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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.
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公开(公告)号：US20230008560A1
公开(公告)日：2023-01-12
申请号：US17870832
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
Abstract: A battery configured to be attached to a battery holder for use by a mobile robot comprising: a battery body encapsulating the battery; at least two electrical connectors protruding from the battery body; at least one fixing unit located on the battery body said fixing unit configured to fix the battery to the battery holder; at least two damping pins protruding from the battery body; and at least one battery communication component configured to transmit battery status data. A battery holder configured to hold the battery and at least one of storing, swapping and charging a battery.
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公开(公告)号：US20210209367A1
公开(公告)日：2021-07-08
申请号：US17057086
申请日：2019-05-20
Applicant: Starship Technologies OÜ
Inventor： Kristjan KORJUS , Sergii KHARAGORGIIEV , Ahti HEINLA , Tanel PÄRNAMAA
IPC: G06K9/00
Abstract: Disclosed are a system and methods for operating a mobile robot. 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 a mobile robot 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.
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公开(公告)号：US20230266473A1
公开(公告)日：2023-08-24
申请号：US17768320
申请日：2020-10-21
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Ardi LOOT , Risto REINPÕLD , Sergii KHARAGORGIIEV , Tommi TYKKÄLÄ
IPC: G01S17/894 , G01S17/931 , G05D1/02 , G01S17/86
CPC classification number: G01S17/894 , G01S17/86 , G01S17/931 , G05D1/0242 , G05D1/0248
Abstract: The present invention provides a system and method for operating a mobile robot. Firstly, a mobile robot can be equipped with at least one time-of-flight (ToF) sensor and the mobile robot can travel in an outdoor setting. At least one ToF sensor image related to the outdoor setting can be captured via the at least one ToF sensor. A data processing unit can process the at least one ToF sensor image to identify at least one cluster of pixels on the at least one ToF sensor image based on at least one pixel-clustering parameter. It can be determined whether at least one cluster of pixels corresponds to a hazardous object in the outdoor setting.
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公开(公告)号：US20200091744A1
公开(公告)日：2020-03-19
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
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.
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Patent Agency Ranking
公开(公告)号：US20200091565A1
公开(公告)日：2020-03-19
申请号：US16690477
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
Abstract: A battery configured to be attached to a battery holder for use by a mobile robot comprising: a battery body encapsulating the battery; at least two electrical connectors protruding from the battery body; at least one fixing unit located on the battery body said fixing unit configured to fix the battery to the battery holder; at least two damping pins protruding from the battery body; and at least one battery communication component configured to transmit battery status data. A battery holder configured to hold the battery and at least one of storing, swapping and charging a battery.
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公开(公告)号：US20230152810A1
公开(公告)日：2023-05-18
申请号：US17916908
申请日：2021-04-16
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Sergii KHARAGORGIIEV , Thomas SCHILDHAUER , Ahti HEINLA
CPC classification number: G05D1/0214 , G05D1/0088
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.
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公开(公告)号：US20200090366A1
公开(公告)日：2020-03-19
申请号：US16689405
申请日：2019-11-20
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Kristjan KORJUS , Sergii KHARAGORGIIEV
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.
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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
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.
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公开(公告)号：US20220156967A1
公开(公告)日：2022-05-19
申请号：US17588681
申请日：2022-01-31
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Kristjan KORJUS , Sergii KHARAGORGIIEV
Abstract: A method for determining a location of a moving vehicle, the method comprising processing image data to determine a direction between a camera capturing an image and the moving vehicle; 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 moving vehicle. The present invention also relates to a corresponding robot configured to carry out such a method.
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