# US 11,028,554 B2 · Excavating earth from a dig site using an excavation vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,028,554 B2 - Document ID: US11028554B2 - Status: Granted - Kind: B2 - Application number: 16/985,176 - Filed: 2020-08-04 - Published: 2020-11-19 - Granted: 2021-06-08 - Earliest claimed: 2017-01-23 - Assignees: Built Robotics Inc. - Applicants: 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 - Web page: https://patentgrep.com/patent/US11028554B2 ## CPC - E02F 3/435: {for dipper-arms, backhoes or the like} - E02F 9/2045: {Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004)} - E02F 3/32: working downwardly and towards the machine, e.g. with backhoes - E02F 3/434: {providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig} - E02F 3/439: {Automatic repositioning of the implement, e.g. automatic dumping, auto-return (E02F3/438 takes precedence)} - E02F 3/964: {of several tools mounted on one machine (E02F3/962 takes precedence)} - E02F 9/2029: {Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence)} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)} - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - G01N 33/24: Earth materials (G01N33/42 takes precedence) - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0219: {ensuring the processing of the whole working surface} - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G06T 7/74: {involving reference images or patches} - G06T 17/05: Geographic models - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06T 2207/30248: Vehicle exterior or interior - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## 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. ## Claims ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 1) 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. ### Claim 4 (depends on 1) 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. ### Claim 5 (depends on 1) 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. ### Claim 6 (depends on 1) 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. ### Claim 7 (depends on 1) 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. ### Claim 8 (depends on 1) 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. ### Claim 9 (depends on 1) 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. ### Claim 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. ### Claim 11 (depends on 10) 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. ### Claim 12 (depends on 10) 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. ### Claim 13 (depends on 10) 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. ### Claim 14 (depends on 10) 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. ### Claim 15 (depends on 10) 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. ### Claim 16 (depends on 10) 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. ### Claim 17 (depends on 10) 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. ### Claim 18 (depends on 10) 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. ### Claim 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. ### Claim 20 (depends on 19) The EMV of claim 19, 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.