公开(公告)号：US12164301B2

公开(公告)日：2024-12-10

申请号：US17916908

申请日：2021-04-16

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Sergii Kharagorgiiev ,  Thomas Schildhauer ,  Ahti Heinla

IPC: G05D1/00

Abstract: The present invention relates to a road crossing method for a mobile robot. The road crossing method comprises the mobile robot approaching a road crossing. Further, the road crossing method comprises estimating, with a data processing unit, a location and time of collision with at least one dynamic object on the road crossing. Further still, the road crossing method comprises generating, with the data processing unit, control commands for the mobile robot to avoid collision with the at least one dynamic object based on the estimated location and time of collision with the at least one dynamic object. In addition, the present invention relates to a mobile robot comprising the data processing unit and configured to carry out the road crossing method. In a further aspect, the present invention relates to a positioning method for a wheeled mobile robot positioned on a sloped terrain, comprising the mobile robot performing at least one maneuver for minimizing a magnitude of an acceleration vector of the mobile robot due to the gravity force acting on the mobile robot. In addition, the present invention relates to a mobile robot configured to carry out the positioning method.

公开(公告)号：US20230266473A1

公开(公告)日：2023-08-24

申请号：US17768320

申请日：2020-10-21

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Ardi LOOT ,  Risto REINPÕLD ,  Sergii KHARAGORGIIEV ,  Tommi TYKKÄLÄ

IPC: G01S17/894 ,  G01S17/931 ,  G05D1/02 ,  G01S17/86

CPC classification number: G01S17/894 ,  G01S17/86 ,  G01S17/931 ,  G05D1/0242 ,  G05D1/0248

Abstract: The present invention provides a system and method for operating a mobile robot. Firstly, a mobile robot can be equipped with at least one time-of-flight (ToF) sensor and the mobile robot can travel in an outdoor setting. At least one ToF sensor image related to the outdoor setting can be captured via the at least one ToF sensor. A data processing unit can process the at least one ToF sensor image to identify at least one cluster of pixels on the at least one ToF sensor image based on at least one pixel-clustering parameter. It can be determined whether at least one cluster of pixels corresponds to a hazardous object in the outdoor setting.

公开(公告)号：US20230117848A1

公开(公告)日：2023-04-20

申请号：US17798600

申请日：2021-02-24

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Rain FERENETS ,  Tanel PÄRNAMAA ,  Sten SOOTLA ,  Tõnis SAAR ,  Ahti HEINLA

IPC: G01S7/41 ,  G01S13/931 ,  G01S13/86 ,  G05D1/02

Abstract: A method, system, and device for mobile robot operations. The method comprises a mobile robot comprising at least one sensor configured to capture data related to the robot's surroundings traveling on a pedestrian pathway. The method also comprises the mobile robot using the sensor to collect data relating to moving objects in the robot's surroundings. The method further comprises detecting at least one pedestrian within the collected data, said pedestrian moving with a motion pattern. The method also comprises analyzing the pedestrian's motion pattern to determine and output the pedestrian's intent. The system comprises at least one mobile robot configured to travel on pedestrian pathways. The robot comprises at least one sensor configured to capture data related to the robot's surroundings and to collect data relating to moving objects in said surroundings. The system also comprises at least one pedestrian detector. The pedestrian detector is configured to process the sensor data to at least detect a pedestrian moving with a motion pattern. It is also configured to analyze the pedestrian's motion pattern and determine and output the pedestrian's intent. The robot comprises at least one sensor configured to capture data related to the robot's surroundings and to collect data relating to moving objects in said surroundings. The robot also comprises at least one processing component configured to process the sensor data to at least detect a pedestrian moving with a motion pattern, and analyze the pedestrian's motion pattern, and determine and output the pedestrian's intent.

公开(公告)号：US20230026980A1

公开(公告)日：2023-01-26

申请号：US17857374

申请日：2022-07-05

Applicant: Starship Technologies OÜ

Inventor： Lauri Väin ,  Viljar VALDEK ,  Märt LIIVIK ,  Henri LEND ,  Tiit LIIVIK ,  Henrik HERRANEN ,  Ahti HEINLA ,  Veigo EVARD ,  Tommy BIENE

IPC: B25J11/00 ,  G06Q50/28 ,  G06Q10/00 ,  G06Q10/08 ,  G06Q50/30

Abstract: A storage system (100) is adapted to store a plurality of items and to load a delivery robot (2) with an item. The storage system (100) includes a delivery robot level (110), at least one storage level (112, 114, 116, 118) for storing the items, and a loading robot (130) adapted to grip the items and to load the items from a storage level (112, 114, 116, 118) to a delivery robot (2) located on the delivery robot level (110). The storage system (100) is adapted to move the items within a storage level (112, 114, 116, 118). The storage system may be provided with wheels and thus be mobile. It may be loaded onto a vehicle for transport from a loading area where the storage system is loaded with items for delivery, to a delivery area where the items are to be delivered by one or more delivery robots.

公开(公告)号：US20220180306A1

公开(公告)日：2022-06-09

申请号：US17598514

申请日：2020-03-20

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Rao PÄRNPUU ,  Javier AMATE ,  Phillip LINDBERG

IPC: G06Q10/08 ,  G06Q30/06 ,  G06F21/32

Abstract: Disclosed are a method and system for delivering restricted items to users. The method comprises detecting a restricted item selected by a user for delivery; accessing a user profile associated with the user; verifying presence of an authorization for delivery of the restricted item associated with the user profile; and, upon detecting a first authorization associated with the user profile, authorizing dispatch of the restricted item to the user at a delivery location. The system comprises an item database of items for delivery, the item database comprising restricted items; a user interface configured to access the item database; a user database comprising user profiles; and a processing component configured to at least: detect a restricted item from the item database selected by a user for delivery via the user interface; access a user profile associated with the user in the user database; verify presence of an authorization for delivery of the restricted item associated with the user profile; and, upon detecting a first authorization associated with the user profile, authorize dispatch of the restricted item to the user at a delivery location.

公开(公告)号：US20220139226A1

公开(公告)日：2022-05-05

申请号：US17577278

申请日：2022-01-17

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： AHTI HEINLA ,  RISTO REINPÕLD ,  KRISTJAN KORJUS

IPC: G08G1/16 ,  G05D1/02 ,  G05D1/00 ,  G08G1/01

Abstract: A collision avoidance method and system for a mobile robot crossing a road. When a mobile robot approaches a road, it senses road conditions via at least one first sensor, and initiates road crossing if the road conditions are deemed suitable for crossing. As it crosses the road, the mobile robot senses, via at least one second sensor, a change in the road conditions indicating the presence of at least one hazardous moving object. In response to determining that at least one hazardous object in present, the mobile robot initiates a collision avoidance maneuver. A mobile robot configured to avoid collisions while crossing a road includes: at least one first sensor configured to sense road conditions, at least one second sensor configured to sense road conditions, and a processing component configured to carry out one or more collision avoidance maneuvers.

公开(公告)号：US11250741B2

公开(公告)日：2022-02-15

申请号：US16677344

申请日：2019-11-07

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Märt Liivik ,  Andrew Macks ,  Markus Zimmermann ,  Siim Viilup ,  Markus Järve ,  Tiit Liivik ,  Mikko Seppänen ,  Antti Mäkelä

IPC: G09F9/33 ,  G09F17/00 ,  B60Q1/26 ,  B60Q1/50 ,  G08B5/38 ,  G09F21/04

Abstract: A signaling device for increasing visibility of a mobile robot. The signaling device comprises a signaling section, a body section, and a base section. The invention also discloses a system for increasing visibility of a mobile robot. The system comprises a mobile robot, a signaling device attached to the mobile robot and a remote terminal configured to at least one of monitoring and controlling at least one of the mobile robot and the signaling device.

公开(公告)号：US11227497B2

公开(公告)日：2022-01-18

申请号：US16387978

申请日：2019-04-18

Applicant: Starship Technologies OÜ

Inventor： Ahti Heinla ,  Risto Reinpõld ,  Kristjan Korjus

IPC: G05D1/02 ,  G08G1/16 ,  G05D1/00 ,  G08G1/01

Abstract: A collision avoidance method and system for a mobile robot crossing a road. When a mobile robot approaches a road, it senses road conditions via at least one first sensor, and initiates road crossing if the road conditions are deemed suitable for crossing. As it crosses the road, the mobile robot senses, via at least one second sensor, a change in the road conditions indicating the presence of at least one hazardous moving object. In response to determining that at least one hazardous object in present, the mobile robot initiates a collision avoidance maneuver. A mobile robot configured to avoid collisions while crossing a road includes: at least one first sensor configured to sense road conditions, at least one second sensor configured to sense road conditions, and a processing component configured to carry out one or more collision avoidance maneuvers.

公开(公告)号：US11138545B2

公开(公告)日：2021-10-05

申请号：US16430013

申请日：2019-06-03

Applicant: Starship Technologies OÜ

Inventor： Ahti Heinla

IPC: G06F7/00 ,  G06Q10/08 ,  B25J9/16 ,  G05D1/02 ,  G06Q50/28

Abstract: A delivery system and method for delivering packages to multiple recipients uses a mobile robot having a delivery package space suitable for accommodating at least two packages, at least one package sensor configured to output first data reflective of the presence or absence of packages within with package space, at least one processing component configured to receive and process the package sensor's first data and at least one communication component configured to at least send and receive second data. The mobile robot travels to a first delivery location, permits a first recipient to access the package space, and identifies the first recipient's package to the first recipient. The system and method use data from the package sensor to verify that the first recipient removed only his or her package, if other package(s) are also present. The mobile robot then travels to a second delivery location associated with a second recipient.

公开(公告)号：US20210197712A1

公开(公告)日：2021-07-01

申请号：US17057647

申请日：2019-05-20

Applicant: Starship Technologies OÜ

Inventor： Kristjan KORJUS ,  Markus ZIMMERMANN ,  Ahti HEINLA ,  Rao PÄRNPUU

IPC: B60Q1/32 ,  B60P3/00 ,  B60Q1/28 ,  B60Q1/30 ,  B60Q1/50

Abstract: A mobile robot has a body having at least one item space; a lid constructed and adapted to assume at least an open position and a closed position, wherein the lid is to fit on top of the body in the closed position, so as to cover the item space, and the lid is to be lifted to the open position, so as to allow access to the item space; at least four wheels; and a plurality of light sources arranged as at least one row of lights.