公开(公告)号：US11983660B2

公开(公告)日：2024-05-14

申请号：US17476522

申请日：2021-09-16

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Ahti Heinla

IPC: G06F7/00 ,  B25J9/16 ,  G05D1/00 ,  G06Q10/08 ,  G06Q10/083 ,  G06Q10/087

CPC classification number: G06Q10/083 ,  B25J9/163 ,  B25J9/1661 ,  B25J9/1679 ,  G05D1/021 ,  G06Q10/08 ,  G06Q10/087

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：US11941987B2

公开(公告)日：2024-03-26

申请号：US17577278

申请日：2022-01-17

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Ahti Heinla ,  Risto Reinpõld ,  Kristjan Korjus

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

CPC classification number: G08G1/166 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0223 ,  G08G1/0104 ,  G08G1/161 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D2201/0213

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：US11416804B2

公开(公告)日：2022-08-16

申请号：US16059227

申请日：2018-08-09

Applicant: Starship Technologies OÜ

Inventor： Ahti Heinla ,  Allan Martinson

IPC: G06Q10/08 ,  G06Q50/28

Abstract: A method for delivering a plurality of items to a plurality of delivery locations uses a mobile transport vehicle to transport a plurality of delivery robots to a first robot drop location. The robots are released at the first robot drop location and travel to assigned, respective delivery locations, which are in the vicinity of the first robot drop location. After completing delivery, each of the robots may proceed to a first robot pick-up location which may be different from the first drop off location. The robots are collected by a mobile transport vehicle and are transported to a second robot drop off location. While being transported, the robots can be reloaded with items for delivery in the vicinity of the second drop off location. A system may include one or more such mobile transport vehicles and a plurality of such robots, under the control of a server.

公开(公告)号：US11048267B2

公开(公告)日：2021-06-29

申请号：US16908376

申请日：2020-06-22

Applicant: Starship Technologies OÜ

Inventor： Ahti Heinla ,  Kalle-Rasmus Volkov ,  Lindsay Roberts ,  Indrek Mandre

IPC: G05D1/02 ,  G06T7/579 ,  G06T7/73 ,  G06T7/00 ,  G01C21/32 ,  G05D1/00 ,  G06Q10/08

Abstract: A mobile robot is configured to navigate on a sidewalk and deliver a delivery to a predetermined location. The robot has a body and an enclosed space within the body for storing the delivery during transit. At least two cameras are mounted on the robot body and are adapted to take visual images of an operating area. A processing component is adapted to extract straight lines from the visual images taken by the cameras and generate map data based at least partially on the images. A communication component is adapted to send and receive image and/or map data. A mapping system includes at least two such mobile robots, with the communication component of each robot adapted to send and receive image data and/or map data to the other robot. A method involves operating such a mobile robot in an area of interest in which deliveries are to be made.

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：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：US10343286B2

公开(公告)日：2019-07-09

申请号：US15828722

申请日：2017-12-01

Applicant: Starship Technologies OÜ

Inventor： Lauri Väin ,  Viljar Valdek ,  Märt Liivik ,  Henri Lend ,  Tiit Liivik ,  Henrik Herranen ,  Ahti Heinla ,  Veigo Evard ,  Tommy Biene

IPC: B65G1/04 ,  B25J11/00 ,  G06Q50/30 ,  G06Q10/08

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：US11420531B2

公开(公告)日：2022-08-23

申请号：US16689991

申请日：2019-11-20

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Lauri Väin ,  Viljar Valdek ,  Märt Liivik ,  Henri Lend ,  Sergii Kharagorgiiev ,  Markus Järve ,  Henrik Herranen ,  Ahti Heinla ,  Veigo Evard ,  Tommy Biene

IPC: B60L53/80 ,  G01R31/364 ,  G05D1/02 ,  H02J7/00

Abstract: A battery station, for use by at least one mobile robot, includes a battery charging unit configured to perform at least one of: holding at least one battery, and charging at least one battery. A battery load/unload position is configured to facilitate loading and unloading of a battery to and from a mobile robot. A battery handling mechanism is configured to operate on a reaching range, comprising at least one of the following: (i) the battery of the mobile robot positioned in the battery load/unload position, and (ii) the battery charging unit. A localization element is configured to at least one of detect and locate at least one of: at least one battery of the mobile robot, wherein the mobile robot is positioned in the battery load/unload position, and/or at least one battery positioned in the battery charging unit.

公开(公告)号：US11383388B2

公开(公告)日：2022-07-12

申请号：US16880670

申请日：2020-05-21

Applicant: Starship Technologies OÜ

Inventor： Lauri Väin ,  Viljar Valdek ,  Märt Liivik ,  Henri Lend ,  Tiit Liivik ,  Henrik Herranen ,  Ahti Heinla ,  Veigo Evard ,  Tommy Biene

IPC: B65G1/04 ,  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.