US 11,654,561 B2
Automated construction robot systems and methods
David Askey, Salem, MA (US); Shumei Yin, Salem, MA (US); and Daniel Posfai, Rockport, MA (US)
Assigned to Ascend Robotics LLC, Cambridge, MA (US)
Filed by Ascend Robotics LLC, Cambridge, MA (US)
Filed on Aug. 27, 2019, as Appl. No. 16/552,070.
Claims priority of provisional application 62/851,336, filed on May 22, 2019.
Claims priority of provisional application 62/723,137, filed on Aug. 27, 2018.
Prior Publication US 2020/0061827 A1, Feb. 27, 2020
Int. Cl. B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 18/02 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/1669 (2013.01) [B25J 9/162 (2013.01); B25J 9/1612 (2013.01); B25J 9/1682 (2013.01); B25J 9/1697 (2013.01); B25J 11/0075 (2013.01); B25J 18/02 (2013.01); G05B 19/4155 (2013.01); B25J 9/1661 (2013.01); G05B 2219/40298 (2013.01); G05B 2219/45013 (2013.01); G05B 2219/50391 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An automated construction robot system comprising:
a mobile base assembly configured to be displaceable within a work area;
a head assembly configured to process a work surface;
an arm assembly configured to moveably-couple the head assembly and the mobile base assembly and controllably-displace the head assembly with respect to the work surface;
a machine vision system configured to scan a target area and generate target area information; and
a computational system configured to:
process the target area information to identify a surface defect, wherein the identified surface defect includes one or more of:
a hole within the work surface;
a protruding screw within the work surface; and
a protruding nail within the work surface,
generate one or more remedial instructions to correct the surface defect identified, and
manipulate one or more of the mobile base assembly, the head assembly and the arm assembly based, at least in part, upon the one or more remedial instructions.