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1.
公开(公告)号:US11960288B1
公开(公告)日:2024-04-16
申请号:US17447155
申请日:2021-09-08
发明人: Yue Hu , Jong Jin Park , Daimian Wang , Roopesh Athipatla Pattabhi , Jingyu Qiao , Changsheng Shen
CPC分类号: G05D1/0214 , G05D1/0223 , G05D1/0238 , G05D1/0274
摘要: An autonomous mobile device (AMD) moves around a physical space while performing tasks. The AMD may have sensors with fields of view (FOVs) that are forward-facing. As the AMD moves forward, a safe region is determined based on data from those forward-facing sensors. The safe region describes a geographical area clear of obstacles during recent travel. Before moving outside of the current FOV, the AMD determines whether a move outside of the current FOV keeps the AMD within the safe region. For example, if a path that is outside the current FOV would result in the AMD moving outside the safe region, the AMD modifies the path until poses associated with the path result in the AMD staying within the safe region. The resulting safe path may then be used by the AMD to safely move outside the current FOV.
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公开(公告)号:US11989026B1
公开(公告)日:2024-05-21
申请号:US17303044
申请日:2021-05-19
发明人: Chen Wang , Lei Zhu , Miro Yakov Shverdin , Yue Hu , Isabella Talley Lewis , Bruce Robert Woodley , Daimian Wang
CPC分类号: G05D1/0223 , G01S17/42 , G01S17/58 , G01S17/86 , G05D1/027
摘要: 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.
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