Excavating earth from a dig site using an excavation vehicle

Patent metadata

Field	Value
Publication number	US-11111647-B2
Application number	US-201916673936-A
Country	US
Kind code	B2
Filing date	Nov 4, 2019
Priority date	Jan 23, 2017
Publication date	Sep 7, 2021
Grant date	Sep 7, 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 preparing a representation of a site in which material is to be moved by an excavation vehicle (EV), the method comprising:
receiving a digital file of the site including material to be moved and an area surrounding the material to be moved, the site represented within the digital file in a coordinate space with respect to a geographic map;
navigating, by the EV, the site and concurrently recording contextual information about the site with a sensor physically mounted on the EV, the contextual information recorded as representations of a current physical state of the site taken from different positions and orientations;
generating a digital terrain model of the site from the received digital file and the recorded contextual information, the digital terrain model including a volume of material to be moved and a location for dumped material, the location for dumped material selected based on at least one of: a distance from a location from which the material is to be moved, the volume of material to be moved, an estimated compaction factor of material moved by the EV, and an estimated swell factor of material moved by the EV; and
generating a plurality of target tool paths to be carried out by a tool mounted to the EV to move the volume of material, the target tool paths generated based on the digital terrain model.

2. The method of claim 1 , wherein the digital file comprises geographic locations of one or more physical fiducials previously placed within the site.

3. The method of claim 1 , wherein the digital file includes a boundary for a ramp on which the EV may enter or exit to move the volume of the material.

4. The method of claim 1 , wherein the digital file includes a location for dumped material.

5. The method of claim 1 , wherein the sensor comprises a spatial sensor.

6. The method of claim 5 , wherein navigating the site and concurrently recording contextual information about the site with a sensor physically mounted on the EV further comprises:
capturing, with the spatial sensor, one or more point clouds of data representing a portion of the site; and
for each of the one or more point clouds, recording an associated position and orientation of the EV with respect to the coordinate space of the digital file.

7. The method of claim 1 , wherein the sensor comprises an imaging sensor.

8. The method of claim 7 , wherein navigating the site and concurrently recording contextual information about the site with a sensor physically mounted on the EV further comprises:
capturing, with the imaging sensor, one or more photographic images of a portion of the site; and
for each of the one or more photographic images, recording an associated position and orientation of the EV with respect to the coordinate space of the digital file.

9. The method of claim 1 , wherein generating the digital terrain model comprises aligning the positions and orientations of the recorded contextual information with the coordinate space of the digital file.

10. The method of claim 1 ,
wherein generating the digital terrain model comprises adding or modifying one or more cutbacks in the digital file, each cutback representing one or more angled surfaces to move the volume of material; and
wherein the plurality of target tool paths are generated to account for creation of the one or more cutbacks for moving the volume of material.

11. The method of claim 10 , wherein generating the digital terrain model to add or modify the one or more cutbacks comprises:
collecting a volume of material with the tool;
obtaining a soil cohesion measurement with the sensor based on the collected volume of material; and
generating one or more geometric parameters for the cutback based on the soil cohesion measurement.

12. The method of claim 10 , wherein generating the digital terrain model to add or modify the one or more cutbacks comprises:
receiving information describing an expected presence of human operators within the area surrounding the material to be moved; and
updating one or more geometric parameters for the cutback based on the expected presence.

13. The method of claim 10 , wherein generating the digital terrain model to add or modify the one or more cutbacks comprises:
receiving an estimate describing a length of time for moving of the volume of the material.

14. The method of claim 1 ,
wherein generating the digital terrain model comprises adding or modifying one or more slope backs in the digital file, each slope back representing one or more sloped walls bounding a portion of the volume of material to be moved; and
wherein the plurality of target tool paths are generated to account for creation of the slope backs for moving the volume of material.

15. The method of claim 1 , wherein the plurality of target tool paths include a finish tool path configured to shape a bottom surface of the location from which the material is to be moved.

16. The method of claim 1 , wherein the plurality of target tool paths represent a set of instructions for moving the tool through a portion of the volume of material to be moved.

17. The method of claim 16 , wherein the plurality of target tool paths are generated based on at least one of:
a soil composition measurement of the area surrounding the material to be moved;
a size of the tool mounted to the EV;
a force exerted on a maneuvering unit of the EV by the tool in contact with a ground of the site; and
a weight of the EV.

18. The method of claim 16 , wherein each target tool path of the plurality of target tool paths are two-dimensional shapes in a three dimensional coordinate space indicating paths through which the tool is to travel to move the volume of material.

19. The method of claim 16 , wherein each target tool path of the plurality of target tool paths are three-dimensional volumes in a three dimensional coordinate space indicating volumes through which the tool is to travel to move the volume of material.

20. The method of claim 16 , wherein each target tool path of the plurality of target tool paths are substantially rectangular in two dimensions or substantially hyperrectangular in three dimensions.

21. The method of claim 16 , wherein each target tool path of the plurality of target tool paths are curved along a plane of a ground of the site.

22. The method of claim 1 , further comprising:
generating a set of instructions for controlling the tool to carry out the target tool paths.

23. The method of claim 1 , wherein the volume of material to be moved is determined based on a comparison of a current state of the site and a planned state of the site, the current state of the site represented by the recorded contextual information of the site and the planned state of the site represented by the digital file.

24. A non-transitory computer readable medium comprising stored computer-readable instructions for preparing a representation of a site in which material is to be moved by an excavation vehicle (EV) encoded thereon that, when executed by a processor, cause the processor to:
receive a digital file of the site including material to be moved and an area surrounding the material to be moved, the site represented within the digital file in a coordinate space with respect to a geographic map;
navigate, by the EV, the site and concurrently recording contextual information about the site with a sensor physically mounted on the EV, the contextual informati

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

• G01N33/24

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

• E02F3/434

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

• G06T7/74

  involving reference images or patches · CPC title

• E02F9/205

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