# US 12,594,676 B1 · Automated systems and methods for installing fasteners through construction connectors > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,676 B1 - Document ID: US12594676B1 - Status: Granted - Kind: B1 - Application number: 19/228,151 - Filed: 2025-06-04 - Granted: 2026-04-07 - Earliest claimed: 2025-06-04 - Applicants: ENGtegrity, Inc - Inventors: Michael O'Brien; Robert T. Winslow - Web page: https://patentgrep.com/patent/US12594676B1 ## CPC - B25J 9/1697: {Vision controlled systems} - B25J 5/007: {mounted on wheels} - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - B25J 19/023: {including video camera means} - G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) - G06V 10/764: using classification, e.g. of video objects - G06V 10/82: using neural networks - G06V 10/95: {structured as a network, e.g. client-server architectures} - G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) - G05D 2101/20: using external object recognition - G05D 2105/89: {for inspecting structures, e.g. wind mills, bridges, buildings or vehicles} - G05D 2107/90: Building sites; Civil engineering - G05D 2109/10: Land vehicles - G05D 2111/10: Optical signals - G06V 10/774: Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract An Unmanned Ground Vehicle (UGV) may include a guidance system, a propulsion system, an imaging system, at least one memory storing instructions, and at least one processor being configured to execute the instructions to perform operations. The operations may include automatically navigating the UGV to an imaging location through employment of the guidance system, the propulsion system, and the imaging system. The operations may include automatically capturing image data. The image data may indicate a construction connector. The operations may include automatically classifying the image data through employment of a classifier. The classifier may be based on construction connector training data. The construction connector training data may relate to a plurality of construction connectors. The operations may include automatically determining an installation state of the construction connector based on the classification. ## Claims ### Claim 1 An Unmanned Ground Vehicle (UGV) comprising: a) a guidance system; b) a propulsion system; c) an imaging system; d) at least one memory storing instructions; and e) at least one processor being configured to execute the instructions to perform operations, the operations comprising: i) automatically navigating the UGV to an imaging location through employment of the guidance system, the propulsion system, and the imaging system; ii) automatically capturing image data, the image data indicating a construction connector; iii) automatically classifying the image data through employment of a classifier, the classifier based on construction connector training data, the construction connector training data relating to a plurality of construction connectors; and iv) automatically determining an installation state of the construction connector based on the classification. ### Claim 2 (depends on 1) The UGV according to claim 1, wherein the installation state indicates an improper installation, and the operations further comprise automatically tagging the imaging location. ### Claim 3 (depends on 1) The UGV according to claim 1, wherein the installation state indicates one or more missing fasteners associated with the construction connector. ### Claim 4 (depends on 3) The UGV according to claim 3, further comprising: a) a fastener carrier configured to carry a plurality of fasteners; and b) an effector configured to position and install the fasteners through the construction connector to a substrate behind the construction connector. ### Claim 5 (depends on 4) The UGV according to claim 4, wherein the effector is configured to install the fasteners through the construction connector to the substrate behind the construction connector at angles other than 90 degrees to a surface of the construction connector. ### Claim 6 (depends on 4) The UGV according to claim 4, wherein the operations further comprise automatically installing the one or more missing fasteners through employment of the imaging system and the effector. ### Claim 7 (depends on 4) The UGV according to claim 4, wherein the effector comprises one of the following: a) a nail gun; or b) an electric hammer. ### Claim 8 (depends on 7) The UGV according to claim 7, wherein the effector further comprises a pressure sensor configured to measure a pressure applied to the fasteners during installation. ### Claim 9 (depends on 8) The UGV according to claim 8, wherein the operations further comprise automatically verifying adequate installation of the fasteners based on the imaging system and the pressure sensor. ### Claim 10 (depends on 4) The UGV according to claim 4, wherein the effector comprises at least one of the following: a) a screw gun; b) an impact driver; c) a ratchet; or d) an impact wrench. ### Claim 11 (depends on 10) The UGV according to claim 10, wherein the effector further comprises a torque sensor configured to measure a torque applied to the fasteners during installation. ### Claim 12 (depends on 11) The UGV according to claim 11, wherein the operations further comprise automatically verifying adequate installation of the fasteners based on the imaging system and the torque sensor. ### Claim 13 (depends on 4) The UGV according to claim 4, wherein the substrate comprises at least one of the following: a) dimensional lumber; b) engineered wood; c) composite wood; d) laminated wood; e) sheet metal; f) metal deck; g) structural steel; h) concrete; i) masonry; j) foam; or k) insulated metal panels (IMP). ### Claim 14 (depends on 1) The UGV according to claim 1, wherein the operations further comprise automatically storing the image data. ### Claim 15 (depends on 1) The UGV according to claim 1, wherein the installation state indicates one or more inadequately installed fasteners associated with the construction connector. ### Claim 16 (depends on 15) The UGV according to claim 15, wherein the one or more inadequately installed fasteners indicates at least one of the following: a) an inadequate fastener size; b) an inadequate fastener type; or c) inadequate penetration into a substrate. ### Claim 17 (depends on 15) The UGV according to claim 15, further comprising: a) a fastener carrier configured to carry a plurality of fasteners; and b) an effector configured to remove inadequately installed fasteners. ### Claim 18 (depends on 17) The UGV according to claim 17, wherein the operations further comprise automatically removing the one or more inadequately installed fasteners through employment of the imaging system and the effector. ### Claim 19 (depends on 17) The UGV according to claim 17, wherein the effector comprises a fastener remover. ### Claim 20 (depends on 1) The UGV according to claim 1, further comprising a Ground Penetrating Radar (GPR) sensor, the GPR sensor employed in the determining of the installation state.