US20160326701A1

US20160326701A1 - Rotary Mixer with Automated Control Functions

Info

Publication number: US20160326701A1
Application number: US14/706,603
Authority: US
Inventors: Brian Joe Schlenker; John Eron Jorgensen; Jason William Muir; Erin Engelmann; Dario Sansone; John R. Guzman
Original assignee: Caterpillar Paving Products Inc
Current assignee: Caterpillar Paving Products Inc
Priority date: 2015-05-07
Filing date: 2015-05-07
Publication date: 2016-11-10

Abstract

A rotary mixer utilizes position control technology to determine the position of the rotary mixer on a work surface and a controller determines whether an intended path across a work surface will overlap with a previously pulverized, mixed and modified surface. The rotary mixer utilizes at least one fluid spray bar in the rotor chamber or mixing chamber that extends along the width of the rotor. The fluid spray bar includes a plurality of nozzles spaced apart along the fluid spray bar that may he individually controlled by a nozzle actuator. In the event such an overlap is occurring or will occur, to avoid the application of excess fluid to the already modified surface, the controller directs the nozzle actuator to either reduce or shut off flow through the nozzles that are in alignment with the already modified surface.

Description

TECHNICAL FIELD

The present disclosure generally relates to rotary mixers, and more particularly to the use of positioning or navigation systems and/or two or three dimensional grade and slope data for work surface to control various functions of a rotary mixer.

BACKGROUND

Rotary mixers may be used to stabilize soil surfaces (soil stabilization) and reclaim deteriorated road surfaces (road reclamation). Rotary mixers include a rotor that spins about a horizontal axis and mills the underlying surface. The rotor is disposed within a rotor chamber that has an open bottom through which the rotor extends to engage the underlying surface. As the rotary mixer moves over the surface, hydraulic actuators lower the rotor until the rotor reaches a predetermined depth below the surface while the lower edges of the rotor chamber engage or ride on top of the surface.
When used to stabilize soil, the rotor pulverizes the existing soil surface and mixes the pulverized soil with additives in the rotor chamber to modify and stabilize the soil for a strong base. Similarly, in full depth road reclamation, the rotor pulverizes and mixes an existing road surface and a predetermined amount of the underlying material with various additives in the rotor chamber to create a new base or a new road surface. The additives are typically sprayed onto the pulverized material within the rotor chamber to modify and stabilize the pulverized material for strengthening the new base or surface. Such additives include water, asphalt emulsions, and chemical agents such as calcium chloride, portland cement, fly ash and lime. Spray bars within the rotor chamber dispense the additives onto the pulverized material during the initial pulverization or during a separate mix pass.
The rotor chamber may also include adjustable front and rear doors, the position of which helps to control the degree of pulverization and mixing of the surface and underyling materials by controlling the residence time of the material within the rotor chamber. However, by closing the rear door, the rotor chamber holds more material and the machine requires more power to turn the rotor through that material, which causes the machine to travel slower. The degree of pulverization may also be controlled by controlling the rotational speed of the rotor and the position of an adjustable breaker bar that is disposed within the rotor chamber. Additionally, the rotor chamber play include separate spray systems for the application of water, asphalt emulsion and other additives.
In a conventional rotary mixer, an operator may visually inspect the pulverized surface and manually adjust the rotor speed, rotor depth arid/or the front and rear doors to adjust the degree of pulverization. Further, U.S. Pat. No. 8,851,792 discloses a rotary mixer that pulverizes a surface such as a road and detects a particle size of the pulverized surface with a sensor. A controller compares the detected particle size with a desired particle size, and adjusts the degree of pulverization by adjusting the positions of the front and rear doors of the rotor chamber, adjusting the rotor speed and adjusting the position of the breaker bar within the rotor chamber.
When a rotary mixer is required to make multiple passes on a jobsite, overlap between passes is sometimes necessary. When a spray system is employed, the operator may be required to close some or all of the spray nozzles to avoid excess water, emulsion or additive from being added to the already pulverized material. In other cases, overlap between passes may be unnecessary or a mistake, resulting in lost productivity, and the possibility that an additional pass be made to correct for the unnecessary y overlap. Further, the operator may need to adjust the rotor depth and the left to right attitude (tilt) of the rotor in response to changes in the grade and slope of the surface.

SUMMARY OF THE DISCLOSURE

In one aspect, this document discloses a machine configured to pulverize and mix a work surface to produce a modified surface. The machine may include a frame and a receiver for receiving a position signal. The receiver is in communication with a controller for transmitting the position signal to the controller. The machine may further include a rotor adjustably coupled to the frame by a rotor depth actuator that may be in communication with the controller. The machine may further include a rotor chamber coupled to the frame and at least partially surrounding the rotor. The rotor chamber may have an interior surface. The machine may further include a fluid spray bar connected to the interior surface. The fluid spray bar may extend along a width of the rotor and may include a plurality of nozzles spaced apart along a length of the fluid spray bar. The fluid spray bar may be in communication with a pump that is in communication with the controller. The nozzles may be in communication with a nozzle actuator that is in communication with the controller. The nozzle actuator may control the nozzles in response to signals from the controller. The controller may be configured to determine a position of the rotor based on the position signal. The controller may be further configured to determine which portions of the work surface have been previously pulverized and mixed to form the modified surface. The controller may be further configured to determine when a portion of the modified surfaced will be at least partially overlapped by the rotor and the controller may also be configured to send the fluid control signal to the nozzle actuator to modify a flow rate of fluid delivered by the nozzles that are in alignment with the modified surface that will be overlapped by the rotor.
In another aspect, the controller may be further configured to send a fluid control signal to the nozzle actuator to modify a flow rate of fluid delivered by the nozzles in response to the position signal.
In another aspect, a method using a machine to pulverize a work surface into particles and mix the particles with a fluid to produce a modified surface is disclosed. The machine may include a rotor having a width. The fluid may be dispensed through a spray bar disposed parallel to the rotor and having a plurality of nozzles spaced apart along the fluid spray bar. The disclosed method may include receiving a position signal at the machine, determining a location of the machine, determining a prior location of the machine and determining a location the previously modified surface. The method may further include determining if the rotor is at least partially disposed over the modified surface, and if the rotor is not disposed over the modified surface, activating a pump and a nozzle actuator to open all of the nozzles and dispense a predetermined flowrate of fluid through all of the nozzles and onto the particles. And, if the rotor s at least partially disposed over the modified surface, the method may include determining which nozzles are in alignment with the modified surface, activating the nozzle actuator to at least partially close the nozzles that are in alignment with the modified surface and open the nozzles disposed over the work surface and activating the pump to dispense the predetermined flowrate of fluid through the nozzles the are disposed over the work surface and less than the predetermined flowrate of fluid through the nozzles that are disposed over the modified surface.
In another aspect, the method may include storing 2D or 3D map data of the work surface that includes varying predetermined flowrates of fluid and the method may further include activating the nozzle actuator and activating the pump in response to the position signal to dispense the predetermined flowrate of fluid through the nozzles based on the map data.
Another machine configured to pulverize and mix a work surface to produce a modified surface may also include a frame and a receiver for receiving a position signal. The receiver may be in communication with a controller for transmitting the position signal to the controller. The frame may be adjustably coupled to a front left ground engaging element by a front left leg actuator, the frame may be adjustably coupled to a front right ground engaging element by a front right leg actuator, the frame may be adjustably coupled to a rear left ground engaging element by a rear left leg actuator d the frame may be adjustably coupled to a rear right ground engaging element by a rear right leg actuator. The machine may further include a rotor that may be adjustably coupled to the frame by a rotor depth actuator. The controller may be further configured to send signals to the rotor depth actuator to control a depth of the rotor in response to the position signal. The controller may also be configured to send signals to the front left leg actuator, the front right leg actuator, the rear left leg actuator and the rear right leg actuator to control a left to right attitude of the rotor in response to the position signal.
The features, functions, and advantages discussed above may be achieved independently in various embodiments or may be combined in yet other embodiments, further details of which can be seen with reference to the following description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the disclosed methods and apparatuses, reference should be made to the embodiments illustrated in greater detail in the accompanying drawings, wherein:

FIG. 1 is a side plan view of an exemplary machine having a rotor chamber;

FIG. 2 is a top plan view of the machine illustrated in FIG. 1;

FIG. 3 illustrates the rotor chamber of the machine shown in FIGS. 1 and 2;

FIG. 4 schematically illustrates the spray system of the rotor chamber illustrated in FIG. 3, particularly illustrating the fluid spray bars, pumps and actuators;

FIG. 5 schematically illustrates an exemplary control system for the machine, rotor chamber and spray system illustrated in FIGS. 1-4;

FIG. 6 schematically illustrates an exemplary steering control system for the machine illustrated in FIGS. 1-2.

FIG. 7 is a flow chart of one disclosed method for operating the machine illustrated in FIGS. 1-6.

The drawings are not necessarily to scale and illustrate the disclosed embodiments diagrammatically and in partial views. In certain instances, this disclosure may omit details which are not necessary for an understanding of the disclosed methods and apparatuses or which render other details difficult to perceive. Further, this disclosure is not limited to the particular embodiments illustrated herein.

DETAILED DESCRIPTION

This disclosure presents exemplary embodiments s reference the accompanying drawings. Herein, like numerals designate like parts throughout.
FIG. 1 illustrates an exemplary machine 10, in this case, a rotary mixer. Although FIG. 1 illustrates a rotary mixer, this disclosure applies to any other machine used in road reclamation, soil stabilization, surface pulverization or other related other applications. According to FIG. 1, the machine 10 includes a frame 11, an operator cab 12 and an engine 13. The frame 11 is adjustably coupled to a front left ground engaging element 14 a , a front right ground engaging element 14 b, a rear left ground engaging element 15 a and a rear right ground engaging element 15 b by a front left leg actuator 30 a, a front right leg actuator 30 b, a rear left leg actuator 30 c and a rear right leg actuator 30 d respectively (see also FIG. 2). The frame 11 may also be coupled to a rotor chamber 16, which includes an open bottom 17, but which also substantially surrounds a rotor 18 as shown in FIG. 3. The rotor chamber 16 and rotor 18 are coupled to the frame 11 by a right rotor actuator 21 and left rotor actuator 22 (FIG. 2). The right and left rotor actuators 21, 22 may be plumbed together and fused with rotor depth actuator 20 a as shown schematically in FIG. 2. The rotor depth actuator 20 a may be used to raise and lower the rotor 18 with respect to the frame 11. The slots 20 b in the rotor chamber 16 enable the rotor chamber 16 to ride on the work surface 7 as the rotor depth actuator 20 a lowers the rotor 18 to a depth below the work surface 7 as shown in FIG. 3. Further, the right and left sides of the open bottom 17 of the rotor chamber 16 may include skids 20 c to facilitate the floating of the rotor chamber 16 on the work surface 7 as the rotor 18 lowers to a depth below the work surface 7. Returning to FIG. 2, the front left leg actuator 30 a, front right leg actuator 30 b, rear left leg actuator 30 c and rear right leg actuator 30 d (FIG. 2) may be employed to tilt the frame 11 and therefore tilt the rotor 8 or to adjust the right to left attitude of the rotor 18 as discussed in greater detail below.
The rotor 18 is driven by a rotor system 73 which, in the example shown in FIGS. 1-2, includes a left chain or be (not shown) and a right chain or belt (not shown) that are disposed within a left guard 24 and a right guard respectively as shown in FIG. 2. Of course, other drive systems, such as a direct drive system, may be employed as will be apparent to those skilled in the art. The rotor 18, as shown in FIG. 3, can extend below the open bottom 17 of the rotor chamber 16 and into the work surface 7 and underlying material layer 8 to form a modified surface 9 that consists essentially of pulverized particles of the work surface 7, the underlying material layer 8 and any fluids added to the pulverized particles by one or more of the fluid spray bars 42, 43, 44.
Returning to FIG. 1, the machine 10 may also include a position signal receiver 26, which is configured to receive position signals from a signal transmitter, such as a global positioning satellite (GPS) or another positioning or navigation system such as a ground-based laser positioning system. Other types of positioning systems are known and will be apparent to those skilled in the art. The machine 10 may further include an electronic controller 27 and a steering control system 28 that may include a front steering actuator 31 and a rear steering actuator 32. The operator cab 12 may house a display 33 for displaying positional information for the operator. The display 33 may also display gradation information. Such gradation information may include the degree of pulverization information received from the gradation sensor 19 (FIG. 1), which may be a particle size sensor.
Turning to FIG. 3, the rotor chamber 16, in addition to accommodating the rotor 18, may also include a breaker bar 34 that may be adjustable via a breaker bar actuator 35 that may be in communication with the controller 27. The rotor chamber 16 may also include a front door 36, the position of which may be adjustable by way of a front door actuator 37 that may be in communication with the controller 27. The rotor chamber 16 may also include a rear door 38 that may be similarly adjustable by way of a rear door actuator 39 that may be in communication with the controller 27. In addition to the breaker bar 34, the interior surface 41 of the rotor chamber 16 may also be connected to one or more fluid spray dispensers, such as fluid spray bars 42, 43, 44. The fluid spray bars 42, 43, 44 may dispense different fluids, for example, water, an emulsion and an asphalt or bitumen foam respectively as indicated in FIG. 5. The rotational speed of the rotor 18 may be detected for feedback purposes by a rotor speed sensor 29.
As shown in FIG. 4, each fluid spray bar 42, 43, 44 may be in communication with its own pump 45, 46, 47 respectively and each fluid spray bar 42, 43, 44 may be in communication with its own nozzle actuator 51, 52, 53 respectively. Flow rate sensors 50 a, 50 b, 50 c may be employed to measure the flow rate through the fluid spray bars 42, 43, 44 respectively. The flow rate sensors 50 a, 50 b, 50 c may be flow meters or other appropriate sensors, as will be apparent to those skilled in the art. Further, each pump 45, 46, 47, each nozzle actuator 51, 52, 53 and each flow rate sensor 50 a, 50 b, 50 c may be in communication with the controller 27. Each fluid spray bar 42, 43, 44 may include a plurality of nozzles 54 that may be individually controlled by their respective nozzle actuators 51, 52, 53 as instructed by the controller 27. Individual actuation of the nozzles 54 may be useful for the situation where the machine 10 is moving along a path that traverses the work surface 7 but that also partially overlaps a surface that has been previously pulverized and mixed to form the modified surface 9 as shown in FIG. 4. If only a portion of the rotor 18 is overlapping such a modified surface 9 as shown in FIG. 4, the nozzles 54 that are in alignment with the already pulverized, mixed and modified surface 9 may be need to turned off or have a reduced flow rate. In other words, if the machine 10 overlaps a previously pulverized and mixed area or a previously modified surface 9, then there may be no need or a reduced need to add additional fluid to the already modified surface 9. In that situation, the controller 27, using the positioning signals received from the position signal receiver 26, would recognize that the machine 10 is about to overlap or partially overlap an already modified surface 9. Using predetermined criteria, the controller 27 would then send a signal to one or more of the nozzle actuators 51, 52, 53 to turn off or educe the flow through one or more of the nozzles 54 that are in alignment with the modified surface 9. The nozzle actuators 51, 52, 53 may be individually in communication with the nozzles 54 so that flow through individual nozzles 54 can be modified or shut off when one or more nozzles 54 are overlapping the modified surface 9.
In addition, the controller 27 may include or be linked to a memory that includes 2D or 3D map data of the work surface 7. Such 2D or 3D map data may include varying predetermined flowrates of fluid to be dispensed due to varying soil/material conditions or as the result of test results performed prior to commencement of the job. Therefore, the controller 27 may modify the amount of fluid dispensed based on the position signal regardless of whether overlap pass is occurring or not.
FIG. 5 is a schematic illustration of a control system 60 that may be carried out by one or more controllers 27 and various actuators as discussed herein. The control system 60 may be incorporated into a single controller 27 or a plurality of such controllers 27. The control system 60 may include a pass mapping control module 61 as well as a position control module 62. Both of these modules receive position signals from the position signal receiver 26 (FIG. 1). The pass mapping control module 61 may maintain a record of which portions of the work surface have been pulverized and nixed to produce the modified surface 9. In other words, the pass mapping control module 61 maintains a record of where the machine 10 has been. In contrast, the position control module 62 determines, from the position signal 63, where the machine 10 is now located. If the machine 10 is not disposed over a modified surface 9, the position control module 62 sends an appropriate signal to the spray system flow control module 64 indicating that the machine 10 is about to cover only unmodified portions of the work surface 7 without overlap with a modified surface 9. In such a situation, the spray system flow control module 64 may then send appropriate signals for the control of the pumps 45, 46, 47 and the nozzle actuators 51, 52, 53 (see also FIG. 4) so that fluid is delivered through each nozzle 54 at a predetermined flow rate. For example, if three fluids are to be sprayed onto the newly pulverized material (see FIG. 3), and there is no overlap with a previously modified surface 9, the spray system flow control module 64 may send signals to the pumps 45, 46, 47 to pump the respective: fluids at a predetermined flow rate. Flow rate sensors 50 a, 50 b, 50 c communicate the actual flow rates to the spray system flow control module 64, which in turn are used to control the speed of the pumps 45, 46, 47 respectively.
Similarly, the spray system flow control module 64 may send signals to the nozzle actuators 51, 52, 53 to open all the nozzles 54 so the fluid spray bars 42, 43, 44 dispense fluid along the entire length of the fluid spray bar 42, 43, 44. In other words, in this exemplary embodiment, stone of the nozzles of 54 of the fluid spray bars 42, 43, 44 is closed when the machine 10 is pulverizing an unmodified portion of the work surface 7 and there is no overlap with a previously modified surface 9. However, the pass mapping control module 61 determines that the machine 10 will overlap with a previously modified surface 9, the pass mapping control module 61 may send an appropriate signal to the spray system flow control module 64 indicating that an overlap is taking place or is about to take place. In such a situation, the spray system flow control module 64 may then send signals modifying or reducing the speed of the pumps 45, 46, 47 and/or send signals to the nozzle actuators 51, 52, 53 to close or reduce the flow through the nozzles 54 that are in alignment with the previously modified surface 9. In the example shown n FIG. 4, two nozzles 54 of each fluid spray bar 42, 43, 44 are in alignment with the modified surface 9 and therefore those two nozzles 54 of each fluid spray bar 42, 43, 44 may need to be turned off completely or adjusted for a reduced flow rate. This way, a previously modified surface 9 is not exposed to excessive amounts of fluid and/or additives. Feedback signals from the nozzle actuators 51, 52, 53 and pumps 45, 46, 47 may be sent to the spray system flow control module 64 for control purposes and to the pass mapping control module 61, which may store data indicating the amounts of fluids that have been dispensed to the various portions of the modified surface 9.
As noted above, in addition to modifying the application of fluid because of an overlap pass, the amount of fluid applied may be modified based on location only. That is, 2D or 3D map data could include predetermined fluid flowrate data based on position to accommodate for varying soil conditions, materials, etc.
Contemporaneously, regardless of whether an overlap is occurring, the position control module 62 may send signals to a rotor tilt control module 73, a rotor depth control module 74 and a gradation control module 75. The rotor tilt control module 73 and rotor depth control module 74 may both utilize three-dimensional map data for the work surface 7. In this way, the rotor tilt control module 73 can determine an appropriate left to right attitude or a left to right tilt of the rotor 18. Accordingly, the rotor tilt control module 73 may send appropriate signals to the front left leg actuator 30 a, the front right leg actuator 30 b, the rear left leg actuator 30 c and the rear right leg actuator 30 d to adjust the tilt of the frame 11 and therefore the rotor 18. Similarly, using three-dimensional map data, the rotor depth control module 74 may send an appropriate signal to the rotor depth actuator 20 a to control the milling depth of the rotor 18 (FIG. 3). Finally, the gradation (particle size) gradation sensor 19 (see also FIG. 1) may continuously sense the degree of pulverization or particle size of the modified surface 9 and may continuously send signals to the gradation control module 75 of the controller 27. To keep the particle size of the modified surface 9 within a predetermined range, the gradation control module 75 may send appropriate signals to the breaker bar actuator 35, the rear door actuator 39, the front door actuator 37 and the rotor drive system 23 to control the positions of the breaker bar 34, the rear door 38, the front door 36 and the speed of the rotor 18 respectively.
Feedback signals from the breaker bar actuator 35, rear door actuator 39, front door actuator 37 and from the rotor drive system 23 (or rotor speed sensor 29) may be sent to the gradation control module 75. Similarly, feedback signals from the front left leg actuator 30 a, front right leg actuator 30 b, rear left leg actuator 30 c, and rear right leg actuator 30 d may be sent back to the rotor tilt control module 73, the rotor depth control module 74 and the pass mapping control module 61.
Turning to FIG. 6, using two-dimensional map data for the work surface, an automatic steering function can be realized. Specifically, a position signal is sent from the position signal receiver 26 to the position control module 62 and the pass mapping control module 61. Again, the pass mapping control module 61 determines whether an overlap is taking place. Further, data from the pass mapping control module 61 is also used to avoid overlapping a previously modified surface 9. The position control module 62 and pass mapping control module 61 may then send appropriate signals to the steering control system 28, which, in turn, send appropriate signals to the front steering actuator 31 and the rear steering actuator 32.

INDUSTRIAL APPLICABILITY

A machine 10, such as a rotary mixer, utilizes position control technology to determine whether an intended path across a work surface 7 will overlap with a previously pulverized, mixed and modified surface 9. In the event such an overlap is occurring or will occur, the machine 10 is equipped with a control system 60 that will either reduce or shut off flow through some of the nozzles 54 of the fluid spray bars 42, 43, 44 that are in alignment with the previously modified surface 9. Using two-dimensional and three-dimension map data of the work surface, the control system 60 of the disclosed machine 10 can also automatically control the left to right attitude or of the rotor 18 and the depth of the rotor 18. Further, the control system 60 may contain a gradation control module 75 that, in response to signals received from the gradation sensor 19, can control the position of the breaker bar 34, the rear door 38, front door 36 and rotation speed of the rotor 18. Using two-dimensional map data of the work surface 7, the controller 27 may communicate with the steering control system 28 to avoid or reduce the instances of overlap with the previously modified surface 9.
FIG. 7 discloses one method that may be employed with the disclosed machine 10. At step 90, a position signal is received from the position signal receiver 26 by the controller 27. At part 91, the controller 27 determines the location of the machine 10 and at part 92, the controller 27 determines the location(s) of the modified surface 9, using the pass mapping control module 61. At part 93, the controller 27 determines if the rotor 18 is disposed over or partially disposed over the modified surface 9. If the rotor 18 is not disposed over the modified surface 9, at part 94, the controller 27 sends signals to activate one or more of the pumps 45, 46, 47 and one or more of the nozzle actuators 51, 52, 53 to deliver a predetermined flow rate of fluid through the nozzles 54 to the pulverized particles disposed within the rotor chamber 16. In contrast, if the rotor 18 is at least partially disposed over the modified surface 9, at part 95, the controller 27 sends signals to activate one or more of the nozzle actuators 51, 52, 53 to close (or at least partially close) the nozzles 54 that are in alignment with the modified surface 9 and to open the remaining nozzles 54 that are in alignment with the unmodified work surface 7. The controller 27 may also send signals to the appropriate pumps 45, 46, 47 to deliver the predetermined flow rate of fluid through the nozzles 54 that are in alignment with the unmodified work surface 7. Using 3D map data, the controller 27 determines the desired tilt or left to right attitude of the rotor 18 at part 96 before adjusting the tilt of the rotor 18 at part 97. The controller 27 also determines the desired depth of the rotor 18 from the 3D map data at part 98 and adjusts the depth of the rotor 18 at part 99. The controller 27 determines the desired particle size at part 100 from the position signal 63 and data stored in its memory, and using signals from the gradation sensor 19, the controller 27 determines the actual particle size at part 101, determines the difference between the actual and desired particle sizes at part 102 before adjusting any one or more of the rotor 18 speed, front door 36 position, rear door 38 position and breaker bar 34 position at part 103.
The controller 27 may also determine the predetermined flowrate of fluid to be dispensed based on the position signal and 2D or 3D map data stored in the memory. Thus, from the position signal 63 and data stored in its memory, the controller 27 may determine the predetermined flowrate for each fluid based on the 2D or 3D map data before adjusting the flowrate(s) through the spray bars 42, 43, 44.
While only certain embodiments of been set forth, alternative embodiments and various modifications will be apparent from the above description to those skilled in the art. These and other alternatives are considered equivalents and within the spirit and scope of the present disclosure.

Claims

1. A machine configured to pulverize and mix a work surface to produce a modified surface therefrom, the machine comprising:

a frame;

a receiver for receiving a position signal, the receiver in communication with a controller for transmitting the position signal to the controller;

a rotor adjustably coupled to the frame;

a rotor chamber adjustably coupled to the frame and at least partially surrounding the rotor, the rotor chamber having an interior surface;

a fluid spray bar connected to the interior surface, the fluid spray bar extending along a width of the rotor and including a plurality of nozzles spaced apart along the fluid spray bar, the fluid spray bar in communication with a pump that is in communication with the controller, the nozzles being in communication with a nozzle actuator that is in communication with the controller, the nozzle actuator for controlling the nozzles in response to signals from the controller;

the controller configured to determine a position of the rotor based on the position signal, the controller further configured to determine which portions of the work surface have been previously pulverized and mixed to form the modified surface, the controller further configured to determine when a portion of the modified surface will be at least partially overlapped by the rotor and the controller further configured to send a fluid control signal to the nozzle actuator to modify a flow rate of fluid delivered by the nozzles that are in alignment with the modified surface that will be overlapped by the rotor.

2. The machine of claim 1 wherein the controller is configured to send a signal to the nozzle actuator to close each nozzle that is in alignment with the modified surface that will be overlapped by the rotor.

3. The machine of claim 1 wherein the controller is configured to send a signal to the nozzle actuator to at least partially close each nozzle that is in alignment with the modified surface that will be overlapped by the rotor.

4. The machine of claim 1 wherein the controller is configured to record at least one of a mixing depth of the rotor and a volume of fluid delivered through the fluid spray bar.

5. The machine of claim 1 wherein the frame is coupled to a set of front ground engaging elements and a set of rear ground engaging elements;

a steering system including a front steering actuator for steering the front set of ground engaging elements and a rear steering actuator for steering the rear set of ground engaging elements, the front and rear steering actuators in communication with the controller;

the controller further configured to send signals to the front and rear steering actuators to steer the machine and avoid overlapping the modified surface.

6. The machine of claim 5 wherein the controller is in communication with a memory, the memory includes a two dimensional map or three dimensional map of the work surface.

7. The machine of claim 6 wherein the frame is adjustably coupled to a front left ground engaging element by a front left leg actuator, the frame is adjustably coupled to a front right ground engaging element by a front right leg actuator, the frame is adjustably coupled to a rear left ground engaging element by a rear left leg actuator and the frame is adjustably coupled to a rear right ground engaging element by a rear right leg actuator;

the rotor is adjustably coupled to the frame by a rotor depth actuator;

controller is further configured to send signals to the rotor depth actuator to control a depth of the rotor in response to the position signal; and

the controller is further configured to send signals to the front left leg actuator, the front right leg actuator, the rear left leg actuator and the rear right leg actuator to control a left to right attitude of the rotor in response to the position signal.

8. The machine of claim 1 wherein the controller is in communication with a memory, the memory includes a two dimensional or a three dimensional map of the work surface, and

the controller further configured to determine a predetermined flowrate of fluid based on the position signal and the map of the work surface, and the controller further configured to send a fluid control signal to the nozzle actuator to modify a flow rate of fluid delivered by the nozzles in response to the position signal and the map of the work surface.

9. A method for pulverizing a work surface into particles and mixing the particles with a fluid to produce a modified surface, the machine including a rotor having a width, the fluid dispensed through a spray bar disposed parallel to the rotor and having a plurality of nozzles spaced apart along the fluid spray bar, the method comprising:

receiving a position signal at the machine;

determining a location of the machine;

determining a prior location of the machine and determining a location the modified surface;

determining if the rotor is at least partially disposed over the modified surface, and

if the rotor is not disposed over the modified surface, activating a pump and a nozzle actuator to open all of the nozzles and dispense a predetermined flowrate of fluid through all of the nozzles and onto the particles, and

if the rotor is at least partially disposed over the modified surface, determining which nozzles are in alignment with the modified surface, activating the nozzle actuator to at least partially close the nozzles that are in alignment with the modified surface and open the nozzles disposed over the work surface and activating the pump to dispense the predetermined flowrate of fluid through the nozzles the are disposed over the work surface and less than the predetermined flowrate of fluid through the nozzles that are disposed over the modified surface.

10. The method of claim 9 further including displaying a volume of fluid dispensed through the nozzles of the fluid spray bar.

11. The method of claim 9 further including storing a two dimensional or three dimensional map of the work surface in a memory, the map including varying predetermined flowrates of fluid to be dispensed,

determining the predetermined flowrate of fluid from the position signal and the map of the work surface, and

activating the nozzle actuator and activating the pump to dispense the predetermined flowrate of fluid through the nozzles.

12. A machine configured to pulverize and mix a work surface and produce a modified surface therefrom, the machine comprising:

a frame;

the frame is adjustably coupled to a front left ground engaging element by a front left leg actuator, the frame is adjustably coupled to a front right ground engaging element by a front right leg actuator, the frame is adjustably coupled to a rear left ground engaging element by a rear left leg actuator and the frame is adjustably coupled to a rear right ground engaging element by a rear right leg actuator;

the rotor is adjustably coupled to the frame by a rotor depth actuator;

13. The machine of claim 12 further including a rotor chamber coupled to the frame and at least partially surrounding the rotor, the rotor chamber having an interior surface;

a fluid spray bar connected to the interior surface, the fluid spray bar extending along the width of the rotor and including a plurality of nozzles spaced apart along the length of the fluid spray bar, the fluid spray bar in communication with a pump that is in communication with the controller, the nozzles in communication with a nozzle actuator that is in communication with the controller, the nozzle actuator for controlling the nozzles in response to signals from the controller;

the controller further configured to determine when a portion of the modified surface will be at least partially overlapped by the rotor and the controller further configured to send a fluid control signal to the nozzle actuator to modify a flow rate of fluid delivered by the nozzles that are in alignment with the portion of the modified surface that will be overlapped by the rotor.

14. The machine of claim 13 wherein the controller is configured to send a signal to the nozzle actuator to close each nozzle that is in alignment with the modified surface.

15. The machine of claim 13 wherein the controller is configured to send a signal to the nozzle actuator to partially close each nozzle that is in alignment with the modified surface.

16. The machine of claim 13 wherein the controller is configured to record at least one of a mixing depth of the rotor and a volume of fluid delivered through the fluid spray bar.

17. The machine of claim 12 wherein the controller is in communication with a memory, the memory includes a two dimensional map of the surface.

18. The machine of claim 12 wherein the controller is in communication with a memory, the memory includes a three dimensional map of the surface.

19. The machine of claim 18 further including a steering system including a front steering actuator for steering the front left ground engaging element and front right ground engaging element, the steering system further including a rear steering actuator for steering the rear left ground engaging element and rear right ground engaging element, the front and rear steering actuators in communication with the controller;

the controller configured to determine a position of the rotor based on the position signal, the controller further configured to determine which portions of the work surface have been previously pulverized and mixed to form the modified surface, the controller further configured to send signals to the front and rear steering actuators to steer the machine and avoid overlapping the modified surface.

20. The machine of claim 12 wherein the rotor chamber includes three spray bars, each spray bar in communication with a pump, each pump in communication with the controller, each spray bar including a plurality of nozzles, the nozzles of each spray bar in communication with a nozzle actuator for selectively opening and closing the nozzles.