Amazon Technologies, Inc.

Gabriel Hebert

Dincer Bozkaya

Dragan Pajevic

Matthew Anthony Brady

William Clem

Justin Croyle

Oliver Christoph Purwin

Mark Anthony Begley

Gregory Cartagena

Nicholas Van Stolk

Jefferson Lee

Timothy G Dietz

Parris S Wellman

Peter Thomas Colantonio

Erik Steltz

John Joseph Enright

Stephen Caldara

Erica Aduh

Tim Martin

Adam Joseph Greenbaum

Fahrudin Alagic

Sara Jean Woo

Craig Ropi

Jing Ma

William Joseph Klein

Caroline Anne Keely

Christopher John Schuchmann

Jonathan Lee Zerez

Eric Bernard Jones

Christopher Albert Park

Paul Tomashevskyi

Adam Robert Lehmann

Sadat Ali Shaik

Jaimie Marie-Michelle Carlson

Systems and methods are disclosed for improved endpoint approach and localization for autonomous mobile robots. In one embodiment, an example system may include a floor-mounted guide disposed on a floor of an environment, and an autonomous mobile robot having a camera and a controller. The autonomous mobile robot may be configured to autonomously navigate in the environment, where the controller can be configured to detect a first edge of the floor-mounted guide using the camera, detect a second edge of the floor-mounted guide using the camera, determine a location of the autonomous mobile robot based at least in part on the first edge and the second edge, and update a navigation path based at least in part on the location.

Endpoint approach and localization for autonomous robotic vehicles

A method includes operating an autonomous mobile robot (AMR) in a first physical location according to a first safety protocol of the AMR and based on a location of the AMR relative to a second physical location different from the first physical location and with a second safety protocol different from the first safety protocol, switching the AMR to operate under the second safety protocol rather than the first safety protocol while the AMR is located in the second physical location. The method also includes, in response to detecting that the AMR is exiting the second physical location after the AMR has completed operating in the second physical location, switching the AMR to operate under the first safety protocol.

Autonomous mobile robot using multiple safety protocols

Mobile drive unit

Embodiments describe techniques for controlling picking robots to retrieve items on the floor and return them to an appropriate location. In one embodiment, the picking robots wait until a sensor in a monitored area (e.g., a designated robot area or an area around a pick/stow station) detects a dropped item on the floor. A central control system then dispatches the picking robot to the location to retrieve the dropped item. In another embodiment, when not being dispatched, the picking robots patrol the area looking for dropped items.

Robotic item recovery

Systems and techniques for performing a calibration test of an obstacle detection sensor of a drive unit are described. An example system includes a calibration region and at least one drive unit. The calibration region is disposed in an environment and includes a calibration apparatus. The at least one drive unit is operable to autonomously move throughout the environment. The at least one drive unit includes a sensor configured to detect one or more objects within the environment. The at least one drive unit is configured to autonomously transition to the calibration region upon detecting at least one predetermined condition, and perform a calibration test of the first sensor at the calibration region using the calibration apparatus.

Calibration garage for automated calibration of depth sensors in mobile robots

Autonomous mobile robots having vertical height extension systems for augmented visibility may include a drive mechanism, a lift mechanism, and a vertical height extension including an extension mechanism and a vertical indicator. The vertical height extension may be actively or passively actuated between lowered and raised positions. In addition, the vertical height extension may include a breakaway feature to prevent raising or cause lowering of the vertical indicator in the presence of a payload above the robot. Further, the vertical height extension may include various actuators, emitters, or elements to communicate various attributes of the robot to human associates in proximity, thereby promoting safe, collaborative operations.

Autonomous mobile robots having vertical height extension systems for augmented visibility

A drive unit of a robotic vehicle including a top surface having a mounting interface to interchangeably couple with multiple different modular payload structures configured to transport items in a facility, workspace or inventory management environment. The mounting interface is configured to securely engage with a mounting portion of the variety of different payload structures to enable a versatile exchange of the payload structure for different conveyance applications. The drive unit includes an electrical interface to communicatively couple with the modular payload structures. The drive unit is configured to use data communicated via the electrical coupling and interface to identify a type of modular payload structure that is mechanically coupled to the mounting interface and implement a motion profile (e.g., speed and acceleration parameters) associated with the identified modular payload structure.

Drive unit with interface to mount and identify multiple different payload structures

Motion controls for a mobile drive unit adjust linear acceleration for laden mobile drive units to decrease the likelihood of the payload tipping or bouncing off the mobile drive unit and adjust angular acceleration to reduce the risk of the drive wheels slipping while the casters align with the direction of travel.

Acceleration controls for a mobile drive unit

A mobile drive unit includes a turntable and a turntable motor that is located outside of the footprint of the turntable. The motor moves up and down with the turntable such that a motor cover moves up and down with the turntable.

Moveable motor and cover for mobile drive unit turntable

Payload properties may be determined utilizing actuator parameter data. A mobile drive unit may transport a payload around a workspace in accordance with one or more safety. To comply with safety policies, a motion controller of the mobile drive unit may limit acceleration and deceleration to safe maximums for given payload characteristics such as payload mass and payload center of gravity. The motion controller may utilize actuators to cause various motions of the mobile drive unit, including motion across a surface, vertical movements of the payload and motion rotating the payload. To ameliorate worst case assumptions about payload characteristics, in accordance with at least one embodiment of the invention, a payload characterization module may obtain information about payload characteristics based on measurements of operational parameters of the actuators. Utilizing motor current data provides a relatively inexpensive mechanism for obtaining such information compared to special purpose sensors, enabling widespread adoption.

Determining payload properties using actuator parameter data

Embodiments are directed to an inventory system having one or more drive units that are used, in part, to measure traction of a surface. Traction of the surface may be one of many features that can help with the operation of drive units and may also help avoid collisions between drive units when little room is available between the drive units for navigational errors.

Autonomous traction measurement of a surface

Growing community of inventors

Waltham, MA, United States of America

Gabriel Hebert