An autonomous off-road vehicle (AOV) autonomously performs a pile driving operation by driving a pile into the ground at a location identified by a pile plan map. The AOV detects one or more attributes of the pile using one or more sensors during or after the pile driving operation. The AOV determines whether the one or more attributes of the pile exceed respective tolerance thresholds. The AOV performs a quality control action in response to determining that the one or more attributes of the pile exceed the respective tolerance thresholds. The one or more attributes include one or more of a location and an orientation of the pile, and the quality control action is performed in response to determining that the location or the orientation of the pile exceeds the respective tolerance threshold.

An autonomous off-road vehicle (AOV) autonomously performs a pile driving operation by driving a pile into the ground at a location identified by a pile plan map. The AOV detects one or more attributes of the pile using one or more sensors during or after the pile driving operation. The AOV determines whether the one or more attributes of the pile exceed respective tolerance thresholds. The AOV performs a quality control action in response to determining that the one or more attributes of the pile exceed the respective tolerance thresholds. The one or more attributes include one or more of a location and an orientation of the pile, and the quality control action is performed in response to determining that the location or the orientation of the pile exceeds the respective tolerance threshold.

A piling machine includes a main body unit including a traveling device, a pile driver that performs piling, and a moving device that is connected to the main body unit and moves the pile driver. A control device performs piling while the traveling device is traveling (e.g., while the main body unit is moving). This reduces the number of times the traveling device stops, and thus, the number of times of acceleration and deceleration can also be reduced. In this way, energy efficiency can be improved.

A piling machine includes a main body unit including a traveling device, a pile driver that performs piling, and a moving device that is connected to the main body unit and moves the pile driver. A control device performs piling while the traveling device is traveling (e.g., while the main body unit is moving). This reduces the number of times the traveling device stops, and thus, the number of times of acceleration and deceleration can also be reduced. In this way, energy efficiency can be improved.

A pile driving apparatus is described that is capable of simultaneously pile driving a plurality of piles. The pile driving apparatus includes a main body that travels by a traveling device, a first pile driver that is connected to the main body and performs pile driving along a vertical direction, and a second pile driver that is connected to the main body and performs pile driving along the vertical direction.

A pile driving apparatus is described that is capable of simultaneously pile driving a plurality of piles. The pile driving apparatus includes a main body that travels by a traveling device, a first pile driver that is connected to the main body and performs pile driving along a vertical direction, and a second pile driver that is connected to the main body and performs pile driving along the vertical direction.

A range finder of an autonomous quality control system measures a horizontal distance between the range finder and a first pile installed at a first location. The autonomous quality control system iteratively tilts the range finder upwards until the range finder no longer detects the first pile. The autonomous quality control system determines an angle of the range finder relative to horizontal when the range finder no longer detects the first pile. The autonomous quality control system determines a first height of the first pile based on the horizontal distance and the determined angle. A pile driving system installs a second pile at a second height within a threshold height of the first height.

A range finder of an autonomous quality control system measures a horizontal distance between the range finder and a first pile installed at a first location. The autonomous quality control system iteratively tilts the range finder upwards until the range finder no longer detects the first pile. The autonomous quality control system determines an angle of the range finder relative to horizontal when the range finder no longer detects the first pile. The autonomous quality control system determines a first height of the first pile based on the horizontal distance and the determined angle. A pile driving system installs a second pile at a second height within a threshold height of the first height.

When a slewing motor is at a stop, a first slewing control unit of a controller that controls an operation of the slewing motor sets a first monitoring area that is set with respect to a slewing body as a designated area, and then controls, depending on whether an obstacle is detected in the first monitoring area, whether to prohibit or allow start of the slewing motor in response to a drive manipulation. Furthermore, a second slewing control unit of the controller sets one or more second monitoring areas that are set at places remoter from the slewing body than the first monitoring area as the designated area, and then controls, depending on whether the obstacle is detected in the second monitoring area(s), whether to limit the operation of the slewing motor in response to the drive manipulation after the start of the slewing motor is allowed.

A machine and method utilize a tracked undercarriage including a frame with a central body, front and rear transverse assemblies connected to the central body and extending on opposite sides. Each of a pair of lateral tracks is connected, at the front and at the rear, to ends of the transverse assemblies. The base machine includes excavation equipment having different working positions/configurations. Each of a pair of front load cells of the tracked undercarriage is mounted between a lateral track and the front transverse assembly. Each of a pair of rear load cells is mounted between a lateral track and the rear transverse assembly. Each load cell detects force data indicating the reaction force exerted between the associated lateral track and the respective transverse assembly. A control system computes a barycentre planar position of the machine situated substantially at a reference plane computed as a function of the force data.