Patents by Inventor Ahti Heinla

Ahti Heinla has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20200091744
    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.
    Type: Application
    Filed: November 20, 2019
    Publication date: March 19, 2020
    Inventors: Lauri VÄIN, Viljar VALDEK, Märt LIIVIK, Henri LEND, Sergii KHARAGORGIIEV, Markus JÄRVE, Henrik HERRANEN, Ahti HEINLA, Veigo EVARD, Tommy BIENE
  • Publication number: 20200091565
    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.
    Type: Application
    Filed: November 21, 2019
    Publication date: March 19, 2020
    Inventors: Lauri VÄIN, Viljar VALDEK, Märt LIIVIK, Henri LEND, Sergii KHARAGORGIIEV, Markus JÄRVE, Henrik HERRANEN, Ahti HEINLA, Veigo EVARD, Tommy BIENE
  • Publication number: 20200086757
    Abstract: A flexural joint, preferably for use in a battery station, comprising: a first group of rigid members configured to mount a first group of elements to the flexural joint; a second group of rigid members configured to mount a second group of elements to the flexural joint; a third group of elastic members configured to provide flexibility; a first flexural mechanism configured to allow rotational motion of at least one of the first group of rigid members with respect to the second group of rigid members and the second group of rigid members with respect to the first group of rigid members; and a second flexural mechanism configured to allow linear motion of at least one of the first group of rigid members with respect to the second group of rigid members and second group of rigid members with respect to the first group of rigid members.
    Type: Application
    Filed: November 21, 2019
    Publication date: March 19, 2020
    Inventors: Lauri VÄIN, Viljar VALDEK, Märt LIIVIK, Henri LEND, Sergii KHARAGORGIIEV, Markus JÄRVE, Henrik HERRANEN, Ahti HEINLA, Veigo EVARD, Tommy BIENE
  • Publication number: 20190354110
    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.
    Type: Application
    Filed: July 30, 2019
    Publication date: November 21, 2019
    Inventors: AHTI HEINLA, Kalle-Rasmus VOLKOV, Lindsay ROBERTS, Indrek MANDRE
  • Publication number: 20190287051
    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.
    Type: Application
    Filed: June 3, 2019
    Publication date: September 19, 2019
    Inventor: AHTI HEINLA
  • Patent number: 10386850
    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.
    Type: Grant
    Filed: May 2, 2018
    Date of Patent: August 20, 2019
    Assignee: Starship Technologies OÜ
    Inventors: Ahti Heinla, Kalle-Rasmus Volkov, Lindsay Roberts, Indrek Mandre
  • Publication number: 20190244525
    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.
    Type: Application
    Filed: April 18, 2019
    Publication date: August 8, 2019
    Applicant: Starship Technologies OÜ
    Inventors: Ahti HEINLA, Risto REINPÕLD, Kristjan KORJUS
  • Patent number: 10343286
    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.
    Type: Grant
    Filed: December 1, 2017
    Date of Patent: July 9, 2019
    Assignee: Starship Technologies OÜ
    Inventors: Lauri Väin, Viljar Valdek, Märt Liivik, Henri Lend, Tiit Liivik, Henrik Herranen, Ahti Heinla, Veigo Evard, Tommy Biene
  • Publication number: 20190168392
    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.
    Type: Application
    Filed: December 1, 2017
    Publication date: June 6, 2019
    Inventors: LAURI VÄIN, Viljar Valdek, Märt Liivik, Henri Lend, Tiit Liivik, Henrik Herranen, Ahti Heinla, Veigo Evard, Tommy Biene
  • Patent number: 10282995
    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.
    Type: Grant
    Filed: September 5, 2017
    Date of Patent: May 7, 2019
    Assignee: Starship Technologies OÜ
    Inventors: Ahti Heinla, Risto Reinpõld, Kristjan Korjus
  • Publication number: 20190073904
    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.
    Type: Application
    Filed: September 5, 2017
    Publication date: March 7, 2019
    Inventors: Ahti Heinla, Risto Reinpold, Kristjan Korjus
  • Publication number: 20180349834
    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.
    Type: Application
    Filed: August 9, 2018
    Publication date: December 6, 2018
    Applicant: Starship Technologies OÜ
    Inventors: AHTI HEINLA, Allan MARTINSON
  • Publication number: 20180253108
    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.
    Type: Application
    Filed: May 2, 2018
    Publication date: September 6, 2018
    Inventors: Ahti Heinla, Kalle-Rasmus Volkov, Lindsay Roberts, Indrek Mandre
  • Publication number: 20180253107
    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.
    Type: Application
    Filed: May 2, 2018
    Publication date: September 6, 2018
    Inventors: Ahti HEINLA, Kalle-Rasmus VOLKOV, Lindsay ROBERTS, Indrek MANDRE
  • Publication number: 20180232839
    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.
    Type: Application
    Filed: April 9, 2018
    Publication date: August 16, 2018
    Inventors: Ahti Heinla, Allan MARTINSON, Kalle-Rasmus VOLKOV, Andrew MACKS, Lindsay ROBERTS, Indrek MANDRE, Märt LIIVIK, Tiit LIIVIK, Ivo LIIVIK
  • Patent number: 9741010
    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.
    Type: Grant
    Filed: December 2, 2016
    Date of Patent: August 22, 2017
    Assignee: Starship Technologies OÜ
    Inventor: Ahti Heinla
  • Patent number: 9524088
    Abstract: A method of controlling communication quality between one node and at least one other node in a packet switched communication system, the method comprising the steps of detecting at one of said nodes a condition that indicates that communication quality is below an acceptable threshold, automatically generating instructions based on the detected condition for a user of the at least one node, said instructions intended to provide a remedy to improve the communication quality, and receiving input from a user of the at least one node responsive to the instructions to implement the remedy and thereby improve the communication quality.
    Type: Grant
    Filed: August 1, 2014
    Date of Patent: December 20, 2016
    Assignee: Skype
    Inventors: Mart Kelder, Ahti Heinla, Karlheinz Wurm
  • Patent number: 9197678
    Abstract: A method of transmitting data over a communication network from a first user terminal executing a communication client application to a second user terminal is provided. The communication client application of the first user terminal receives a command to transmit the data to the second user terminal and establishing a first connection between the first user terminal and the second user terminal via a first relay node. The transmission of the data from the first user terminal over the first connection is started, and at least one network parameter related to the transmission of the data is monitored and compared to at least one known value to determine whether to add a further connection.
    Type: Grant
    Filed: December 11, 2008
    Date of Patent: November 24, 2015
    Assignee: Skype
    Inventor: Ahti Heinla
  • Patent number: 9130761
    Abstract: A method, system and program for transmitting a data stream in a network of interconnectable end-user nodes comprising a source node, a plurality of recipient nodes and a plurality of further nodes, wherein each end-user node executes a communication client application. The method comprises: the source receiving a command to transmit the data stream to the plurality of recipients; selecting from the plurality of further nodes at least one relaying node to relay the data stream between the source node and the plurality of recipients; the source establishing a connection to the at least one relaying node; the at least one relaying node establishing a connection to each of the plurality of recipients; transmitting the data stream from the source to the at least one relaying node; and transmitting the data stream from the at least one relaying node to the plurality of recipients.
    Type: Grant
    Filed: January 25, 2013
    Date of Patent: September 8, 2015
    Assignee: Skype
    Inventors: Magnus Hiie, Ahti Heinla
  • Patent number: D834081
    Type: Grant
    Filed: September 18, 2017
    Date of Patent: November 20, 2018
    Assignee: STARSHIP TECHNOLOGIES OÜ
    Inventors: Antti Mäkelä, Henrik Herranen, Mikko Seppänen, Sergii Kharagorgiiev, Ahti Heinla, Lauri Väin, Henri Lend, Tommy Biene