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公开(公告)号：US20240209584A1
公开(公告)日：2024-06-27
申请号：US18462140
申请日：2023-09-06
Applicant: Built Robotics Inc.
CPC classification number: E02D7/02 , E02D7/06 , E02D15/00 , E02D2600/00 , G05D1/0274
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.
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公开(公告)号：US12000111B2
公开(公告)日：2024-06-04
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
CPC classification number: E02F9/2037 , E02F3/435 , E02F9/2045 , E02F9/26
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：US11934192B2
公开(公告)日：2024-03-19
申请号：US18331861
申请日：2023-06-08
Applicant: Built Robotics Inc.
Inventor： Noah Austen Ready-Campbell , Andrew Xiao Liang , Christian John Wawrzonek , Cyrus McMann Ready-Campbell , Gaurav Jitendra Kikani
CPC classification number: G05D1/0219 , G01C21/20
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：US11703862B2
公开(公告)日：2023-07-18
申请号：US17558845
申请日：2021-12-22
Applicant: Built Robotics Inc.
IPC: E01C19/00 , E01C23/00 , E01C21/00 , E02F3/00 , E02F5/00 , E21C49/02 , G05D1/00 , G06N20/00 , G05D1/02
CPC classification number: G05D1/0088 , G05D1/0212 , G06N20/00 , G05D2201/0202
Abstract: An autonomous earth moving system can determine a desired state for a portion of the EMV including at least one control surface. Then the EMV selects a set of control signals for moving the portion of the EMV from the current state to the desired state using a machine learning model trained to generate control signals for moving the portion of the EMV to the desired state based on the current state. After the EMV executes the selected set of control signals, the system measures an updated state of the portion of the EMV. In some cases, this updated state of the EMV is used to iteratively update the machine learning model using an online learning process.
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公开(公告)号：US20230212837A1
公开(公告)日：2023-07-06
申请号：US18183889
申请日：2023-03-14
Applicant: Built Robotics Inc.
CPC classification number: E02F9/2029 , E02F9/265 , E02F9/262 , E02F9/205 , 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.
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Patent Agency Ranking
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：US11634883B2
公开(公告)日：2023-04-25
申请号：US16952060
申请日：2020-11-18
Applicant: Built Robotics Inc.
Inventor： Noah Austen Ready-Campbell , Andrew Xiao Liang , Linus Page Chou , Edward Stephen Walker , 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.
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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：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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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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