US 11,891,893 B2
Civil engineering device
Christian Heichel, Niedernberg (DE); and Tobias Schmidt, Aschaffenburg (DE)
Assigned to ABI ANLAGENTECHNIK-BAUMASCHINEN-INDUSTRIEBEDARF MASCHINENFABRIK UND VERTRIEBSGESELLSCHAFT MBH, Niedernberg (DE)
Filed by ABI Anlagentechnik-Baumaschinen-Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH, Niedernberg (DE)
Filed on Dec. 7, 2020, as Appl. No. 17/113,208.
Claims priority of application No. 20153275 (EP), filed on Jan. 23, 2020.
Prior Publication US 2021/0230942 A1, Jul. 29, 2021
Int. Cl. E21B 7/02 (2006.01); E02D 7/06 (2006.01); E02D 7/14 (2006.01)
CPC E21B 7/022 (2013.01) [E02D 7/06 (2013.01); E02D 7/14 (2013.01); E02D 2600/10 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A civil engineering device comprising:
(a) a carrier device;
(b) a kinematic chain comprising a plurality of movement links movable relative to one another and connected by way of joints or linear adjusters;
(c) at least one positioner connected with a carrier device by way of the plurality of movement links;
(d) at least six actuators connected with the plurality of movement links for changing a corresponding position or orientation of the at least six actuators;
(e) a control computer connected with the plurality of movement links for controlling the at least six actuators; and
(f) a computer module connected with the control computer;
wherein the control computer has an input module for specifying a target position of the at least one positioner; and
wherein the computer module is set up for determining at least one displacement path for moving the at least one positioner along the at least one displacement path from a current position to the target position, and, using inverse kinematics, for determining locations of each actuator of the at least six actuators required for implementing the at least one displacement path of the at least one positioner and for passing location information on to the control computer so as to control the at least six actuators.