Accurate tool depth control

Patent metadata

Field	Value
Publication number	US-10876260-B2
Application number	US-201916366332-A
Country	US
Kind code	B2
Filing date	Mar 27, 2019
Priority date	Mar 27, 2019
Publication date	Dec 29, 2020
Grant date	Dec 29, 2020

Abstract

An implement with a ground-engaging tool may include a frame supported above a surface of a ground by a ground-engaging portion and a suspension and a tool supported by and adjustable relative to the frame and configured for working the ground. The implement may also include a plurality of ground sensors configured for capturing distance measurements to determine the position of the frame relative to the surface and a control and monitor system configured for establishing a nominal scratch position of the tool relative to the surface based on the distance measurements. A method of controlling a rotor tool depth of a milling machine and a method of operating a milling machine are also described.

First claim

What is claimed is:

1. An implement with a ground-engaging tool, comprising:
a frame supported above a surface of a ground by a ground-engaging portion and a suspension;
a tool supported by and adjustable relative to the frame and configured for working the ground;
a plurality of ground sensors configured for capturing distance measurements to determine the position of the frame relative to the surface; and
a control and monitor system configured for establishing a nominal scratch position of the tool relative to the surface based on the distance measurements, the control and monitor system configured to calculate a rotor tool position based on a position and geometry of a rotor support and geometry of the rotor tool.

2. The implement of claim 1 , wherein the control and monitoring system is configured to determine the position of the frame based on the distance measurements.

3. The implement of claim 1 , wherein the plurality of ground sensors comprises a left side sensor and a right side sensor.

4. The implement of claim 3 , wherein the plurality of ground sensors comprises an additional sensor.

5. The implement of claim 1 , wherein the ground-engaging portion comprises a plurality of wheel systems and the suspension system comprises an adjustable leg for each of the plurality of wheel systems.

6. The implement of claim 5 , wherein the adjustable leg is configured for adjusting a position of the frame relative to the ground to place the tool in the nominal scratch position.

7. The implement of claim 1 , wherein the control and monitoring system includes an adjustment capture input for capturing an offset adjustment.

8. The implement of claim 7 , wherein the adjustment capture input comprises a left input for capturing a left offset adjustment and a right input for capturing a right offset adjustment.

9. A method of controlling a rotor tool depth of a milling machine, comprising:
calculating a frame height and orientation of a frame above a surface of a ground based on a plurality of distance measurements from a plurality of distance sensors;
calculating the frame height of the frame at a support location of a rotor control lever of a rotor tool of the milling machine; and
calculating a rotor tool position based on a position and geometry of the rotor control lever and geometry of the rotor tool.

10. The method of claim 9 , further comprising displaying the rotor tool position relative to the ground to an operator.

11. The method of claim 10 , further comprising receiving instructions to adjust the rotor tool position.

12. The method of claim 11 , wherein receiving instructions comprises receiving instructions to extend or retract a leg.

13. The method of claim 12 , further comprising recalculating the rotor tool position and displaying the rotor tool position relative to the ground.

14. The method of claim 11 , wherein receiving instructions comprises receiving instructions to adjust the rotor tool relative to the frame.

15. The method of claim 14 , further comprising recalculating the rotor tool position and displaying the rotor tool position relative to the ground.

16. The method of claim 11 , further comprising capturing an offset adjustment based on input from a user.

17. The method of claim 16 , wherein the offset adjustment comprises a left offset adjustment and a right offset adjustment.

18. The method of claim 16 , wherein capturing the offset adjustment comprises comparing a nominal scratch position of the rotor tool to the position of the rotor tool at the time of the input from the user.

19. A method of operating a milling machine, comprising:
adjusting a suspension system of a machine to position a chamber of the machine at a selected distance above a supporting ground surface, wherein the chamber is defined by a housing including a ground guard slidably supported by the housing to move up and down relative to the housing through a stroke length and the selected distance is a fractional distance of the stroke length of the ground guard selected to balance the available upward and downward motion of the ground guard.

20. The method of claim 19 , wherein the fractional distance is ½ of the stroke length.

Assignees

• Caterpillar Paving Products Inc

Inventors

• Muir Jason W
• Doy Nathaniel S
• Hogan Lee M
• Frantz Matthew-David S
• Schlenker Brian J
• Nieuwsma Derek P

Classifications

• B60G2300/09

  Construction vehicles, e.g. graders, excavators · CPC title

• G01S17/08

  for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) · CPC title

• E01C23/088 Primary

  Rotary tools, e.g. milling drums {(for forming recesses to receive marking materials E01C23/0946)} · CPC title

• A01B63/006

  Lateral adjustment of wheels · CPC title

• E01C23/127

  rotary, e.g. rotary hammers · CPC title