Paving machine with smart steering control
A smart steering control system a paving or texturing machine receives path elements corresponding to current and future positions of the machine. By comparing the current and future elements, an expected completion time is derived for exiting the current position and entering the future position; the smart steering control system synchronizes adjustments of the machine's steerable tracks from the current path to the future path. The smart steering control system functions as a virtual tie rod, preventing damage, enhancing the traction control and pulling power of the machine, and preserving the operating life of its components.
1. A computer apparatus comprising:
at least one processor in data communication with a tangible memory storing non-transitory processor executable code for configuring the at least one processor to:
determine a common rotation point associated with a first radius in a paving path;
determine a first angle associated with a first track of a tool carrier, the first angle defined by a distance of the first track from the common rotation point;
steer the first track to the first angle;
determine a second angle associated with a second track of the tool carrier, the second angle defined by a distance of the second track from the common rotation point;
steer the second track to the second angle;
determine a second common rotation point associated with a second radius portion, different from and contiguous with the first radius portion;
determine a third angle associated with the first track defined by a distance of the first track from the second common rotation point; and
determine a fourth angle associated with the second track defined by a distance of the second track from the second common rotation point,
wherein both the first radius and second radius comprises a portion of a path of the tool carrier.
2. The apparatus of claim 1 , wherein the processor executable code further configures the at least one processor to:
determine a fifth angle associated with a third track of the tool carrier, the fifth angle defined by a distance of the third track from the common rotation point; and
steer the third track to the fifth angle.
3. The apparatus of claim 2 , wherein the processor executable code further configures the at least one processor to:
determine a sixth angle associated with the first track defined by a straight portion of the paving path;
determine a seventh angle associated with the second track defined by the straight portion of the paving path; and
determine a eight angle associated with the third track defined by the straight portion of the paving path.
4. The apparatus of claim 3 , wherein the processor executable code further configures the at least one processor to:
transition the first track from the first angle to the sixth angle;
transition the second track from the second angle to the seventh angle; and
transition the third track from the third angle to the eight angle.
5. The apparatus of claim 2 , wherein the processor executable code further configures the at least one processor to:
determine a sixth angle associated with the third track defined by a distance of the third track from the second common rotation point.
6. The apparatus of claim 5 , wherein the processor executable code further configures the at least one processor to:
transition the third track from the third angle to the sixth angle.
7. The apparatus of claim 2 , wherein the processor executable code further configures the at least one processor to:
determine a first track function for smoothly altering the angle of the first track from the first angle to carry a tool through a variable radius curve;
determine a second track function for smoothly altering the angle of the second track from the first angle to carry a tool through the variable radius curve; and
determine a third track function for smoothly altering the angle of the third track from the first angle to carry a tool through the variable radius curve.
8. A method for paving comprising:
determining a common rotation point associated with a first radius in a paving path;
determining a first angle associated with a first track of a tool carrier, the first angle defined by a distance of the first track from the common rotation point;
determining a second angle associated with a second track of the tool carrier, the second angle defined by a distance of the second track from the common rotation point;
steering the first track to the first angle;
steering the second track to the second angle;
determining a second common rotation point associated with a second radius portion, different from and contiguous with the first radius portion;
determining a third angle associated with the first track defined by a distance of the first track from the second common rotation point; and
determining a fourth angle associated with the second track defined by a distance of the second track from the second common rotation point.
9. The method of claim 8 , further comprising:
determining a fifth angle associated with the first track defined by a straight portion of the paving path; and
determining a sixth angle associated with the second track defined by the straight portion.
10. The method of claim 9 , further comprising:
transitioning the first track from the first angle to the fifth angle; and
transitioning the second track from the second angle to the sixth angle.
11. The method of claim 8 , further comprising:
transitioning the first track from the first angle to the fifth angle;
transitioning the second track from the second angle to the sixth angle.
12. The method of claim 11 , further comprising:
determining a first track function for smoothly transitioning the angle of the first track from the first angle to the fifth angle; and
determining a second track function for smoothly altering the angle of the second track from the second angle to the sixth angle.
13. A tool carrier comprising:
a chassis;
at least two steerable tracks connected to the chassis; and
at least one processor in data communication with a memory storing processor executable code for configuring the at least one processor to:
determine a common rotation point associated with a radius in a paving path;
determine a first angle associated with a first track, the first angle defined by a distance of the first track from the common rotation point;
steer the first track to the first angle;
determine a second angle associated with a second track, the second angle defined by a distance of the second track from the common rotation point;
steer the second track to the second angle;
determine a second common rotation point associated with a second radius portion, different from and contiguous with the first radius portion;
determine a third angle associated with the first track defined by a distance of the first track from the second common rotation point; and
determine a fourth angle associated with the second track defined by a distance of the second track from the second common rotation point,
wherein both the first radius and second radius comprises a portion of a path of the tool carrier.
14. The tool carrier of claim 13 , wherein the processor executable code further configures the at least one processor to:
determine a fifth angle associated with a third track, the third angle defined by a distance of the third track from the common rotation point; and
steer the third track to the fifth angle.
15. The tool carrier of claim 14 , wherein the processor executable code further configures the at least one processor to:
determine a sixth angle associated with the first track defined by a straight portion of the paving path;
determine a seventh angle associated with the second track defined by the straight portion of the paving path; and
determine a eight angle associated with the third track defined by the straight portion of the paving path.
16. The tool carrier of claim 15 , wherein the processor executable code further configures the at least one processor to:
transition the first track from the first angle to the sixth angle;
transition the second track from the second angle to the seventh angle; and
transition the third track from the third angle to the eight angle.
17. The tool carrier of claim 14 , wherein the processor executable code further configures the at least one processor to:
determine a sixth angle associated with the third track defined by a distance of the third track from the second common rotation point.
18. The tool carrier of claim 17 , wherein the processor executable code further configures the at least one processor to:
transition the third track from the third angle to the sixth angle.
19. The tool carrier of claim 14 , wherein the processor executable code further configures the at least one processor to:
determine a first track function for smoothly altering the angle of the first track from the first angle to carry a tool through a variable radius curve;
determine a second track function for smoothly altering the angle of the second track from the first angle to carry a tool through the variable radius curve; and
determine a third track function for smoothly altering the angle of the third track from the first angle to carry a tool through the variable radius curve.