Richard M Musgrave

US Patent:

20180181134, Jun 28, 2018

Filed:

Dec 22, 2016

Appl. No.:

15/388339

Inventors:

- WILMINGTON DE, US
MICHAEL J. RAMSAY - VERONA PA, US
DUNCAN A. CAMPBELL - PITTSBURGH PA, US
RICHARD E. MUSGRAVE - PITTSBURGH PA, US
CHRISTOPHER S. SHAW - PITTSBURGH PA, US
WOODROW E. DOUGLASS - SEVEN FIELDS PA, US
STEPHEN A. DIANTONIO - PITTSBURGH PA, US

Assignee:

ADVANCED CONSTRUCTION ROBOTICS, INC. - WILMINGTON DE

International Classification:

G05D 1/02
E04F 21/00
G05D 1/00
F16H 25/22

Abstract:

An autonomous assembly is described herein 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.