Granted Patent B2

US 12,466,076 · App. 18/190,593 · Granted Nov 11, 2025

Inventors: Michael Caine (Needham, MA); Daryl van Kampen (Las Vegas, NV); Callum Gow (Cambridge, MA); Maxwell Brandon Hurd (Calgary, CA)

Assignee: Ocado Innovatin Limited

B25J9/1697B25J9/161B25J9/163B25J9/1664

Abstract

Claims (54)

1 . An autonomous robot comprising:

an image sensor;

memory;

machine readable instructions; and

at least one processor circuit to execute the machine readable instructions to:

cause the autonomous robot to travel in an autonomous drive mode;

responsive to a loss of access to first navigation data while the autonomous robot is in the autonomous drive mode, cause the autonomous robot to generate a notification;

after generation of the notification, cause the autonomous robot to switch from the autonomous drive mode to a guided drive mode responsive to detection of an auxiliary fiducial, the auxiliary fiducial displayed by a user device, the autonomous robot to move in the guided drive mode in a direction corresponding to a position of the auxiliary fiducial relative to the autonomous robot;

detect a fixed fiducial based on image data corresponding to outputs of the image sensor collected while the autonomous robot is moving in the guided drive mode;

generate second navigation data for the autonomous robot based on the fixed fiducial; and

cause the autonomous robot to switch from the guided drive mode to the autonomous drive mode and to travel in the autonomous drive mode using the second navigation data.

2 . The autonomous robot of claim 1 , wherein the auxiliary fiducial is moveable relative to an environment in which the autonomous robot is located via movement of the user device.

3 . The autonomous robot of claim 1 , wherein the first auxiliary fiducial is a virtual fiducial.

4 . The autonomous robot of claim 1 , wherein one or more of the at least one processor circuit is to cause the autonomous robot to switch from the autonomous drive mode to the guided drive mode responsive to detection of the auxiliary fiducial for a threshold period of time.

5 . The autonomous robot of claim 1 , wherein one or more of the at least one processor circuit is to cause the autonomous robot to switch from the autonomous drive mode to the guided drive mode responsive to detection of the auxiliary fiducial within a portion of a field of view of the image sensor.

6 . The autonomous robot of claim 1 , wherein one or more of the at least one processor circuit is to cause the autonomous robot to move to maintain a position of the auxiliary fiducial relative to a field of view of the image sensor while the autonomous robot is in the guided drive mode.

7 . The autonomous robot of claim 1 , wherein one or more of the at least one processor circuit is to:

detect, while the autonomous robot is in the guided drive mode, a gesture based on the image data, the gesture associated with movement of the auxiliary fiducial;

determine, based on the gesture, a maneuver; and

cause the autonomous robot to move based on the maneuver.

8 . An apparatus comprising:

memory;

machine-readable instructions; and

at least one processor circuitry circuit to execute the machine-readable instructions to:

cause an autonomous vehicle to travel in an autonomous drive mode;

cause the autonomous vehicle to generate a notification indicative of an unconfirmed position of the autonomous vehicle in an environment while the autonomous vehicle is in the autonomous drive mode;

after generation of the notification, cause the autonomous vehicle to switch from the autonomous drive mode to a guided drive mode based on data associated with a movable marker;

cause the autonomous vehicle to perform a first maneuver in the guided drive mode based on a first position of the first movable marker relative to the autonomous vehicle;

detect a fixed marker based on image data corresponding to outputs of an image sensor collected while the autonomous vehicle is moving in the guided drive mode

determine location information for the autonomous vehicle in the environment based on the fixed marker; and

cause the autonomous vehicle to switch from the guided drive mode to the autonomous drive mode and to travel in the autonomous drive mode using the location information.

9 . The apparatus of claim 8 , wherein one or more of the at least one processor circuit is to:

detect a change of the movable marker from the first position to a second position relative to the autonomous vehicle based on the image data; and

cause the autonomous vehicle to perform a second maneuver in the guided drive mode based on the second position of the movable marker.

10 . The apparatus of claim 8 , wherein one or more of the at least one processor circuit is to cause the autonomous vehicle to switch from the guided drive mode to the autonomous drive mode in response to detection of the fixed marker.

11 . The apparatus of claim 8 , wherein one or more of the at least one processor circuit is to cause the autonomous vehicle to perform the first maneuver to maintain a first distance from the movable marker.

12 . The apparatus of claim 8 , wherein the movable marker is a virtual marker.

13 . A non-transitory machine readable storage medium comprising machine-readable instructions to cause at least one processor circuit to at least:

cause an autonomous robot to travel in an autonomous drive mode;

responsive to a loss of access to first navigation data while the autonomous robot is in the autonomous drive mode, cause the autonomous robot to generate a notification;

after generation of the notification, cause the autonomous robot to switch from the autonomous drive mode to a guided drive mode responsive to detection of an auxiliary fiducial, the auxiliary fiducial displayed by a user device, the autonomous robot to move in the guided drive mode in a direction corresponding to a position of the auxiliary fiducial relative to the autonomous robot;

detect a fixed fiducial based on image data corresponding to outputs of an image sensor collected while the autonomous robot is moving in the guided drive mode;

generate second navigation data for the autonomous robot based on the fixed fiducial; and

cause the autonomous robot to switch from the guided drive mode to the autonomous drive mode and to travel in the autonomous drive mode using the second navigation data.

14 . The non-transitory machine readable storage medium of claim 13 , wherein the machine-readable instructions are to cause one or more of the at least one processor circuit to cause the autonomous robot to switch from the autonomous drive mode to the guided drive mode responsive to detection of the auxiliary fiducial for a threshold period of time.

15 . The non-transitory machine readable storage medium of claim 13 , wherein the machine-readable instructions are to cause one or more the at least one processor circuit to cause the autonomous robot to switch from the guided drive mode to the autonomous drive mode responsive to detection of the auxiliary fiducial within a portion of a field of view of the image sensor.

16 . The non-transitory machine readable storage medium of claim 13 , wherein the machine-readable instructions are to cause one or more of the at least one processor circuit to cause the autonomous robot to move to maintain a position of the auxiliary fiducial relative to a field of view of the image sensor while the autonomous robot is in the guided drive mode.

17 . The non-transitory machine readable storage medium of claim 13 , wherein the machine-readable instructions are to cause one or more of the at least one processor circuit to:

detect, while the autonomous robot is in the guided drive mode, a gesture based on the image data, the gesture associated with movement of the auxiliary fiducial;

determine, based on the gesture, a maneuver; and

cause the autonomous robot to move based on the maneuver.

18 . The autonomous robot of claim 1 , wherein one or more of the at least one processor circuit is to detect the loss of access to the first navigation data responsive to a failure to determine a position of the autonomous robot in an environment.

19 . The apparatus of claim 8 , wherein one or more of the at least one processor circuit is to cause the autonomous vehicle to generate the notification responsive to the unconfirmed position of the autonomous vehicle being unconfirmed for a threshold period of time.

20 . The non-transitory machine readable storage medium of claim 13 , wherein the machine-readable instructions are to cause one or more of the at least one processor circuit to detect the loss of access to the first navigation data responsive to a failure to determine a position of the autonomous robot in an environment.

Assignments (5)

Continuity (1)

References Cited (14)