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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
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.
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2.发明申请公开(公告)号：US20180252103A1
公开(公告)日：2018-09-06
申请号：US15449408
申请日：2017-03-03
发明人： Carl Moberg , Paul Kornev , Martin Teiner , Thomas Temmann
摘要： A machine includes a gathering head and a cutting implement, with the gathering head and cutting implement having overlapping ranges of motion such that adjusting of the gathering head and cutting implement is coordinated to avoid collision. A positioning system of the machine includes a control device configured to prevent miscoordination of the gathering head and cutting implement by controlling a position of the gathering head based upon a state of progress of the cutting implement in a cutting cycle.
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公开(公告)号：US20180171798A1
公开(公告)日：2018-06-21
申请号：US15380858
申请日：2016-12-15
申请人： Caterpillar Inc.
发明人： Carl Moberg , Brent Michael Duppong , Frank Karl Kuehnemund , Thomas Temmann , Martin Teiner , Paul Kornev
CPC分类号： E21D9/102 , E21C35/08 , E21C35/24 , E21C41/16 , E21D9/1026
摘要： A control system may be provided for a machine having a swivel chair, a positioning member attached to the swivel chair, a wrist attached to the positioning member, and a cutting head. The control system may include at least one actuator capable of extending and swinging the swivel chair. The control system may also include a lift actuator capable of pivoting the positioning member, a gear mechanism capable of rotating the wrist, and a controller in communication with the swivel chair actuator, the lift actuator, and the wrist actuator. The controller may be capable of determining an excavation pass having a trajectory made from sequential vector paths, and directing the swivel chair actuator, the lift actuator, and the wrist actuator to selectively move the cutting head such that a rotation axis of the cutting head follows the trajectory through each vector path of the excavation pass to form a structure.
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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
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.
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