公开(公告)号：US12291834B1

公开(公告)日：2025-05-06

申请号：US18615265

申请日：2024-03-25

Applicant: Built Robotics Inc.

Inventor： Noah Austen Ready-Campbell ,  Andrew Xiao Liang ,  Paul Kelly ,  Emily Corser ,  Jack McNamara

IPC: E02D7/06 ,  E02D1/02 ,  E02D7/14

Abstract: An autonomous pile driving system identifies using a pile plan map a target location to install a pile. The system autonomously navigates towards the target location. The system autonomously detects using an object sensor system an orientation and location of the pile located within a threshold distance of the system. The system autonomously positions a tool of the autonomous pile driving system based on the detected orientation and location of the pile. The system autonomously picks up the pile using the positioned tool of the autonomous pile driving system. The system autonomously positions the pile based on the target location. The system autonomously drives the pile into ground at the target location.

公开(公告)号：US20250122686A1

公开(公告)日：2025-04-17

申请号：US19000220

申请日：2024-12-23

Applicant: Built Robotics Inc.

Inventor： Noah Austen Ready-Campbell ,  Andrew Xiao Liang ,  Gaurav Jitendra Kikani

IPC: E02D7/02 ,  E02D7/06 ,  E02D15/00

Abstract: A pile plan map indicating a plurality of locations in a geographic area at which piles are to be installed is accessed. A first set of locations is identified from the plurality of locations and a first set of piles to be driven into the ground at the first set of locations using the pile plan map is identified. An order for driving the first set of piles into the ground is identified and a pile type for each of the first set of piles is identified. Basket assembly instructions are generated for assembling the first set of piles into a basket based on the identified order and the identified pile types. The first set of piles are assembled autonomously or manually into the basket based on the generated basket assembly instructions.

公开(公告)号：US12215477B1

公开(公告)日：2025-02-04

申请号：US18615258

申请日：2024-03-25

Applicant: Built Robotics Inc.

Inventor： Noah Austen Ready-Campbell ,  Andrew Xiao Liang ,  Paul Kelly ,  Emily Corser ,  Jack McNamara

IPC: E02D7/14 ,  E02D1/02

Abstract: An autonomous pile driving system identifies using a pile plan map a target location to install a pile. The system autonomously navigates towards the target location. The system autonomously detects using an object sensor system an orientation and location of the pile located within a threshold distance of the system. The system autonomously positions a tool of the autonomous pile driving system based on the detected orientation and location of the pile. The system autonomously picks up the pile using the positioned tool of the autonomous pile driving system. The system autonomously positions the pile based on the target location. The system autonomously drives the pile into ground at the target location.

公开(公告)号：US11933021B2

公开(公告)日：2024-03-19

申请号：US17964038

申请日：2022-10-12

Applicant: Built Robotics Inc.

Inventor： Noah Austen Ready-Campbell ,  Gaurav Jitendra Kikani ,  Andrew Liang ,  Pradeesh Suganthan ,  James Alan Emerick ,  Sarah Marie Thornton ,  Ammar Idris Kothari ,  Edward Joseph Garza

IPC: E02F9/20 ,  E02F5/14 ,  E02F9/26

CPC classification number: E02F9/2041 ,  E02F9/262 ,  E02F9/265 ,  E02F5/145

Abstract: This description provides an autonomous or semi-autonomous excavation vehicle that is capable of navigating through a dig site and carrying an excavation routine using a system of sensors physically mounted to the excavation vehicle. The sensors collect one or more of spatial, imaging, measurement, and location data representing the status of the excavation vehicle and its surrounding environment. Based on the collected data, the excavation vehicle executes instructions to perform an excavation routine by excavating earth from a hole using an excavation tool positioned at a single location within the site. The excavation vehicle is also able to carry out numerous other tasks, such as checking the volume of excavated earth in an excavation tool, navigating the excavation vehicle over a distance while continuously excavating earth from a below surface depth, and preparing a digital terrain model of the site as part of a process for creating the excavation routine.

公开(公告)号：US11761171B2

公开(公告)日：2023-09-19

申请号：US18183889

申请日：2023-03-14

Applicant: Built Robotics Inc.

Inventor： Gaurav Jitendra Kikani ,  Noah Austen Ready-Campbell ,  Andrew Xiao Liang ,  Joonhyun Kim

IPC: E02F9/20 ,  E02F9/26 ,  G06N20/00

CPC classification number: E02F9/2029 ,  E02F9/205 ,  E02F9/262 ,  E02F9/265 ,  G06N20/00

Abstract: When an EMV performs an action comprising moving a tool of the EMV through soil or other material, the EMV can measure a current speed of the tool through the material and a current kinematic pressure exerted on the tool by the material. Using the measured current speed and kinematic pressure, the EMV system can use a machine learned model to determine one or more soil parameters of the material. The EMV can then make decisions based on the soil parameters, such as by selecting a tool speed for the EMV based on the determined soil parameters.

公开(公告)号：US11668070B2

公开(公告)日：2023-06-06

申请号：US17137194

申请日：2020-12-29

Applicant: BUILT ROBOTICS INC.

Inventor： Noah Austen Ready-Campbell ,  Andrew Xiao Liang ,  Linus Page Chou ,  Edward Stephen Walker, Jr. ,  Christian John Wawrzonek ,  Cyrus McMann Ready-Campbell

IPC: E02F9/26 ,  E02F3/43 ,  E02F3/32 ,  E02F3/96 ,  G06T7/73 ,  G01C21/20 ,  G01N33/24 ,  G05D1/00 ,  G05D1/02 ,  G06T17/05 ,  G06V20/56 ,  E02F9/20

CPC classification number: E02F3/435 ,  E02F3/32 ,  E02F3/434 ,  E02F3/439 ,  E02F3/964 ,  E02F9/205 ,  E02F9/2029 ,  E02F9/262 ,  E02F9/265 ,  G01C21/20 ,  G01N33/24 ,  G05D1/0088 ,  G05D1/0219 ,  G05D1/0231 ,  G05D1/0274 ,  G06T7/74 ,  G06T17/05 ,  G06V20/56 ,  G05D2201/0202 ,  G06T2207/30248

Abstract: This description provides an autonomous or semi-autonomous excavation vehicle that is capable of navigating through a dig site and carrying out an excavation routine using a system of sensors physically mounted to the excavation vehicle. The sensors collect any one or more of spatial, imaging, measurement, and location data representing the status of the excavation vehicle and its surrounding environment. Based on the collected data, the excavation vehicle executes instructions to carry out an excavation routine. The excavation vehicle is also able to carry out numerous other tasks, such as checking the volume of excavated earth in an excavation tool and helping prepare a digital terrain model of the site as part of a process for creating the excavation routine.

公开(公告)号：US11634888B2

公开(公告)日：2023-04-25

申请号：US17735905

申请日：2022-05-03

Applicant: Built Robotics Inc.

Inventor： Gaurav Jitendra Kikani ,  Noah Austen Ready-Campbell ,  Andrew Xiao Liang ,  Joonhyun Kim

IPC: E02F9/20 ,  G06N20/00 ,  E02F9/26

Abstract: When an EMV performs an action comprising moving a tool of the EMV through soil or other material, the EMV can measure a current speed of the tool through the material and a current kinematic pressure exerted on the tool by the material. Using the measured current speed and kinematic pressure, the EMV system can use a machine learned model to determine one or more soil parameters of the material. The EMV can then make decisions based on the soil parameters, such as by selecting a tool speed for the EMV based on the determined soil parameters.

公开(公告)号：US20220290405A1

公开(公告)日：2022-09-15

申请号：US17829037

申请日：2022-05-31

Applicant: Built Robotics Inc.

Inventor： NOAH AUSTEN READY-CAMPBELL ,  ANDREW LIANG ,  EVAN WEST ,  LUCAS BRUDER ,  GAURAV JITENDRA KIKANI ,  PRADEESH SUGANTHAN ,  JAMES EMERICK ,  AMMAR KOTHARI ,  ALAN ARGONDIZZA ,  SARAH THORNTON ,  HEE GU YEA ,  THOMAS PECH

IPC: E02F9/20 ,  G05D1/00

Abstract: This description provides an autonomous or semi-autonomous earth shaping vehicle that is capable of cooperatively filling earth into a fill location in a dig site. A first earth shaping vehicle configured with a hauling tool carrying a volume of earth navigates to the fill location. At the fill location, the first earth shaping vehicle navigates over a target tool path to fill earth from the hauling tool into the fill location. As the first earth shaping vehicle fills earth into the fill location, a measurement sensor coupled to the first earth shaping vehicle measures a compaction level of earth filled into the fill location. If the measured compaction level is determined to be below a threshold compaction level, the first earth shaping vehicle communicates a request for a second earth shaping vehicle configured with a compaction tool to compact earth in the fill location.

公开(公告)号：US11441291B2

公开(公告)日：2022-09-13

申请号：US16845371

申请日：2020-04-10

Applicant: Built Robotics Inc.

Inventor： Noah Austen Ready-Campbell ,  Andrew Xiao Liang ,  Linus Page Chou ,  Edward Stephen Walker, Jr. ,  Christian John Wawrzonek ,  Cyrus McMann Ready-Campbell

IPC: E02F3/43 ,  E02F9/26 ,  E02F3/32 ,  E02F3/96 ,  G06T7/73 ,  G01C21/20 ,  G01N33/24 ,  G05D1/00 ,  G05D1/02 ,  G06T17/05 ,  G06V20/56 ,  E02F9/20

Abstract: This description provides an autonomous or semi-autonomous excavation vehicle that is capable of navigating through a dig site and carrying out an excavation routine using a system of sensors physically mounted to the excavation vehicle. The sensors collects any one or more of spatial, imaging, measurement, and location data representing the status of the excavation vehicle and its surrounding environment. Based on the collected data, the excavation vehicle executes instructions to carry out an excavation routine. The excavation vehicle is also able to carry out numerous other tasks, such as checking the volume of excavated earth in an excavation tool, and helping prepare a digital terrain model of the site as part of a process for creating the excavation routine.

公开(公告)号：US11352769B1

公开(公告)日：2022-06-07

申请号：US17359432

申请日：2021-06-25

Applicant: Built Robotics Inc.

Inventor： Gaurav Jitendra Kikani ,  Noah Austen Ready-Campbell ,  Andrew Xiao Liang ,  Joonhyun Kim

IPC: E02F9/26 ,  G06N3/08 ,  G05D1/00

Abstract: In some implementations, the EMV uses a calibration to inform autonomous control over the EMV. To calibrate an EMV, the system first selects a calibration action comprising a control signal for actuating a control surface of the EMV. Then, using a calibration model comprising a machine learning model trained based on one or more previous calibration actions taken by the EMV, the system predicts a response of the control surface to the control signal of the calibration action. After the EMV executes the control signal to perform the calibration action, the EMV system monitors the actual response of the control signal and uses that to update the calibration model based on a comparison between the predicted and monitored states of the control surface.