Excavating earth from a dig site using an excavation vehicle

Patent metadata

Field	Value
Publication number	US-11028554-B2
Application number	US-202016985176-A
Country	US
Kind code	B2
Filing date	Aug 4, 2020
Priority date	Jan 23, 2017
Publication date	Jun 8, 2021
Grant date	Jun 8, 2021

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.

First claim

What is claimed is:

1. A method for moving a volume of earth from a site, the method comprising
selecting, for an earth moving vehicle (EMV) in a dig site, a set of instructions for the EMV to move earth in the site, the set of instructions defining a location in the site from which a volume of earth is to be moved;
executing, with a computer coupled to the EMV, the set of instructions to cause the EMV to:
once at the location, position a leading edge of a tool of the EMV at a depth below a ground surface;
move the tool over a first distance at the location to move a portion of the volume of earth;
measure a fill level of the tool; and
responsive to determining that the fill level is below a threshold, move the tool a second distance at the location to move an additional portion of the volume of earth.

2. The method of claim 1 , wherein measuring the fill level of the tool comprises estimating a volume of earth moved by the tool based on sensor data describing a quantity of earth in front of the leading edge of the tool.

3. The method of claim 1 , wherein determining the position of the tool comprises tracking a position of the leading edge of the tool within the site using one or more sensors mounted to the EMV without interrupting the movement of the tool.

4. The method of claim 1 , wherein measuring the fill level of the tool comprises positioning, in response to moving the tool the second distance, the leading edge of the tool such that a sensor mounted to the EMV measures the fill level of the tool.

5. The method of claim 1 , wherein measuring the fill level of the tool comprises:
integrating the depth of the leading edge of the tool below the ground surface over a distance the tool moved and a width of the tool without interrupting the movement of the tool;
estimating a volume of earth moved by the tool without interrupting the movement of the tool based on the integration; and
determining the fill level of the tool based on the estimated volume of earth moved by the tool.

6. The method of claim 1 , wherein the set of instructions further cause the EMV to:
generate a trend line relating the first distance to the measured fill level of the tool; and
determine the second distance to move the tool based on the trend line.

7. The method of claim 1 , wherein the set of instructions further cause the EMV to:
responsive to measuring a threshold fill level of the tool, measure an angle of the tool beneath the ground surface;
adjust the angle of the tool beneath the ground surface; and
raise the tool above the ground surface at the adjusted angle to empty the tool.

8. The method of claim 1 , wherein moving the tool further comprises:
determining a position of the tool in a representation of the site of earth on the tool;
adjusting a distribution of hydraulic pressure in the EMV to move the tool; and
maintaining the adjusted distribution of hydraulic pressure while moving the tool.

9. The method of claim 1 , wherein moving the tool comprises:
maintaining the leading edge of the tool at the depth below the ground surface; and
dynamically adjusting an angle of the tool beneath the ground surface.

10. A non-transitory computer readable storage medium storing executable instructions for moving a volume of earth from a site encoded thereon that, when executed by a processor, cause the processor to:
select, for an earth moving vehicle (EMV) in a dig site, a set of instructions for the EMV to move earth in the site, the set of instructions defining a location in the site from which a volume of earth is to be moved;
once at the location, position a leading edge of a tool of the EMV at a depth below a ground surface;
move the tool over a first distance at the location to move a portion of the volume of earth;
measure a fill level of the tool; and
responsive to determining that the fill level is below a threshold, move the tool a second distance at the location to move an additional portion of the volume of earth.

11. The non-transitory storage medium of claim 10 , wherein measuring the fill level of the tool comprises estimating a volume of earth moved by the tool based on sensor data describing a quantity of earth in front of the leading edge of the tool.

12. The non-transitory storage medium of claim 10 , wherein determining the position of the tool further comprises:
tracking a position of the leading edge of the tool within the site using one or more sensors mounted to the EMV without interrupting the movement of the tool.

13. The non-transitory storage medium of claim 10 , wherein measuring the fill level of the tool comprises:
positioning, in response to moving the tool the second distance, the leading edge of the tool such that a sensor mounted to the EMV measures the fill level of the tool; and
measuring, by the sensor, the fill level of the tool.

14. The non-transitory storage medium of claim 10 , wherein measuring the fill level of the tool comprises:
integrating the depth of the leading edge of the tool below the ground surface over a distance the tool moved and a width of the tool without interrupting the movement of the tool;
estimating a volume of earth moved by the tool without interrupting the movement of the tool based on the integration; and
determining the fill level of the tool based on the estimated volume of earth moved by the tool.

15. The non-transitory storage medium of claim 10 , wherein the set of instructions further cause the EMV to:
generate a trend line relating the first distance to the measured fill level of the tool; and
determine the second distance to move the tool based on the trend line.

16. The non-transitory storage medium of claim 10 , wherein the set of instructions further cause the EMV to:
responsive to measuring a threshold fill level of the tool, measure an angle of the tool beneath the ground surface;
adjust the angle of the tool beneath the ground surface; and
raise the tool above the ground surface at the adjusted angle to empty the tool.

17. The non-transitory storage medium of claim 10 , wherein moving the tool comprises:
determining a position of the tool in a representation of the site of earth on the tool;
adjusting a distribution of hydraulic pressure in the EMV to move the tool; and
maintaining the adjusted distribution of hydraulic pressure while moving the tool.

18. The non-transitory storage medium of claim 10 , wherein moving the tool comprises:
maintaining the leading edge of the tool at the depth below the ground surface; and
dynamically adjusting an angle of the tool beneath the ground surface.

19. An earth moving vehicle (EMV) comprising:
a processor; and
a non-transitory computer readable storage medium storing executable instructions for moving a volume of material from a site encoded thereon that, when executed by a processor, cause the processor to:
select, for an earth moving vehicle (EMV) in a dig site, a set of instructions for the EMV to move material in the site, the set of instructions defining a location in the site from which a volume of material is to be moved;
once at the location, position a leading edge of a tool of the EMV at a depth below a ground surface;
move the tool over a first distance at the location to move a portion of the volume of material;
measure a fill level of the tool; and
responsive to determining that the fill level is below a threshold, move the tool a second distance at the location to move an additional portion of the volume of material.

20. The EMV

Assignees

• Built Robotics Inc

Inventors

• Ready-Campbell Noah Austen
• Liang Andrew Xiao
• Chou Linus Page
• Walker Jr Edward Stephen
• Wawrzonek Christian John
• Ready-Campbell Cyrus Mcmann

Classifications

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• E02F3/434

  providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig · CPC title

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• G01N33/24

  Earth materials (G01N33/42 takes precedence) · CPC title

• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title