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公开(公告)号：US11686071B2
公开(公告)日：2023-06-27
申请号：US17748999
申请日：2022-05-19
Applicant: Built Robotics Inc.
CPC classification number: E02F9/265 , E02F9/262 , G05D1/0061 , G06N3/08 , G05D2201/0202
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.
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公开(公告)号：US20220282451A1
公开(公告)日：2022-09-08
申请号：US17190828
申请日：2021-03-03
Applicant: Built Robotics Inc.
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：US20220243426A1
公开(公告)日：2022-08-04
申请号：US17727559
申请日：2022-04-22
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
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.
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公开(公告)号：US11385646B2
公开(公告)日：2022-07-12
申请号：US16686084
申请日：2019-11-15
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
Abstract: This description provides an autonomous or semi-autonomous earth shaping vehicle that is capable of cooperatively executing an earth shaping routine in a dig site with other earth shaping vehicles. A first earth shaping vehicle configured with a tool for excavating earth navigates to a dig location containing earth to be excavated. The first earth shaping vehicle identifies a loading location where the first vehicle may transfer earth to a second earth shaping vehicle configured with a tool for hauling earth between locations. Upon navigating to the loading location and detecting the second earth shaping vehicle at the loading location, the first earth shaping vehicle transfers earth from its excavation tool to the hauling tool of the second earth shaping vehicle.
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公开(公告)号：US20220120060A1
公开(公告)日：2022-04-21
申请号：US17563972
申请日：2021-12-28
Applicant: Built Robotics Inc.
Inventor： Noah Austen Ready-Campbell , Andrew Xiao Liang , Edward Jiacheng Cai , Elizabeth Maitland Murdoch , Thomas Joel Pech , Lucas Allen Bruder , Gaurav Jitendra Kikani , Joonhyun Kim
IPC: E02F9/26 , G06F3/04815 , E02F9/20
Abstract: A computing device generates a graphical user interface displaying a three-dimensional representation of the site comprising a position of a vehicle capable of moving material within the site and a target location within the site for the vehicle to move material. The computing device transmits a set of instructions for the vehicle to move a volume of material from the target location. The computing device receives sensor data describing a depth of the target location, a current volume of material moved from the target location, and a position of the vehicle. The graphical user interface displayed on the computing device is modified to display the current depth of the target location, and the position of the vehicle relative to the target location. The computing device modifies the set of instructions based on the received sensor data and provides the modified set of instructions to the vehicle.
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Patent Agency Ranking
公开(公告)号：US20220070611A1
公开(公告)日：2022-03-03
申请号：US17002661
申请日：2020-08-25
Applicant: Built Robotics Inc.
Inventor： Noah Austen Ready-Campbell , Andrew Xiao Liang , Edward Jiachang Cai , Elizabeth Maitland Murdoch , Thomas Joel Pech , Lucas Allen Bruder , Gaurav Jitendra Kikani , Joonhyun Kim
IPC: H04W4/021 , G06F3/0484 , G08G1/0968 , H04W4/029
Abstract: In response to a first user input to a graphical user interface, a computing device generates an initial geofence around a target location in a site. The computing device transmits operations for an earth shaping vehicle (ESV) to perform while navigating within the initial geofence. The computing device receives an indication of an obstacle within the initial geofence detected by the ESV. In response to a second user input via the graphical user interface, the computing device generates an updated geofence that includes the target location but excludes the obstacle. The computing device transmits instructions for the ESV to navigate within the updated geofence.
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公开(公告)号：US11236492B1
公开(公告)日：2022-02-01
申请号：US17002658
申请日：2020-08-25
Applicant: Built Robotics Inc.
Inventor： Noah Austen Ready-Campbell , Andrew Xiao Liang , Edward Jiachang Cai , Elizabeth Maitland Murdoch , Thomas Joel Pech , Lucas Allen Bruder , Gaurav Jitendra Kikani , Joonhyun Kim
IPC: E02F9/26 , G06F3/0481 , E02F9/20
Abstract: A computing device generates a graphical user interface displaying a three-dimensional representation of the site comprising a position of a vehicle capable of moving material within the site and a target location within the site for the vehicle to move material. The computing device transmits a set of instructions for the vehicle to move a volume of material from the target location. The computing device receives sensor data describing a depth of the target location, a current volume of material moved from the target location, and a position of the vehicle. The graphical user interface displayed on the computing device is modified to display the current depth of the target location, and the position of the vehicle relative to the target location. The computing device modifies the set of instructions based on the received sensor data and provides the modified set of instructions to the vehicle.
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公开(公告)号：US20210191409A1
公开(公告)日：2021-06-24
申请号：US17198118
申请日：2021-03-10
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：US20200291608A1
公开(公告)日：2020-09-17
申请号：US16817600
申请日：2020-03-12
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：US20200032483A1
公开(公告)日：2020-01-30
申请号：US16447971
申请日：2019-06-21
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
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.
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