公开(公告)号：US20180023390A1

公开(公告)日：2018-01-25

申请号：US15217743

申请日：2016-07-22

申请人： Caterpillar Inc.

发明人： Carl J. Moberg ,  Thomas Temmann ,  Frank Kuehnemund ,  Martin Teiner ,  Paul Kornev ,  Rene Bilsing ,  Brent Duppong ,  Brian D. Rockwood ,  Bjoern-Andre Huehn ,  Oliver Kortmann

IPC分类号： E21C35/08 ,  E21C41/16 ,  E21C25/16

CPC分类号： E21C35/08 ,  E21C25/16 ,  E21C27/24 ,  E21C41/16 ,  E21D9/1026

摘要： A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.

公开(公告)号：US10094216B2

公开(公告)日：2018-10-09

申请号：US15217743

申请日：2016-07-22

申请人： Caterpillar Inc.

发明人： Carl J. Moberg ,  Thomas Temmann ,  Frank Kuehnemund ,  Martin Teiner ,  Paul Kornev ,  Rene Bilsing ,  Brent Duppong ,  Brian D. Rockwood ,  Bjoern-Andre Huehn ,  Oliver Kortmann

IPC分类号： E21C35/08 ,  E21C25/16 ,  E21C41/16

摘要： A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.