公开(公告)号：US11960288B1

公开(公告)日：2024-04-16

申请号：US17447155

申请日：2021-09-08

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Yue Hu ,  Jong Jin Park ,  Daimian Wang ,  Roopesh Athipatla Pattabhi ,  Jingyu Qiao ,  Changsheng Shen

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0214 ,  G05D1/0223 ,  G05D1/0238 ,  G05D1/0274

Abstract: 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.

公开(公告)号：US12105514B1

公开(公告)日：2024-10-01

申请号：US17445230

申请日：2021-08-17

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： James Charles Zamiska ,  Jong Jin Park ,  Mohit Deshpande ,  Rajasimman Madhivanan ,  Dhruva Kumar

IPC: G01C22/00 ,  G05D1/00 ,  G06T7/579

CPC classification number: G05D1/0221 ,  G05D1/0238 ,  G05D1/0274 ,  G06T7/579 ,  G06T2207/30244

Abstract: An autonomous mobile device (AMD) may move around a physical space to perform tasks. The AMD may explore the physical space to determine map data characterizing the physical space. An exploration system maintains a world snapshot that is representative of the AMD with respect to the physical space. A plurality of planning algorithm modules are available, each able to achieve a particular exploration goal or operate under particular conditions such as initial motion, loop closure, frontier exploration, and so forth. One or more planning algorithms are selected and provided with the world snapshot data. These planning algorithms provide responses and may also determine plan data. The resulting plan data is then selected for execution. The execution of the selected plan data operates the AMD to explore the physical space.

公开(公告)号：US11860278B1

公开(公告)日：2024-01-02

申请号：US16191277

申请日：2018-11-14

Applicant: Amazon Technologies, Inc.

Inventor： Samer Nashed ,  Jong Jin Park ,  Joseph Durham

IPC: G01S17/89 ,  G05D1/02 ,  G06T7/12 ,  G06F18/23

CPC classification number: G01S17/89 ,  G05D1/0251 ,  G05D1/0274 ,  G06F18/23 ,  G06T7/12 ,  G06T2207/10028

Abstract: Embodiments herein describe a robotic system that uses range sensors to identify a vector map of an environment. The vector map includes lines that outline the shape of objects in the environment (e.g., shelves on the floor of a warehouse). The system identifies one or more line segments representing the boundary or outline of the objects in the environment using range data acquired by the range sensors. The robotic system can repeat this process at different locations as it moves in the environment. Because of errors and inaccuracies, line segments formed at different locations may not clearly align even when these line segments correspond to the same object. To account for this error, the robotic system match line segments identified at a first location with line segments identified at a second location. The matched line segments can be merged into a line that is stored in the vector map.