Automatic depth control for trencher
AssigneeLaser Alignment, Inc.
InventorsEdward G. Nielson, Timothy S. DeBruine, Daniel P. Modzeleski, Ross C. Stoepker
Life of this patent
Estimating the term…
Abstract
A method and apparatus for controlling a trencher having a tractor that is propelled along terrain and a trenching implement adjustably mounted to the tractor at a rearward portion thereof with respect to movement of the tractor along the terrain includes monitoring movement of the tractor as it is propelled along terrain in order to survey the contour of the terrain and adjusting the position of the trenching implement with respect to the tractor as a function of the contour of the terrain in the vicinity of the trencher.
Claims33
A method of controlling a trencher having a tractor that is propelled along terrain and a trenching implement adjustably mounted to said tractor at a rearward portion of said tractor with respect to movement of said tractor along terrain, including:
- monitoring movement of the tractor as said tractor is propelled along terrain in order to establish in a memory a contour map of the slope of the terrain in the vicinity of the trencher;
- and
- adjusting the position of said trenching implement with respect to said tractor as a function of the slope of the terrain at the trenching implement by retrieving data from the contour map.
A method of controlling a trencher having a tractor that is propelled along terrain and a cutter bar that is rotatably mounted to said tractor at a rearward portion of said tractor with respect to movement of the tractor along terrain, including:
- monitoring the distance travelled by the tractor and the main fall angle of the tractor with respect to true earth reference;
- determining slope of the terrain at a forward portion of the tractor with respect to movement of the tractor along terrain utilizing the slope of the terrain at a rearward portion of the tractor and the main fall angle of the tractor;
- storing the value of slope obtained at said forward portion of the tractor in a contour table;
- retrieving stored values of slope from said contour table in order to establish a contour of the terrain at said rearward portion of the tractor;
- retrieving from said contour table values of slope of the terrain at the cutter bar and determining a target position of said cutter bar as a function of slope of the terrain at said cutter bar and the main fall angle of the tractor;
- and
- monitoring the actual position of the cutter bar with respect to the tractor and adjusting the position of the cutter bar in order to reduce differences between said target and actual positions.
A control for a trencher having a tractor that is propelled along terrain and a trenching implement adjustably mounted to said tractor at a rearward portion of said tractor with respect to movement of said tractor along terrain, comprising:
- a surveying system that is responsive to movement of the tractor along terrain in order to produce a contour map of slope of the terrain in the vicinity of the trencher;
- and
- a positioning system that is responsive to said surveying system for determining a target position of the trenching implement with respect to said tractor as a function of the slope of said terrain at the trenching implement by retrieving data from said contour map.
A control for a trencher having a tractor that is propelled along terrain and a cutting bar that is rotatably mounted to said tractor at a rearward portion of said tractor with respect to movement of the tractor along terrain, comprising:
- an inclination sensor to monitor the main fall angle of the tractor;
- a distance measuring device to monitor movement of the tractor in the forward direction;
- an angle sensor to monitor an angle of the cutting bar;
- and
- a control which is responsive to said inclination sensor, said distance measuring device, and said angle sensor for establishing a relative angle between said tractor and said cutting bar that will extend said cutting bar a given distance below terrain notwithstanding variations in the shape of the terrain.
Dependencies are inferred from the claim text.