Milling depth compensation system and method

US10094216B2 · kind B2 · utility

Assignee

• Caterpillar Global Mining Europe GmbH · DE

Inventors

• Carl J. Moberg · Dunlap, US
• Thomas Temmann · Werne, DE
• Frank Kuehnemund · Ascheberg, DE
• Martin Teiner · Hamm, DE
• Paul Kornev · Herne, DE
• Rene Bilsing · Ascheberg, DE
• Brent Duppong · Cambridge, US
• Brian D. Rockwood · Peoria, US
• Bjoern-Andre Huehn · Essen, DE
• Oliver Kortmann · Werne, DE

Key dates

• Filing date: Jul 22, 2016
• Grant date: Oct 9, 2018
• Expiry date: Oct 3, 2036

Classification

• Technology area (CPC E): Fixed Constructions
• CPC primary: E21D9/1093
• WIPO field: Civil engineering
• WIPO sector: Other fields

Abstract

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.