公开(公告)号：US10902880B2

公开(公告)日：2021-01-26

申请号：US15934845

申请日：2018-03-23

Applicant: Amazon Technologies, Inc.

Inventor： Dragan Pajevic ,  Gabriel Hebert

IPC: B25J5/00 ,  G11B19/20 ,  G11B19/265 ,  B66F9/06

Abstract: A mobile drive unit includes a turntable and a turntable motor that is located outside of the footprint of the turntable. The motor moves up and down with the turntable such that a motor cover moves up and down with the turntable.

公开(公告)号：USD1067952S1

公开(公告)日：2025-03-25

申请号：US29845758

申请日：2022-07-11

Applicant: Amazon Technologies, Inc.

Designer： William Clem ,  Nicholas Van Stolk ,  Matthew Anthony Brady ,  Dincer Bozkaya ,  Gabriel Hebert ,  Jefferson Lee ,  Mark Anthony Begley

公开(公告)号：US10336150B1

公开(公告)日：2019-07-02

申请号：US15368418

申请日：2016-12-02

Applicant: Amazon Technologies, Inc.

Inventor： Gabriel Hebert ,  Erica Aduh ,  Peter Thomas Colantonio ,  Parris S. Wellman

IPC: B60P1/00 ,  B60P5/00 ,  G05B13/00 ,  B60G17/019 ,  G05B19/042

Abstract: Payload properties may be determined utilizing actuator parameter data. A mobile drive unit may transport a payload around a workspace in accordance with one or more safety. To comply with safety policies, a motion controller of the mobile drive unit may limit acceleration and deceleration to safe maximums for given payload characteristics such as payload mass and payload center of gravity. The motion controller may utilize actuators to cause various motions of the mobile drive unit, including motion across a surface, vertical movements of the payload and motion rotating the payload. To ameliorate worst case assumptions about payload characteristics, in accordance with at least one embodiment of the invention, a payload characterization module may obtain information about payload characteristics based on measurements of operational parameters of the actuators. Utilizing motor current data provides a relatively inexpensive mechanism for obtaining such information compared to special purpose sensors, enabling widespread adoption.

公开(公告)号：US12254443B1

公开(公告)日：2025-03-18

申请号：US17112356

申请日：2020-12-04

Applicant: Amazon Technologies, Inc.

Inventor： Gregory Cartagena ,  Gabriel Hebert ,  Caroline Anne Keely ,  Jonathan Lee Zerez

IPC: G06Q10/087 ,  B25J9/16 ,  B25J15/06 ,  B25J19/00 ,  B25J19/02 ,  B65G1/137 ,  G01C21/20 ,  G05D1/00

Abstract: Embodiments describe techniques for controlling picking robots to retrieve items on the floor and return them to an appropriate location. In one embodiment, the picking robots wait until a sensor in a monitored area (e.g., a designated robot area or an area around a pick/stow station) detects a dropped item on the floor. A central control system then dispatches the picking robot to the location to retrieve the dropped item. In another embodiment, when not being dispatched, the picking robots patrol the area looking for dropped items.

公开(公告)号：US20190295591A1

公开(公告)日：2019-09-26

申请号：US15934845

申请日：2018-03-23

Applicant: Amazon Technologies, Inc.

Inventor： Dragan Pajevic ,  Gabriel Hebert

IPC: G11B19/20 ,  G11B19/265 ,  B25J5/00

Abstract: A mobile drive unit includes a turntable and a turntable motor that is located outside of the footprint of the turntable. The motor moves up and down with the turntable such that a motor cover moves up and down with the turntable.

公开(公告)号：US12215009B1

公开(公告)日：2025-02-04

申请号：US17742818

申请日：2022-05-12

Applicant: Amazon Technologies, Inc.

Inventor： Tim Martin ,  Dincer Bozkaya ,  Matthew Anthony Brady ,  William Clem ,  Timothy G. Dietz ,  Gabriel Hebert ,  Dragan Pajevic

IPC: B66F9/06 ,  B66F9/065 ,  B66F9/075 ,  B66F9/18

Abstract: Autonomous mobile robots having vertical height extension systems for augmented visibility may include a drive mechanism, a lift mechanism, and a vertical height extension including an extension mechanism and a vertical indicator. The vertical height extension may be actively or passively actuated between lowered and raised positions. In addition, the vertical height extension may include a breakaway feature to prevent raising or cause lowering of the vertical indicator in the presence of a payload above the robot. Further, the vertical height extension may include various actuators, emitters, or elements to communicate various attributes of the robot to human associates in proximity, thereby promoting safe, collaborative operations.

公开(公告)号：US11029695B2

公开(公告)日：2021-06-08

申请号：US15934765

申请日：2018-03-23

Applicant: Amazon Technologies, Inc.

Inventor： Dragan Pajevic ,  Gabriel Hebert ,  Oliver Christoph Purwin

IPC: G05D1/02 ,  B25J5/00 ,  B60P1/64 ,  G05B19/418 ,  G05B19/416 ,  G05D1/08 ,  B62D15/00 ,  B66F17/00

Abstract: Motion controls for a mobile drive unit adjust linear acceleration for laden mobile drive units to decrease the likelihood of the payload tipping or bouncing off the mobile drive unit and adjust angular acceleration to reduce the risk of the drive wheels slipping while the casters align with the direction of travel.

公开(公告)号：US10209682B1

公开(公告)日：2019-02-19

申请号：US15917241

申请日：2018-03-09

Applicant: Amazon Technologies, Inc.

Inventor： Gabriel Hebert ,  Oliver Christoph Purwin

IPC: G06F7/00 ,  G05B13/00 ,  G05D1/02 ,  B66F9/06

Abstract: Embodiments are directed to an inventory system having one or more drive units that are used, in part, to measure traction of a surface. Traction of the surface may be one of many features that can help with the operation of drive units and may also help avoid collisions between drive units when little room is available between the drive units for navigational errors.

公开(公告)号：US12220813B1

公开(公告)日：2025-02-11

申请号：US17361843

申请日：2021-06-29

Applicant: Amazon Technologies, Inc.

Inventor： Dincer Bozkaya ,  Sara Jean Woo ,  William Joseph Klein ,  Jing Ma ,  Gregory Cartagena ,  Justin Croyle ,  Gabriel Hebert ,  Fahrudin Alagic ,  Stephen A. Caldara

IPC: B25J19/02 ,  B25J9/16 ,  G01C21/00 ,  G01C25/00 ,  G06Q10/087

Abstract: Systems and techniques for performing a calibration test of an obstacle detection sensor of a drive unit are described. An example system includes a calibration region and at least one drive unit. The calibration region is disposed in an environment and includes a calibration apparatus. The at least one drive unit is operable to autonomously move throughout the environment. The at least one drive unit includes a sensor configured to detect one or more objects within the environment. The at least one drive unit is configured to autonomously transition to the calibration region upon detecting at least one predetermined condition, and perform a calibration test of the first sensor at the calibration region using the calibration apparatus.

公开(公告)号：US11591023B2

公开(公告)日：2023-02-28

申请号：US16450789

申请日：2019-06-24

Applicant: Amazon Technologies, Inc.

Inventor： Christopher Park ,  Craig Ropi ,  Gabriel Hebert ,  Eric Jones

IPC: B62D21/09 ,  B60G21/04 ,  B60P3/10 ,  B62D21/18 ,  G05D1/00 ,  G05D1/02

Abstract: A drive unit of a robotic vehicle including a top surface having a mounting interface to interchangeably couple with multiple different modular payload structures configured to transport items in a facility, workspace or inventory management environment. The mounting interface is configured to securely engage with a mounting portion of the variety of different payload structures to enable a versatile exchange of the payload structure for different conveyance applications. The drive unit includes an electrical interface to communicatively couple with the modular payload structures. The drive unit is configured to use data communicated via the electrical coupling and interface to identify a type of modular payload structure that is mechanically coupled to the mounting interface and implement a motion profile (e.g., speed and acceleration parameters) associated with the identified modular payload structure.