公开(公告)号：WO2018017229A1

公开(公告)日：2018-01-25

申请号：PCT/US2017/038078

申请日：2017-06-19

Applicant: CATERPILLAR INC.

Inventor： MOBERG, Carl, J. ,  TEMMANN, Thomas ,  KUEHNEMUND, Frank ,  TEINER, Martin ,  KORNEV, Paul ,  BILSING, Rene ,  DUPPONG, Brent ,  ROCKWOOD, Brian, D. ,  HUEHN, Bjoern-Andre ,  KORTMANN, Oliver

IPC: E21C31/02 ,  E21C25/10 ,  E21C25/08 ,  E21D9/10

Abstract: A milling depth compensation system for milling rock determines a target position of a machine (10), an initial position of the work surface (101), 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.

Abstract translation: 铣刨深度补偿系统基于目标位置确定机器（10）的目标位置，工作表面（101）的初始位置和机器的目标姿态 机器的位置和工作台面的初始位置。 确定机器的实际姿态，并使用实际姿态和目标姿态之间的差异来确定铣削工具的动态铣削路径。 动态铣削路径包括铣削刀具沿第一路径，第二路径和第三路径的移动。 生成命令信号以沿着动态铣削路径移动铣刀。

公开(公告)号：WO2018112337A1

公开(公告)日：2018-06-21

申请号：PCT/US2017/066666

申请日：2017-12-15

Applicant: CATERPILLAR INC.

Inventor： MOBERG, Carl ,  DUPPONG, Brent, M. ,  KUHNEMUND, Frank, K. ,  TEMMANN, Thomas ,  TEINER, Martin ,  KORNEV, Paul

IPC: E21D9/10

CPC classification number: E21D9/102 ,  E21C35/08 ,  E21C35/24 ,  E21C41/16 ,  E21D9/1026

Abstract: 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.

公开(公告)号：WO2018112332A1

公开(公告)日：2018-06-21

申请号：PCT/US2017/066654

申请日：2017-12-15

Applicant: CATERPILLAR INC.

Inventor： MOBERG, Carl ,  DUPPONG, Brent, M. ,  PAHL, Justin, P. ,  PALMER, Matthew, T. ,  KUHNEMUND, Frank, K. ,  TEMMANN, Thomas

IPC: E21D9/10 ,  E21C27/24

CPC classification number: E21D9/1093 ,  E21C27/24 ,  E21D9/1006 ,  E21D9/102 ,  E21D9/1086

Abstract: A control system may be provided for operating a machine (10) having a rotary cutting head (12). The control system may include a wrist (19) capable of rotating about a wrist axis (20), a gear mechanism (33) capable of driving rotation of the wrist. A cutting head (12) may be attached to the wrist (19) and capable of rotating about a cutter axis (13) that is substantially perpendicular to the wrist axis (20). The control system may also include primary (63) and redundant angular sensors (64) capable of generating signals indicative of angular orientations of the wrist. The control system may additionally include a controller (40), capable of controlling operation of the wrist (19) and the cutting head (12), comparing an actual angular orientation of the wrist to a target angular orientation, as indicated by the primary and secondary signals, and selectively inhibiting the cutting head from operating (116) when the actual angular orientation differs from the target angular orientation by an operation threshold (118).