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：US11270457B2

公开(公告)日：2022-03-08

申请号：US16689405

申请日：2019-11-20

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Kristjan Korjus ,  Sergii Kharagorgiiev

IPC: G06K9/00 ,  G06T7/73 ,  G06T7/246 ,  G01C21/30 ,  G01S13/58 ,  G01S13/86 ,  G06K9/62 ,  G05D1/00 ,  G05D1/02

Abstract: The present invention relates to a method for determining a location of an object, the method comprising processing image data to determine a direction between a camera capturing an image and the object; processing additional data comprising at least one of map data and velocity sensor data; and combining information based on the image data and the additional data to arrive at a location of the object. The present invention also relates to a corresponding robot configured to carry out such a method.

公开(公告)号：US11532228B2

公开(公告)日：2022-12-20

申请号：US17269364

申请日：2019-08-01

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Kristjan Korjus ,  Sergii Kharagorgiiev ,  Rasmus Raag

IPC: G08G1/095 ,  G06N3/02 ,  G08G1/09 ,  G08G1/097 ,  G06V20/58

Abstract: A method comprising a data processing device predicting a time for a future state change of a first traffic light; a method comprising a data processing device generating a map of traffic lights, wherein the map of traffic lights comprises a location of at least one localization traffic light, and methods combining these methods, and to corresponding systems.

公开(公告)号：US10282995B2

公开(公告)日：2019-05-07

申请号：US15695157

申请日：2017-09-05

Applicant: Starship Technologies OÜ

Inventor： Ahti Heinla ,  Risto Reinpõld ,  Kristjan Korjus

IPC: G05D1/00 ,  G08G1/16 ,  G05D1/02 ,  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：US12093045B2

公开(公告)日：2024-09-17

申请号：US17283494

申请日：2019-10-14

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Kristjan Korjus ,  Joonatan Samuel ,  Andre Veski

IPC: G05D1/00 ,  G06V20/20 ,  G06V20/58

CPC classification number: G05D1/0212 ,  G06V20/20 ,  G06V20/58 ,  G05D1/0088 ,  G05D1/0231 ,  G05D1/0255 ,  G05D1/0257

Abstract: A method for operating a robot traveling in an environment includes the robot sensing the environment and thereby creating sensor data; generating at least one probabilistic finding based on the sensor data, wherein the probabilistic finding is expressed as an object score and wherein the object score indicates a probability of detection of an object; setting at least one detection threshold; and, based on the at least one detection threshold, transforming the at least one probabilistic finding based on the sensor data to at least one discrete finding. The method is for operating a robot crossing a road. The robot is configured to be controlled by at least one human operator when crossing the road. Setting the at least one detection threshold is based on a level of supervision by the at least one human operator when crossing the road.

公开(公告)号：US11741709B2

公开(公告)日：2023-08-29

申请号：US17057086

申请日：2019-05-20

Applicant: Starship Technologies OÜ

Inventor： Kristjan Korjus ,  Sergii Kharagorgiiev ,  Ahti Heinla ,  Tanel Pärnamaa

IPC: G06V20/00 ,  G06V20/58 ,  G06V40/10

CPC classification number: G06V20/38 ,  G06V20/58 ,  G06V40/10

Abstract: Disclosed are a system and methods for operating an autonomous or semi-autonomous vehicle. One method comprises travelling in an outdoor setting, capturing data related to the outdoor setting, processing captured data and identifying occlusion present in the preprocessed data. The system comprises an autonomous or semi-autonomous vehicle configured to travel in outdoor settings and comprising at least one first sensor and at least one processing component. The processing component is configured to process data captured by the first sensor and identify occlusion present in the preprocessed data.

公开(公告)号：US20190073904A1

公开(公告)日：2019-03-07

申请号：US15695157

申请日：2017-09-05

Applicant: Starship Technologies OÜ

Inventor： Ahti Heinla ,  Risto Reinpold ,  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：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.