公开(公告)号：US11789457B1

公开(公告)日：2023-10-17

申请号：US16710718

申请日：2019-12-11

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Byoungsam Woo ,  Srivatsan Kandadai

IPC: G05D1/02 ,  G10L21/0208 ,  H04R3/00 ,  G05D1/00 ,  G01S15/931 ,  H04R3/02

CPC classification number: G05D1/0255 ,  G01S15/931 ,  G05D1/0088 ,  G10L21/0208 ,  H04R3/005 ,  H04R3/02 ,  G10L2021/02082

Abstract: An autonomous mobile device (AMD) moves through a physical space without human intervention. Data from sensors on the AMD is used to determine if the AMD has collided with an obstacle. In one implementation the sensors may include a microphone. A collision may produce in the structure of the AMD a characteristic sound that is detected by the microphone and recognized as indicative of a collision. In another implementation information about velocity of the AMD and output from an inertial measurement unit (IMU) may be used to determine a characteristic change in motion that is indicative of a collision. Data from the microphone and the IMU may be combined to improve the reliability of collision detection.