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.

IPC Classes  ?

• B60G 17/0165 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B60G 5/00 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements
• B60G 5/01 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements the set being characterised by having more than two successive axles
• B60G 17/019 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
• B60K 1/02 - Arrangement or mounting of electrical propulsion units comprising more than one electric motor
• B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
• B62D 55/075 - Tracked vehicles for ascending or descending stairs
• B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels

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.

IPC Classes  ?

• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G06Q 10/0833 - Tracking
• G06T 7/00 - Image analysis
• G06T 7/579 - Depth or shape recovery from multiple images from motion
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods

Abstract

A method for localization using at least one time-of-flight (ToF) sensor, map data and a processing unit. The method can comprise capturing at least one ToF sensor image comprising at least one feature with the at least one ToF sensor. The method can further comprise the processing unit extracting at least one feature from the at least one ToF sensor image and the processing unit comparing the at least one extracted feature with the map data. A location hypothesis based on the comparison step can be generated and output. The present invention also relates to a localization system comprising a ToF sensor configured to capture a at least one ToF sensor image, a memory unit, comprising stored therein map data and a processing unit. The processing unit can be configured to extract at least one feature from the at least one ToF sensor image. The processing unit can further be configured to access the memory unit comprising the map data and compare the at least one extracted feature with the map data. The processing unit can generate a location hypothesis based on the comparison of the at least one extracted feature with the map data.

IPC Classes  ?

• G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• G01S 7/497 - Means for monitoring or calibrating
• G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders

Abstract

A method for delivering restricted items to users includes detecting a restricted item selected by a user for delivery; accessing a user profile associated with the user; verifying presence of an A method for delivering restricted items to users includes detecting a restricted item selected by a user for delivery; accessing a user profile associated with the user; verifying presence of an authorization for delivery of the restricted item associated with the user profile; and, upon detecting a first authorization associated with the user profile, authorizing dispatch of the restricted item to the user at a delivery location.

IPC Classes  ?

• G06Q 10/0832 - Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
• G06F 21/32 - User authentication using biometric data, e.g. fingerprints, iris scans or voiceprints
• G06Q 10/0835 - Relationships between shipper or supplier and carriers
• G06Q 30/0601 - Electronic shopping [e-shopping]

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.

IPC Classes  ?

• G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
• G05D 1/02 - Control of position or course in two dimensions
• G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders

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.

IPC Classes  ?

• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G06Q 10/0833 - Tracking
• G06T 7/00 - Image analysis
• G06T 7/579 - Depth or shape recovery from multiple images from motion
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods

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.

IPC Classes  ?

• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Abstract

A method, system, and device for mobile robot operations. The method comprises a mobile robot comprising at least one sensor configured to capture data related to the robot's surroundings traveling on a pedestrian pathway. The method also comprises the mobile robot using the sensor to collect data relating to moving objects in the robot's surroundings. The method further comprises detecting at least one pedestrian within the collected data, said pedestrian moving with a motion pattern. The method also comprises analyzing the pedestrian's motion pattern to determine and output the pedestrian's intent. The system comprises at least one mobile robot configured to travel on pedestrian pathways. The robot comprises at least one sensor configured to capture data related to the robot's surroundings and to collect data relating to moving objects in said surroundings. The system also comprises at least one pedestrian detector. The pedestrian detector is configured to process the sensor data to at least detect a pedestrian moving with a motion pattern. It is also configured to analyze the pedestrian's motion pattern and determine and output the pedestrian's intent. The robot comprises at least one sensor configured to capture data related to the robot's surroundings and to collect data relating to moving objects in said surroundings. The robot also comprises at least one processing component configured to process the sensor data to at least detect a pedestrian moving with a motion pattern, and analyze the pedestrian's motion pattern, and determine and output the pedestrian's intent.

IPC Classes  ?

• G01S 7/41 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisationTarget signatureTarget cross-section
• G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
• G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• G05D 1/02 - Control of position or course in two dimensions

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.

IPC Classes  ?

• B60G 17/0165 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
• B60G 5/00 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements
• B60G 5/01 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements the set being characterised by having more than two successive axles
• B60G 17/019 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
• B60K 1/02 - Arrangement or mounting of electrical propulsion units comprising more than one electric motor
• B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
• B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B62D 55/075 - Tracked vehicles for ascending or descending stairs

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.

IPC Classes  ?

• B25J 19/04 - Viewing devices
• B25J 9/00 - Programme-controlled manipulators
• B25J 9/16 - Programme controls
• B25J 11/00 - Manipulators not otherwise provided for
• B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
• B25J 19/06 - Safety devices
• B25J 5/00 - Manipulators mounted on wheels or on carriages

Abstract

A method and a system for secure and convenient delivery of item is disclosed. The method comprises loading a mobile robot with an item to be delivered. An item ID is generated, based on the ID of the item a security score is associated with the item. Further, a convenience score is associated with the item based on the ID. The present invention further discloses associating at least one or a plurality of authenticating techniques with the item, preferably based on the security score and/or the convenience score. The mobile robot is further configured to sense a user terminal via an authenticating sensor and facilitate the user to access an item space once the user is verified by the associated authenticating technique/s.

IPC Classes  ?

• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

Abstract

The current invention relates to a traffic detection device, including a sensor configured to detect an object of interest within its field of view, an energy supply unit, a communication unit, and a housing configured to encase all other components. Further, the present invention also relates to a system and method for assisting mobile robots. The system comprises at least one mobile robot configured to navigate in an unstructured outdoor environment as a traffic participant and at least one traffic detection system, wherein the traffic detection device is configured to assist the mobile robot by providing additional sensor data. The method includes a mobile robot approaching a road crossing, requesting assistance for the mobile robot, a traffic detection device providing at least one assistive function, and in response to the assistive function, the mobile robot crossing the road.

IPC Classes  ?

• G08G 1/01 - Detecting movement of traffic to be counted or controlled
• G08G 1/09 - Arrangements for giving variable traffic instructions
• G08G 1/052 - Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
• G08G 1/056 - Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
• G08G 1/16 - Anti-collision systems
• B25J 9/16 - Programme controls
• H04W 4/44 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Abstract

An insulated bag reduces heat exchange between temperature-sensitive items and ambient surroundings. The insulated bag has a bag body which can be covered by a bag lid. The bag lid is provided with a first portion of a securing element. The insulated bag is suitable for insertion into an item space of a mobile delivery robot. The mobile robot has a robot lid provided with a complementary second portion of the securing element. After the insulated bag is inserted into the item space, the two portions of the securing element are connected. Thereafter, when the robot lid is opened, the bag lid is also opened, permitting access to its contents.

IPC Classes  ?

• B65D 81/38 - Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents with thermal insulation
• H04Q 9/00 - Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

Abstract

A method for interactions during encounters between a mobile robot and an actor, a mobile robot configured for execution of delivery tasks in an outdoor environment, and a use of the mobile robot. The method comprises the mobile robot traveling on a pedestrian pathway; detecting an actor by the mobile robot via a sensor system; identifying a situation associated with the detected actor; in response to the identified situation, determining an action to execute by the mobile robot, and executing the determined action by the mobile robot. The mobile robot comprises a navigation component configured for at least partially autonomous navigation in an outdoor environment; a sensor system configured for collecting sensor data during an encounter between the mobile robot and an actor; a processing component configured to process the sensor data and output actions for the mobile robot to perform; and an output component configured for executing actions determined by the processing component.

IPC Classes  ?

• B25J 9/16 - Programme controls
• G05D 1/02 - Control of position or course in two dimensions
• B25J 11/00 - Manipulators not otherwise provided for

Abstract

The invention relates to a device, system and method for storing, transporting and delivering items. The device comprises of a modular container which is configured to be installed in a mobile robot. The modular container comprises of a control unit, first communication component and a power component. The system comprises of a modular container and a mobile robot, wherein the mobile robot comprises of a motion component, a second control unit, a second communication component. The method comprises of installing the modular container to the mobile robot and a second method for providing goods and services via modular container and mobile robot.

IPC Classes  ?

• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
• B60L 53/36 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
• B60P 1/48 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above the load supporting or containing element
• G05D 1/02 - Control of position or course in two dimensions

Abstract

A method for delivering restricted items to users includes detecting that a user has selected a restricted item for delivery. A user profile is accessed, and authorization for delivery of the restricted item associated with the user profile is verified. Upon detecting a first authorization associated with the user profile, authorizing the dispatch of the restricted item to the user at a delivery location. The restricted item is transported to the delivery location by the mobile robot. The mobile robot has an item space with a lid and an electronic lock, which is locked during transit. A second authorization to confirm a user's identity before the user receives the restricted item. If the second authorization fails, communication is established between the user and a remote operator terminal via the mobile robot, and the remote operator terminal performs the second authorization and/or repeats the first authorization.

IPC Classes  ?

• G06Q 10/0832 - Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
• G06F 21/32 - User authentication using biometric data, e.g. fingerprints, iris scans or voiceprints
• G06Q 10/0835 - Relationships between shipper or supplier and carriers
• G06Q 30/0601 - Electronic shopping [e-shopping]

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.

IPC Classes  ?

• G08G 1/16 - Anti-collision systems
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G05D 1/02 - Control of position or course in two dimensions
• G08G 1/01 - Detecting movement of traffic to be counted or controlled

Abstract

A method and system for modifying images captured by mobile robots. The method includes capturing at least one image via at least one visual sensor of a mobile robot; converting the at least one image into image data; storing image data; detecting at least one identifier present in the image data; applying an obfuscation to the at least one detected identifier in the image data to gain obfuscated image data; and providing the obfuscated image data to at least one authorized agent. The system includes at least one capturing component wherein the capturing component is configured to capture at least one image at any positioning of the mobile robots; a converting component wherein the converting component is configured to convert at least one image into image data; a storing component for storing the image data; a processing component. The processing component includes a detecting component for detecting at least one identifier present in the image data; an obfuscating component for obfuscating the identifier detected in at the image data; a transferring component for providing the obfuscated image data to an authorized agent.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G06N 3/08 - Learning methods
• B25J 9/16 - Programme controls
• G06T 5/00 - Image enhancement or restoration
• G06F 21/62 - Protecting access to data via a platform, e.g. using keys or access control rules
• G06F 11/36 - Prevention of errors by analysis, debugging or testing of software
• B25J 13/00 - Controls for manipulators

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.

IPC Classes  ?

• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping
• G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Abstract

A delivery system and method for delivering packages to multiple recipients uses a mobile robot having a delivery package space suitable for accommodating at least two packages, at least one package sensor configured to output first data reflective of the presence or absence of packages within with package space, at least one processing component configured to receive and process the package sensor's first data and at least one communication component configured to at least send and receive second data. The mobile robot travels to a first delivery location, permits a first recipient to access the package space, and identifies the first recipient's package to the first recipient. The system and method use data from the package sensor to verify that the first recipient removed only his or her package, if other package(s) are also present. The mobile robot then travels to a second delivery location associated with a second recipient.

IPC Classes  ?

• G06F 7/00 - Methods or arrangements for processing data by operating upon the order or content of the data handled
• B25J 9/16 - Programme controls
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• G06Q 10/083 - Shipping
• G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders

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.

IPC Classes  ?

• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G06V 20/20 - ScenesScene-specific elements in augmented reality scenes
• G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads

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.

IPC Classes  ?

• G08G 1/095 - Traffic lights
• G06N 3/02 - Neural networks
• G08G 1/09 - Arrangements for giving variable traffic instructions
• G08G 1/097 - Supervising of traffic control systems, e.g. by giving an alarm if two crossing streets have green light simultaneously
• G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

The present invention relates to a road crossing method for a mobile robot. The road crossing method comprises the step of 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 step of 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.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions

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.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G06T 7/579 - Depth or shape recovery from multiple images from motion
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
• G06T 7/00 - Image analysis
• G01C 21/32 - Structuring or formatting of map data
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G06Q 10/0833 - Tracking

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.

IPC Classes  ?

• G05D 15/00 - Control of mechanical force or stressControl of mechanical pressure
• G05D 1/02 - Control of position or course in two dimensions
• G06T 7/579 - Depth or shape recovery from multiple images from motion
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
• G06T 7/00 - Image analysis
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G06Q 10/0833 - Tracking

Abstract

Disclosed are a method, system and device for mobile robot operations. The method comprises a mobile robot comprising at least one sensor configured to capture data related to the robot's surroundings travelling on a pedestrian pathway. The method also comprises the mobile robot using the sensor to collect data relating to moving objects in the robot's surroundings. The method further comprises detecting at least one pedestrian within the collected data, said pedestrian moving with a motion pattern. The method also comprises analyzing the pedestrian's motion pattern to determine and output the pedestrian's intent. The system comprises at least one mobile robot configured to travel on pedestrian pathways. The robot comprises at least one sensor configured to capture data related to the robot's surroundings and to collect data relating to moving objects in said surroundings. The system also comprises at least one pedestrian detector. The pedestrian detector is configured to process the sensor data to at least detect a pedestrian moving with a motion pattern. It is also configured to analyze the pedestrian's motion pattern, and determine and output the pedestrian's intent. The robot comprises at least one sensor configured to capture data related to the robot's surroundings and to collect data relating to moving objects in said surroundings. The robot also comprises at least one processing component configured to process the sensor data to at least detect a pedestrian moving with a motion pattern; and analyze the pedestrian's motion pattern, and determine and output the pedestrian's intent.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

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.

IPC Classes  ?

• G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• G06T 7/13 - Edge detection
• G06T 7/70 - Determining position or orientation of objects or cameras
• H04N 13/246 - Calibration of cameras
• G06F 17/18 - Complex mathematical operations for evaluating statistical data

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.

IPC Classes  ?

• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
• B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
• B60G 5/00 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements
• B60B 19/00 - Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group

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.

IPC Classes  ?

• G06V 20/00 - ScenesScene-specific elements
• G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
• G06V 40/10 - Human or animal bodies, e.g. vehicle occupants or pedestriansBody parts, e.g. hands

Abstract

A mobile robot has a body having at least one item space; a lid constructed and adapted to assume at least an open position and a closed position, wherein the lid is to fit on top of the body in the closed position, so as to cover the item space, and the lid is to be lifted to the open position, so as to allow access to the item space; at least four wheels; and a plurality of light sources arranged as at least one row of lights.

IPC Classes  ?

• B60Q 1/32 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating vehicle sides
• B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
• B60Q 1/28 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating front of vehicle
• B60Q 1/30 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating rear of vehicle, e.g. by means of reflecting surfaces
• B60Q 1/50 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking

Abstract

A method and a system for secure and convenient delivery of item is disclosed. The method comprises loading a mobile robot with an item to be delivered. An item ID is generated, based on the ID of the item a security score is associated with the item. Further, a convenience score is associated with the item based on the ID. The present invention further discloses associating at least one or a plurality of authenticating techniques with the item, preferably based on the security score and/or the convenience score. The mobile robot is further configured to sense a user terminal via an authenticating sensor and facilitate the user to access an item space once the user is verified by the associated authenticating technique/s.

IPC Classes  ?

• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

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.

IPC Classes  ?

• G01S 7/48 - Details of systems according to groups , , of systems according to group
• G01S 17/04 - Systems determining the presence of a target
• G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
• G01S 7/4915 - Time delay measurement, e.g. operational details for pixel componentsPhase measurement
• G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
• G01S 17/46 - Indirect determination of position data
• G01S 17/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
• G05D 1/02 - Control of position or course in two dimensions

Abstract

The current invention relates to a traffic detection device, wherein the traffic detection device comprises a sensor configured to detect an object of interest within its field of view, an energy supply unit, a communication unit, and a housing configured to encase all other components. Further, the present invention also relates to a system and method for assisting mobile robots. The system comprises at least one mobile robot configured to navigate in an unstructured outdoor environment as a traffic participant and at least one traffic detection system, wherein the traffic detection device is configured to assist the mobile robot by providing additional sensor data. The method comprising a mobile robot approaching a road crossing, requesting assistance for the mobile robot, a traffic detection device providing at least one assistive function, and in response to the assistive function, the mobile robot crossing the road.

IPC Classes  ?

• G08G 1/052 - Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
• G08G 1/056 - Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
• G08G 1/0967 - Systems involving transmission of highway information, e.g. weather, speed limits
• G08G 1/16 - Anti-collision systems
• E01F 9/608 - Upright bodies, e.g. marker posts or bollardsSupports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings for guiding, warning or controlling traffic, e.g. delineator posts or milestones
• G08G 1/09 - Arrangements for giving variable traffic instructions

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.

IPC Classes  ?

• B60G 17/0165 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
• B60G 5/00 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements
• B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
• B60G 5/01 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements the set being characterised by having more than two successive axles
• G05D 1/02 - Control of position or course in two dimensions
• B60G 17/019 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
• B60K 1/02 - Arrangement or mounting of electrical propulsion units comprising more than one electric motor
• B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B62D 55/075 - Tracked vehicles for ascending or descending stairs

Goods & Services

Machinery, namely, machinery, machines, and machine parts for use in connection with transportation; gears and enclosed drives for industrial machinery. Downloadable computer software applications. Land vehicles and structural parts therefor; vehicles for locomotion by air and water. On-line ordering services in the field of the delivery of goods; mail sorting, handling and receiving. Transport, delivery and shipping of goods; packing and storage of goods and packages. Providing temporary use of non-downloadable software that enables shippers of goods to select routes and carriers, to communicate with carriers, and to manage pickup and delivery of shipments.

Abstract

The present invention relates to a method for localisation using at least one ToF sensor, map data and a processing unit. The method can comprise capturing at least one ToF sensor image comprising at least one feature with the at least one ToF sensor. The method can further comprise the processing unit extracting at least one feature from the at least one ToF sensor image and the processing unit comparing the at least one extracted feature with the map data. A location hypothesis based on the comparison step can be generated and output. The present invention also relates to a localisation system comprising a time- of-flight (ToF) sensor configured to capture a at least one ToF sensor image, a memory unit, comprising stored therein map data and a processing unit. The processing unit can be configured to extract at least one feature from the at least one ToF sensor image. The processing unit can further be configured to access the memory unit comprising the map data and compare the at least one extracted feature with the map data. The processing unit can generate a location hypothesis based on the comparison of the at least one extracted feature with the map data.

IPC Classes  ?

• G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
• G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• G01S 7/497 - Means for monitoring or calibrating

Abstract

Disclosed are a method for interactions during encounters between a mobile robot and an actor, a mobile robot configured for execution of delivery tasks in an outdoor environment, and a use of the mobile robot. The method comprises the mobile robot travelling on a pedestrian pathway; detecting an actor by the mobile robot via a sensor system; identifying a situation associated with the detected actor; in response to the identified situation, determining an action to execute by the mobile robot; and executing the determined action by the mobile robot. The mobile robot comprises a navigation component configured for at least partially autonomous navigation in outdoor environment; a sensor system configured for collecting sensor data during an encounter between the mobile robot and an actor; a processing component configured to process the sensor data and output actions for the mobile robot to perform; and an output component configured for executing actions determined by the processing component.

IPC Classes  ?

• B25J 9/16 - Programme controls
• B25J 11/00 - Manipulators not otherwise provided for

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.

IPC Classes  ?

• B65G 1/04 - Storage devices mechanical
• B25J 11/00 - Manipulators not otherwise provided for
• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping
• G06Q 10/00 - AdministrationManagement
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• G06Q 50/30 - Transportation; Communications

Abstract

A method comprises generating a map comprising day-time features and night-time features, wherein the position of night-time features relative to the day-time features is determined by at least one image captured during twilight. The invention also relates to a corresponding processing unit configured to execute such a method.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/34 - Route searchingRoute guidance
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• G01S 19/42 - Determining position
• G01S 19/52 - Determining velocity
• G01S 19/53 - Determining attitude
• G06V 10/48 - Extraction of image or video features by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation
• G06V 10/762 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks
• G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
• G06V 20/00 - ScenesScene-specific elements
• G06V 20/10 - Terrestrial scenes
• G06F 18/23 - Clustering techniques
• G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads

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.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G06T 7/579 - Depth or shape recovery from multiple images from motion
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
• G06T 7/00 - Image analysis
• G01C 21/32 - Structuring or formatting of map data
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

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.

IPC Classes  ?

• B25J 19/04 - Viewing devices
• B25J 9/16 - Programme controls
• B25J 9/00 - Programme-controlled manipulators
• B25J 11/00 - Manipulators not otherwise provided for
• B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
• B25J 19/06 - Safety devices
• B25J 5/00 - Manipulators mounted on wheels or on carriages

Abstract

Disclosed are a method and system for delivering restricted items to users. The method comprises detecting a restricted item selected by a user for delivery; accessing a user profile associated with the user; verifying presence of an authorization for delivery of the restricted item associated with the user profile; and, upon detecting a first authorization associated with the user profile, authorizing dispatch of the restricted item to the user at a delivery location. The system comprises an item database of items for delivery, the item database comprising restricted items; a user interface configured to access the item database; a user database comprising user profiles; and a processing component configured to at least: detect a restricted item from the item database selected by a user for delivery via the user interface; access a user profile associated with the user in the user database; verify presence of an authorization for delivery of the restricted item associated with the user profile; and, upon detecting a first authorization associated with the user profile, authorize dispatch of the restricted item to the user at a delivery location.

IPC Classes  ?

• G06Q 20/40 - Authorisation, e.g. identification of payer or payee, verification of customer or shop credentialsReview and approval of payers, e.g. check of credit lines or negative lists
• G06Q 20/32 - Payment architectures, schemes or protocols characterised by the use of specific devices using wireless devices

Abstract

The invention relates to a device, system and method for storing, transporting and delivering items. The device comprises of a modular container which is configured to be installed in a mobile robot. The modular container comprises of a control unit, first communication component and a power component. The system comprises of a modular container and a mobile robot, wherein the mobile robot comprises of a motion component, a second control unit, a second communication component. The method comprises of installing the modular container to the mobile robot and a second method for providing goods and services via modular container and mobile robot.

IPC Classes  ?

• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• G06Q 50/30 - Transportation; Communications
• G07F 11/00 - Coin-freed apparatus for dispensing, or the like, discrete articles

Abstract

Disclosed are a device, system and method for assisting mobile robots. A service robot is disclosed comprising a body; a motion component fitted to the body and configured to propel the service robot in a direction; an engagement component configured to exert a localized force on a geometrically defined interaction area; a sensor configured to detect the interaction area; and a communication component configured to at least communicate with mobile robots and to at least receive requests to engage the interaction area. A system comprising a mobile robot and a service robot is also disclosed. A method comprising a mobile robot approaching a pedestrian road crossing at a first location; the mobile robot requesting assistance from a service robot; the service robot executing at least one assistive action; and in response to the assistive action, the mobile robot crossing the road via the pedestrian road crossing is also disclosed.

IPC Classes  ?

• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B25J 11/00 - Manipulators not otherwise provided for
• B25J 9/16 - Programme controls
• B25J 15/00 - Gripping heads
• B25J 19/02 - Sensing devices

Abstract

An insulated bag reduces heat exchange between temperature-sensitive items and ambient surroundings. The insulated bag has a bag body which can be covered by a bag lid. The bag lid is provided with a first portion of a securing element. The insulated bag is suitable for insertion into an item space of a mobile delivery robot. The mobile robot has a robot lid provided with a complementary second portion of the securing element. After the insulated bag is inserted into the item space, the two portions of the securing element are connected. Thereafter, when the robot lid is opened, the bag lid is also opened, permitting access to its contents.

IPC Classes  ?

• G06F 7/00 - Methods or arrangements for processing data by operating upon the order or content of the data handled
• B65D 81/38 - Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents with thermal insulation
• H04Q 9/00 - Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

Abstract

A mobile robot is configured for vending consumable items. The robot includes a mobile base; a body comprising an item space; a plurality of support elements located in the item space and configured to support consumable items; an item sensor configured to detect presence of one or more consumable items supported by each of the support elements; and an insert configured to removably fit into the item space, and wherein the insert comprises the support elements and the item sensor. A method for vending consumable items uses the mobile robot.

IPC Classes  ?

• G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
• G05B 19/4155 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
• G06Q 20/18 - Payment architectures involving self-service terminals [SST], vending machines, kiosks or multimedia terminals
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Abstract

The present invention relates to a method of a robot (30) responding to a transition (40) between height levels, the method comprising a robot (30) travelling, sensing information of the surroundings of the robot (30) and generating a three dimensional data set corresponding to a heightmap of the surroundings of the robot (30) based on the information, detecting a transition (40) between different height levels (10, 20) in the three dimensional data set, categorizing the transition (40) between the different height levels (10, 20) by means of at least one characteristic, the robot (30) performing a response action, which response action depends on the categorization of the transition (40). The present invention also relates to a corresponding system.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G01C 5/00 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels

Abstract

A storage container, comprising a rigid body including a floor, a front wall, a back wall, and side walls, at least one separating wall, and a plurality of fixing elements for removably fixing the separating walls to the storage container. The storage container further comprises a locking element. The container further comprises a plurality of compartments configured to be separated by the separating wall and locked via the locking element. Further, a system comprising a mobile robot and the storage container is disclosed. Also disclosed is a method for secure package delivery employing the system.

IPC Classes  ?

• A47G 29/20 - Deposit receptacles for food, e.g. breakfast, milkSimilar receptacles for large parcels with appliances for preventing unauthorised removal of the deposited articles with appliances for preventing unauthorised removal of the deposited articles
• B65D 25/06 - Partitions adapted to be fitted in two or more alternative positions
• B65D 25/08 - Partitions with provisions for removing or destroying, e.g. to facilitate mixing of contents
• B65D 43/20 - Non-removable lids or covers linearly slidable
• B65D 43/22 - Devices for holding in closed position, e.g. clips
• G06Q 50/30 - Transportation; Communications
• B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
• G07C 9/30 - Individual registration on entry or exit not involving the use of a pass
• G05D 1/02 - Control of position or course in two dimensions

Abstract

The present invention relates to a method for operating a robot travelling in an environment, the method comprising setting at least one detection threshold, and based on the at least one detection threshold, transforming at least one probabilistic finding based on sensor data to at least one discrete finding. The present invention also relates to a corresponding system and a corresponding use.

IPC Classes  ?

• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G05D 1/02 - Control of position or course in two dimensions

Abstract

The present invention relates to a method comprising obtaining validation sensor data from a sensor measurement at a validation observation time; generating a validation finding based on the validation sensor data; obtaining first sensor data from a sensor measurement at an observation time preceding the validation observation time; generating a first finding based on the first sensor data; and testing the first finding based on the validation finding. The present invention also relates to a corresponding method and a corresponding use.

IPC Classes  ?

• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G05D 1/02 - Control of position or course in two dimensions
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems

Abstract

The present invention relates to a method of or for routing a plurality of delivery items to a plurality of delivery locations by or using a plurality of transport devices. The method can comprise the steps of: localizing the plurality of delivery items, determining the delivery locations for the plurality of delivery items and executing a genetic algorithm for outputting a routing plan. The genetic algorithm can be an adapted genetic routing algorithm. The routing plan can comprise at least one of: assigning the transport devices to the delivery items, assigning the transport devices to times of delivery, and routing the transport devices to the delivery locations. The present invention also relates to a routing system configured for routing a plurality of delivery items to a plurality of delivery locations by or using a plurality of transport devices. The routing system can comprise a controlling system that can be configured for localizing the delivery items and localizing the delivery locations. Further, the routing system can comprise a computing system that can be configured to execute at least one genetic algorithm for at least one of: assigning the transport devices to the delivery items, assigning the transport devices to times of delivery, and routing the transport devices to the delivery locations. The controlling system can be configured to control the transport devices according to the output of the computing system. Further, the present invention relates to a use of the routing system for carrying out the method.

IPC Classes  ?

• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping
• G06Q 50/30 - Transportation; Communications

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.

IPC Classes  ?

• G09F 9/33 - Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements being semiconductor devices, e.g. diodes
• G09F 17/00 - FlagsBannersMountings therefor
• B60Q 1/26 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
• B60Q 1/50 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
• G08B 5/38 - Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmissionVisible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electromagnetic transmission using visible light sources using flashing light
• G09F 21/04 - Mobile visual advertising by land vehicles

Abstract

The invention relates to a method and system for modifying images captured by mobile robots. The method comprises capturing at least one image via at least one visual sensor of a mobile robot; converting the at least one image into image data; storing image data; detecting at least one identifier present in the image data; applying an obfuscation to the at least one detected identifier in the image data to gain obfuscated image data; and providing the obfuscated image data to at least one authorized agent. The system comprises at least one capturing component wherein the capturing component is configured to capture at least one image at any positioning of the mobile robots; a converting component wherein the converting component is configured to convert at least one image into image data; a storing component for storing the image data; a processing component. The processing component comprises a detecting component for detecting at least one identifier present in the image data; an obfuscating component for obfuscating the identifier detected in at the image data; a transferring component for providing the obfuscated image data to an authorized agent.

IPC Classes  ?

• H04W 12/02 - Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
• G05D 1/02 - Control of position or course in two dimensions
• G06F 21/62 - Protecting access to data via a platform, e.g. using keys or access control rules

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.

IPC Classes  ?

• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
• G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
• G01C 21/30 - Map- or contour-matching
• G01S 13/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
• G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G05D 1/02 - Control of position or course in two dimensions

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.

IPC Classes  ?

• B60L 53/80 - Exchanging energy storage elements, e.g. removable batteries
• G01R 31/364 - Battery terminal connectors with integrated measuring arrangements
• G05D 1/02 - Control of position or course in two dimensions
• H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries

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.

IPC Classes  ?

• H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
• H01M 10/44 - Methods for charging or discharging
• B60L 50/64 - Constructional details of batteries specially adapted for electric vehicles
• B60L 53/66 - Data transfer between charging stations and vehicles
• B60L 53/80 - Exchanging energy storage elements, e.g. removable batteries
• H01M 10/42 - Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
• H01M 50/20 - MountingsSecondary casings or framesRacks, modules or packsSuspension devicesShock absorbersTransport or carrying devicesHolders
• B60L 53/35 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles

Abstract

The invention relates to a system and method for beverage dispensing. The system comprises a mobile robot and a beverage module fitted to it. The mobile robot comprises a motion component, a first processing component and a first communication component. The beverage module comprises at least one liquid container, at least one beverage dispenser, a second processing component, and a second communication component. The method comprises the mobile robot travelling to a first location, preparing a beverage, dispensing it and leaving the first location.

IPC Classes  ?

• A47J 31/40 - Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
• B25J 11/00 - Manipulators not otherwise provided for
• G07F 13/06 - Coin-freed apparatus for controlling dispensing of fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof
• G07F 13/10 - Coin-freed apparatus for controlling dispensing of fluids, semiliquids or granular material from reservoirs with associated dispensing of containers, e.g. cups or other articles

Abstract

The present invention relates to a method comprising a data processing device predicting a time for a future state change of a first traffic light. The present invention further relates to 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. The present invention also relates to methods combining these methods, and to corresponding systems.

IPC Classes  ?

• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Goods & Services

Machines and machine parts, namely, valves, bearings, bushings, chains, pumps, and compressors as parts of machines, motors, and engines for use in connection with mobile transportation vehicles; gears and enclosed drives for industrial machinery Downloadable computer software applications in the fields of delivery of goods, package delivery, and delivery of goods by self-driving delivery robots Land vehicles and structural parts therefor; vehicles for locomotion by air and water, namely drones; self-driving delivery robots; delivery drones On-line ordering services in the field of general commercial merchandise, parcels, groceries, food, and restaurant take-out featuring home delivery; mail sorting, handling and receiving Transport, delivery, packaging, and shipping of goods Providing temporary use of non-downloadable software that enables shippers of goods to select routes and carriers, to communicate with carriers, and to manage pickup and delivery of shipments

Abstract

A method for operating a framework comprising a plurality of robots is disclosed. The method comprises at least receiving a request for delivery, and selecting, from a subset of the plurality of robots, an appropriate robot to handle the delivery. A delivery framework comprising a plurality of robots and a backend platform is also disclosed.

IPC Classes  ?

• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

Abstract

The present invention relates to a method comprising a data processing device determining whether a mobile robot road crossing is performed automatically and autonomously by the mobile robot or operator-based. The present invention also relates to a method comprising indicating that the mobile robot will cross a road. The present invention also relates to corresponding mobile robots, systems and uses.

IPC Classes  ?

• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G05D 1/02 - Control of position or course in two dimensions
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G08G 1/00 - Traffic control systems for road vehicles

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.

IPC Classes  ?

• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

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.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G05B 15/00 - Systems controlled by a computer
• G05D 1/02 - Control of position or course in two dimensions
• G06T 7/579 - Depth or shape recovery from multiple images from motion
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
• G06T 7/00 - Image analysis
• G01C 21/32 - Structuring or formatting of map data
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

Abstract

An insulated bag reduces heat exchange between temperature-sensitive items and ambient surroundings. The insulated bag has a bag body which can be covered by a bag lid. The bag lid is provided with a first portion of a securing element. The insulated bag is suitable for insertion into an item space of a mobile delivery robot. The mobile robot has a robot lid provided with a complementary second portion of the securing element. After the insulated bag is inserted into the item space, the two portions of the securing element are connected. Thereafter, when the robot lid is opened, the bag lid is also opened, permitting access to its contents.

IPC Classes  ?

• B60R 7/00 - Stowing or holding appliances inside of vehicle primarily intended for personal property smaller than suit-cases, e.g. travelling articles, or maps
• B65D 30/22 - Sacks, bags or like containers characterised by shape or construction with two or more compartments
• B65D 33/16 - End- or aperture-closing arrangements or devices
• B65D 81/38 - Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents with thermal insulation
• H04Q 9/00 - Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

Abstract

A method includes acquiring at least one image with at least one camera associated with at least one mobile robot; and extracting a plurality of straight lines from the at least one image; creating at least one dataset comprising data related to the plurality of straight lines extracted from the at least one image; forming a plurality of hypotheses for a walkway boundary based on the at least one dataset and determining at least one hypothesis with the highest likelihood of representing a walkway boundary; and using the at least one hypothesis to adjust a direction and/or speed of motion of the at least one mobile robot.

IPC Classes  ?

• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06T 7/12 - Edge-based segmentation
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods

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.

IPC Classes  ?

• G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• G06T 7/13 - Edge detection
• G06T 7/70 - Determining position or orientation of objects or cameras
• H04N 13/246 - Calibration of cameras
• G06F 17/18 - Complex mathematical operations for evaluating statistical data

Abstract

A delivery system and method for delivering packages to multiple recipients uses a mobile robot having a delivery package space suitable for accommodating at least two packages, at least one package sensor configured to output first data reflective of the presence or absence of packages within with package space, at least one processing component configured to receive and process the package sensor's first data and at least one communication component configured to at least send and receive second data. The mobile robot travels to a first delivery location, permits a first recipient to access the package space, and identifies the first recipient's package to the first recipient. The system and method use data from the package sensor to verify that the first recipient removed only his or her package, if other package(s) are also present. The mobile robot then travels to a second delivery location associated with a second recipient.

IPC Classes  ?

• G06F 7/00 - Methods or arrangements for processing data by operating upon the order or content of the data handled
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• B25J 9/16 - Programme controls
• G05D 1/02 - Control of position or course in two dimensions
• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping

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.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G08G 1/16 - Anti-collision systems
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G08G 1/01 - Detecting movement of traffic to be counted or controlled

Abstract

The invention concerns a system for distributing, delivering and collecting freight, with a number I of mobile freight stations, with I≥1, each having a first interface for automatically loading freight into freight vehicles from a freight storage of the mobile freight station and for automatically unloading freight from freight vehicles into the freight storage, wherein the freight vehicles are arranged and executed for automatically loading/unloading freight via the first interface and for automatically securing/fixing freight in a storage space of the freight vehicles, the mobile freight stations each have a number ni≤Ni, with i=1, . . . , I, of delivery robots, where Ni is the maximum number of delivery robots present in the ith freight station and ni is the number of delivery robots currently present in the ith freight station, and the I freight stations each have a loading device for automatically loading the Ni delivery robots with a respective freight from the freight storage and for automatically unloading a respective freight from the Ni delivery robots into the freight storage.

IPC Classes  ?

• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping
• B60L 53/00 - Methods of charging batteries, specially adapted for electric vehiclesCharging stations or on-board charging equipment thereforExchange of energy storage elements in electric vehicles
• B60L 53/36 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
• B60L 53/80 - Exchanging energy storage elements, e.g. removable batteries
• G05D 1/02 - Control of position or course in two dimensions
• H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Goods & Services

Machinery, namely, machinery, machines, and machine parts for use in connection with transportation vehicles; Gears and enclosed drives for industrial machinery. Downloadable computer software applications. Land vehicles and structural parts therefor. On-line ordering services in the field of the delivery of goods. Transport, delivery and shipping of goods; packing and storage of goods and packages; On-line transportation logistics services, namely, arranging the delivery of goods for others. Providing a website featuring non-downloadable software that enables shippers of goods to select routes and carriers, to communicate with carriers, and to manage pickup and delivery of shipments.

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.

IPC Classes  ?

• G06Q 10/00 - AdministrationManagement
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping

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.

IPC Classes  ?

• B65G 1/04 - Storage devices mechanical
• B25J 11/00 - Manipulators not otherwise provided for
• G06Q 50/30 - Transportation; Communications
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

Abstract

The present invention relates to a method comprising generating a map comprising day-time features and night-time features, wherein the position of night-time features relative to the day-time features is determined by at least one image captured during twilight. The present invention also relates to a corresponding processing unit configured to execute such a method.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G06T 7/00 - Image analysis
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G01C 21/00 - NavigationNavigational instruments not provided for in groups

Abstract

Disclosed is a storage device configured to store, maintain and shelter a mobile robot. The storage device comprises a housing, a port, a battery station, a processing component and a communication component. Also disclosed is a system configured to store, maintain and shelter a mobile robot. The system comprises the storage device, a mobile robot and a server. Also disclosed is a method for at least one of storing and maintaining a mobile robot.

IPC Classes  ?

• B60S 5/06 - Supplying batteries to, or removing batteries from, vehicles
• B60L 53/80 - Exchanging energy storage elements, e.g. removable batteries
• B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles

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.

IPC Classes  ?

• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

Abstract

The invention discloses a mobile robot configured for vending consumable items. The invention also discloses a system configured for vending consumable items comprising a mobile robot, a vending terminal, and a server communicating with each of the other two. The invention also discloses a method for vending consumable items using a mobile robot. The invention further discloses a method for on-demand consumable item delivery by a mobile robot.

IPC Classes  ?

• G06Q 10/00 - AdministrationManagement

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.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units

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.

IPC Classes  ?

• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G08G 1/16 - Anti-collision systems
• G05D 1/02 - Control of position or course in two dimensions
• G08G 1/01 - Detecting movement of traffic to be counted or controlled

Abstract

The invention discloses a storage container, comprising a rigid body including a floor, a front wall, a back wall, and side walls, at least one separating wall, and a plurality of fixing elements for removably fixing the separating walls to the storage container. The storage container further comprises a locking element. The container further comprises a plurality of compartments configured to be separated by the separating wall and locked via the locking element. Further, a system comprising a mobile robot and the storage container is disclosed. Also disclosed is a method for secure package delivery employing the system.

IPC Classes  ?

• G06Q 50/30 - Transportation; Communications
• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• B07C 3/00 - Sorting of mail or documents according to destination
• B65D 90/02 - Wall construction

Abstract

A method for delivering a plurality of items to a plurality of delivery locations uses a mobile transport vehicle to transport a plurality of delivery robots to a first robot drop location. The robots are released at the first robot drop location and travel to assigned, respective delivery locations, which are in the vicinity of the first robot drop location. After completing delivery, each of the robots may proceed to a first robot pick-up location which may be different from the first drop off location. The robots are collected by a mobile transport vehicle and are transported to a second robot drop off location. While being transported, the robots can be reloaded with items for delivery in the vicinity of the second drop off location. A system may include one or more such mobile transport vehicles and a plurality of such robots, under the control of a server.

IPC Classes  ?

• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping

Abstract

The present invention relates to a battery station preferably for use by at least one mobile robot comprising a battery charging unit configured to at least one of hold at least one battery and charge at least one battery; a battery load/unload position configured to facilitate loading and unloading of a battery to and from a mobile robot; a battery handling mechanism configured to operate on a reaching range, said reaching range comprising at least one of the battery of the mobile robot positioned in the battery load/unload position and the battery charging unit; and a localization element configured to at least one of detect and locate at least one of the at least one battery of the mobile robot, wherein the mobile robot is positioned in the battery load/unload position, and at least one battery positioned in the battery charging unit. The present invention also relates to a system for swapping and/or charging at least one battery comprising at least one battery station and at least one mobile robot comprising at least one battery. The present invention also relates to a method for swapping and/or charging the battery of a mobile robot comprising the steps of: (a) providing at least one battery station comprising a station battery holder, and at least one mobile robot comprising at least one battery and at least one robot battery holder, and wherein the battery station, and/or the battery, and/or the mobile robot are in accordance with any of the preceding claims; (b) positioning the at least one robot in the battery load/unload position; (c) locating the at least one battery of the at least one mobile robot; (d) unloading a discharged battery from the at least one robot battery holder of the mobile robot; (e) transporting and loading the discharged battery to an unoccupied station battery holder of the battery station; (f) unloading a charged battery from the at least one occupied station battery holder of the battery station; (g) transporting and loading the charged battery to the at least one robot battery holder of the mobile robot.

IPC Classes  ?

• B60S 5/06 - Supplying batteries to, or removing batteries from, vehicles
• B60L 11/18 - using power supplied from primary cells, secondary cells, or fuel cells

Abstract

The present invention relates to 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. The present invention also relates to a system for swapping a battery, comprising: at least one flexural joint; and a battery station configured to swap a battery.

IPC Classes  ?

• B60L 11/18 - using power supplied from primary cells, secondary cells, or fuel cells
• B60S 5/06 - Supplying batteries to, or removing batteries from, vehicles
• B25J 17/02 - Wrist joints

Abstract

The present invention relates to a method for determining a location of an object (300), the method comprising processing image data to determine a direction between a camera capturing an image and the object (300); 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 (300). The present invention also relates to a corresponding robot configured to carry out such a method.

IPC Classes  ?

• G01C 21/30 - Map- or contour-matching
• G01C 21/36 - Input/output arrangements for on-board computers
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G08G 1/01 - Detecting movement of traffic to be counted or controlled

Abstract

The present invention relates to 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. The present invention also relates to a battery holder configured to hold the battery. The present invention also relates to a system configured to at least one of storing, swapping and charging a battery comprising : at least one battery; at least one mobile robot comprising at least one robot battery holder; and at least one battery station comprising at least one station battery holder. The station is configured to perform at least one of the following : store the at least one battery of the at least one mobile robot charge the at least one battery of the at least one mobile robot swap the at least one battery of the at least one mobile robot with another battery.

IPC Classes  ?

• H01M 2/10 - Mountings; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
• B60L 11/18 - using power supplied from primary cells, secondary cells, or fuel cells
• H01M 10/42 - Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells

Abstract

The invention discloses a signaling device (10) for increasing visibility of a mobile robot. The signaling device (10) comprises a signaling section (130), a body section (120), and a base section (110). The invention also discloses a system for increasing visibility of a mobile robot. The system comprises a mobile robot, a signaling device (10) 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 (10).

IPC Classes  ?

• G09F 17/00 - FlagsBannersMountings therefor
• G09F 27/00 - Combined visual and audible advertising or displaying, e.g. for public address
• G09F 21/04 - Mobile visual advertising by land vehicles
• G08B 5/00 - Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
• B25J 5/00 - Manipulators mounted on wheels or on carriages
• G09F 19/22 - Advertising or display means on roads, walls or similar surfaces, e.g. illuminated

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.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• G06T 7/579 - Depth or shape recovery from multiple images from motion
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
• G06T 7/00 - Image analysis
• G01C 21/32 - Structuring or formatting of map data
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

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.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G05B 15/00 - Systems controlled by a computer
• G05D 1/02 - Control of position or course in two dimensions
• G06T 7/579 - Depth or shape recovery from multiple images from motion
• G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
• G06T 7/00 - Image analysis
• G01C 21/32 - Structuring or formatting of map data
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

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.

IPC Classes  ?

• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
• B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
• B60G 5/00 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements
• B60B 19/00 - Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group

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.

IPC Classes  ?

• G06Q 50/28 - Logistics, e.g. warehousing, loading, distribution or shipping
• G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
• G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

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.

IPC Classes  ?

• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B60G 17/0165 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
• B60G 5/00 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements
• B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
• B60G 5/01 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements the set being characterised by having more than two successive axles
• G05D 1/02 - Control of position or course in two dimensions
• B60G 17/019 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
• B60K 1/02 - Arrangement or mounting of electrical propulsion units comprising more than one electric motor
• B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
• B62D 55/075 - Tracked vehicles for ascending or descending stairs

Abstract

An insulated bag reduces heat exchange between temperature-sensitive items and ambient surroundings. The insulated bag has a bag body which can be covered by a bag lid. The bag lid is provided with a first portion of a securing element. The insulated bag is suitable for insertion into an item space of a mobile delivery robot. The mobile robot has a robot lid provided with a complementary second portion of the securing element. After the insulated bag is inserted into the item space, the two portions of the securing element are connected. Thereafter, when the robot lid is opened, the bag lid is also opened, permitting access to its contents.

IPC Classes  ?

• B65D 81/38 - Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents with thermal insulation
• G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management

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.

IPC Classes  ?

• B25J 5/00 - Manipulators mounted on wheels or on carriages
• B60G 17/0165 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
• B60G 5/00 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements
• B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
• B60G 5/01 - Resilient suspensions for a set of tandem wheels or axles having interrelated movements the set being characterised by having more than two successive axles
• G05D 1/02 - Control of position or course in two dimensions
• B60G 17/019 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
• B60K 1/02 - Arrangement or mounting of electrical propulsion units comprising more than one electric motor
• B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
• B62D 55/075 - Tracked vehicles for ascending or descending stairs