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.

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：US10967926B2

公开(公告)日：2021-04-06

申请号：US15953416

申请日：2018-04-14

Applicant: Starship Technologies OÜ

Inventor： Ivo Liivik ,  Märt Liivik ,  Tiit Liivik

IPC: B25J5/00 ,  B62D57/024 ,  B62D61/10 ,  B60G5/00 ,  B60B19/00

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 two middle wheels and at least two rear wheels. The at least one middle wheel and at least one rear wheel are connected by a tilting lever that is arranged on each of the opposing sides of or to the frame, forming a pair of wheels. Each tilting lever can be turned around a lever bearing located between the respective axial centers of rotation of each pair of wheels.

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：US11164273B2

公开(公告)日：2021-11-02

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

IPC: G06Q50/28 ,  G05D1/00 ,  G05B19/418 ,  G06Q10/08

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.

公开(公告)号：US10239378B2

公开(公告)日：2019-03-26

申请号：US15912481

申请日：2018-03-05

Applicant: Starship Technologies OÜ

Inventor： Ivo Liivik ,  Märt Liivik ,  Tiit Liivik

IPC: B25J5/00 ,  B60G17/0165 ,  B60G5/00 ,  B62D61/10 ,  B60G5/01 ,  G05D1/02 ,  B60G17/019 ,  B60K1/02 ,  B60P3/00 ,  B62D55/075

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.

公开(公告)号：US12005753B2

公开(公告)日：2024-06-11

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 ,  B60G5/01 ,  B60G17/019 ,  B60K1/02 ,  B60P3/00 ,  B62D61/10 ,  G05D1/00 ,  B25J5/00 ,  B62D55/075

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

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：US11945121B2

公开(公告)日：2024-04-02

申请号：US17864169

申请日：2022-07-13

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Märt Liivik ,  Siim Viilup ,  Tiit Liivik

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

CPC classification number: B25J9/1679 ,  B25J9/0009 ,  B25J11/008 ,  B25J19/0054 ,  B25J19/04 ,  B25J19/061 ,  B25J5/007

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：US11577573B2

公开(公告)日：2023-02-14

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 ,  B25J5/00 ,  B62D55/075

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.