# US 12,000,111 B2 · Sensor retrofit to autonomously actuate 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 12,000,111 B2 - Document ID: US12000111B2 - Status: Granted - Kind: B2 - Application number: 17/829,034 - Filed: 2022-05-31 - Published: 2022-09-15 - Granted: 2024-06-04 - Earliest claimed: 2019-03-15 - Assignees: Built Robotics Inc. - Applicants: 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 - Web page: https://patentgrep.com/patent/US12000111B2 ## CPC - E02F 9/2037: {Coordinating the movements of the implement and of the frame} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - 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 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)} - E02F 9/26: Indicating devices {(E02F5/145 takes precedence)} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract 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. ## Claims ### Claim 1 A system for enabling actuation in an autonomous vehicle (AV), comprising: a set of sensors configured to produce signals representing a position, height, and orientation of one or more components of the AV relative to a ground surface of an operation site and one or more obstacles within an environment of the AV relative to the operation site; a set of electronic actuation components, each electronic actuation component configured to actuate hydraulic valves of a tool of the AV; and a controller communicatively coupled to the set of sensors and configured to produce and communicate actuating signals to each electronic actuation component to control the tool to autonomously perform an AV routine based on the signals produced by the set of sensors to avoid the one or more obstacles. ### Claim 2 (depends on 1) The system of claim 1, wherein the set of electronic actuation components convert an electrical signal for actuating the tool into an electrical signal for actuating one or more valves physically coupled to the tool. ### Claim 3 (depends on 1) The system of claim 1, wherein the controller is further configured to, in response to signals produced by the set of sensors satisfying a stop condition, produce a stop signal configured to stop the AV routine performed by the tool. ### Claim 4 (depends on 1) The system of claim 1, wherein the actuating signals comprise one or more of PWM and CAN signals configured to drive an electronic component of the AV associated with the tool. ### Claim 5 (depends on 4) The system of claim 4, wherein electronic components of the AV include one or a combination of the following: a switch; a circuit; and a driver. ### Claim 6 (depends on 1) The system of claim 1, wherein one or more of the set of sensors wirelessly couple to the controller. ### Claim 7 (depends on 1) The system of claim 1, wherein each signal produced by a sensor of the set of sensors is representative of a position and orientation of the tool relative to one of: a base of the AV; and one or more features surrounding the AV. ### Claim 8 (depends on 1) The system of claim 1, wherein the set of sensors communicates with an external sensor located away from the AV, and wherein each signal produced by a sensor of the set of sensors is representative of the position and orientation of the AV relative to the external sensor. ### Claim 9 (depends on 1) The system of claim 1, wherein the set of sensors comprise a plurality of sub-groups of sensors, each sub-group configured to produce signals describing one or more features of the operation site within a field of view corresponding to the sub-group of sensors. ### Claim 10 (depends on 1) The system of claim 1, wherein one or more of the electronic actuation components of the set of electronic actuation components comprises a solenoid. ### Claim 11 An autonomous vehicle (AV) comprising: a set of sensors configured to produce signals representing a position, height, and orientation of one or more components of the AV relative to a ground surface of an operation site and one or more obstacles within an environment of the AV relative to the operation site; a set of electronic actuation components, each electronic actuation component configured to actuate hydraulic valves of a tool of the AV; and a controller communicatively coupled to set of sensors and configured to produce and communicate actuating signals to each electronic actuation component to control the tool to autonomously perform an AV routine based on the signals produced by the set of sensors to avoid the one or more obstacles. ### Claim 12 (depends on 11) The AV of claim 11, wherein the set of electronic actuation components convert an electrical signal for actuating the tool into an electrical signal for actuating one or more valves physically coupled to the tool. ### Claim 13 (depends on 11) The AV of claim 11, wherein the controller is further configured to, in response to signals produced by the set of sensors satisfying a stop condition, produce a stop signal configured to stop the AV routine performed by the tool. ### Claim 14 (depends on 11) The AV of claim 11, wherein the actuating signals comprise one or more of PWM and CAN signals configured to drive an electronic component of the AV associated with the tool. ### Claim 15 (depends on 14) The AV of claim 14, wherein electronic components of the AV include one or a combination of the following: a switch; a circuit; and a driver. ### Claim 16 (depends on 11) The AV of claim 11, wherein one or more of the set of sensors wirelessly couple to the controller. ### Claim 17 (depends on 11) The AV of claim 11, wherein each signal produced by a sensor of the set of sensors is representative of a position and orientation of the tool relative to one of: a base of the AV; and one or more features surrounding the AV. ### Claim 18 (depends on 11) The AV of claim 11, wherein the set of sensors communicates with an external sensor located away from the AV, and wherein each signal produced by a sensor of the set of sensors is representative of the position and orientation of the AV relative to the external sensor. ### Claim 19 (depends on 11) The AV of claim 11, wherein the set of sensors comprise a plurality of sub-groups of sensors, each sub-group configured to produce signals describing one or more features of the operation site within a field of view corresponding to the sub-group of sensors. ### Claim 20 (depends on 11) The AV of claim 11, wherein one or more of the electronic actuation components of the set of electronic actuation components comprises a solenoid.