US 12,353,211 B1
System for movement outside of sensor field of view by an autonomous mobile device
Yue Hu, San Francisco, CA (US); Jong Jin Park, Sunnyvale, CA (US); Daimian Wang, Fremont, CA (US); Roopesh Athipatla Pattabhi, Newark, CA (US); Jingyu Qiao, Milpitas, CA (US); and Changsheng Shen, Mountain View, CA (US)
Assigned to AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed by AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed on Sep. 8, 2021, as Appl. No. 17/447,136.
Int. Cl. G05D 1/00 (2024.01); B60W 60/00 (2020.01); G01S 13/89 (2006.01); G01S 15/89 (2006.01); G01S 17/894 (2020.01)
CPC G05D 1/0214 (2013.01) [B60W 60/0015 (2020.02); G01S 13/89 (2013.01); G01S 15/89 (2013.01); G01S 17/894 (2020.01); G05D 1/0246 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous mobile device (AMD) comprising:
a structure;
a sensor having a field-of-view (FOV);
one or more processors;
one or more memories storing computer-executable instructions which, when executed using the one or more processors, cause the AMD to:
move the AMD in a first direction of travel to a first location in a physical space, wherein the first direction of travel is within the FOV of the sensor;
determine a first geographical area associated with the first location, the first geographical area having a first size, wherein the AMD traverses a portion of the first geographical area to reach the first location, wherein the first size is based on a size of the structure, and wherein the first geographical area represents a first region free of obstacles and deemed safe for movement based on the FOV of the sensor;
move the AMD in the first direction of travel to a second location in the physical space;
determine a second geographical area associated with the second location, the second geographical area having a second size, wherein the AMD traverses a portion of the second geographical area to reach the second location, wherein the second size is based on the size of the structure, and wherein the second geographical area represents a second region free of obstacles and deemed safe for movement based on the FOV of the sensor;
determine an instruction to move the AMD in a second direction of travel, wherein the second direction of travel is outside of the FOV of the sensor;
move the AMD in the second direction of travel towards a third location without rotating the AMD such that the second direction of travel is within the FOV of the sensor, wherein the third location is outside of the FOV of the sensor;
determine that a portion of the structure is outside of the first geographical area previously deemed safe for movement and outside of the second geographical area previously deemed safe for movement; and
stop movement of the AMD at the third location, responsive to determining that the portion of the structure is outside of the first geographical area previously deemed safe for movement and outside of the second geographical area previously deemed safe for movement.