Autonomous mobile robot using multiple safety protocols

Patent metadata

Field	Value
Publication number	US-12379723-B1
Application number	US-202217822996-A
Country	US
Kind code	B1
Filing date	Aug 29, 2022
Priority date	Aug 29, 2022
Publication date	Aug 5, 2025
Grant date	Aug 5, 2025

Abstract

A method includes operating an autonomous mobile robot (AMR) in a first physical location according to a first safety protocol of the AMR and based on a location of the AMR relative to a second physical location different from the first physical location and with a second safety protocol different from the first safety protocol, switching the AMR to operate under the second safety protocol rather than the first safety protocol while the AMR is located in the second physical location. The method also includes, in response to detecting that the AMR is exiting the second physical location after the AMR has completed operating in the second physical location, switching the AMR to operate under the first safety protocol.

First claim

What is claimed is:

1. A method comprising:
operating an autonomous mobile robot (AMR) according to a first safety protocol of the AMR;
in response to a color sensor of the AMR scanning a first colored strip assigned to an entry of a physical location, determining that the AMR has entered the physical location;
in response to determining that the AMR has entered the physical location, switching the AMR to operate under a second safety protocol of the physical location rather than the first safety protocol while the AMR is located in the physical location, wherein the first safety protocol is different from the second safety protocol;
in response to detecting, by the AMR, that an optical emitter in the physical location has turned off an optical signal, immobilizing the AMR;
in response to receiving instructions, from a safety controller of the physical location, to move to an exit of the physical location, determining that the AMR has completed operating in the physical location;
in response to detecting, by the color sensor, that the AMR has moved proximate a second colored strip after the AMR has completed operating in the physical location, switching the AMR to operate under the first safety protocol, wherein the second colored strip is assigned to the exit of the physical location, and wherein the second color strip is a different color than the first color strip; and
operating the AMR to exit the physical location.

2. The method of claim 1 , wherein switching the AMR to operate under the second safety protocol comprises:
scanning, by the AMR, a barcode to determine connection information with the safety controller of the physical location; and
connecting the AMR with the safety controller using the connection information.

3. The method of claim 1 , further comprising:
in response to receiving instructions from the safety controller, determining operation progress of the AMR in the physical location; and
in response to detecting that the AMR is leaving the physical location before the AMR has completed operating in the physical location, stopping the AMR.

4. The method of claim 1 , wherein switching the AMR to operating under the first safety protocol is further based on wheel odometry data from the AMR.

5. A method comprising:
operating an AMR in a first physical location according to a first safety protocol of the AMR;
based on a location of the AMR relative to a second physical location different from the first physical location and with a second safety protocol different from the first safety protocol, switching the AMR to operate under the second safety protocol rather than the first safety protocol while the AMR is located in the second physical location;
in response to detecting, by the AMR, that an optical emitter in the second physical location has turned off an optical signal, immobilizing the AMR;
in response to receiving instructions from a safety controller of the second physical location, determining operation progress of the AMR in the second physical location;
in response to receiving instructions from the safety controller to move to an exit of the second physical location, determining that the AMR has completed operating in the second physical location; and
in response to detecting that the AMR is exiting the second physical location after the AMR has completed operating in the second physical location, switching the AMR to operate under the first safety protocol.

6. The method of claim 5 , further comprising detecting entry of the AMR into the second physical location by scanning, using a color sensor of the AMR, a first colored strip assigned to an entry of the second physical location.

7. The method of claim 5 , wherein switching the AMR to operate under the second safety protocol comprises:
scanning, by the AMR, a barcode to determine connection information for the safety controller of the second physical location; and
connecting the AMR with the safety controller using the connection information.

8. The method of claim 7 , wherein switching the AMR to operate under the second safety protocol further comprises detecting, by the AMR, an optical signal emitted proximate the barcode indicating confirmation of the connection between the AMR and the safety controller.

9. The method of claim 7 , further comprising immobilizing the AMR in response to determining, by the AMR, that the safety controller has ceased communicating a safety message to the AMR.

10. The method of claim 5 , further comprising:
in response to receiving instructions from the safety controller, determining operation progress of the AMR in the second physical location; and
in response to detecting that the AMR is leaving the second physical location before the AMR has completed operating in the second physical location, immobilizing the AMR.

11. The method of claim 10 , wherein detecting that the AMR is leaving the second physical location comprises detecting, using a color sensor of the AMR, that the AMR has moved proximate a second colored strip, wherein the second colored strip is assigned to the exit of the second physical location, and wherein the second color strip is a different color than a first color strip assigned to an entry of the second physical location.

12. The method of claim 10 , wherein detecting that the AMR is leaving the second physical location uses wheel odometry data from the AMR.

13. The method of claim 5 , wherein detecting that the AMR has entered the second physical location comprises detecting one or more of a radio frequency identifier tag of the second physical location or a floor bump of the second physical location.

14. An autonomous mobile robot (AMR) comprising:
a memory; and
a processor communicatively coupled to the memory, the processor configured to:
operate the AMR in a first physical location according to a first safety protocol of the AMR;
based on a location of the AMR relative to a second physical location different from the first physical location and with a second safety protocol different from the first safety protocol, switch the AMR to operate under the second safety protocol rather than the first safety protocol while the AMR is located in the second physical location;
in response to detecting, by the AMR, that an optical emitter in the second physical location has turned off an optical signal, immobilize the AMR;
in response to receiving instructions from a safety controller of the second physical location, determine operation progress of the AMR in the second physical location;
in response to receiving instructions from the safety controller to move to an exit of the second physical location, determine that the AMR has completed operating in the second physical location; and
in response to detecting that the AMR is exiting the second physical location after the AMR has completed operating in the second physical location, switch the AMR to operate under the first safety protocol.

15. The AMR of claim 14 , further comprising a color sensor, wherein the processor is further configured to detect entry of the AMR into the second physical location by scanning, using the color sensor, a first colored strip assigned to an entry of the second physical location.

16. The AMR of claim 14 , wherein switching the AMR to operate under the second safety protocol comprises:
scanning a barcode to determine connection information for the safety controller of the second physical location; and
connecting the AMR with the safety controller using the connection information.

17. The AMR of claim 16 , wherein switching t

Assignees

• Amazon Tech Inc

Inventors

• Hebert Gabriel
• Tomashevskyi Paul
• Lehmann Adam Robert
• Croyle Justin
• Greenbaum Adam Joseph
• Schuchmann Christopher John
• Steltz Erik Edward
• Bassik Renen

Classifications

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• G05D1/633

  Dynamic obstacles · CPC title

• G05D2107/70

  Industrial sites, e.g. warehouses or factories · CPC title

• G05D2105/28

  of freight · CPC title

• G05D2109/10

  Land vehicles · CPC title