公开(公告)号：US11858128B1

公开(公告)日：2024-01-02

申请号：US16022527

申请日：2018-06-28

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Benny Ng ,  Siddharth Gupta ,  Marcel Colman Eric Stieber ,  Rex L Allison ,  Christopher Wells Fitzhugh

IPC: B25J9/00 ,  B25J9/16 ,  B25J11/00 ,  H02M1/08

CPC classification number: B25J9/0009 ,  B25J9/1666 ,  B25J9/1694 ,  B25J11/008 ,  H02M1/08

Abstract: A device that uses a motor may quickly and safely stop the motor using a rapid braking system. For example, the device may stop to avoid collision with an object, upon determining a failure of an internal component, upon receipt of a command, and so forth. Responsive to a signal to stop, the motor is disconnected from the battery. A braking circuit is activated that dissipates, in a controlled fashion, power produced by continuing motion of the motor. When the voltage produced by the motor's continuing motion drops below a threshold, a stop circuit shorts the terminals of the motor, causing the motor to resist further rotation. When the stop condition no longer applies the signal to stop is removed resulting in the motor being reconnected to the battery, the braking circuit being deactivated, the stop circuit opens the short between the terminals of the motor, and normal operation resumes.

公开(公告)号：US11204609B1

公开(公告)日：2021-12-21

申请号：US16451848

申请日：2019-06-25

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Benny Ng ,  Siddharth Gupta ,  Bruce Robert Woodley

IPC: G05D1/02 ,  G05D1/00 ,  H02P3/08 ,  H02P7/29 ,  H02P6/08 ,  H02P6/24

Abstract: An autonomous mobile device (AMD) includes an active braking circuit able to quickly stop the movement of the AMD. For example, the device may stop to avoid an obstacle, upon determining a failure of an internal component, upon receipt of a command, and so forth. Responsive to a signal to stop, an active braking circuit uses sensor data from a driving motor moving with a first rotation to actively commutate that motor to an opposite rotation, bringing the AMD quickly to a stop. In some implementations, the active braking circuit may include an independent power source and motor drivers and operate as a backup to a primary braking system.