The present invention is aimed to reduce power consumption of a measuring apparatus. A measuring apparatus according to the present invention is to be disposed in an excavation section of an underground excavator. The measuring apparatus according to the present invention includes a first measurement module, a second measurement module, and an information processor. The first measurement module includes a triaxial first accelerometer and a triaxial first magnetometer for performing highly-accurate measurement. The second measurement module includes a triaxial second accelerometer and a triaxial second magnetometer for performing measurement during excavation. The information processor controls the first measurement module and the second measurement module and obtains a position and an attitude of the excavation section based on output data of the first measurement module or the second measurement module. Further, the second accelerometer and the second magnetometer are MEMS sensors.

De-trenching apparatus (100) for extracting a buried line, such as a cable or pipeline, is disclosed. The de-trenching apparatus comprises a channel (112) configured to receive a buried line to be extracted, the channel comprising a first flared opening (114) at a front end of the de-trenching apparatus and a second flared opening (115) at the rear end of the de-trenching apparatus, the first and second flared openings each having a curved surface (111) configured to support the line during extraction, and material removal means for removing material from around the buried line ahead of the de-trenching apparatus.

An apparatus for locating an elongate object in the seabed is disclosed. The apparatus comprises a body and a pair of jetting swords arranged on lateral sides of the elongate object to form a trench in the seabed. Chain cutters arranged on lateral sides of the elongate object cut respective parts of a trench in the seabed and are moveable relative to the body between a stowed position and a deployed position, independently of the jetting swords.

An apparatus for locating an elongate object in the seabed is disclosed. The apparatus comprises a body and a pair of jetting swords arranged on lateral sides of the elongate object to form a trench in the seabed. Chain cutters arranged on lateral sides of the elongate object cut respective parts of a trench in the seabed and are moveable relative to the body between a stowed position and a deployed position, independently of the jetting swords.

A rotary ditching attachment for an articulated boom of an excavator type machine includes two rotary excavating heads supported in spaced relation on opposite sides of a central support. The heads rotate about a common axis. The rotary ditching attachment is rotatably coupled to the boom by a rotating tool mount. The rotating tool mount is connectable to the central support such that the central support and attached excavating heads are rotatable about an axis extending through the central support and perpendicular to the common axis of the excavator heads. Excavating assemblies are mounted on outwardly facing and inwardly facing surfaces of rotors forming each excavating heads. Rotating the rotary ditching attachment relative to a direction of movement of the rotary ditching tool relative to the ground increases the width of cut of the excavating heads when used to form or rehabilitate a ditch.

A rotary ditching attachment for an articulated boom of an excavator type machine includes two rotary excavating heads supported in spaced relation on opposite sides of a central support. The heads rotate about a common axis. The rotary ditching attachment is rotatably coupled to the boom by a rotating tool mount. The rotating tool mount is connectable to the central support such that the central support and attached excavating heads are rotatable about an axis extending through the central support and perpendicular to the common axis of the excavator heads. Excavating assemblies are mounted on outwardly facing and inwardly facing surfaces of rotors forming each excavating heads. Rotating the rotary ditching attachment relative to a direction of movement of the rotary ditching tool relative to the ground increases the width of cut of the excavating heads when used to form or rehabilitate a ditch.

A pipe laying plow (100), for operating by moving it forward while pipe (201) is fed therethrough to be laid at a pipe laying depth (D). The plow has a boom (15) held by an above-ground structure (16), and includes a substantially linear pipe feeding tube (3) defining a longitudinal axis (33) in a vertical plane; and a plurality of substantially identically shaped, planar blades (2) attached at regular intervals (BSp) along the tube; a blade length (BL) line intersecting the longitudinal axis (33) at an attachment angle (B), and blade width (BW) lines extending laterally perpendicular to the longitudinal vertical plane; wherein, when the boom is held in operating position, the tube (3) extends longitudinally downward and rearward at a boom angle (C) relative to ground level, and the blades extend lengthwise downward and forward at a plowing angle (A) relative to ground level.

A pipe laying plow (100), for operating by moving it forward while pipe (201) is fed therethrough to be laid at a pipe laying depth (D). The plow has a boom (15) held by an above-ground structure (16), and includes a substantially linear pipe feeding tube (3) defining a longitudinal axis (33) in a vertical plane; and a plurality of substantially identically shaped, planar blades (2) attached at regular intervals (BSp) along the tube; a blade length (BL) line intersecting the longitudinal axis (33) at an attachment angle (B), and blade width (BW) lines extending laterally perpendicular to the longitudinal vertical plane; wherein, when the boom is held in operating position, the tube (3) extends longitudinally downward and rearward at a boom angle (C) relative to ground level, and the blades extend lengthwise downward and forward at a plowing angle (A) relative to ground level.

A plough for burying a cable has a base frame, an upper frame member and a ploughshare support; a topside of the ploughshare support features a cable trough; and a cable guiding path extends from a front end to a rear end of the plough. The cable guiding path is arranged between the base frame and the upper frame member and along the cable trough. The upper frame member is movably connected relative to the base frame, such that the upper frame member may move between a first position. The upper frame member is arranged above the cable guiding path, and a second position wherein the upper frame member is displaced away from the cable guiding path. The whole extent of the cable guiding path is accessible from above when the upper frame member is in the second position, such that a cable may be lowered onto the cable guiding path.

This description provides an autonomous or semi-autonomous excavation vehicle that is capable of navigating through a dig site and carrying an excavation routine using a system of sensors physically mounted to the excavation vehicle. The sensors collect one or more of spatial, imaging, measurement, and location data representing the status of the excavation vehicle and its surrounding environment. Based on the collected data, the excavation vehicle executes instructions to perform an excavation routine by excavating earth from a hole using an excavation tool positioned at a single location within the site. The excavation vehicle is also able to carry out numerous other tasks, such as checking the volume of excavated earth in an excavation tool, navigating the excavation vehicle over a distance while continuously excavating earth from a below surface depth, and preparing a digital terrain model of the site as part of a process for creating the excavation routine.