The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 28, 2025
Filed:
Nov. 30, 2022
Amazon Technologies, Inc., Seattle, WA (US);
Shreekant Gayaka, Fremont, CA (US);
Shengchen Liu, Santa Clara, CA (US);
Boshen Niu, San Mateo, CA (US);
AMAZON TECHNOLOGIES, INC., Seattle, WA (US);
Abstract
An autonomous mobile device (AMD) moves within in a physical space. The AMD may encounter features in the physical space, such as flooring transitions, or obstacles that may impede movement. Sensors such as an inertial measurement unit (IMU), wheel encoders, and motor torque sensors acquire sensor data. Based on the sensor data, measured motion values are determined. Based on physical parameters of the AMD and the sensor data, predicted motion values are determined. A residual or difference between the predicted and measured motion values is calculated. If the residual exceeds a threshold range, a collision may be deemed to have occurred. Characteristics of the residual may be used to determine which side of the AMD collided with an obstacle. Collisions are reliably detected while false detections due to features such as uneven floors or flooring transitions are reduced or eliminated.