Quality control operation for autonomous pile driving system

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:
• autonomously loading a pile onto an arm of the AOV;
• performing an autonomous pile driving operation of autonomously driving the pile into the ground at a location identified by a pile plan map;
• detecting one or more attributes of the pile at a predetermined frequency using one or more sensors during the autonomous pile driving operation;
• determining whether at least one of the one or more attributes of the pile is projected to exceed a corresponding tolerance threshold based on an observed trend of the one or more attributes during the autonomous pile driving operation;
• and
• performing a quality control action by stopping the autonomous pile driving operation in response to determining that the at least one of the one or more attributes of the pile is projected to exceed the corresponding tolerance threshold before the at least one attribute exceeds the corresponding tolerance threshold.

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:

• autonomously loading a pile onto an arm of an autonomous off-road vehicle (AOV);
• performing an autonomous pile driving operation of autonomously driving the pile into the ground at a location identified by a pile plan map;
• detecting one or more attributes of the pile at a predetermined frequency using one or more sensors during the autonomous pile driving operation;
• determining whether at least one of the one or more attributes of the pile is projected to exceed a corresponding tolerance threshold based on an observed trend of the one or more attributes during the autonomous pile driving operation;
• and
• performing a quality control action by stopping the autonomous pile driving operation in response to determining that the at least one of the one or more attributes of the pile is projected to exceed the corresponding tolerance threshold before the at least one attribute exceeds the corresponding tolerance threshold.