公开(公告)号：US20210101433A1

公开(公告)日：2021-04-08

申请号：US17030214

申请日：2020-09-23

Applicant: Starship Technologies OÜ

Inventor： Ivo LIIVIK ,  Märt LIIVIK ,  Tiit LIIVIK

IPC: B60G17/0165 ,  B60G5/00 ,  B62D61/10 ,  B60G5/01 ,  G05D1/02 ,  B60G17/019 ,  B60K1/02 ,  B60P3/00

Abstract: Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.

公开(公告)号：US20200086757A1

公开(公告)日：2020-03-19

申请号：US16690897

申请日：2019-11-21

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 ,  B60S5/06 ,  F16C11/12

Abstract: A flexural joint, preferably for use in a battery station, comprising: a first group of rigid members configured to mount a first group of elements to the flexural joint; a second group of rigid members configured to mount a second group of elements to the flexural joint; a third group of elastic members configured to provide flexibility; a first flexural mechanism configured to allow rotational motion of at least one of the first group of rigid members with respect to the second group of rigid members and the second group of rigid members with respect to the first group of rigid members; and a second flexural mechanism configured to allow linear motion of at least one of the first group of rigid members with respect to the second group of rigid members and second group of rigid members with respect to the first group of rigid members.

公开(公告)号：US20230111087A1

公开(公告)日：2023-04-13

申请号：US18079387

申请日：2022-12-12

Applicant: Starship Technologies OÜ

Inventor： Ivo LIIVIK ,  Märt LIIVIK ,  Tiit LIIVIK

IPC: B60G17/0165 ,  B60G5/00 ,  B62D61/10 ,  B60G5/01 ,  G05D1/02 ,  B60G17/019 ,  B60K1/02 ,  B60P3/00

Abstract: A mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.

公开(公告)号：US20230009584A1

公开(公告)日：2023-01-12

申请号：US17870829

申请日：2022-07-22

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 ,  G05D1/02 ,  H02J7/00 ,  G01R31/364

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：US20230009543A1

公开(公告)日：2023-01-12

申请号：US17864169

申请日：2022-07-13

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Märt LIIVIK ,  Siim VIILUP ,  Tiit LIIVIK

IPC: B25J9/16 ,  B25J9/00 ,  B25J19/06 ,  B25J11/00 ,  B25J19/00 ,  B25J19/04 ,  B25J5/00

Abstract: A mobile robot configured for delivering consumable items to delivery recipients. The mobile robot comprises an item compartment with a top section, a separator, and a bottom section. The mobile robot also comprises a temperature control component. A method for delivering consumable items to delivery recipients using the mobile robot.

公开(公告)号：US20220148466A1

公开(公告)日：2022-05-12

申请号：US17574126

申请日：2022-01-12

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Märt LIIVIK ,  Andrew MACKS ,  Markus ZIMMERMANN ,  Siim VIILUP ,  Markus JÄRVE ,  Tiit LIIVIK ,  Mikko SEPPÄNEN ,  Antti MÄKELÄ

IPC: 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) a base section, attached with a rotational joint to a side of the mobile robot, said rotational joint allowing the device to rotate clockwise and/or anticlockwise relative to the mobile robot, the rotational joint constructed and adapted to return the device to an equilibrium position; and (b) a body section comprising a mast, the body section flexibly attached to the base section at a lower extreme of the body section.

公开(公告)号：US20200316777A1

公开(公告)日：2020-10-08

申请号：US16835233

申请日：2020-03-30

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Märt LIIVIK ,  Siim VIILUP ,  Tiit LIIVIK

IPC: B25J9/16 ,  B25J9/00 ,  B25J19/06 ,  B25J19/04 ,  B25J19/00 ,  B25J11/00

Abstract: The invention discloses a mobile robot configured for delivering consumable items to delivery recipients. The mobile robot comprises an item compartment with a top section, a separator, and a bottom section. The mobile robot also comprises a temperature control component. The invention also discloses a method for delivering consumable items to delivery recipients using the mobile robot.

公开(公告)号：US20180194411A1

公开(公告)日：2018-07-12

申请号：US15912481

申请日：2018-03-05

Applicant: Starship Technologies OÜ

Inventor： Ivo LIIVIK ,  Märt LIIVIK ,  Tiit LIIVIK

IPC: B62D61/10 ,  B60G5/01 ,  G05D1/02

CPC classification number: B60G17/0165 ,  B25J5/007 ,  B60G5/00 ,  B60G5/01 ,  B60G17/019 ,  B60G2300/02 ,  B60G2300/07 ,  B60G2300/20 ,  B60G2400/954 ,  B60G2800/21 ,  B60K1/02 ,  B60P3/00 ,  B62D55/075 ,  B62D61/10 ,  G05D1/021 ,  G05D1/0238 ,  Y10S901/01

Abstract: A robot has a robot body on a frame structure, the robot body having at least one enclosed space to hold at least one delivery item. At least one sensing device detects objects along a direction of motion of said robot. The robot has six wheels, where at least two wheels on a side of the frame are connected to each other. The axis of rotation of each wheel is substantially fixed with respect to the robot during forward, rearward, and turning motion of the robot. During transition, via a substantially vertical obstacle, from a first substantially horizontally surface to a second substantially horizontally surface higher than the first substantially horizontally surface, one of the connected wheels causes an upward or a downward force to be applied to the other connected wheel.