公开(公告)号：US11989026B1

公开(公告)日：2024-05-21

申请号：US17303044

申请日：2021-05-19

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Chen Wang ,  Lei Zhu ,  Miro Yakov Shverdin ,  Yue Hu ,  Isabella Talley Lewis ,  Bruce Robert Woodley ,  Daimian Wang

IPC: G05D1/02 ,  G01S17/42 ,  G01S17/58 ,  G01S17/86 ,  G05D1/00

CPC classification number: G05D1/0223 ,  G01S17/42 ,  G01S17/58 ,  G01S17/86 ,  G05D1/027

Abstract: An autonomous mobile device (AMD) may perform tasks within a physical space. The AMD may move over ramps, bumps, or navigate around obstacles. The AMD may have an inertial measurement unit (IMU) and distance sensors. The IMU provides tilt information indicative of the AMD being on a flat surface or a ramp. The distance sensors provide information on distances between the AMD and surrounding obstacles. Using IMU measurements, the AMD determines a first speed limit that is safe given the tilt of the AMD. Using the distance sensors, the AMD determines a second speed limit that is safe given a distance to an obstacle. The AMD determines a maximum speed based on the first and second speed limits. Based on the maximum speed, the AMD determines whether to adjust a current speed and by how much.

公开(公告)号：US11204609B1

公开(公告)日：2021-12-21

申请号：US16451848

申请日：2019-06-25

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Benny Ng ,  Siddharth Gupta ,  Bruce Robert Woodley

IPC: G05D1/02 ,  G05D1/00 ,  H02P3/08 ,  H02P7/29 ,  H02P6/08 ,  H02P6/24

Abstract: An autonomous mobile device (AMD) includes an active braking circuit able to quickly stop the movement of the AMD. For example, the device may stop to avoid an obstacle, upon determining a failure of an internal component, upon receipt of a command, and so forth. Responsive to a signal to stop, an active braking circuit uses sensor data from a driving motor moving with a first rotation to actively commutate that motor to an opposite rotation, bringing the AMD quickly to a stop. In some implementations, the active braking circuit may include an independent power source and motor drivers and operate as a backup to a primary braking system.

公开(公告)号：US11803188B1

公开(公告)日：2023-10-31

申请号：US17200520

申请日：2021-03-12

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Abhay Gupta ,  Ravi Yatnalkar ,  Bruce Robert Woodley

IPC: G05D1/00 ,  G05D1/02 ,  B62D15/02

CPC classification number: G05D1/0225 ,  B62D15/0285 ,  G05D1/0088 ,  G05D2201/02

Abstract: An autonomous mobile device (AMD) may move around a physical space performing various tasks. Most of the sensors on the AMD may be directed towards the front and sides of the AMD to facilitate autonomous navigation, interactions with users, and so forth. The AMD may return to a dock to recharge batteries, replenish consumables, transfer payload, and so forth. The AMD uses the sensors to approach the vicinity of the dock. Once in the vicinity, the AMD turns around and backs into the dock. This orientation allows the AMD to continue to operate the forward-facing sensors and interact with users while docked. The AMD uses inductive sensors to detect metallic targets located at particular positions in the dock. Output from the inductive sensors provides information about the relative position of the AMD with respect to the dock and is used to steer the AMD into a desired docked position.