Patents by Inventor Andrew Xiao Liang
Andrew Xiao Liang has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11680384Abstract: 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.Type: GrantFiled: March 3, 2021Date of Patent: June 20, 2023Assignee: BUILT ROBOTICS, INC.Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Gaurav Jitendra Kikani, Joonhyun Kim
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Patent number: 11668070Abstract: 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.Type: GrantFiled: December 29, 2020Date of Patent: June 6, 2023Assignee: BUILT ROBOTICS INC.Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Linus Page Chou, Edward Stephen Walker, Jr., Christian John Wawrzonek, Cyrus McMann Ready-Campbell
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Patent number: 11634888Abstract: 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.Type: GrantFiled: May 3, 2022Date of Patent: April 25, 2023Assignee: Built Robotics Inc.Inventors: Gaurav Jitendra Kikani, Noah Austen Ready-Campbell, Andrew Xiao Liang, Joonhyun Kim
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Patent number: 11634883Abstract: 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.Type: GrantFiled: November 18, 2020Date of Patent: April 25, 2023Assignee: BUILT ROBOTICS INC.Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Linus Page Chou, Edward Stephen Walker, Christian John Wawrzonek, Cyrus McMann Ready-Campbell
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Publication number: 20220412057Abstract: 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.Type: ApplicationFiled: May 19, 2022Publication date: December 29, 2022Inventors: Gaurav Jitendra Kikani, Noah Austen Ready-Campbell, Andrew Xiao Liang, Joonhyun Kim
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Publication number: 20220412051Abstract: 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.Type: ApplicationFiled: May 3, 2022Publication date: December 29, 2022Inventors: Gaurav Jitendra Kikani, Noah Austen Ready-Campbell, Andrew Xiao Liang, Joonhyun Kim
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Publication number: 20220413495Abstract: 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.Type: ApplicationFiled: December 22, 2021Publication date: December 29, 2022Inventors: Gaurav Jitendra Kikani, Noah Austen Ready-Campbell, Andrew Xiao Liang, Joonhyun Kim
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Publication number: 20220364321Abstract: 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.Type: ApplicationFiled: July 27, 2022Publication date: November 17, 2022Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Linus Page Chou, Edward Stephen Walker, Christian John Wawrzonek, Cyrus McMann Ready-Campbell
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Publication number: 20220290404Abstract: An excavation vehicle capable of autonomously actuating an excavation tool or navigating an excavation vehicle to perform an excavation routine within an excavation site is described herein. Sensors mounted to the excavation vehicle and the excavation tool produce signals representative of a position and orientation of the corresponding joint relative on the excavation vehicle relative to the excavation site, a position and orientation of the excavation vehicle relative to the excavation site, and one or more features of the excavation site based on the position of the excavation vehicle within the excavation site. A set of solenoids are configured to couple to corresponding hydraulic valves of the excavation tool to actuate the valve. A controller produces actuating signals to control the joints of the excavation tool to autonomously perform the excavation routine based on the signals produced by the sensors.Type: ApplicationFiled: May 31, 2022Publication date: September 15, 2022Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Christian John Wawrzonek, Gaurav Jitendra Kikani, James Alan Emerick, Lucas Allen Bruder, Ammar Idris Kothari
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Patent number: 11441291Abstract: 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.Type: GrantFiled: April 10, 2020Date of Patent: September 13, 2022Assignee: BUILT ROBOTICS INC.Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Linus Page Chou, Edward Stephen Walker, Jr., Christian John Wawrzonek, Cyrus McMann Ready-Campbell
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Publication number: 20220282451Abstract: 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.Type: ApplicationFiled: March 3, 2021Publication date: September 8, 2022Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Gaurav Jitendra Kikani, Joonhyun Kim
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Patent number: 11401689Abstract: An excavation vehicle capable of autonomously actuating an excavation tool or navigating an excavation vehicle to perform an excavation routine within an excavation site is described herein. Sensors mounted to the excavation vehicle and the excavation tool produce signals representative of a position and orientation of the corresponding joint relative on the excavation vehicle relative to the excavation site, a position and orientation of the excavation vehicle relative to the excavation site, and one or more features of the excavation site based on the position of the excavation vehicle within the excavation site. A set of solenoids are configured to couple to corresponding hydraulic valves of the excavation tool to actuate the valve. A controller produces actuating signals to control the joints of the excavation tool to autonomously perform the excavation routine based on the signals produced by the sensors.Type: GrantFiled: March 12, 2020Date of Patent: August 2, 2022Assignee: BUILT ROBOTICS INC.Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Christian John Wawrzonek, Gaurav Jitendra Kikani, James Alan Emerick, Lucas Allen Bruder, Ammar Idris Kothari
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Patent number: 11352769Abstract: 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.Type: GrantFiled: June 25, 2021Date of Patent: June 7, 2022Assignee: BUILT ROBOTICS INC.Inventors: Gaurav Jitendra Kikani, Noah Austen Ready-Campbell, Andrew Xiao Liang, Joonhyun Kim
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Patent number: 11346086Abstract: An autonomous earth moving system can select an action for an earth moving vehicle (EMV) to autonomously perform using a tool (such as an excavator bucket). The system then generates a set of candidate tool paths, each illustrating a potential path for the tool to trace as the earth moving vehicle performs the action. In some cases, the system uses an online learning model iteratively trained to determine which candidate tool path best satisfies one or more metrics measuring the success of the action. The earth moving vehicle the executes the earth moving action using the selected tool path and measures the results of the action. In some implementations, the autonomous earth moving system updates the machine learning model based on the result of the executed action.Type: GrantFiled: June 25, 2021Date of Patent: May 31, 2022Assignee: Built Robotics Inc.Inventors: Gaurav Jitendra Kikani, Noah Austen Ready-Campbell, Andrew Xiao Liang, Joonhyun Kim
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Patent number: 11346080Abstract: 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.Type: GrantFiled: June 25, 2021Date of Patent: May 31, 2022Assignee: BUILT ROBOTICS INC.Inventors: Gaurav Jitendra Kikani, Noah Austen Ready-Campbell, Andrew Xiao Liang, Joonhyun Kim
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Publication number: 20220120060Abstract: 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.Type: ApplicationFiled: December 28, 2021Publication date: April 21, 2022Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Edward Jiacheng Cai, Elizabeth Maitland Murdoch, Thomas Joel Pech, Lucas Allen Bruder, Gaurav Jitendra Kikani, Joonhyun Kim
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Publication number: 20220070611Abstract: 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.Type: ApplicationFiled: August 25, 2020Publication date: March 3, 2022Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Edward Jiachang Cai, Elizabeth Maitland Murdoch, Thomas Joel Pech, Lucas Allen Bruder, Gaurav Jitendra Kikani, Joonhyun Kim
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Patent number: 11236492Abstract: 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.Type: GrantFiled: August 25, 2020Date of Patent: February 1, 2022Assignee: Built Robotics Inc.Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Edward Jiachang Cai, Elizabeth Maitland Murdoch, Thomas Joel Pech, Lucas Allen Bruder, Gaurav Jitendra Kikani, Joonhyun Kim
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Patent number: 11237558Abstract: 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.Type: GrantFiled: June 25, 2021Date of Patent: February 1, 2022Assignee: Built Robotics Inc.Inventors: Gaurav Jitendra Kikani, Noah Austen Ready-Campbell, Andrew Xiao Liang, Joonhyun Kim
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Patent number: 11111647Abstract: 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.Type: GrantFiled: November 4, 2019Date of Patent: September 7, 2021Assignee: Built Robotics Inc.Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Linus Page Chou, Edward Stephen Walker, Jr., Christian John Wawrzonek, Cyrus McMann Ready-Campbell