanism for providing an implement position signal includes a rotary potentiometer mounted on the implement frame adjacent the rockshaft with the axis of the potentiometer shaft extending parallel to the rockshaft. A linkage structure includes a potentiometer arm connected to a rockshaft arm by a link such that the angle the potentiometer arm forms with the link is acute when the implement is in the transport position and obtuse when the implement is in the lowered field-working range. At the lowermost position of the implement, the link and potentiometer arm approach an overcenter position. The linkage structure provides amplified rotation of the potentiometer shaft relative to the rockshaft when the implement is in the field-working range of positions, while rotation of the shaft is reduced relative to rockshaft rotation when the implement is raised above the field-working position. In the preferred embodiment, rotation of the rockshaft 10.degree.

Abstract: An ultrasonic sensor for a construction implement is disclosed which provides an indication of the position of the sensor relative to a reference surface in two dimensions. In a preferred embodiment of the invention, a pair of sensors are positioned a predetermined distance from one another to transmit and receive ultrasonic waves to measure the time it takes the waves to travel to the reference surface and be reflected back to the ultrasonic transducers. Additionally, a transducer is disclosed which detects a side lobe of a acoustic wave transmitted by an acoustic transducer whereby the velocity of said acoustic pulse may be calculated.

Abstract: A process for forming notched irrigation laterals uses a construction laser adapted to propagate radiation along a planar path, and a device that both detects the radiation and is used to manually form notches in the lateral. The laser is positioned relative to the longitudinal axis of the lateral so as to minimize optical interference during the formation process.

Abstract: A method and apparatus for automatically controlling the depth of earth grading for utilization with a grader or paver is disclosed. The method includes determination of time taken for an acoustic pulse to travel from a transducer to a reference surface and back, with this value being used to calibrate a microprocessor-controlled distance-measuring device. As the grader moves over a surface to be graded, the distance to the reference surface is constantly detected by a repeated emission and detection of such acoustic pulses. The timing of the echoed pulses is converted to addresses in a look-up table which contains control words symbolizing commands to be given to hydraulic rams carried by the grader. By implementing these commands, the depth of the blade relative to the reference surface is constantly updated, compensating for variations with the height of the reference surface. A thermistor is provided to automatically compensate for temperature variations as the grading takes place.

Abstract: A method and apparatus for automatically controlling the depth of earth grading for utilization with a grader or paver is disclosed. The method includes determination of time taken for an acoustic pulse to travel from a transducer to a reference surface and back, with this value being used to calibrate a microprocessor-controlled distance-measuring device. As the grader moves over a surface to be graded, the distance to the reference surface is constantly detected by a repeated emission and detection of such acoustic pulses. The timing of the echoed pulses is converted to addresses in a look-up table which contains control words symbolizing commands to be given to hydraulic rams carried by the grader. By implementing these commands, the depth of the blade relative to the reference surface is constantly updated, compensating for variations with the height of the reference surface. A thermistor is provided to automatically compensate for temperature variations as the grading takes place.

Abstract: A blade control system for a bulldozer enables the bulldozer to effectively perform a ground leveling work or a grading work with high accuracy in a minimum amount of time. The system compensates for pitching of a tractor portion of the bulldozer, and for variations in the amount of earth to be moved by a blade of the bulldozer. The system comprises: a pair of photo receivers (2, 3) which are mounted on the tractor portion (1) along a longitudinal axis of the portion (1) while spaced apart from each other, each of which receivers (2, 3) detects an optical reference plane (6) produced by a photo projector (4) to issue a level signal; and a blade controller (13) which controls an hydraulic valve actuaor (14) for moving the blade (8) based on the level signals.

Abstract: A control system is adapted to provide substantially linear movement of a work implement. The control system receives signals from at least one control lever and coordinates the movements of the work implement's appendages through coordination of hydraulic cylinders.

Abstract: An agricultural harvesting machine having a cutting element movably supported thereon is provided with a height sensor including a transmitter and a receiver mounted for movement with the cutting element. The transmitter directs bursts of sound waves in the range of about 5 KHz toward the ground and echoes of the bursts are picked up by the receiver, the elapsed time between transmission and reception being an indication of the height of the cutting element above the ground. To distinguish between echoes of the bursts and environmental noise picked up by the receiver, the bursts are encoded by transmitting them in pairs, the bursts of a pair being of fixed duration and separated by a fixed interval of time. The duration of each signal and the time spacing between signals is checked and if they are not of the correct duration or are not separated by the fixed interval of time they are rejected as noise.

Abstract: An implement, such as a cutterbar on an agricultural harvesting machine, is automatically position-controlled to maintain a reference position relative to the ground surface. The implement is mounted so that it may be raised, lowered or tilted and the control is such that tilting movements are preceded by, or are carried out concurrently with, a raising or lowering movement when one end of the implement is at the reference position and the other end is between the reference position and the ground surface. Manually operated UP and DOWN switches not only control up and down movements of the implement but also inhibit and restore automatic control of implement positioning. A set/reset switch enables manual selection of a predetermined reference position or the selection of the present implement position as the reference position.

Abstract: A surface levelling device for levelling surfaces such as a wooden floor, the device including a rotatable cutting head (130) which is mounted in a movable framework (4) by means of independently controlled screw devices (84, 86). The screw devices are controlled by control circuits (130, 132) which are responsive to a sweeping laser beam (222) which rotates in a reference plane. The control circuits maintain the cutting head (130) parallel to the reference plane and at a predetermined distance therefrom regardless of movements of the framework (4) over the floor.

Abstract: A detachable knife assembly having a hanger bracket forming a curved end. The curved end defines an opening large enough to fit the curved end of the hanger bracket over a mounted hanger rod. A retaining bracket is positioned adjacent the hanger bracket and close enough to the curved end of the hanger bracket to enclose and retain the hanger rod within the hanger bracket opening. A knife blade is either a part of or secured to the hanger bracket. The retaining bracket is detachably secured to the hanger bracket. The curved end of the hanger bracket preferably forms a curve about an arc segment of approximately 180.degree..

Abstract: A flexible flail trimmer for conventional trimming of grass, weeds and the like and for edging of sidewalks has a combined guide and guard rotatably mounted inboard of the trimmer cutting head. The guide and guard provides dynamic trimmer indexing on a sidewalk edge for guiding the trimmer vertically and horizontally to deliver a uniform, aesthetically pleasing turf edge. The combined guide and guard does not inhibit trimming of grass and weeds in the conventional trimming manner, and actually enhances the user's visualization and performance of such trimming.

Abstract: A spatial positioning and measurement system provides three-dimensional position and/or measurement information of an object using one or more fixed referent station systems, and one or more portable position sensor systems. Each fixed station produces at least one primary laser beam which is rotated at a constant angular velocity about a vertical axis. The primary laser beam has a predetermined angle of divergence or angle of spread which is inclined at a predetermined angle from the vertical axis. Each fixed station also preferably includes at least one reflective surface for generating a secondary laser beam.The portable position sensor includes a light sensitive detector, computer, and a display. The light sensitive detector can be formed of at least one "axicon" which directs incoming light to a photosensitive detector. The photosensitive detector generates an electrical pulse when struck by crossing laser beam and sends this pulse to the computer.

Abstract: A method and apparatus are disclosed for controlling the cross slope angle cut by the blade of an articulated frame motorgrader being steered through a turn, operated in a straight frame mode, in a crabbed steering position and/or traveling in a non-horizontal plane. The blade angle is sensed and controlled such that the sensed blade angle is maintained substantially equal to a calculated blade angle. In a first embodiment, the blade angle calculation is performed using the equation: tan BS=(sin .tau.')(tan R)+(cos .tau.')(tan CS) where BS is the required blade slope angle of said blade relative to horizontal; .tau.' is a rotational angle of the blade with respect to the blade's direction of travel projected into horizontal; R is an angle between the blade's direction of travel and horizontal; and CS is the desired cross slope angle which is entered by an operator of the motorgrader. In a further embodiment, the blade angle calculation is performed using the equation: tan BS=(sin .tau.")(tan R')+(cos .tau.

Abstract: A three-point hitch furrow sweep and trash shredder are positioned with the furrow sweep being centered over the furrows for moving stalks onto the ridges where they are acted upon by the shredders. The shredders include a rotor in a housing having a plurality of pivotal hammers which work upon the trash and drive the trash through a perforated screen which reduces the size of the trash particles and returns it to the ground. The furrow sweeps include a pair of coulters in back to back oppositely facing relationship centered over the center line of the furrows or a single coulter for each furrow. The counters may be staggered or positioned in back to back relationship and may be flat or concave in shape.

Abstract: A spatial positioning apparatus providing three-dimensional position information and methods to utilize the position information for improved surveying, construction layout, equipment operations, manufacturing control and autonomous vehicle control is disclosed. The spatial positioning apparatus includes at least three, preferably four, fixed referent stations. A minimum of two, preferably three, of the fixed stations sweeps a spread laser beam horizontally across the site of interest. The remaining fixed station sweeps a spread beam vertically across the site of interest. A strobe signal is emitted from each fixed station when the rotation mechanism actuates a rotation datum. The spatial positioning apparatus also includes one or more portable position sensors. The portable position sensor includes a light sensitive detector, a computer, and a display.

Abstract: A system includes two lower articulated longitudinal arms (6, 7) provided on their front ends with two bottom hitching points (8, 9), and an upper arm (10) in the middle, for hitching an implement at a third point; valves for controlling the rise and descent of the two lower arms and of the upper arm are provided, and the implement (3) is equipped with hitching members (11) corresponding to the three point hitch of a tractor; a rigid intermediate support frame (12) is provided for connection between the implement and the arms (6, 7, 10); the frame includes two bottom lateral points (13, 14) and one top middle point (15) for hitching the implement, and two lateral top points (16, 17) intened to be connected to the third top hitching point (10) of the tractor by connection jacks of variable length; the two lower arms (6, 7) are independent and can assume different inclinations, and the two lower lateral portions (22, 23) of the frame (12) are hitched to the two bottom points (8, 9), the assembly being such that

Abstract: A method and apparatus is provided for controlling the parallel blade slope angle of a blade in order to maintain a desired cross slope during normal operation of a motorgrader regardless of whether the motorgrader is turning, the front wheels are side-tilted or the blade supporting A-frame is side-shifted. The present invention controls the cross slope angle cut by the blade of a motorgrader by substantially continuously sensing the perpendicular slope angle of the blade by means of a slope sensor and the angle of rotation of the blade relative to the direction of the travel by means of a noncontact sensor. The sensed angles are used to calculate the parallel slope angle of the blade relative to horizontal which is required to maintain a desired cross slope angle. The parallel slope angle is sensed by means of the slope sensor and controlled such that it is maintained substantially equal to the calculated parallel slope angle to thereby define the desired cross slope angle set by an operator.

Abstract: By providing the work blade of a grader with a hydraulic regulation system where pressure limiting valves (14, 15, 16, 17) guide pressure reducing valves (10, 11, 12, 13) a constant pressure regulation of the work blade is achieved so that the work pressure set by the operator from his cab is maintained almost independent of the irregularities of the underlying surface.

Abstract: A height-position sensing device for use with a contol circuit for controlling the height position of a blade in the case of a motor grader includes a mechanical height-position sensor and a ultrasonic height-position sensor which are connected to a common control circuit via a switch.

Abstract: A portion of first reference light plane is intercepted by a first one of a pair of angularly oriented reflective surfaces and reflected by the second of the pair of reflective surfaces as a second reference light plane at a selectable angle relative to the first reference light plane. The first and second reflective surfaces are movably mounted such that the first reflective surface can be rotated about a first axis coincident with or parallel to an incidence line in the first reflective surface which receives the first light plane and the second reflective surface can be rotated about a second axis parallel to but spaced from the first axis. The first and second reflective surfaces are mounted such that when the first reflective surface moves through an angle of a/2 degrees, the second reflective surface moves through an angle of a degrees.

Abstract: A hub and tine assembly for a rotary debris remover is provided which comprises a hub which is rotatable about a shaft and a plurality of tine members which are arranged symmetrically around the rotation axis of the hub. The tine members are pivotally connected to the hub at locations which follow a circular rotation path around the rotation axis of the hub when the hub is rotated. Each tine member has at least one tine which projects from the hub. The tine member has a centre of gravity which is located so that the tine is offset from the radial direction when the hub is rotated and displaced in a direction which corresponds with the direction of rotation so that the tine can effect a "punching" effect on debris in its path.

Abstract: Receiver for rotating lasers used for guiding machines (for example public works machines), which comprises a receiver assembly proper (6) disposed on a support (9) enabling it to be fastened on the machine, a cell consisting essentially of plates (7) carrying photodiodes (8) and disposed around a fixed shaft in such a manner as to form a pillar enabling the passage of the beam to be detected over 360.degree., the assembly being protected by a peripheral shell (28) capped by a protective hood (27). The photodiode (8) plates (7) are three in number and are disposed vertically around a central support shaft to form between them an angle of 60.degree. to one another, the mounting being effected in such a manner that they are detachable and their fastening being achieved with the aid of damping members disposed at each end of the plate support shaft (7) and around the latter.

Abstract: A tool (23) for extruding a paved surface (39) is located behind tracks (2) and may thus have a width which is greater than the overall width perpendicular to the tracks. The tool is carried by a bridge frame (27) articulated on the frame (1), carried by the tracks, according to a transverse axis (X--X). At the rear, the bridge frame (27) rests on the freshly paved surface (39) via air cushions (32). A hauled rule (58) emits a ray (63) parallel to the surface (39) as detected by the rule. A detector (64) carried by the tool (23) and receiving the ray (63) detects the position in respect of height of the bed (23) relative to the surface (39). Jacks (38) correct the position in respect of height of the tool as a function of this detection. A ballast (42) is displaced automatically along the bridge frame (27) in order to adjust the pressure in the air cushions ( 32).

Abstract: A method of producing a work surface by producing a reference plane 2--2 and traversing a working tool 104 in a direction generally parallel to said reference plane. So that the required work surface can be a surface other than of flat planar form, the distance of the working tool 104 from the reference plane 2--2 is varied in accordance with instructions from a computer 120 in response to a measure of distance travelled.

Abstract: A laser beam three dimensional position measurement system includes a laser transmitter mounted at a stationary reference position at a work site and a receiver mounted on a mobile machine at the site. The transmitter produces a laser reference plane by sweeping a laser beam about the transmitter. The receiver includes two spaced apart laser beam detectors for measuring the horizontal angle of the incoming beam with respect to the face of the receiver at two spaced apart locations on the face of the receiver. The horizontal angles are used to determine the range of the receiver from the transmitter. The transmitter includes an azimuth device for providing signals to the receiver indicative of the azimuth angle at which the receiver is positioned with respect to a reference axis that extends from the transmitter. The receiver includes a decoder signal receiving device for receiving the angle signals from the transmitter in order to determine its azimuth angle.

Abstract: A guidance system and method for increasing the accuracy of laser guided machines such as screeds, graders, earth movers, floor saws and floor finishing machines. The system includes a laser beam receiver for sensing a laser reference beam provided off the machine. The laser receiver signals an electrical circuit when the laser beam is sensed in both centered and off-center regions. The electrical circuit operates a controller such as a solenoid operated fluid valve which controls a power source such as a fluid cylinder to move a machine element in one direction, such as raising a concrete screed, when the beam is sensed in the centered region, and in the other direction, such as lowering the screed, when the beam is sensed off-center. The method includes controlling the power source to continuously cycle the machine element between centered and off-centered regions to reduce the dead band, i.e., nonactive tolerance range, of the system.

Abstract: Apparatus is disclosed for grading and measuring surfaces such as roadbeds which have curved and inclined profiles which may have different shapes in successive transverse sections of the roadbed. A blade and screw cutter are supported by a frame which extends over the surface being worked, and these tools are movable along this frame. The tools are movable toward and away from the surface being shaped in response to a control means which has memorized the appropriate positions, or by reference to a deformable rule which may also be reshaped in response to computer-memorized data. According to a disclosed method, the rule is reshaped for different sections of the surface.An apparatus for checking and measuring a surface which has a curved profile includes a plurality of piston-cylinder units which are mounted on a main frame.

Abstract: A device for determining the depth below the ground surface of a working member of an earth moving equipment, comprises a sensor for transmitting electromagnetic signal from underneath and toward the ground surface and for receiving a portion of the signal reflected from the ground surface. The sensor is positioned underneath the ground surface in fixed spatial relationship to the working member such that the sensor means is under the ground surface when at least a portion of the working member is under the ground surface. A circuit is provided for processing the received reflected signal to thereby indicate the depth under the ground surface of the working member, whereby the depth is proportional to the time of travel of the signal to the ground surface and the reflected signal to the sensor means.

Abstract: A sensor controlled leveling device comprises an attitude detector and/or a laser sensor. In order to create a sensor controlled leveling device with which a desired relative attitude may be automatically set and held the attitude detector has a float which is supported and pivoted in a central part. The laser sensor comprises a zero point recognition means whose output is connected with electronic processing circuitry for at least one servo drive. Using the control unit it is possible for the drive to be operated in a direction opposing a relative change in setting of the laser sensor in relation to a reference plane as swept out by a laser generator so as to correct deviation of the laser sensor from the reference plane.

Abstract: It takes high skill to achieve maximum efficiency of construction equipment under the ever changing working conditions. The automatic implement control system helps maximize operator efficiency and convenience by allowing a predetermined angle, lift and/or tilt position of a work implement (40) to be stored in the memory of the controller (3). In operation, the implement (40) may be moved from that stored predetermined position to perform other functions. In an automatic mode, the controller (3) can return the implement (40) to that predetermined position at any time during the work cycle. A valve (15-70) is provided for selectively switching between manual and automatic modes.

Abstract: A method and apparatus are disclosed for controlling the cross slope angle cut by the blade of an articulated frame motorgrader operated in the crabbed steering mode wherein the articulation angle of the motorgrader frame is sensed and used to calculate the blade angle relative to horizontal required to maintain a desired cross slope angle. The blade angle is sensed and controlled such that the sensed blade angle is maintained substantially equal to the calculated blade angle.

Abstract: A method and apparatus for automaticlly controlling the position of a tool carried by a machine, which in the preferred embodiment may be the blade of a grader or paver for leveling a surface at a chosen depth. The method includes determination of time taken for an acoustic pulse to travel from a transducer to a reference surface and back, with this value being used to calibrate a microprocessor-controlled distance-measuring device. As the grader moves over a surface to be graded, the distance to the reference surface is constantly detected by a repeated emission and detection of such acoustic pulses. The timing of the echoed pulses is converted to addresses in a look-up table which contains control words symbolizing commands to be given to hydraulic rams carried by the grader. By implementing these commands, the depth of the blade relative to the reference surface is constantly updated, compensating for variations with the height of the reference surface.

Abstract: An earth mover blade stabilizing system for maintaining the blade height constant independent of a change in the earth mover's pitch angle. A damped pendulum having a magnetic end moving between two LOHET sensors generates a signal which is used to control the earth mover's hydraulic blade actuation system. An electronic biasing means is provided by which the blade height can be incrementally repositioned to facilitate an automatic grading of a surface to a predetermined slope angle.

Abstract: A method and apparatus for automatically controlling the depth of earth grading for utilization with a grader or paver is disclosed. The method includes determination of time taken for an acoustic pulse to travel from a transducer to a reference surface and back, with this value being used to calibrate a microprocessor-controlled distance-measuring device. As the grader moves over a surface to be graded, the distance to the reference surface is constantly detected by a repeated emission and detection of such acoustic pulses. The timing of the echoed pulses is converted to addresses in a look-up table which contains control words symbolizing commands to be given to hydraulic rams carried by the grader. By implementing these commands, the depth of the blade relative to the reference surface is constantly updated, compensating for variations with the height of the reference surface. A thermistor is provided to automatically compensate for temperature variations as the grading takes place.

Abstract: A method and apparatus for automatically controlling the depth of earth grading for utilization with a grader or paver is disclosed. The method includes determination of time taken for an acoustic pulse to travel from a transducer to a reference surface and back, with this value being used to calibrate a microprocessor-controlled distance-measuring device. As the grader moves over a surface to be graded, the distance to the reference surface is constantly detected by a repeated emission and detection of such acoustic pulses. The timing of the echoed pulses is converted to addresses in a look-up table which contains control words symbolizing commands to be given to hydraulic rams carried by the grader. By implementing these commands, the depth of the blade relative to the reference surface is constantly updated, compensating for variations with the height of the reference surface. A thermistor is provided to automatically compensate for temeprature variations as the grading takes place.

Abstract: A position sensing apparatus 1 having two base stations spaced-apart a known distance on a datum line L. The base stations each comprise generators 2(a) and 2(b) which emit a rotating laser beam. The rotating laser beams are detected by a movable sensor 6 and datum sensors 7(a), 7(b) which are associated with the generators 2(a), 2(b) and are located on the datum line L. The time difference between detection of each laser beam by the movable and datum sensors 7(a), 7(b) is determined and is used to calculate positional angles .alpha. and .beta. between position lines between the movable sensor and each base station and the datum line L. As there are only two laser beams, they are differentiated by contra-rotation in the same horizontal plane. Vertical position is determined according to the vertical position on the movable sensor 6 at which the beams are detected.

Abstract: A mobile, self-propelling crushing machine includes a structure essentially consisting of two beams, on which a central frame is welded. The central frame houses a rotor which is supported on a frame, which, in one form, is lowered by hydraulic cylinders fixed to the frame. In another form, the frame is lowered by four mechanical jacks being driven by a single hydraulic motor. Thus, the penetration of the rotor into the soil to be treated does not depend only on its own weight, but especially on the action of the just-mentioned hydraulic cylinders or mechanic jacks. The rotor is driven by two hydraulic motors which are opposite to one another and which are self-adjusting so that when a pressure transducer signals a pressure increase to the hydraulic motors of the rotor due to an increased effort, the forward movement speed of the machine, which moves on tracks, decreases as a consequence.

Abstract: A laser beam three dimensional position measurement system includes a laser transmitter mounted at a stationary reference position at a work site and a receiver mounted on a mobile machine at the site. The transmitter produces a laser reference plane by sweeping a laser beam about the transmitter. The receiver includes a retroreflector which intercepts and reflects laser energy back to the transmitter when the laser beam sweeps past the retroreflector. The system also includes at the transmitter a circuit composed of a photodetector, timer, clock and counter. The photodetector senses laser energy reflected back to the transmitter from the retroreflector. The timer modulates the laser beam produced by the transmitter in response to detection of the beam. The counter is connected to the clock and timer, and is enabled by the timer to start counting electrical pulses received from the clock when the beam is modulated. The counter is disabled to stop counting electrical pulses when the modulation is detected.

Abstract: A control device for a power shovel having a first boom, a second boom and an arm rotatable around the longitudinal axis of the arm, detects the angle of the arm with respect to the horizontal plane based on the posture angles of the first and second booms and the arm, and controls the arm cylinder such that the angle of the arm with respect to the horizontal plane is held to a reference angle. Further, the control device detects a deviation angle between the current direction and the initial directions and controls the revolution angle of the arm so as to make the deviation angle zero. Furthermore, the control device designates a moving direction of the connection point between the second boom and the arm along a plane including the first boom, the second boom and the arm, and controls cylinders for the booms such that their connection point may be moved in the moving direction thus designated.

Abstract: An improved ground levelling machine (10) for levelling small areas of ground comprising a main frame (11), a pivotal sub-frame (15) trailing said main frame (11) and pivotally connected thereto, a scraper blade (40) carried by the main frame (11), a hopper (27) carried on the main frame (11) for the supply of soil, sand or other filling material, a plurality of ground-engaging wheels (16) supporting the sub-frame (15), power means (22) to effect pivotal movement of the sub-frame (15) relative to the main frame (11) and to thereby raise and lower the main frame (11) relative to the ground, and control means (59) for controlling the operation of the power means (11) and to in turn control the elevation of the scraper blade (40) relative to a preselected reference plane.

Abstract: A control for an excavator controls the position of the bucket cutting edge to a desired depth accurately by a calibrating laser receiving mounted on the excavator stick member and passed through a stationary laser plane wherever the stick is moved into or out of a trench. Linear position encoders monitor the length that the actuating cylinders are extended and lookup tables convert the encoder outputs to angle representations for determining the positions of the laser receiver and the cutting edge. Other lookup tables are utilized to avoid time-consuming iterative calculation procedures to provide real-time digital process solutions of trigonometric functions. The apparatus includes a unique laser receiver comprising a plurality of linearly aligned photo receptors with associated circuitry for producing an output representative of the receptor illuminated or, if a group of receptors are illuminated, the centermost receptor illuminated.

Abstract: A flexible flail trimmer for conventional trimming of grass, weeds and the like and for edging of sidewalks has a combined guide and guard rotatably mounted inboard of the trimmer cutting head. The guide and guard provides dynamic trimmer indexing on a sidewalk edge for guiding the trimmer vertically and horizontally to deliver a uniform, aesthetically pleasing turf edge. The combined guide and guard does not inhibit trimming of grass and weeds in the conventional trimming manner, and actually enhances the user's visualization and performance of such trimming.