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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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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：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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Patent Agency Ranking
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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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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