e.g.(e.g.(e.g., a straight path, a curved path, etc.) or target yaw direction, such as by lowering a side of the blade tool in a direction in which to cause an increase in vehicle turning.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
3.
Autonomous Control Of Powered Earth-Moving Vehicles To Control Calibration Operations For On-Vehicle Sensors
Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles, including to automatically calibrate sensors on a powered earth-moving vehicle, such as to determine position and orientation of directional sensors on movable vehicle parts. For example, an on-vehicle sensor to be calibrated may include a LIDAR sensor located on the powered earth-moving vehicle, such as on a movable component part of the vehicle (e.g., a hydraulic arm, a tool attachment, etc.), and a global common frame of reference is determined for different datasets gathered at different times from such a sensor in order to combine or compare the datasets, such as by determining the sensor position in 3D space at a time of dataset gathering (e.g., relative to another reference point on the vehicle with a known location in the global common frame of reference, such as by using one or more determined transforms).
G05D 1/242 - Means based on the reflection of waves generated by the vehicle
G05D 1/245 - Arrangements for determining position or orientation using dead reckoning
G05D 1/248 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
G05D 1/86 - Monitoring the performance of the system, e.g. alarm or diagnosis modules
G05D 105/05 - Specific applications of the controlled vehicles for soil shifting, building, civil engineering or mining, e.g. excavators
Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles, including to automatically control use of a ripper tool attachment to loosen ground materials for subsequent blade tool operations, such as to determine placements of the ripper tool for multiple ripping passes so that its teeth perform ground-loosening operations that in the aggregate span the width of a blade tool to be used for subsequent pushing/cutting operations. For example, the techniques may include obtaining information about a width of a ripper tool attachment and placement of one or more teeth on the ripper tool, obtaining information about a width of a blade tool attachment, and determining multiple placements of the ripper tool attachment during ripping operations that in the aggregate cover the width of the blade tool attachment to be used for subsequent pushing/cutting operations.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 19/14 - Receivers specially adapted for specific applications
G01S 19/43 - Determining position using carrier phase measurements, e.g. kinematic positioningDetermining position using long or short baseline interferometry
5.
Autonomous Control Of Powered Earth-Moving Vehicles To Control Steering Operations Using A Blade Tool
Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles, including to automatically control movement of some or all of a powered earth-moving vehicle on a job site, such as to implement control of vehicle steering using a blade tool attachment in combination with vehicle tracks or wheels. For example, the autonomous operations may include monitoring an actual path or actual yaw direction that a powered earth-moving vehicle with a blade tool attachment (e.g., a bulldozer with a front blade tool) is following, and implement blade-based vehicle steering operations if the actual path or yaw direction differs from an intended target path (e.g., a straight path, a curved path, etc.) or target yaw direction, such as by lowering a side of the blade tool in a direction in which to cause an increase in vehicle turning.
Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles, including to automatically control movement of a powered earth-moving vehicle on a job site to control loading of a blade tool attachment, such as to manage tool attachment height and transitions between a pushing/cutting/loading mode and a carrying mode. The automated operations may include generating automated predicted estimates at one or more times of an amount and/or degree of loading of a blade tool attachment on a powered earth-moving vehicle (e.g., on a bulldozer vehicle) being used to move material in a pushing/cutting/loading mode and/or of whether such loading is causing slippage of the vehicle, using an indication of vehicle slippage to initiate raising the blade tool attachment, and using an indication of a fully loaded blade (or a loading degree and/or amount above one or more specified thresholds) to switch to a carrying mode.
Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles, including to automatically control movement of some or all of a powered earth-moving vehicle on a job site to manage vehicle motion based in part on the determined slope of surrounding surfaces. For example, the automated operations may include initiating a stop to vehicle motion (or alternatively, a change in a planned vehicle path) if a planned travel path of the vehicle is determined to have one or more slopes in one or more sections that exceed one or more defined thresholds or otherwise having one or more determined attributes that satisfy one or more criteria.
Provided herein are computer-implemented methods, systems, and media for operating a ripper attached to a machine based on an acceleration and one or more working parameters.
Systems and methods of controlling an earth-moving vehicle (EMV) are disclosed. In one aspect, the system includes an EMV having a boom joint, a boom connected at the boom joint, a blade connected to an end of the boom, and a controller communicably coupled to the EMV, the boom and the blade. The controller is configured to move the EMV along a path, compute a target depth for the blade, position the blade to have the target depth, and dynamically adjust the blade to maintain the target depth as the EMV moves along the path.
Systems and methods of controlling an earth-moving vehicle (EMV) are disclosed. In one aspect, the system includes an EMV having a boom joint, a boom connected at the boom joint, a blade connected to an end of the boom, and a controller communicably coupled to the EMV, the boom and the blade. The controller is configured to move the EMV along a path, compute a target depth for the blade, position the blade to have the target depth, and dynamically adjust the blade to maintain the target depth as the EMV moves along the path.
Systems and techniques are described for an adaptive control system of powered earth-moving construction and/or mining vehicles. In some situations, the systems/techniques may receive signals from various controls of the powered earth-moving construction and/or mining vehicles that provide signals at various high-level voltages and low-level voltages and provide commands to the various controls by modifying command signals to various high-level voltages and low-level voltages. The systems/techniques may employ various modular input/output daughtercards to modify the various signals and commands.
B60R 16/023 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided forArrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric for transmission of signals between vehicle parts or subsystems
B60R 16/027 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided forArrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric for transmission of signals between vehicle parts or subsystems between relatively movable parts of the vehicle, e.g. between steering wheel and column
B60W 50/00 - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
14.
Augmented learning model for autonomous earth-moving vehicles
Systems and methods for using augmented learning models for autonomous earth-moving vehicles are disclosed. The method can comprise receiving a second set of sensor data; generating a first condensed vector from the second set of sensor data at least in part by processing the second set of sensor data with a first machine learning model; selecting an action to be performed by the vehicle at least in part by processing the first condensed vector with a second machine learning model. The method can further comprise retrieving one or more samples of sensor data from the first set of sensor data; fine-tuning the first machine learning model at least in part by processing the one or more samples of sensor data to produce a second condensed vector; and fine-tuning the second machine learning model at least in part by processing the second condensed vector.
Systems and methods for using augmented learning models for autonomous earth-moving vehicles are disclosed. The method can comprise receiving a second set of sensor data; generating a first condensed vector from the second set of sensor data at least in part by processing the second set of sensor data with a first machine learning model; selecting an action to be performed by the vehicle at least in part by processing the first condensed vector with a second machine learning model. The method can further comprise retrieving one or more samples of sensor data from the first set of sensor data; fine-tuning the first machine learning model at least in part by processing the one or more samples of sensor data to produce a second condensed vector; and fine-tuning the second machine learning model at least in part by processing the second condensed vector.
The present disclosure provides a solid-state relay system and a method of operating the solid-state relay system. The solid-state relay system includes a first solid-state device electrically connected to a first input, the first input electrically connected to a common node. The system includes a second solid-state device electrically connected to a second input, the second input electrically disconnected from the common node. The system includes a set of solid-state devices configured to, based at least in part on a trigger signal, electrically disconnect the first input from a common node and electrically connect the second input to the common node. The first solid-state device, the second solid-state device, and the set of solid-state devices are powered by the first input, the second input, and the trigger signal without using an external power source.
H03K 17/687 - Electronic switching or gating, i.e. not by contact-making and -breaking characterised by the use of specified components by the use, as active elements, of semiconductor devices the devices being field-effect transistors
H03K 17/60 - Electronic switching or gating, i.e. not by contact-making and -breaking characterised by the use of specified components by the use, as active elements, of semiconductor devices the devices being bipolar transistors
17.
ADAPTIVE CONTROL SYSTEM FOR AUTONOMOUS CONTROL OF POWERED EARTH-MOVING VEHICLES
Systems and techniques are described for an adaptive control system of powered earth-moving construction and/or mining vehicles. In some situations, the systems/techniques may receive signals from various controls of the powered earth-moving construction and/or mining vehicles that provide signals at various high-level voltages and low-level voltages and provide commands to the various controls by modifying command signals to various high-level voltages and low-level voltages. The systems/techniques may employ various modular input/output daughtercards to modify the various signals and commands.
Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles, including to automatically determine and control movement around a site having potential obstacles. For example, the systems/techniques may determine and implement autonomous operations of powered earth-moving vehicle(s) (e.g., obtain/integrate data from sensors of multiple types on a powered earth-moving vehicle, and use it to determine and control movement of the powered earth-moving vehicle around a site), including in some situations to implement coordinated actions of multiple powered earth-moving vehicles and/or of a powered earth-moving vehicle with one or more other types of construction vehicles. The described techniques may further include determining current location and positioning of the powered earth-moving vehicle on the site, determining a target destination location and/or path of the powered earth-moving vehicle, identifying and classifying obstacles (if any) along a desired path or otherwise between current and destination locations, and implementing actions to address any such obstacles.
Systems and techniques are described for implementing autonomous control of earth-moving vehicles, including to automatically determine and control movement around a site having potential obstacles. For example, the systems/techniques may determine and implement autonomous operations of excavator vehicle(s) (e.g., obtain/integrate data from sensors of multiple types, and use it to determine and control movement of the excavator vehicle around a site), including in some situations to implement coordinated actions of multiple excavator vehicles and/or of an excavator vehicle with one or more other types of earth-moving vehicles. The described techniques may further include determining current location and positioning of the excavator vehicle on the site, determining a target destination location and/or route of the excavator vehicle, identifying and classifying obstacles (if any) along a desired route or otherwise between current and destination locations, and implementing actions to address any such obstacles.
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
20.
AUTONOMOUS CONTROL OF OPERATIONS OF POWERED EARTH-MOVING VEHICLES USING DATA FROM ON-VEHICLE PERCEPTION SYSTEMS
Systems and techniques are described for implementing autonomous control of earth-moving construction and/or mining vehicles, including to automatically determine and control autonomous movement (e.g., of a vehicle's hydraulic arm(s), tool attachment(s), tracks/wheels, rotatable chassis, etc.) to move materials or perform other actions based at least in part on data about an environment around the vehicle(s). A perception system on a vehicle that includes at least a LIDAR component may be used to repeatedly map a surrounding environment and determine a 3D point cloud with 3D data points reflecting the surrounding ground and nearby objects, with the LiDAR component mounted on a component part of the vehicle that is moved independently of the vehicle chassis to gather additional data about the environment. GPS data from receivers on the vehicle may further be used to calculate absolute locations of the 3D data points.
Systems and techniques are described for implementing autonomous control of earth-moving construction and/or mining vehicles, including to automatically determine and control autonomous movement (e.g., of a vehicle's hydraulic arm(s), tool attachment(s), tracks/wheels, rotatable chassis, etc.) to move materials or perform other actions based at least in part on data about an environment around the vehicle(s). A perception system on a vehicle that includes at least a LiDAR component may be used to repeatedly map a surrounding environment and determine a 3D point cloud with 3D data points reflecting the surrounding ground and nearby objects, with the LiDAR component mounted on a component part of the vehicle that is moved independently of the vehicle chassis to gather additional data about the environment. GPS data from receivers on the vehicle may further be used to calculate absolute locations of the 3D data points.
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
Systems and techniques are described for an adaptive control system of powered earth-moving construction and/or mining vehicles. In some situations, the systems/techniques may receive signals from various controls of the powered earth-moving construction and/or mining vehicles that provide signals at various high-level voltages and low-level voltages and provide commands to the various controls by modifying command signals to various high-level voltages and low-level voltages. The systems/techniques may employ various modular input/output daughtercards to modify the various signals and commands.
Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles (e.g., construction and/or mining vehicles), including to automatically determine and control movement around a site. For example, the systems/techniques may determine and implement autonomous operations of earth-moving vehicles by determining current location and positioning of an earth-moving vehicle on the site, determining a command for the earth-moving vehicle, and causing the earth-moving vehicle to perform the command—the autonomous operations may in some situations further include obtaining and integrating data from sensors of multiple types on the earth-moving vehicle, implementing coordinated actions of multiple earth-moving vehicles of one or more types, etc.
G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
G05D 3/12 - Control of position or direction using feedback
24.
AUTONOMOUS CONTROL OF OPERATIONS OF EARTH-MOVING VEHICLES USING TRAINED MACHINE LEARNING MODELS
Systems and techniques are described for implementing autonomous control of earth-moving vehicles, including to automatically determine and control movement around a site having potential obstacles. For example, the systems/techniques may determine and implement autonomous operations of excavator vehicle(s) (e.g., obtain/integrate data from sensors of multiple types, and use it to determine and control movement of the excavator vehicle around a site), including in some situations to implement coordinated actions of multiple excavator vehicles and/or of an excavator vehicle with one or more other types of earth-moving vehicles. The described techniques may further include determining current location and positioning of the excavator vehicle on the site, determining a target destination location and/or route of the excavator vehicle, identifying and classifying obstacles (if any) along a desired route or otherwise between current and destination locations, and implementing actions to address any such obstacles.
Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles (e.g., construction and/or mining vehicles), including to automatically determine and control movement around a site. For example, the systems/techniques may determine and implement autonomous operations of earth-moving vehicles by determining current location and positioning of an earth-moving vehicle on the site, determining a command for the earth-moving vehicle, and causing the earth-moving vehicle to perform the command—the autonomous operations may in some situations further include obtaining and integrating data from sensors of multiple types on the earth-moving vehicle, implementing coordinated actions of multiple earth-moving vehicles of one or more types, etc.
G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Downloadable computer software for simulating and directing autonomous robotic machines used in construction, mining, excavating, earth-moving, terraforming and earthwork activities; computer hardware, electronic sensors and systems comprised of lidar, global positioning system (GPS) modules, real-time kinematic positioning (RTK) units, artificial intelligence (AI) hydraulic controls, inclinometers, image cameras and heat sensors for simulating and directing autonomous robotic machines used in construction, mining, excavating, earth-moving, terraforming and earthwork activities Providing temporary use of non-downloadable computer software for operating and directing autonomous robotic machines used in construction, mining, excavating, earth-moving, terraforming and earthwork activities
