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公开(公告)号：US11680384B2
公开(公告)日：2023-06-20
申请号：US17190828
申请日：2021-03-03
Applicant: Built Robotics Inc.
CPC classification number: E02F9/205 , E02F9/267 , G05D1/0016 , G05D1/0214 , G05D1/0238 , G05D1/0278 , G05D2201/0202
Abstract: An earth moving vehicle (EMV) autonomously performs an earth moving operation within a dig site. If the EMV determines that a state of the EMV or the dig site triggers a triggering condition associated with a pause in the autonomous behavior of the EMV, the EMV determines a risk associated with the state or triggering condition. If the risk is greater than a first threshold, the EMV continues the autonomous performance and notifies a remote operator that the triggering condition was triggered. If the risk is greater than the first threshold risk but less than a second threshold risk, the EMV is configured to operate in a default state before continuing and notifying the remote operator. If the risk is greater than the second threshold risk, the EMV notifies the remote operator of the state pauses the performance until feedback is received from the remote operator.
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公开(公告)号：US20220412051A1
公开(公告)日：2022-12-29
申请号：US17735905
申请日：2022-05-03
Applicant: Built Robotics Inc.
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.
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公开(公告)号：US20220290404A1
公开(公告)日：2022-09-15
申请号：US17829034
申请日：2022-05-31
Applicant: Built Robotics Inc.
Inventor： Noah Austen Ready-Campbell , Andrew Xiao Liang , Christian John Wawrzonek , Gaurav Jitendra Kikani , James Alan Emerick , Lucas Allen Bruder , Ammar Idris Kothari
Abstract: An excavation vehicle capable of autonomously actuating an excavation tool or navigating an excavation vehicle to perform an excavation routine within an excavation site is described herein. Sensors mounted to the excavation vehicle and the excavation tool produce signals representative of a position and orientation of the corresponding joint relative on the excavation vehicle relative to the excavation site, a position and orientation of the excavation vehicle relative to the excavation site, and one or more features of the excavation site based on the position of the excavation vehicle within the excavation site. A set of solenoids are configured to couple to corresponding hydraulic valves of the excavation tool to actuate the valve. A controller produces actuating signals to control the joints of the excavation tool to autonomously perform the excavation routine based on the signals produced by the sensors.
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公开(公告)号：US11346086B1
公开(公告)日：2022-05-31
申请号：US17359421
申请日：2021-06-25
Applicant: Built Robotics Inc.
Abstract: An autonomous earth moving system can select an action for an earth moving vehicle (EMV) to autonomously perform using a tool (such as an excavator bucket). The system then generates a set of candidate tool paths, each illustrating a potential path for the tool to trace as the earth moving vehicle performs the action. In some cases, the system uses an online learning model iteratively trained to determine which candidate tool path best satisfies one or more metrics measuring the success of the action. The earth moving vehicle the executes the earth moving action using the selected tool path and measures the results of the action. In some implementations, the autonomous earth moving system updates the machine learning model based on the result of the executed action.
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公开(公告)号：US11111647B2
公开(公告)日：2021-09-07
申请号：US16673936
申请日：2019-11-04
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 , G06K9/00 , G06T17/05 , 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.
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Patent Agency Ranking
公开(公告)号：US20210240199A1
公开(公告)日：2021-08-05
申请号：US17234796
申请日：2021-04-20
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
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.
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公开(公告)号：US20210072760A1
公开(公告)日：2021-03-11
申请号：US16952061
申请日：2020-11-18
Applicant: Built Robotics Inc.
Inventor： Noah Austen Ready-Campbell , Andrew Xiao Liang , Christian John Wawrzonek , Cyrus McMann Ready-Campbell , Gaurav Jitendra Kikani
Abstract: This description provides an autonomous or semi-autonomous excavation vehicle that is capable determining a route between a start point and an end point in a site and navigating over the route. The sensors collect any or more of spatial, imaging, measurement, and location data to detect an obstacle between two locations within the site. Based on the collected data and identified obstacles, the excavation vehicle generates unobstructed routes circumventing the obstacles, obstructed routes traveling through the obstacles, and instructions for removing certain modifiable obstacles. The excavation vehicle determines and selects the shortest route of the unobstructed and obstructed route and navigates over the selected path to move within the site.
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公开(公告)号：US20210047806A1
公开(公告)日：2021-02-18
申请号：US16991961
申请日：2020-08-12
Applicant: Built Robotics Inc.
Inventor： Noah Austen Ready-Campbell , Gaurav Jitendra Kikani , James Alan Emerick , Andrew Xiao Liang , Lucas Allen Bruder , Ian Joseph Warmouth , Joonhyun Kim
Abstract: An earth shaping vehicle (ESV) includes a chassis and a rear earth shaping tool. The chassis drives the ESV through the site from a first location in the site to a second location in the site. The front earth shaping tool moves earth from the first location to the second location. The rear earth shaping tool grades a ground surface between first location and the second location. Sensors coupled to the rear excavation tool produce one or more signals representative of a position and an orientation of the rear tool relative to the ground surface of the site. A controller produces actuating signals to actuate the rear excavation tool to grade the ground surface based on the one or more signals representative of the position and the orientation of the rear tool.
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公开(公告)号：US20200240105A1
公开(公告)日：2020-07-30
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
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.
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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
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.
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