Pile manipulation for autonomous pile driver vehicle

Abstract

An autonomous pile driving system identifies using a pile plan map a target location to install a pile. The system autonomously navigates towards the target location. The system autonomously detects using an object sensor system an orientation and location of the pile located within a threshold distance of the system. The system autonomously positions a tool of the autonomous pile driving system based on the detected orientation and location of the pile. The system autonomously picks up the pile using the positioned tool of the autonomous pile driving system. The system autonomously positions the pile based on the target location. The system autonomously drives the pile into ground at the target location.

What is claimed is: 
     
         1 . A method comprising:
 autonomously determining, by an autonomous pile driving system located within a first threshold distance of a target location to install a pile, a location of a first end of a pile, the pile within a second threshold distance of a tool of the autonomous pile driving system;   autonomously positioning, by the autonomous pile driving system, the tool of the autonomous pile driving system based on the determined location of the first end of the pile;   autonomously picking up, by the autonomous pile driving system, the pile by engaging the positioned tool of the autonomous pile driving system with the first end of the pile;   autonomously positioning, by the autonomous pile driving system, the pile based on the target location; and   autonomously driving, by the autonomous pile driving system, the pile into ground at the target location by applying a driving force with the tool to the first end of the pile to cause a second end of the pile to be driven into the ground.   
     
     
         2 . The method of  claim 1 , further comprising:
 autonomously determining, by the autonomous pile driving system, an orientation of the pile, wherein the autonomous pile driving system autonomously positions the tool based on the determined orientation of the pile.   
     
     
         3 . The method of  claim 1 , further comprising:
 autonomously navigating, by the autonomous pile driving system and based on a pile plan map, toward the target location to locate the autonomous pile driving system within the first threshold distance of the target location.   
     
     
         4 . The method of  claim 1 , further comprising:
 autonomously distributing, based on a pile plan map, a plurality of piles by placing the plurality of piles on the ground proximal to respective locations where each pile is to be driven,   wherein the autonomous pile driving system is configured to autonomously position the tool and autonomously pick up the pile placed on the ground at the target location.   
     
     
         5 . The method of  claim 1 , wherein the pile is carried by a vehicle that is separate from the autonomous pile driving system, and wherein the autonomous pile driving system is configured to autonomously determine the location of the first end of the pile carried by the vehicle. 
     
     
         6 . The method of  claim 5 , wherein the vehicle is a carriage that is pulled by the autonomous pile driving system. 
     
     
         7 . The method of  claim 1 , wherein the tool of the autonomous pile driving system is one of an electromechanical gripper, a magnetic gripper, a pneumatic gripper, and a hydraulic gripper. 
     
     
         8 . The method of  claim 1 , wherein the autonomous pile driving system autonomously determines whether the pile is within the second threshold distance of the tool using an object sensor system of the autonomous pile driving system, wherein the object sensor system includes one or more of a camera, a LIDAR sensor, a radar sensor, a kinematic sensor, and a weight sensor. 
     
     
         9 . The method of  claim 1 , wherein the second threshold distance is based on a movable range of the tool provided at a distal end of an articulated arm of the autonomous pile driving system. 
     
     
         10 . An autonomous pile driving system, comprising:
 an end effector;   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 determining, by the autonomous pile driving system located within a first threshold distance of a target location to install a pile, a location of a first end of a pile, the pile within a second threshold distance of the end effector; 
 autonomously positioning the end effector based on the determined location of the first end of the pile; 
 autonomously picking up the pile by engaging the positioned end effector with the first end of the pile; 
 autonomously positioning the pile based on the target location; and 
 autonomously driving the pile into ground at the target location by applying a driving force with the end effector to the first end of the pile to cause a second end of the pile to be driven into the ground. 
   
     
     
         11 . The autonomous pile driving system of  claim 10 , wherein the instructions further cause the hardware processor to perform a step comprising:
 autonomously determining an orientation of the pile, wherein the autonomous pile driving system autonomously positions the end effector based on the determined orientation of the pile.   
     
     
         12 . The autonomous pile driving system of  claim 10 , wherein the instructions further cause the hardware processor to perform a step comprising:
 autonomously navigating, based on a pile plan map, toward the target location to locate the autonomous pile driving system within the first threshold distance of the target location.   
     
     
         13 . The autonomous pile driving system of  claim 10 , wherein the instructions further cause the hardware processor to perform a step comprising:
 autonomously distributing, based on a pile plan map, a plurality of piles by placing the plurality of piles on the ground proximal to respective locations where each pile is to be driven, wherein the autonomous pile driving system is configured to autonomously position the end effector and autonomously pick up the pile placed on the ground at the target location.   
     
     
         14 . The autonomous pile driving system of  claim 10 , wherein the pile is carried by a vehicle that is separate from the autonomous pile driving system, and wherein the autonomous pile driving system is configured to autonomously determine the location of the first end of the pile carried by the vehicle. 
     
     
         15 . The autonomous pile driving system of  claim 14 , wherein the vehicle is a carriage that is pulled by the autonomous pile driving system. 
     
     
         16 . The autonomous pile driving system of  claim 10 , wherein the end effector is one of an electromechanical gripper, a magnetic gripper, a pneumatic gripper, and a hydraulic gripper. 
     
     
         17 . The autonomous pile driving system of  claim 10 , wherein the autonomous pile driving system autonomously determines whether the pile is within the second threshold distance of the end effector using an object sensor system of the autonomous pile driving system, wherein the object sensor system includes one or more of a camera, a LIDAR sensor, a radar sensor, a kinematic sensor, and a weight sensor. 
     
     
         18 . The autonomous pile driving system of  claim 10 , wherein the second threshold distance is based on a movable range of the end effector provided at a distal end of an articulated arm of the autonomous pile driving system. 
     
     
         19 . A non-transitory computer-readable storage medium storing executable instructions that, when executed by a hardware processor of an autonomous pile driving system, cause the autonomous pile driving system to perform steps comprising:
 autonomously determining, by the autonomous pile driving system located within a first threshold distance of a target location to install a pile, a location of a first end of a pile, the pile within a second threshold distance of a tool of the autonomous pile driving system;   autonomously positioning the tool of the autonomous pile driving system based on the determined location of the first end of the pile;   autonomously picking up the pile by engaging the positioned tool of the autonomous pile driving system with the first end of the pile;   autonomously positioning the pile based on the target location; and   autonomously driving the pile into ground at the target location by applying a driving force with the tool to the first end of the pile to cause a second end of the pile to be driven into the ground.   
     
     
         20 . The non-transitory computer-readable storage medium of  claim 19 , wherein the instructions further cause the autonomous pile driving system to perform a step comprising:
 autonomously determining an orientation of the pile, wherein the autonomous pile driving system autonomously positions the tool of the autonomous pile driving system based on the determined orientation of the pile.