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    System for generating a navigational map of an environment
    3.
    发明授权
    System for generating a navigational map of an environment 有权

    公开(公告)号：US11321914B1

    公开(公告)日：2022-05-03

    申请号：US15867449

    申请日：2018-01-10

    Applicant: AMAZON TECHNOLOGIES, INC.

    Inventor： David Allen Fotland ,  Roger Robert Webster ,  Arif Dikici

    IPC: B25J9/16 ,  G06T17/05 ,  B25J9/00 ,  G06T7/73

    Abstract: A point cloud or map of an environment is generated by determining sets of landmark points from multiple images, such as through use of a Simultaneous Localization and Mapping (SLAM) algorithm. Images acquired using a depth camera are used to determine depth points indicative of at least one object not represented by the landmark points. A combined map is generated to include both the landmark points and the depth points. The set of depth points is mapped to a corresponding set of landmark points based on proximity of the points, similarity of the camera poses, or times that the images were acquired. The relationship between the depth and landmark points may be determined. When the landmark points are moved, such as to account for error in the SLAM algorithm, the depth points may be moved to a modified location relative to the landmark points so that the relationship remains constant.

    Peer-to-peer configuration
    6.
    发明授权
    Peer-to-peer configuration 有权

    公开(公告)号：US10524299B1

    公开(公告)日：2019-12-31

    申请号：US15714046

    申请日：2017-09-25

    Applicant: Amazon Technologies, Inc.

    Inventor： Robert Williams ,  Charles Louis Ward ,  Amir Frenkel ,  Roger Robert Webster ,  Andrew Jay Roths

    IPC: H04W12/06 ,  H04W76/14 ,  H04W84/12 ,  H04L29/06 ,  H04L29/08 ,  H04W12/08 ,  H04W76/11

    Abstract: In some cases, a provisioned electronic device may receive a request for configuration information from an unprovisioned device. In response, the provisioned device may determine configuration information to send to the unprovisioned device based at least in part on the contents of the request. Examples of configuration information may include network credentials for connecting to a wireless local area network, a registration token that identifies the unprovisioned device to a fulfillment service, and user preferences associated with a user of the provisioned device. Further, the provisioned device may send the configuration information to the unprovisioned device. Upon receipt of the configuration information, the unprovisioned device may utilize the configuration information to order products from the fulfillment service. In some instances, the provisioned device may obtain the configuration information from the fulfillment service.

    System for robot movement that is informed by cultural conventions
    7.
    发明授权
    System for robot movement that is informed by cultural conventions 有权

    公开(公告)号：US11422565B1

    公开(公告)日：2022-08-23

    申请号：US15923865

    申请日：2018-03-16

    Applicant: AMAZON TECHNOLOGIES, INC.

    Inventor： Roger Robert Webster ,  Rajasimman Madhivanan

    IPC: G05D1/00 ,  G05D1/02 ,  B25J5/00 ,  B25J9/00 ,  B25J13/08 ,  B25J9/16

    Abstract: A robot comprises a plurality of sensors on a mobile chassis and may move about an environment in which people may be expected to follow particular cultural conventions. Movement of the robot may be constrained to honor these cultural conventions that are appropriate for the people in the environment. For example, when the robot is used within the United States, the robot tends to move along the right-hand side of a hallway. In comparison, when the robot is used within Japan the robot tends to move along the left-hand side of the hallway. The cultural conventions may be implemented as one-way gates present at specified locations in an occupancy map of the environment. The gates have no physical presence in the environment, but have the effect of placing a constraint on where the robot is permitted to move.

    System for autonomous mobile device navigation in dynamic physical space
    8.
    发明授权
    System for autonomous mobile device navigation in dynamic physical space 有权

    公开(公告)号：US11409296B1

    公开(公告)日：2022-08-09

    申请号：US16573845

    申请日：2019-09-17

    Applicant: AMAZON TECHNOLOGIES, INC.

    Inventor： Chang Young Kim ,  Roger Robert Webster

    IPC: G05D1/02 ,  G05D1/00 ,  G06V20/10

    Abstract: An autonomous mobile device (AMD) moves through a physical space without human intervention. Data from sensors on the AMD is used to determine an occupancy map indicative of obstacles and their locations in the physical space. Obstacles may be static, variable, or dynamic. For example, walls are static, doors which open and close are variable, and people moving through the environment are dynamic. Regions in the occupancy map that the AMD has visited but which are shown by the occupancy map as containing obstacles are identified as being variable regions. To determine possible paths through the physical space during autonomous movement, the variable regions are considered to be unoccupied by obstacles and traversable. Information about how often the variable region transitions between traversable and impassible states may also be used to determine the possible paths.

    Robot movement constraint system
    9.
    发明授权
    Robot movement constraint system 有权

    公开(公告)号：US11300963B1

    公开(公告)日：2022-04-12

    申请号：US15681097

    申请日：2017-08-18

    Applicant: AMAZON TECHNOLOGIES, INC.

    Inventor： Roger Robert Webster ,  Eric Peter Raeber ,  Mohit Deshpande

    IPC: G05D1/02 ,  B25J5/00 ,  B25J9/00 ,  B25J19/02

    Abstract: A robotic assistant comprises a plurality of sensors on a mobile chassis. An occupancy map includes obstacle cost values for particular areas or cells of the map. These obstacle cost values may be based on whether an obstacle is detected and the confidence value of that detection, estimated precision of the location of the detected object, and so forth. A set of rules for preferred locations of robot movement is used to assess the occupancy map and to determine constraint cost value for the particular areas. For example, the area in a center of a hallway may be associated with a relatively high constraint cost value. An aggregate cost value may be calculated by summing the obstacle cost value and the constraint cost value for the particular area. The aggregate cost value may be used to determine a maximum permissible speed for the robot while traversing the particular area.

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