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    Determining payload properties using actuator parameter data
    1.
    发明授权
    Determining payload properties using actuator parameter data 有权

    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.

    TILTING PLATFORM FOR STABILITY CONTROL
    2.
    发明申请
    TILTING PLATFORM FOR STABILITY CONTROL 有权
    倾斜平台稳定控制

    公开(公告)号：US20160375813A1

    公开(公告)日：2016-12-29

    申请号：US14750676

    申请日：2015-06-25

    Applicant: Amazon Technologies, Inc.

    Inventor： Peter Thomas Colantonio ,  Allan Andrew Katz ,  Parris S. Wellman

    IPC: B60P1/02 ,  A47F5/00 ,  B66F9/065 ,  G06Q10/08

    CPC classification number: B60P1/02 ,  A47F5/0018 ,  B66F9/065 ,  G05D1/021 ,  G06Q10/087

    Abstract: A mobile drive unit including a docking head assembly is provided. The docking head assembly is configured with two or more actuator assemblies to lift an inventory holder and tilt the inventory holder in two or more directions. The direction of tilt and an associated angle may be determined based on a location of a center of gravity of the inventory holder relative to the mobile drive unit. The direction of tilt and the associated angle may also be determined based on information describing external forces acting on the inventory holder.

    Abstract translation: 提供包括对接头组件的移动驱动单元。 对接头组件配置有两个或更多个致动器组件以提升库存持有者并且在两个或更多个方向上倾斜库存保持器。 可以基于库存保持器相对于移动驱动单元的重心的位置来确定倾斜方向和相关联的角度。 倾斜方向和相关角度也可以基于描述作用在库存持有者上的外力的信息来确定。

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