US 11,912,304 B1
System to maintain a dock location of an autonomous mobile device
Anton Kalachev, Burlingame, CA (US); Xiaoxu Liu, Mountain View, CA (US); Richard W. Kim, San Ramon, CA (US); and Anthony George Robson, Los Altos, CA (US)
Assigned to AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed by AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed on Aug. 25, 2021, as Appl. No. 17/445,861.
Int. Cl. G05D 1/00 (2006.01); G05D 1/02 (2020.01); B60L 53/36 (2019.01); B60W 60/00 (2020.01)
CPC B60W 60/0011 (2020.02) [G05D 1/0088 (2013.01); G05D 1/0225 (2013.01); G05D 1/0274 (2013.01); B60L 53/36 (2019.02)] 20 Claims
OG exemplary drawing
 
1. An autonomous mobile device (AMD) comprising:
one or more sensors;
one or more memories storing computer-executable instructions; and
one or more processors to execute the computer-executable instructions to:
determine a map of a physical space relative to a first reference pose;
determine the AMD is connected to a dock, wherein the AMD and the dock are located in the physical space, and wherein the dock is associated with an origin of the map;
determine, based on the AMD being connected to the dock, that the AMD is in a first pose;
determine, using the one or more sensors, first sensor data indicative of a first set of features of the physical space;
determine, based on the first set of features, a second pose relative to the origin of the map;
determine a variance between the first pose and the second pose;
determine that the variance exceeds a variance threshold;
based on the variance exceeding the variance threshold, determine that the dock has moved;
determine, based on the dock having moved, first data that is indicative of a relationship of the first pose with respect to the origin of the map;
determine a second reference pose;
based on the first data and the second reference pose, update the map of the physical space so that the map is relative to the second reference pose; and
move the AMD in the physical space, based on the first data and on the map of the physical space.