# US 12,215,475 B2 · Basket assembly operation for autonomous pile driving system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,215,475 B2 - Document ID: US12215475B2 - Status: Granted - Kind: B2 - Application number: 18/462,140 - Filed: 2023-09-06 - Published: 2024-06-27 - Granted: 2025-02-04 - Earliest claimed: 2022-12-21 - Assignees: Built Robotics Inc. - Applicants: Built Robotics Inc. - Inventors: Noah Austen Ready-Campbell; Andrew Xiao Liang; Gaurav Jitendra Kikani - Web page: https://patentgrep.com/patent/US12215475B2 ## CPC - E02D 7/02: Placing by driving {(E02D7/18 - E02D7/24 take precedence)} - E02D 7/06: Power-driven drivers {(tampers E02D3/061)} - E02D 15/00: Handling building or like materials for hydraulic engineering or foundations ({soil-shifting E02F;} conveying or working-up concrete or similar masses in general E04G21/02) - G05D 1/229: Command input data, e.g. waypoints - G05D 1/43: Control of position or course in two dimensions [2D] - E02D 2600/00: Miscellaneous - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM] - G05D 2105/05: for soil shifting, building, civil engineering or mining, e.g. excavators - G05D 2107/90: Building sites; Civil engineering - G05D 2109/10: Land vehicles - E02D: FOUNDATIONS; EXCAVATIONS; EMBANKMENTS (specially adapted for hydraulic engineering E02B); UNDERGROUND OR UNDERWATER STRUCTURES {(tunnels, tunnelling, mining E21)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A pile plan map indicating a plurality of locations in a geographic area at which piles are to be installed is accessed. A first set of locations is identified from the plurality of locations and a first set of piles to be driven into the ground at the first set of locations using the pile plan map is identified. An order for driving the first set of piles into the ground is identified and a pile type for each of the first set of piles is identified. Basket assembly instructions are generated for assembling the first set of piles into a basket based on the identified order and the identified pile types. The first set of piles are assembled autonomously or manually into the basket based on the generated basket assembly instructions. ## Claims ### Claim 1 A method comprising: accessing a pile plan map indicating a plurality of locations in a geographic area at which piles are to be installed by an autonomous off road vehicle (“AOV”); identifying a first set of locations from the plurality of locations and a first set of piles to be driven into the ground at the first set of locations using the pile plan map; generating basket assembly instructions for assembling the first set of piles into a basket; and loading an assembled basket onto a chassis of the AOV protruding outward and away from a body of the AOV. ### Claim 2 (depends on 1) The method of claim 1, wherein the chassis is adapted to be loaded with a plurality of assembled baskets. ### Claim 3 (depends on 1) The method of claim 1, wherein the assembled basket is a first assembled basket and wherein the method further comprises: identifying a second set of locations from the plurality of locations and a second set of piles to be driven into the ground at the second set of locations using the pile plan map; generating basket assembly instructions for assembling the second set of piles into a second basket; and loading a second assembled basket onto the chassis of the AOV. ### Claim 4 (depends on 3) The method of claim 3, wherein the basket assembly instructions for assembling the second set of piles into the second basket are generated based on an estimated weight distribution on the chassis between the first assembled basket and the second assembled basket. ### Claim 5 (depends on 4) The method of claim 4, wherein distributing comprises, for each of the first set of locations and each of the first set of piles: autonomously navigating the AOV to the location; and autonomously laying the pile from the assembled basket onto the ground at the location. ### Claim 6 (depends on 1) The method of claim 1, further comprising: identifying an order for driving the first set of piles into the ground and a pile type for each of the first set of piles; wherein the basket assembly instructions for assembling the first set of piles into the basket are generated based on the identified order and the identified pile types. ### Claim 7 (depends on 6) The method of claim 6, further comprising distributing, by the AOV, the first set of piles from the assembled basket to the first set of locations in the identified order. ### Claim 8 (depends on 7) The method of claim 7, wherein distributing comprises, for each of the first set of locations and each of the first set of piles: autonomously navigating the AOV to the location; autonomously loading the pile from the assembled basket onto a driving tool of the AOV; and autonomously driving the pile into the ground at the location using the driving tool. ### Claim 9 (depends on 1) The method of claim 1, further comprising transmitting the generated basket assembly instructions to a vendor for assembling the first set of piles into the basket to create the assembled basket. ### Claim 10 (depends on 1) The method of claim 1, wherein the basket assembly instructions are generated based on at least one of an estimated total weight of the assembled basket, or an estimated weight distribution of the first set of piles in the basket. ### Claim 11 An autonomous off-road vehicle (AOV) comprising: a hardware processor; and a non-transitory computer-readable storage medium storing executable instructions that, when executed by the hardware processor, cause the hardware processor to perform steps comprising: accessing a pile plan map indicating a plurality of locations in a geographic area at which piles are to be installed by the AOV; identifying a first set of locations from the plurality of locations and a first set of piles to be driven into the ground at the first set of locations using the pile plan map; generating basket assembly instructions for assembling the first set of piles into a basket; and loading an assembled basket onto a chassis of the AOV protruding outward and away from a body of the AOV. ### Claim 12 (depends on 11) The AOV of claim 11, wherein the chassis is adapted to be loaded with a plurality of assembled baskets. ### Claim 13 (depends on 11) The AOV of claim 11, wherein the assembled basket is a first assembled basket and wherein the instructions further cause the hardware processor to perform steps comprising: identifying a second set of locations from the plurality of locations and a second set of piles to be driven into the ground at the second set of locations using the pile plan map; generating basket assembly instructions for assembling the second set of piles into a second basket; and loading a second assembled basket onto the chassis of the AOV. ### Claim 14 (depends on 13) The AOV of claim 13, wherein the basket assembly instructions for assembling the second set of piles into the second basket are generated based on an estimated weight distribution on the chassis between the first assembled basket and the second assembled basket. ### Claim 15 (depends on 11) The AOV of claim 11, wherein the instructions further cause the hardware processor to perform a step comprising: identifying an order for driving the first set of piles into the ground and a pile type for each of the first set of piles; wherein the basket assembly instructions for assembling the first set of piles into the basket are generated based on the identified order and the identified pile types. ### Claim 16 (depends on 15) The AOV of claim 15, wherein the instructions further cause the hardware processor to perform a step comprising: distributing, by the AOV, the first set of piles from the assembled basket to the first set of locations in the identified order. ### Claim 17 (depends on 11) The AOV of claim 11, wherein the instructions further cause the hardware processor to perform a step comprising: transmitting the generated basket assembly instructions to a vendor for assembling the first set of piles into the basket to create the assembled basket. ### Claim 18 (depends on 11) The AOV of claim 11, wherein the basket assembly instructions are generated based on at least one of an estimated total weight of the assembled basket, or an estimated weight distribution of the first set of piles in the basket. ### Claim 19 A non-transitory computer-readable storage medium storing executable instructions that, when executed by a hardware processor, cause the hardware processor to perform steps comprising: accessing a pile plan map indicating a plurality of locations in a geographic area at which piles are to be installed by an autonomous off road vehicle (“AOV”); identifying a first set of locations from the plurality of locations and a first set of piles to be driven into the ground at the first set of locations using the pile plan map; generating basket assembly instructions for assembling the first set of piles into a basket; and causing an assembled basket to be loaded onto a chassis of the AOV protruding outward and away from a body of the AOV. ### Claim 20 (depends on 19) The non-transitory computer-readable storage medium of claim 19, wherein the instructions further cause the hardware processor to perform a step comprising: transmitting the generated basket assembly instructions to a vendor for assembling the first set of piles into the basket to create the assembled basket.