Autonomous apparatus and system for repetitive tasks in construction project

US10061323B2 · kind B2 · utility

Assignee

• Advanced Construction Robotics, Inc. · US

Inventors

• Stephen M. Muck · Butler, US
• Christopher Charles Osterwood · Pittsburgh, US
• Michael Jason Ramsay · Los Altos, US
• Duncan A. Campbell · Pittsburgh, US
• Richard Musgrave · Stoops Ferry, US
• Christopher S. Shaw · Pittsburgh, US
• Woodrow E. Douglass · Seven Fields, US
• Stephen A. Diantonio · Pittsburgh, US

Key dates

• Filing date: Dec 22, 2016
• Grant date: Aug 28, 2018
• Expiry date: Feb 8, 2037

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/47
• WIPO field: Control
• WIPO sector: Instruments

Abstract

An autonomous assembly that includes a gantry subassembly, a carrier subassembly movably mounted on the gantry subassembly, a tool actuation subassembly mounted on the carrier subassembly, and an autonomous control system including a perception subsystem, a motion planning subsystem, and a motion control subsystem. The gantry subassembly includes a bridge member for laterally spanning a selected section of a work site and a gantry drive system for effecting travel of the gantry subassembly along a first path, generally in a longitudinally along the length of the selected portion of a work site. The carrier subassembly includes a carriage and a carriage drive system for effecting travel of the carriage along a second path, generally laterally along the bridge member. The tool actuation subassembly includes a motion actuator, an end-effector operatively connected to the motion actuator, and an actuator drive system for effecting linear travel of an end-effector along a third path, generally perpendicular to the second path.