Abstract: A controller is configured to determine a target excavation depth of a first pass based on a position of an excavation end, a target soil amount, and an excavation distance. The controller is configured to move a work implement to the target excavation depth of the first pass to execute an excavation of the first pass. The controller is configured to acquire an actual soil amount excavated in the first pass. The controller is configured to modify the target soil amount based on the actual soil amount. The controller is configured to determine the target excavation depth of a second pass based on the modified target soil amount. The controller is configured to move the work implement to the target excavation depth of the second pass to execute the excavation of the second pass.

Abstract: A system for uncovering and sealing a narrow trench. The system comprises several subsystems, including a work machine, a frame for providing a seal with the surface to be trenched, a saw blade, a vacuum system, a system for placing product, and a resealer. The blade includes rotatable tooth bits, which may be rotated and secured to create a blade for narrower or a wider trench. A removable cover and the blade are easily changeable. A surface engaging member on the frame is manipulated to maintain a seal with changing ground surfaces. Additionally, the vertical location of the blade within the frame is adjustable to create a deeper or shallower trench.

Abstract: A leveling control system and method for heavy equipment, in which a lower frame having a traveling unit and an upper frame are combined together by a tilting unit, includes a sensor unit, provided in the equipment, for measuring twist angles of the lower frame and the upper frame against a reference horizontal surface and a traveling speed of the equipment, and detecting working state information of working devices; a control unit for receiving the twist angles, the traveling speed, and the working state information, calculating a correction angle for the leveling control of the upper frame, and generating a control signal for instructing an operation of an actuator in accordance with the correction angle; and a driving unit for performing the leveling through the actuator in accordance with the control signal received therein.

Abstract: A system for uncovering and sealing a narrow trench. The system comprises several subsystems, including a work machine, a frame for providing a seal with the surface to be trenched, a saw blade, a vacuum system, a system for placing product, and a resealer. The blade includes rotatable tooth bits, which may be rotated and secured to create a blade for narrower or a wider trench. A removable cover and the blade are easily changeable. A ground engaging surface on the frame is manipulated to maintain a seal with changing ground surfaces. Additionally, the vertical location of the blade within the frame is adjustable to create a deeper or shallower trench.

Abstract: A leveling control system and method for heavy equipment, in which a lower frame having a traveling unit and an upper frame are combined together by a tilting unit. The system includes a sensor unit, provided in the equipment, for measuring twist angles of the lower frame and the upper frame against a reference horizontal surface and a traveling speed of the equipment, and detecting working state information of working devices; a control unit for receiving the twist angles, the traveling speed, and the working state information, calculating a correction angle for the leveling control of the upper frame, and generating a control signal for instructing an operation of an actuator in accordance with the correction angle; and a driving unit for performing the leveling through the actuator in accordance with the control signal received therein.

Abstract: A digging control system for use with a machine having a work implement is disclosed. The digging control system may have a sensing system configured to generate a signal indicative of a loading of the work implement. The digging control system may also have a controller. The controller may be configured to determine the loading of the work implement based on the signal. Additionally, the controller may be configured to initiate tilting of the work implement in response to a determination that the loading of the work implement exceeds a threshold loading. The work implement may not be substantially lifted during this tilting of the work implement. The controller may also be configured to monitor a tilt angle of the work implement. Additionally, the controller may be configured to cease tilting of the work implement when the tilt angle of the work implement substantially equals a threshold tilt angle.

Abstract: A system and method for controlling an automatic leveling of heavy equipment. The system, in which a lower frame having a traveling unit and an upper frame are combined together by a tilting unit, includes a sensor unit, provided in the equipment, for sensing twist angles of the lower frame and the upper frame against a reference horizontal surface and a traveling speed of the equipment. A control unit receives the twist angles and the traveling speed, sets a limit of an operation time for the automatic leveling in a standstill state of the equipment while calculating a corrected angle to which a twist angle of the upper frame is to be corrected, without setting the limit of the operation time for the automatic leveling, in a traveling state of the equipment, and generates a control signal for instructing an operation of a tilting unit in accordance with the corrected angle. A driving unit performs a tilting control through the tilting unit in accordance with the received control signal.

Abstract: A scraping device, a system and a method for collecting a material are provided. The scraping device may have a bowl having a first end and a second end. A lip may be positioned at the first end and may cover an opening at the first end. In an embodiment, direct mounted cylinders may be attached to the lip and may move the lip to completely cover or uncover the opening. The scraping device may have a tongue mounted to the bowl having a triangular-shaped plate mechanism that may be used to raise and to lower a cutting edge attached to the bowl. Cylinders connected to the mechanism may be retracted or extended to raise or to lower the scraping device. A load within the scraping device may be lifted by force exerted from a barrel end of a cylinder, thus utilizing a maximum potential of the cylinder.

Abstract: A tool control system includes actuators to move the tool, a controller to permit either manual or automatic tool operation, and an output configured to display information pertaining to a position of the tool. In addition, the tool can be moved in either an independent or linked mode, the latter such that during tool operation, both sides of the tool can move substantially in unison with one another, or during system setup, detectors used to ensure coordination with of the tool to a known benchmark can move substantially in unison with one another. The controller can display either single or multiple numbers related to the tool position, and can accept either single or multiple user inputs to move the tool by a user-determined or system-determined amount.

Abstract: A system and method of facilitating excavating a below grade opening at a construction site in a parcel of land includes a first vehicle having a motor operably connected to at least a pair of traction members and a second excavating vehicle. The motor is operably connected to a first receiver for receiving a signal from a remotely controlled transmitter to actuate the motor. Upon actuation of the motor, the motor rotates the traction members for maneuvering the first vehicle within the opening. The first vehicle has a graduated measurement device mounted generally vertically thereon for remotely controlled vertical telescopic movement. A second beam receiver is mounted to the graduated measurement device for receiving a laser beam from a laser transmitter to facilitate precise determination of the depth of the floor of the opening.

Abstract: An ice resurfacing machine laser control is used to optimize the ice layer on an artificial ice track, such as an ice hockey rink and is adapted for use in ice resurfacing machines. The thickness of an ice layer is optimized with a beam for a laser transmitter. The ice resurfacing machine comprises a laser receiver and mechanisms to regulate the elevation of the scraper blade.

Abstract: A scraping device, a system and a method for collecting a material are provided. The scraping device may have a bowl having a first end and a second end. A lip may be positioned at the first end and may cover an opening at the first end. In an embodiment, direct mounted cylinders may be attached to the lip and may move the lip to completely cover or uncover the opening. The scraping device may have a tongue mounted to the bowl having a triangular-shaped plate mechanism that may be used to raise and to lower a cutting edge attached to the bowl. Cylinders connected to the mechanism may be retracted or extended to raise or to lower the scraping device. A load within the scraping device may be lifted by force exerted from a barrel end of a cylinder, thus utilizing a maximum potential of the cylinder.

Abstract: A method and apparatus for providing for real time automated control of the position of a blade on a earth-moving machine. The method includes providing a geography altering machine, including a blade and a computer, the computer having stored therein a reference line and a three dimensional computer model of a desired topography, providing a user defined offset relative to the reference line, determining a blade position in local coordinates, converting the local coordinates to reference line coordinates, utilizing the reference line coordinates and the user defined offset to calculate blade movement commands, and moving the blade in a direction required by the blade movement commands.

Abstract: A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

Abstract: An apparatus and method for controlling a hydraulically operated construction machine having a plurality of tandem articulated members which move in a particular pattern, wherein movement of one of the articulated members is controlled in response to movement of a second one of the articulated members. Anticipated future movement of the second articulated member is determined and the first articulated member is controlled as a function at least of the anticipated future movement of the second articulated member. Anticipated future movement is determined by measuring actual delay between movement of the first and second articulated members. Operation of the articulated members is a function of operation of an actuator and a selectable command level.

Abstract: An apparatus for determining a position of a work implement of a work machine in a site coordinate system. The position of the work implement is defined as the position in the site coordinate system of two fixed points located on the work implement. The apparatus includes first and second position sensors mounted on the work implement. A pitch sensor connected to the work implement senses a pitch of the work implement and responsively produces a pitch signal. A cross slope sensor connected to the work implement senses a cross slope of the work implement and responsively produces a cross slope signal. A rotation sensor connected to the work implement senses a rotation of the work implement and responsively produces a rotation sensor.

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 for automatically determining the productivity of an earthmoving machine in real time using an onboard computer. The earthmoving machine operates in cycles having a first portion and a second portion. The earthmoving machine moves in a first direction during the first portion and in a second direction during the second portion. The method includes the steps of detecting the starts of each cycle for a series of cycles, determining a machine parameter corresponding to each cycle, calculating a cycle parameter as a function of the machine parameter, and calculating at least one measure of productivity as a function of the cycle parameter.

Abstract: An apparatus and method for controlling a hydraulically operated construction machine, having a plurality of tandem articulated members which are controlled in a manner that movement of one of the members is controlled in response to movement of another of the members, in order to move the members in a predetermined pattern. The members are controlled in response to the anticipated future movement of the another member. Anticipated future movement of the another member may be determined, for example, as a function of the present position and velocity of the another member and system delay in movement of the another member. Where the another member is controlled manually by an operator control lever coupled with a manual hydraulic control valve, anticipated future movement may be determined by monitoring actuation of the control lever.

Abstract: A method and apparatus in which a disk-type ditcher adaptable to being drawn by a tractor can dig ditches under control of a laser system by which a desired ditch grade can be selected. The ditcher incorporates a disk rotatable in a generally vertical plane transverse to the line of travel of the ditcher, the disk having circumferentially spaced scoops which during rotation function in cooperation with a bottom-cutting blade and soil plowing section to lift the cut soil for discharge from an angularly oriented overlying chute for directing soil particles a pre-selected lateral distance from the line of travel of the tractor. A pair of forwardly and oppositely positioned angularly adjustable side cutting or scraping blades can be provided in spaced relation on opposite sides of the center line of travel to impart steeper side walls to the ditch than would otherwise be formed with the circular disk alone.

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: A damping device for use with a conventional dirt bucket on a dirt mover which includes a skid shoe hingedly attachable to the bucket by means of a hinge at the front end of the skid shoe, the skid shoe having a wear plate attached to the bottom. The skid shoe with wear plate attached is attachable to the back of the bucket by a spring loaded leg removably connected to an outer sleeve which substantially encloses the spring loaded leg and which is rigidly attachable to the back of the bucket.