Intelligent motion control through surface scan comparison and feature recognition

1. An intelligent motion controlled machine, comprising:

a first surface profiler disposed on a leading surface of a cart, the first surface profiler configured to scan a surface on which the cart travels;

a second surface profiler disposed on an actuating tool, the second surface profiler configured to scan the surface;

a positional sensor configured to generate positional data representing a position of the cart;

a processor configured to:

generate topography data based on output received from the first surface profiler and the positional sensor;

generate intermediate data based on output received from the second profiler and the positional sensor;

compare the intermediate data with the topography data to calculate an offset; and

control motion of the cart based on the offset.

2. The machine of claim 1 , wherein the processor is further configured to:

generate best-fit data based on the topography data; and

compare the intermediate data with the best-fit data to steer the cart.

3. The machine of claim 1 , further comprising a first inertial measurement unit (IMU) disposed proximal to the first surface profiler and configured to measure an acceleration of the cart.

4. The machine of claim 3 , wherein the processor is further configured to filter the output received from the first surface profiler using output received from the first IMU.

5. The machine of claim 3 , further comprising a second inertial measurement unit (IMU) disposed on the actuating tool and configured to measure an acceleration of the actuating tool.

6. The machine of claim 5 , wherein the processor is further configured to adjust a position of the actuating tool based on output received from the second IMU.

7. The machine of claim 1 , wherein the actuating tool comprises at least one of a grinding head, screed, and milling bit.

8. The machine of claim 1 , wherein the processor is further configured to:

identify a starting point on the surface by identifying a feature of the surface present in the topography data; and

begin operation of the cart when the cart is at the starting point.

9. The machine of claim 8 , wherein the feature of the surface comprises at least one of a geometrical shape and stamped plate.

10. A system comprising:

one or more processors; and

at least one computer-readable storage medium having stored therein instructions which, when executed by the one or more processors, cause the system to:

generate topography data of a surface based on output received from a first surface profiler disposed on a leading surface of a cart and a positional sensor;

generate intermediate data of the surface based on output received from a second profiler disposed on an actuating tool and the positional sensor;

compare the intermediate data with the topography data to calculate an offset; and

control motion of the cart traveling on the surface based on the offset, the cart having an actuating tool to manipulate the surface.

11. The system of claim 10 , wherein the instructions further cause the system to:

generate best-fit data based on the topography data; and

compare the intermediate data with the best-fit data to steer the cart.

12. The system of claim 10 , wherein the instructions further cause the system to filter the output received from the first surface profiler using output received from a first inertial measurement unit (IMU) disposed on the cart.

13. The system of claim 12 , wherein the instructions further cause the system to adjust a position of the actuating tool based on output received from a second inertial measurement unit (IMU) disposed on the actuating tool.

14. A method for controlling motion of a machine, the method comprising:

generating topography data of a surface on which a machine travels based on output received from a first surface profiler disposed on the machine and a positional sensor;

generating intermediate data of the surface based on output received from a second profiler and the positional sensor, the second profiler disposed on an actuating tool of the machine;

comparing the intermediate data with the topography data to calculate an offset; and

controlling motion of the machine based on the offset.

15. The method of claim 14 , wherein the method further comprises:

generating best-fit data based on the topography data; and

comparing the intermediate data with the best-fit data to steer the machine.

16. The method of claim 14 , further comprising filtering the output received from the first surface profiler using output received from a first inertial measurement unit (IMU).

17. The method of claim 16 , further comprising adjusting a position of the actuating tool based on output received from a second inertial measurement unit (IMU) disposed on the actuating tool.

18. The method of claim 14 , wherein the actuating tool comprises at least one of a grinding head, screed, and milling bit.

19. The method of claim 14 , wherein the method further comprises:

identifying a starting point on the surface by identifying a feature of the surface present in the topography data; and

beginning operation of the machine when the machine is at the starting point.

20. The method of claim 19 , wherein the feature of the surface comprises at least one of a geometrical shape and stamped plate.