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Contents:
  1. Copyright:
  2. High Quality Encode With Baka Encoder [Archive] - AMV Hell / AMV Minis
  3. Input/Output Changes Name to ION

By mounting the distance determining elements at known positions on the interior surface of the rotor and monitoring the position of the rotor as it rotates around the stator, the timing of the emission of, for example, a laser signal from the distance determining elements can be maintained such that the laser signal is only emitted when the distance determining element is aligned with a reflective surface that will result in the laser signal being reflected and projected through an opening in the rotor , as illustrated in FIG.

As discussed above, in an outrunner brushless motor the rotor is positioned on the outside of the motor and rotates around an inner, stationary, stator In this implementation, the reflective surfaces are mounted on the exterior of the rotor and the distance determining element s is coupled to the AMV FIG. The distance determining element s remain stationary and the projected laser signal from the distance determining element s is projected toward and reflects off the different reflective surfaces as the rotor rotates.

In this implementation, the AMV may include one or more motors with incorporated distance determining elements, such as those discussed above with respect to FIGS.

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Additional distance determining elements may also be included on the AMV For example, distance determining element - 1 may be mounted in a fixed position to detect objects above the AMV Likewise, distance determining element - 2 may be mounted in a fixed position to detect objects below the AMV For example, as discussed above, propellers may be mounted in pairs. As shown by the planar trajectory patterns emitted from each motor , using a motor with an incorporated distance determining element will result in a detection pattern that covers a degree planar surface about the motor Implementations that utilize reflective surfaces to reflect the laser signal projected by the distance determining element will result in a detection pattern that covers a surface around the motor that covers multiple planes, each plane corresponding to an angle of reflection from a reflective surface.

As illustrated, the motors and corresponding propellers may be mounted to the body of the AMV at different angles such that the projection patterns of the incorporated distance determining elements cover different planar surfaces, as illustrated in FIG. Each motor may be aligned on an axis and in some implementations the axis of two or motors may be different.

The motors and corresponding propellers may be offset in any direction with respect to the body of the AMV In FIG.

Motor - 2 and corresponding propeller are offset approximately 3 degrees away from the front and approximately 9 degrees toward the left of the body of the AMV Motor - 3 and corresponding propeller are offset approximately 2 degrees toward the front of the body of the AMV and 0 degrees to the right or left of the body of the AMV Finally, the motor - 4 and corresponding propeller are offset approximately 1 degree away from the front of the body of the AMV and approximately 8 degrees toward the right of the body of the AMV In some implementations, the offset or orientation of one or more of the motors may be altered while the AMV is in operation.

For example, during normal flight, all of the motors may all be positioned with 0 degrees of offset. When the AMV detects an object, is preparing to land, preparing to take off, entering a congested area, etc. By offsetting the motors that include distance determining elements, the total area around the AMV within which an object can be detected is increased. Likewise, because the propellers are not in alignment, the agility and maneuverability of the AMV increases. In this example, rather than offsetting the motors as discussed with respect to FIG.

For example, the motors may all be mounted at 90 degrees with respect to the AMV For example, distance determining element - 1 may be mounted to the AMV and oriented to emit a laser signal that projects from the front of the AMV The distance determining element - 2 may be mounted to the AMV and oriented to emit a laser signal that projects down from the AMV The distance determining element - 3 may be mounted to the AMV and oriented to emit a laser signal that projects above the AMV The distance determining element - 4 may be mounted to the AMV and oriented to emit a laser signal that projects behind the AMV While the example illustrated in FIG.

Likewise, the distance determining elements may be mounted to the AMV, incorporated into the motors , as discussed above, or a combination thereof. Likewise, the motors may all be mounted at the same angle with respect to the AMV or one or more of the motors may be offset in the manner discussed above with respect to FIG.

For example, the pitch of the AMV may periodically altered. By altering the pitch of the AMV , the area covered by the distance determining elements projecting in front of and behind the AMV is increased. Likewise, the roll of the AMV may be periodically altered. By altering the roll of the AMV , the area covered by the distance determining elements projecting to the right or left of the AMV is increased. By altering the yaw of the AMV , the area around the distance determining elements projecting out of the front, rear and sides of the AMV will cover the entire area around the AMV Likewise, with AMVs such as a quad-copter or an octo-copter, the direction of the AMV may be maintained even though the pitch, yaw and roll is altered.

For example, an AMV may be moving north and the yaw may be adjusted so that the AMV rotates in a clockwise direction. The rotation can occur without altering the direction of flight. In addition, one or more fixed position transmitters may be included in the environment that transmit fixed position information e. The fixed position transmitters may be included at any known, fixed location.

For example, the fixed position transmitters may be included on a materials handling facility s , relay location s , delivery location s , on cellular towers not shown , on buildings, on landing areas FIG. For example, the AMVs may be configured to form a wireless mesh network that utilizes Wi-Fi or another wireless means of communication, each AMV communicating with other AMVs within wireless range.

As illustrated, the remote computing resources may include one or more servers, such as servers 1 , 2 ,. These servers 1 - N may be arranged in any number of ways, such as server farms, stacks, and the like that are commonly used in data centers. Furthermore, the servers 1 - N may include one or more processors and memory which may store an AMV management system For example, the AMV management system may send a message to AMV - 6 by transmitting the information and the identifier of the intended receiving AMV to one or more of AMVs - 1 , - 2 , - 3 , - 4 that are in wireless communication with the AMV management system Each receiving AMV will process the identifier to determine if it is the intended recipient and then forward the information to one or more other AMVs that are in communication with the AMV.

In such an example, because - 3 has already received and forwarded the message, it may discard the message without forwarding it again, thereby reducing load on the mesh network The other AMVs, upon receiving the message, may determine that they are not the intended recipients and forward it on to other nodes.

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This process may continue until the message reaches the intended recipient. In some implementations, if an AMV loses communication with other AMVs via the wireless mesh network, it may activate another wireless communication path to regain connection. The wireless mesh network may be used to provide communication between AMVs e. For example, the mesh network may be used to deliver electronic book content to electronic book reading devices of customers.

As illustrated, each of the distance determining elements may utilize ToF to determine a distance between the distance determining element and the object In some implementations, rather than determining a distance to an object, one or more of the distance determining elements may be configured to detect a proximity or existence of an object within a proximity of the AMV For example, one of the distance determining elements may only detect whether an object is within a defined proximity of the AMV Distance determining elements - 1 and - 2 are separated by Likewise, distance determining elements - 1 and - 4 are separated by Each of the distance determining elements may identify the object and determine the distance from the object For example, distance determining element - 3 may detect the object and determine that the object is Distance determining element - 4 may also detect the object and determine that the object is Distance determining element - 2 may detect the object and determine that the object is Based on these three distance measurements, the distance from the AMV is known and the relative position of the AMV is also known.

Specifically, it is known that the AMV is oriented such that the distance determining elements - 4 and - 3 mounted on the AMV are closer to the object than distance determining elements - 1 and - 2.

Utilizing the different determined distances, a distance between the AMV and the object may be determined. In some implementations, this distance may be an average of the determined distances. In other implementations, the distance between the AMV and the object may be determined as the shortest distance determined by the distance determining elements In some implementations, the AMV may also receive fixed position information transmitted from fixed position transmitters For example, fixed position transmitters - 1 , - 2 , - 3 may transmit position information e.

High Quality Encode With Baka Encoder [Archive] - AMV Hell / AMV Minis

The AMV may receive this information from three or more fixed position transmitters and using well known triangulation algorithms determine the absolute position of the AMV Having the absolute position of the AMV and the relative position and distance between the object and the AMV , the absolute position of the object can be determined. As another example, FIG.

As discussed above, the fixed position transmitters may transmit fixed position information that is received by AMVs and used by AMVs to determine the absolute position of the AMV. In this example, fixed position transmitter - 1 is centimeters from fixed position transmitter - 2 and fixed position transmitter - 2 is centimeters from fixed position transmitter - 3. Each of the three transmitters - 1 - - 3 are positioned at corners of the landing area and can be detected by an AMV and used for precise landing.

This may be used in addition to or as an alternative to GPS based navigation. For example, if the AMV is utilized inside a materials handling facility, GPS data may not be available but can navigate based on the absolute position determined from receiving fixed position information transmitted from fixed position transmitters. This process, and each process described herein, may be implemented by the architectures described herein or by other architectures.

The process is illustrated as a collection of blocks in a logical flow. Some of the blocks represent operations that can be implemented in hardware, software, or a combination thereof. In the context of software, the blocks represent computer-executable instructions stored on one or more computer readable media that, when executed by one or more processors, perform the recited operations. Generally, computer-executable instructions include routines, programs, objects, components, data structures, and the like that perform particular functions or implement particular abstract data types.

In addition, in some implementations the computer readable media may include a transitory computer readable signal in compressed or uncompressed form. Examples of computer readable signals, whether modulated using a carrier or not, include, but are not limited to, signals that a computer system hosting or running a computer program can be configured to access, including signals downloaded through the Internet or other networks. The example process begins when the AMV is in motion e.

While the AMV is in motion, the process continually scans for objects, for example, using the implementations discussed above, as in In some implementations, multiple modes of detection may be utilized. For example, both distance determining elements and image capture devices e.

Likewise, in some implementations, multiple forms of distance determining elements may be utilized. For example, both a ranging laser signal and sonar may be used to determine a distance between the AMV and an object. A determination is also made as to whether an object has been detected, as in If it is determined that an object has not been detected, the example process returns to block and continues.

However, if an object is detected, a distance between the object and the AMV is determined and the relative position of the AMV with respect to the object is determined, as in Determining the distance between the AMV and the object is discussed above. A determination may also be made as to whether the AMV is in communication with the object, as in If the AMV is in communication with the object, the object's intent e.

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Input/Output Changes Name to ION

If it is determined that there is no communication with the object, the objects intent may be inferred, as in For example, based on continued collection of distance information, it may be determined if the object is stationary with respect to the AMV, moving toward the AMV, moving away from the AMV, etc. An absolute position of the AMV may also be determined, as in The absolute position of the AMV may be determined using any of the techniques discussed above.

As discussed above, the absolute position of the AMV may be determined and used to determine the absolute position of the detected object. After determining or inferring the object's intent, a determination may be made as to whether the path of the AMV should be adjusted, as in In some implementations, the path of the AMV may always be adjusted to navigate away from the object. In other implementations, if it is determined that the object is moving away from the AMV or not in a path of the AMV, it may be determined that the path of the AMV does not need to be modified.


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If it is determined that the AMV's path is to be adjusted, the path of the AMV is adjusted to avoid the object, as in However, if it is determined that the path of the AMV is not to be adjusted, the example process returns to block and continues. In various examples, the block diagram may be illustrative of one or more aspects of the AMV control system that may be used to implement the various systems and methods discussed above.

In various implementations, the AMV control system may be a uniprocessor system including one processor , or a multiprocessor system including several processors e. The processor s may be any suitable processor capable of executing instructions. In multiprocessor systems, each processor s may commonly, but not necessarily, implement the same ISA. In the illustrated implementation, program instructions and data implementing desired functions, such as those described above, are shown stored within the non-transitory computer readable storage medium as program instructions , data storage and flight path data , respectively.

Generally speaking, a non-transitory, computer readable storage medium may include storage media or memory media such as magnetic or optical media, e. The propeller motor s controller communicates with the navigation system and adjusts the power of each propeller motor to guide the AMV along a determined flight path. The inventory engagement mechanism controller communicates with the motor s e. For example, when the AMV is positioned over a level surface at a delivery location, the inventory engagement mechanism controller may provide an instruction to a motor that controls the inventory engagement mechanism to release the inventory.

For example, the network interface may enable wireless communication between numerous AMVs. In various implementations, the network interface may support communication via wireless general data networks, such as a Wi-Fi network. For example, the network interface may support communication via telecommunications networks such as cellular communication networks, satellite networks, and the like. One or more of these sensors may be utilized to assist in the landing as well as avoid obstacles during flight. As shown in FIG. The data storage may include various data stores for maintaining data items that may be provided for determining flight paths, retrieving inventory, landing, identifying a level surface for disengaging inventory, etc.

In various implementations, the parameter values and other data illustrated herein as being included in one or more data stores may be combined with other information not described or may be partitioned differently into more, fewer, or different data structures. In some implementations, data stores may be physically located in one memory or may be distributed among two or more memories.