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公开(公告)号：US20220413495A1
公开(公告)日：2022-12-29
申请号：US17558845
申请日：2021-12-22
申请人： Built Robotics Inc.
摘要： 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：US11346080B1
公开(公告)日：2022-05-31
申请号：US17359428
申请日：2021-06-25
申请人： Built Robotics Inc.
摘要： 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：US10982408B2
公开(公告)日：2021-04-20
申请号：US17080753
申请日：2020-10-26
申请人： Built Robotics Inc.
发明人： Noah Austen Ready-Campbell , Andrew Xiao Liang , Linus Page Chou , Edward Stephen Walker, Jr. , Christian John Wawrzonek , Cyrus Mcmann Ready-Campbell
摘要： 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：US10914049B1
公开(公告)日：2021-02-09
申请号：US17066480
申请日：2020-10-08
申请人： BUILT ROBOTICS INC.
发明人： Noah Austen Ready-Campbell , Andrew Xiao Liang , Linus Page Chou , Edward Stephen Walker, Jr. , Christian John Wawrzonek , Cyrus McMann Ready-Campbell
摘要： 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.
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公开(公告)号：US10761537B1
公开(公告)日：2020-09-01
申请号：US15996408
申请日：2018-06-01
申请人： Built Robotics Inc.
发明人： Noah Austen Ready-Campbell , Andrew Xiao Liang , Christian John Wawrzonek , Cyrus McMann Ready-Campbell , Gaurav Jitendra Kikani
摘要： An autonomous or semi-autonomous excavation vehicle is capable of determining a route between a start point and an end point in a site and navigating over the route. Sensors mounted on the excavation vehicle 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：US20220412057A1
公开(公告)日：2022-12-29
申请号：US17748999
申请日：2022-05-19
申请人： Built Robotics Inc.
摘要： 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：US20220364321A1
公开(公告)日：2022-11-17
申请号：US17875233
申请日：2022-07-27
申请人： Built Robotics Inc.
发明人： Noah Austen Ready-Campbell , Andrew Xiao Liang , Linus Page Chou , Edward Stephen Walker , Christian John Wawrzonek , Cyrus McMann Ready-Campbell
IPC分类号： E02F3/43 , E02F9/26 , E02F3/32 , E02F3/96 , G06T7/73 , G01C21/20 , G01N33/24 , G05D1/00 , G05D1/02 , G06T17/05 , G06V20/56 , E02F9/20
摘要： 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：US11237558B1
公开(公告)日：2022-02-01
申请号：US17359425
申请日：2021-06-25
申请人： Built Robotics Inc.
IPC分类号： E01C19/00 , E01C21/00 , E01C23/00 , E02F3/00 , E02F5/00 , E21C49/02 , G05D1/00 , G06N20/00 , G05D1/02
摘要： 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：US11072906B2
公开(公告)日：2021-07-27
申请号：US16673937
申请日：2019-11-04
申请人： Built Robotics Inc.
发明人： Noah Austen Ready-Campbell , Andrew Xiao Liang , Linus Page Chou , Edward Stephen Walker, Jr. , Christian John Wawrzonek , Cyrus McMann Ready-Campbell
摘要： 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.
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公开(公告)号：US10801177B2
公开(公告)日：2020-10-13
申请号：US15877217
申请日：2018-01-22
申请人： Built Robotics Inc.
发明人： Noah Austen Ready-Campbell , Andrew Xiao Liang , Linus Page Chou , Edward Stephen Walker, Jr. , Christian John Wawrzonek , Cyrus McMann Ready-Campbell
摘要： 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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