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.