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：US11720098B1

公开(公告)日：2023-08-08

申请号：US17303383

申请日：2021-05-27

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Yue Hu ,  Roopesh Athipatla Pattabhi

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0066 ,  G05D1/027 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0272

Abstract: An autonomous mobile device (AMD) may move around while performing tasks. If the AMD is lifted, the AMD responds to ensure safety of the user, modify ongoing operation, and so forth. For example, the AMD may stop the wheels, retract a mast, or suspend navigation tasks. To accurately determine whether or not the AMD has been lifted, the AMD uses one or more sensors to determine a vertical lift distance and rotation of the AMD with respect to one or more axes. For example, while the AMD is stationary, the sensors used may include an accelerometer or a gyrometer. While the AMD is moving, data from time-of-flight sensors or one or more cameras may also be used. If the AMD is stationary low-level sensor thresholds are used. If the AMD is moving steadily, medium-level sensor thresholds are used. If the AMD is suddenly decelerating, high-level sensor thresholds are used.