System and method for controlling movement along a three dimensional path
AssigneeCaterpillar Inc.
InventorDaniel Stanek
Life of this patent
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Abstract
A system for automated movement of a reference point along a three dimensional path stores a three dimensional path including a plurality of spaced apart points. A velocity vector of the reference point and a look ahead vector extending from the reference point define a plane of travel. A directional vector of the reference point is determined along the plane of travel, and a command vector directs movement of the reference point at least in part based upon the directional vector. The velocity vector and the look ahead vector may be used to determine the directional vector. A method is also provided.
Claims20
A system for automated movement of a component along a three dimensional path, comprising:
- a movable component having a reference point;
- and
- a controller configured to:
- store a three dimensional path;
- determine a velocity vector extending from a position at least proximate the reference point generally in a direction of movement of the reference point;
- determine a look ahead vector extending from the position at least proximate the reference point generally towards a look ahead point, the look ahead point being located generally along the three dimensional path;
- determine a plane of travel on which both the velocity vector and the look ahead vector lie;
- determine a directional vector of the reference point along the plane of travel;
- and
- determine a command vector directing movement of the reference point at least in part based upon the directional vector.
A system for automated movement of a component along a three dimensional path, comprising:
- a movable component having a reference point;
- and
- a controller configured to:
- store a three dimensional path;
- determine a plane of travel generally along which movement of the reference point is desired;
- determine a velocity vector extending from a position at least proximate the reference point generally in a direction of movement of the reference point;
- determine a look ahead vector extending from the position at least proximate the reference point generally towards a look ahead point, the look ahead point being located generally along the three dimensional path;
- scale the velocity vector and the look ahead vector to define a scaled velocity vector and a scaled look ahead vector, the scaled velocity vector and the scaled look ahead vector having substantially identical magnitudes;
- determine a directional vector of the reference point along the plane of travel based upon the scaled velocity vector and the scaled look ahead vector;
- and
- determine a command vector directing movement of the reference point at least in part based upon the directional vector.
A method of moving a component along a three dimensional path in an automated manner, comprising:
- providing a movable component having a reference point,
- storing a three dimensional path;
- determining a velocity vector extending generally from a position at least proximate the reference point generally in a direction of movement of the reference point;
- determining a look ahead vector extending generally from the position at least proximate the reference point towards a look ahead point, the look ahead point being located generally along the three dimensional path;
- determining a plane of travel on which both the velocity vector and the look ahead vector lie;
- determining a directional vector of the reference point along the plane of travel;
- and
- determining a command vector directing movement of the reference point at least in part based upon the directional vector.
Dependencies are inferred from the claim text.