US 12,001,219 B2
Detecting objects near an autonomous device
Niels Jul Jacobsen, Odense (DK)
Assigned to MOBILE INDUSTRIAL ROBOTS A/S, Odense Soe (DK)
Filed by MOBILE INDUSTRIAL ROBOTS A/S, Odense SØ (DK)
Filed on Jan. 29, 2021, as Appl. No. 17/161,977.
Application 17/161,977 is a division of application No. 16/009,414, filed on Jun. 15, 2018, abandoned.
Prior Publication US 2021/0223786 A1, Jul. 22, 2021
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0246 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0242 (2013.01); G05D 1/0259 (2013.01)] 18 Claims
OG exemplary drawing
 
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.