US 11,803,188 B1Granted

System for docking an autonomous mobile device using inductive sensors

AssigneeAmazon Technologies, Inc.

InventorsAbhay Gupta, Ravi Yatnalkar, Bruce Robert Woodley

Life of this patent

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Abstract

An autonomous mobile device (AMD) may move around a physical space performing various tasks. Most of the sensors on the AMD may be directed towards the front and sides of the AMD to facilitate autonomous navigation, interactions with users, and so forth. The AMD may return to a dock to recharge batteries, replenish consumables, transfer payload, and so forth. The AMD uses the sensors to approach the vicinity of the dock. Once in the vicinity, the AMD turns around and backs into the dock. This orientation allows the AMD to continue to operate the forward-facing sensors and interact with users while docked. The AMD uses inductive sensors to detect metallic targets located at particular positions in the dock. Output from the inductive sensors provides information about the relative position of the AMD with respect to the dock and is used to steer the AMD into a desired docked position.

Claims20

Dependent claims

An autonomous mobile device (AMD) comprising:

a first inductive sensor;
a second inductive sensor;
one or more memories storing computer-executable instructions;
and
one or more processors to execute the computer-executable instructions to:
move the AMD towards a dock at a first velocity;
determine, using the first inductive sensor, a first signal strength representative of a first proximity of the first inductive sensor to a first passive metallic portion of the dock;
determine, using the second inductive sensor, a second signal strength representative of a second proximity of the second inductive sensor to a second passive metallic portion of the dock;
determine, using one or more of the first signal strength or the second signal strength, first data indicative of a first direction to turn the AMD;
turn the AMD based at least in part on the first data;
determine, using the first inductive sensor or the second inductive sensor, a third signal strength indicating a third proximity of the AMD to a third passive metallic portion of the dock;
and
stop, based on the third signal strength being greater than a first threshold, movement of the AMD.

10 more elements

A system comprising:

an autonomous mobile device (AMD) comprising:
a first inductive sensor;
a second inductive sensor;
one or more memories storing computer-executable instructions;
and
one or more processors to execute the computer-executable instructions to:
move the AMD towards a dock at a first velocity;
determine, using the first inductive sensor, a first signal strength representative of a first proximity of the first inductive sensor to a first passive metallic portion of the dock;
determine, using the second inductive sensor, a second signal strength representative of a second proximity of the second inductive sensor to a second passive metallic portion of the dock;
determine, using one or more of the first signal strength or the second signal strength, first data indicative of a first direction to turn the AMD;
and
turn the AMD based at least in part on the first data.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/200,520Filed 12 Mar 2021
Granted: 31 Oct 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

G05D 1/0225
With means for defining a desired trajectory: involving docking at a fixed facility, e.g. base station or loading bay
B62D 15/0285
Parking aids, e.g. instruction means: parking performed automatically
G05D 1/0088
Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots: characterized by the…
G05D 1/244
Arrangements for determining position or orientation: using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic…