INTELLIGENT MOTION CONTROL THROUGH SURFACE SCAN COMPARISON AND FEATURE RECOGNITION

1 . A paving machine, comprising:

a first surface profiler configured to scan a surface on which a 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; and

a processor configured for:

receiving the positional data from the position sensor;

receiving surface profile information from the first surface profiler and the second surface profiler;

filtering the surface profile information to remove one or more extraneous motion artifacts; and

creating a topographic map of the surface based on the positional data and the surface profile information.

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

comparing the surface profile information received from the first surface profiler with the surface profile information received from the second surface profiler; and

determining if a current position of the actuating tool is in a required position and orientation to achieve a desired surface profile.

3 . The paving machine of claim 2 , wherein the processor is further configured to perform steps for:

adjusting a vertical position of the actuating tool based on a calculated offset.

4 . The paving machine of claim 2 , wherein the processor is further configured to perform steps for:

adjusting a rotational position of the tool.

5 . The paving machine of claim 1 , wherein the processor is further configured to perform steps for:

receiving pressure information from one or more pressure sensors; and

controlling operation of the actuating tool based on the pressure information.

6 . The paving machine of claim 1 , wherein the positional sensor comprises a rotary encoder.

7 . The paving machine of claim 1 , wherein the actuating tool comprises a linear actuator, a rotary actuator, a hydraulic cylinder, a pneumatic cylinder, or a combination thereof.

8 . A computer-implemented method, comprising:

receiving positional data from a position sensor;

receiving surface profile information from a first surface profiler and a second surface profiler, and wherein the second surface profiler is disposed on an actuating tool;

filtering the surface profile information to remove one or more extraneous motion artifacts; and

creating a topographic map of the surface based on the positional data and the surface profile information.

9 . The computer-implemented method of claim 8 , further comprising:

comparing the surface profile information received from the first surface profiler with the surface profile information received from the second surface profiler; and

determining if a current position of the actuating tool is in a required position and orientation to achieve a desired surface profile.

10 . The computer-implemented method of claim 9 , further comprising:

adjusting a vertical position of the actuating tool based on a calculated offset.

11 . The computer-implemented method of claim 8 , further comprising:

adjusting a rotational position of the tool.

12 . The computer-implemented method of claim 8 , further comprising:

receiving pressure information from one or more pressure sensors; and

controlling operation of the actuating tool based on the pressure information.

13 . The computer-implemented method of claim 8 , wherein the positional information is received from a rotary encoder.

14 . The computer-implemented method of claim 8 , wherein the actuating tool comprises a linear actuator, a rotary actuator, a hydraulic cylinder, a pneumatic cylinder, or a combination thereof.

15 . A non-transitory computer-readable storage medium comprising at least one instruction for causing a computer or processor to:

receive positional data from a position sensor;

receive surface profile information from a first surface profiler and a second surface profiler, and wherein the second surface profiler is disposed on an actuating tool;

filter the surface profile information to remove one or more extraneous motion artifacts; and

create a topographic map of the surface based on the positional data and the surface profile information.

16 . The non-transitory computer-readable storage medium of claim 15 , wherein the at least one instruction is further configured to cause a computer or processor to:

compare the surface profile information received from the first surface profiler with the surface profile information received from the second surface profiler; and

determine if a current position of the actuating tool is in a required position and orientation to achieve a desired surface profile.

17 . The non-transitory computer-readable storage medium of claim 15 , wherein the at least one instruction is further configured to cause a computer or processor to:

adjust a vertical position of the actuating tool based on a calculated offset.

18 . The non-transitory computer-readable storage medium of claim 15 , wherein the at least one instruction is further configured to cause a computer or processor to:

adjust a rotational position of the tool.

19 . The non-transitory computer-readable storage medium of claim 15 , wherein the at least one instruction is further configured to cause a computer or processor to:

receive pressure information from one or more pressure sensors; and

control operation of the actuating tool based on the pressure information.

20 . The non-transitory computer-readable storage medium of claim 15 , wherein the positional information is received from a rotary encoder.