# US 12,001,219 B2 · Detecting objects near an autonomous device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,001,219 B2 - Document ID: US12001219B2 - Status: Granted - Kind: B2 - Application number: 17/161,977 - Filed: 2021-01-29 - Published: 2021-07-22 - Granted: 2024-06-04 - Earliest claimed: 2018-06-15 - Assignees: Mobile Industrial Robots A/S - Applicants: Mobile Industrial Robots A/S - Inventors: Niels Jul Jacobsen - Web page: https://patentgrep.com/patent/US12001219B2 ## CPC - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals} - G05D 1/0259: {using magnetic or electromagnetic means} - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - G05D 1/243: Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/628: following the obstacle profile, e.g. a wall or undulated terrain - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An example autonomous device is configured to detect objects within a vicinity of the autonomous device. The autonomous device is configured to move along a surface. The autonomous device includes a body, at least one long-range sensor on the body configured for detection in a first field, and at least one short-range sensor on the body. Each short-range sensor is configured for detection in a second field directed towards the surface. The second field is smaller than the first field. Each short-range sensor is configured to output signals based on detection of an object within the second field. A control system is configured to control movement of the autonomous device based, at least in part, on the signals. ## Claims ### Claim 1 An autonomous device comprising: a body for supporting weight of an object; wheels on the body to enable the body to travel across a surface; a camera on the body to obtain images in front of the autonomous device, the camera having first field that extends from the body; and sensors disposed along at least part of a perimeter of the body and having a second field, the sensors being angled at least partly toward the surface so that the second field extends at least partly from the surface to at least a location below the first field, wherein the body comprises one or more corners, at least one of the corners being defined by edges that support a group of the sensors, the group of sensors having fields that overlap at least in part such that, for the at least one corner, there are no blind spots for the autonomous device in a partial circumference of a circle centered at the at least one corner. ### Claim 2 (depends on 1) The autonomous device of claim 1, wherein the second field intersects the first field. ### Claim 3 (depends on 1) The autonomous device of claim 1, wherein at least two of the sensors that are adjacent to each other have fields that overlap at least partly. ### Claim 4 (depends on 1) The autonomous device of claim 1, wherein the sensors are configured to use non-visible light to detect an object. ### Claim 5 (depends on 1) The autonomous device of claim 1, wherein the sensors are configured to use infrared light to detect an object. ### Claim 6 (depends on 1) The autonomous device of claim 1, wherein the sensors are configured to use electromagnetic signals to detect an object. ### Claim 7 (depends on 1) The autonomous device of claim 1, wherein the sensors comprise photoelectric sensors. ### Claim 8 (depends on 1) The autonomous device of claim 1, further comprising a rubber bumper along at least part of the perimeter, the sensors being underneath the rubber bumper. ### Claim 9 (depends on 1) The autonomous device of claim 1, wherein the sensors comprise proximity sensors configured to sense an object within at most 20 centimeters. ### Claim 10 (depends on 1) The autonomous device of claim 1, wherein the sensors comprise proximity sensors configured to sense an object within at most 30 centimeters. ### Claim 11 The autonomous device 1, wherein the autonomous device comprises a mobile robot. ### Claim 12 The autonomous device 1, wherein the sensors are angled to face the surface to produce the second field. ### Claim 13 The autonomous device 11, wherein the sensors are angled to face the surface to produce the second field. ### Claim 14 (depends on 1) The autonomous device of claim 1, wherein the body comprises four corners; and wherein there are four of the sensors arranged at each of the four corners so that second fields of adjacent sensors among the four sensors overlap at least in part. ### Claim 15 (depends on 14) The autonomous device of claim 14, wherein each corner comprises an intersection of two edges, each edge of each corner comprising three of the sensors, adjacent ones of the sensors having second fields that overlap at least in part. ### Claim 16 (depends on 1) The autonomous device of claim 1, wherein the body has a non-rectangular perimeter; and wherein the sensors are arranged along the non-rectangular perimeter so that second fields of at least some of the sensors overlap at least in part. ### Claim 17 (depends on 1) The autonomous device of claim 1, wherein the body has a curved perimeter; and wherein sensors are arranged along the curved perimeter so that the second fields of at least some the sensors overlap at least in part. ### Claim 18 (depends on 1) The autonomous device of claim 1, wherein the body comprises a top part and a bottom part, the bottom part being closer to the surface during movement of the autonomous device than the top part; and wherein sensors are located on the body closer to the top part than to the bottom part.