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1.发明申请公开(公告)号：US20200319654A1
公开(公告)日：2020-10-08
申请号：US16908376
申请日：2020-06-22
Applicant: Starship Technologies OÜ
Inventor： Ahti HEINLA , Kalle-Rasmus VOLKOV , Lindsay ROBERTS , Indrek MANDRE
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.
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公开(公告)号：US20180232839A1
公开(公告)日：2018-08-16
申请号：US15948974
申请日：2018-04-09
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Ahti Heinla , Allan MARTINSON , Kalle-Rasmus VOLKOV , Andrew MACKS , Lindsay ROBERTS , Indrek MANDRE , Märt LIIVIK , Tiit LIIVIK , Ivo LIIVIK
CPC classification number: G06Q50/28 , G05B19/41895 , G05D1/0027 , G05D1/0061 , G05D1/0088 , G05D2201/02 , G06Q10/0832 , Y02P90/08 , Y02P90/18 , Y02P90/285 , Y02P90/60
Abstract: A delivery method operates in a system with at least one server, at least one robot, and at least one delivery terminal. The method includes communicating a request for at least one delivery from the at least one delivery terminal to the at least one server and/or to the at least one robot; providing instructions from the at least one server to the at least one robot about the at least one delivery, the instructions comprising information about a final delivery location; loading the at least one robot with the at least one delivery to be transported; transporting the at least one delivery in the at least one robot to the final delivery location; and providing access to the at least one delivery in the at least one robot, preferably upon arrival at the delivery location. The present invention further relates to a system comprising at least one server adapted for at least: coordinating communication within the system, receiving/storing/sending data and/or performing computations; at least one robot operating autonomously or semi-autonomously and adapted to communicate with the at least one server in order to facilitate transport of a delivery by the robot to at least one recipient; and at least one delivery terminal communicating with the at least one robot and/or the at least one server.
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3.发明申请公开(公告)号：US20190354110A1
公开(公告)日：2019-11-21
申请号：US16525730
申请日：2019-07-30
Applicant: Starship Technologies OÜ
Inventor： AHTI HEINLA , Kalle-Rasmus VOLKOV , Lindsay ROBERTS , Indrek MANDRE
Abstract: A mobile delivery robot has at least one memory component containing at least map data; at least two cameras adapted to take visual images; and at least one processing component. The at least one processing component is adapted to at least extract straight lines from the visual images taken by the at least two cameras and compare them to the map data to at least localize the robot. The mobile robot employs a localization method which involves taking visual images with at least two cameras; extracting straight lines from the individual visual images with at least one processing component; comparing the extracted features with existing map data; and outputting a location hypothesis based on said comparison.
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Patent Agency Ranking
公开(公告)号：US20220292720A1
公开(公告)日：2022-09-15
申请号：US17827836
申请日：2022-05-30
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG , Indrek MANDRE
IPC: G06T7/80 , G06T7/13 , G06T7/70 , H04N13/246 , G06F17/18
Abstract: The invention relates to a method for calibrating cameras. In particular, the invention provides a method that estimates the position of interest points such as corners on images of array patterns, and uses such refined positions in an iterative calibration algorithm. The method can be extended to simultaneously process information from a large number of images from a plurality of cameras that are arranged in a fixed position on a mobile robot, wherein the images are representative of different camera poses. The optimization thereby provides a highly accurate estimate of camera calibration parameters.
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公开(公告)号：US20220028023A1
公开(公告)日：2022-01-27
申请号：US17493959
申请日：2021-10-05
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Ahti HEINLA , Allan MARTINSON , Kalle-Rasmus VOLKOV , Andrew MACKS , Lindsay ROBERTS , Indrek MANDRE , Märt LIIVIK , Tiit LIIVIK , Ivo LIIVIK
IPC: G06Q50/28 , G05B19/418 , G06Q10/08 , G05D1/00
Abstract: A delivery method includes providing a system with at least one server, at least one robot, and at least one delivery terminal. The method includes communicating a request for at least one delivery from the at least one delivery terminal to the at least one server and/or to the at least one robot; providing instructions from the at least one server to the at least one robot about the at least one delivery, the instructions comprising information about a final delivery location; loading the at least one robot with the at least one delivery to be transported; transporting the at least one delivery in the at least one robot to the final delivery location; and providing access to the at least one delivery in the at least one robot, preferably upon arrival at the delivery location. A system has at least one server adapted for at least: coordinating communication within the system, receiving/storing/sending data and/or performing computations; at least one robot operating autonomously or semi-autonomously and adapted to communicate with the at least one server in order to facilitate transport of a delivery by the robot to at least one recipient; and at least one delivery terminal communicating with the at least one robot and/or the at least one server.
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公开(公告)号：US20210233277A1
公开(公告)日：2021-07-29
申请号：US17169485
申请日：2021-02-07
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG , Indrek MANDRE
IPC: G06T7/80 , G06T7/13 , G06T7/70 , H04N13/246 , G06F17/18
Abstract: The invention relates to a method for calibrating cameras. In particular, the invention provides a method that estimates the position of interest points such as corners on images of array patterns, and uses such refined positions in an iterative calibration algorithm. The method can be extended to simultaneously process information from a large number of images from a plurality of cameras that are arranged in a fixed position on a mobile robot, wherein the images are representative of different camera poses. The optimization thereby provides a highly accurate estimate of camera calibration parameters.
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公开(公告)号：US20190295291A1
公开(公告)日：2019-09-26
申请号：US16287355
申请日：2019-02-27
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG , Indrek MANDRE
IPC: G06T7/80 , G06T7/70 , G06T7/13 , G06F17/18 , H04N13/246
Abstract: The invention relates to a method for calibrating cameras. In particular, the invention provides a method that estimates the position of interest points such as corners on images of array patterns, and uses such refined positions in an iterative calibration algorithm. The method can be extended to simultaneously process information from a large number of images from a plurality of cameras that are arranged in a fixed position on a mobile robot, wherein the images are representative of different camera poses. The optimization thereby provides a highly accurate estimate of camera calibration parameters.
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8.发明申请公开(公告)号：US20180253107A1
公开(公告)日：2018-09-06
申请号：US15968838
申请日：2018-05-02
Applicant: Starship Technologies OÜ
Inventor： Ahti HEINLA , Kalle-Rasmus VOLKOV , Lindsay ROBERTS , Indrek MANDRE
IPC: G05D1/02
CPC classification number: G05D1/0246 , G01C21/32 , G05D1/0088 , G05D1/0212 , G05D1/0223 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0213 , G05D2201/0216 , G06Q10/0833 , G06T7/579 , G06T7/73 , G06T7/97 , G06T2207/10004 , G06T2207/10016 , G06T2207/20212 , G06T2207/30244 , G06T2207/30252
Abstract: A mobile delivery robot has at least one memory component containing at least map data; at least two cameras adapted to take visual images; and at least one processing component. The at least one processing component is adapted to at least extract straight lines from the visual images taken by the at least two cameras and compare them to the map data to at least localize the robot. The mobile robot employs a localization method which involves taking visual images with at least two cameras; extracting straight lines from the individual visual images with at least one processing component; comparing the extracted features with existing map data; and outputting a location hypothesis based on said comparison.
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