Autonomous home security devices

• US 10,796,562 B1
• Filed: 09/26/2019
• Issued: 10/06/2020
• Est. Priority Date: 09/26/2019
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Wild, Benjamin
• Primary Examiner(s): Akki, Munear T
• Application Number:
  US16/584,721
• Time in Patent Office: 376 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/20 for use as communications relays, e.g. high-altitude platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/70 for use inside enclosed spaces, e.g. in buildings or in vehicles
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0282 generated in a local control room
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G08B 13/1965 the vehicle being an aircraft
• CPC Class Codes: G08B 19/00 Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
• CPC Class Codes: G08B 25/10 using wireless transmission systems G08B25/009 takes precedence
• CPC Class Codes: G08B 29/188 Data fusion; cooperative systems, e.g. voting among different detectors

Abstract

An autonomous vehicle such as a drone or a robot is programmed or configured to respond to reports of alarm events or conditions within one or more spaces of a facility. The autonomous vehicle travels to a location of a reported alarm event or condition and captures data using onboard sensors. The autonomous vehicle independently determines whether the reported alarm event or condition is false, or is otherwise properly addressed by resources that are available at the location, using images or other data captured by the onboard sensors. Alternatively, the autonomous vehicle transmits a request for additional resources to be provided at the location, where necessary. A physical map of the location generated based on the images or other data captured by the onboard sensors may be utilized for any purpose, such as to make one or more recommendations of products that are appropriate for use at the facility.

Claims

1. A method comprising:

causing a first autonomous vehicle to travel on at least a first path in at least a first space within a facility, wherein the first autonomous vehicle comprises at least a first sensor and a second sensor;

with the first autonomous vehicle traveling on at least the first path,

determining a position of the first autonomous vehicle at a first time;

capturing, by at least the first sensor, at least a first image at approximately the first time, wherein the first image is one of a visual image or a depth image; and

capturing, by at least the second sensor, first wireless energy at approximately the first time;

detecting, by the first autonomous vehicle, at least a first boundary of the first space based at least in part on the first image;

determining, by the first autonomous vehicle, a location of at least a portion of the first boundary based at least in part on the first image and the position of the first autonomous vehicle at the first time;

determining, by the first autonomous vehicle, a first strength of the first wireless energy at approximately the first time;

determining, by the first autonomous vehicle, at least one of a first frequency of the first wireless energy at the first time or a first type of the first wireless energy at the first time;

classifying a first source of the first wireless energy based at least in part on the at least one of the first strength, the first frequency or the first type;

determining a location of at least the first source of the first wireless energy based at least in part on the first strength and the position of the first autonomous vehicle at the first time;

generating a first map of the first space, wherein the first map identifies the location of the portion of the first boundary and the location of at least the first source of the first wireless energy; and

storing at least the first map in at least one data store.

2. The method of claim 1, further comprising:

determining that at least a third sensor in one of the first space or a second space has indicated that a predetermined event or condition is occurring within the one of the first space or the second space at a second time;

determining a location of the first autonomous vehicle at the second time;

selecting a location associated with the third sensor;

generating a second path for the first autonomous vehicle from the location of the first autonomous vehicle at the second time to the location associated with the third sensor based at least in part on the first map; and

causing the first autonomous vehicle to travel from the location of the first autonomous vehicle at the second time to the location associated with the third sensor along the second path.

3. The method of claim 2, wherein the first autonomous vehicle further comprises a fourth sensor, and

wherein the method further comprises:

with the first autonomous vehicle at the location associated with the third sensor at a third time, at least one of;

capturing, by at least the first sensor, at least a second image at approximately the third time;

or

capturing, by at least the fourth sensor, data associated with the predetermined event or condition; and

determining, based at least in part on the second image or the data associated with the predetermined event or condition, that the predetermined event or condition is not occurring within the one of the first space or the second space.

4. The method of claim 2, wherein the first autonomous vehicle further comprises the fourth sensor, and

wherein the method further comprises:

with the first autonomous vehicle at the location associated with the third sensor at a third time, at least one of;

capturing, by at least the first sensor, at least a second image at approximately the third time;

or

capturing, by at least the fourth sensor, data associated with the predetermined event or condition;

determining, based at least in part on the second image or the data associated with the predetermined event or condition, that the predetermined event or condition is occurring within the one of the first space or the second space; and

transmitting, by the first autonomous vehicle, at least one message indicating that the predetermined event or condition is occurring within the one of the first space or the second space to at least one of;

an intermediary device located within the facility;

or

a computer device external to the facility.

5. The method of claim 2, wherein the predetermined event or condition is one of:

a high temperature condition;

a low temperature condition;

a fire;

a flood;

an unauthorized entry into the facility;

a temperature above or below a predetermined setpoint;

presence of smoke;

presence of water;

presence of unauthorized personnel;

a level of carbon dioxide above a predetermined setpoint;

a level of carbon monoxide above a predetermined setpoint;

a level of a hydrocarbon above a predetermined setpoint;

or

a level of radon above a predetermined setpoint.

6. The method of claim 2, wherein determining that at least the third sensor in the one of the first space or the second space has indicated that the predetermined event or condition is occurring comprises at least one of:

receiving, by the autonomous vehicle, at least one message indicating that the predetermined event or condition is occurring, wherein the at least one message is received from one of;

the third sensor;

the intermediary device located within the facility, wherein the intermediary device is in communication with the third sensor;

or

the computer device external to the facility;

capturing, by at least the first sensor, light emitted by the third sensor in response to determining that the predetermined event or condition is occurring within the one of the first space or the second space, wherein the light emitted by the third sensor is associated with the predetermined event or condition;

or

capturing, by at least the fourth sensor provided aboard the autonomous vehicle, at least one acoustic signal emitted by the third sensor, wherein the at least one acoustic signal is associated with the predetermined event or condition.

7. The method of claim 1, wherein the second sensor comprises a wireless transceiver, and

wherein the first wireless energy comprises a first signal transmitted according to one of a Bluetooth protocol or standard, a Wireless Fidelity protocol or standard or an Ultra-Wide Band protocol or standard.

8. The method of claim 7, wherein classifying the first source comprises:

determining that the first source is a sensor associated with a portal based at least in part on the first frequency or the first type,

wherein the first map identifies one of the portal at the location of the first source.

9. The method of claim 1, wherein the second sensor comprises a magnetometer,

wherein the first wireless energy is a magnetic field,

wherein classifying the first source comprises:

determining that the first source is an electrical conductor carrying current, and

wherein the first map identifies the electrical conductor at the location of the first source.

10. The method of claim 1, further comprising:

generating, by the first autonomous vehicle, a route throughout at least the first space within the facility, wherein the route comprises a plurality of paths, wherein the first path is one of the plurality of paths, and wherein each of the plurality of paths is parallel to at least one boundary within the first space,

wherein causing the first autonomous vehicle to travel on at least the first path comprises;

causing the first autonomous vehicle to travel along the route throughout at least the first space,

wherein determining the position of the first autonomous vehicle at the first time comprises;

determining positions of the first autonomous vehicle at an interval of time,

wherein the first time is in accordance with the interval of time;

wherein capturing at least the first image at approximately the first time comprises;

capturing, by at least the second sensor, images at the interval of time,

wherein the first image is one of the images.

11. The method of claim 1, wherein determining the first strength of the first wireless energy at approximately the first time comprises:

determining strengths of the first wireless energy at the interval of time, wherein the first strength is one of the strengths, and

wherein the location of at least the first source of the first wireless energy is determined based at least in part on the strengths at the interval of time and the positions of the first autonomous vehicle at the interval of time.

12. The method of claim 1, wherein the first autonomous vehicle is one of:

an unmanned aerial vehicle having at least a first propulsion motor and at least one propeller rotatably coupled to the first propulsion motor,

wherein causing the first autonomous vehicle to travel on at least the first path in at least the first space comprises selecting at least one of a first course, a first speed or a first altitude for the unmanned aerial vehicle in accordance with the first path;

or

an autonomous ground vehicle having at least a second propulsion motor and at least one wheel rotatably coupled to the second propulsion motor, and

wherein causing the second autonomous vehicle to travel on at least the first path in at least the first space comprises selecting at least one of a second course or a second speed for the autonomous ground vehicle in accordance with the first path.

13. The method of claim 1, further comprising:

receiving, from a computer device associated with the facility, a request for information regarding at least a first consumer good;

in response to the request for information,

retrieving the first map from the at least one data store;

determining at least one dimension of the first consumer good, wherein the at least one dimension comprises at least one of a length, a width, a height, a volume, a surface area or a mass;

determining whether the first consumer good may be accommodated within the facility based at least in part on the first map and the at least one dimension of the first consumer good; and

in response to determining that the first consumer good may be accommodated within the facility,

causing a display of information regarding the first consumer good on at least one display of the computer device,

wherein the information indicates that the first consumer good may be accommodated within the facility.

14. The method of claim 1, further comprising:

receiving, from a computer device associated with the facility, a request for information regarding at least a first consumer good;

in response to the request for information,

retrieving the first map from the at least one data store;

determining at least one dimension of the first consumer good, wherein the at least one dimension comprises at least one of a length, a width, a height, a volume, a surface area or a mass;

determining whether the first consumer good may be accommodated within the facility based at least in part on the first map and the at least one dimension; and

in response to determining that the first consumer good may not be accommodated within the facility,

identifying at least a second consumer good, wherein the second consumer good is a substitute for the first consumer good;

determining at least one dimension of the second consumer good, wherein the at least one dimension comprises at least one of a length, a width, a height, a volume, a surface area or a mass;

determining whether the second consumer good may be accommodated within the facility based at least in part on the first map and the at least one dimension of the second consumer good; and

in response to determining that the second consumer good may be accommodated within the facility,

causing a display of information regarding the second consumer good on at least one display of the computer device,

wherein the information indicates that the first consumer good may not be accommodated within the facility.