Patents by Inventor Sergii Kharagorgiiev
Sergii Kharagorgiiev 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).
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Patent number: 11741709Abstract: 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.Type: GrantFiled: May 20, 2019Date of Patent: August 29, 2023Assignee: Starship Technologies OÜInventors: Kristjan Korjus, Sergii Kharagorgiiev, Ahti Heinla, Tanel Pärnamaa
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Publication number: 20230266473Abstract: 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.Type: ApplicationFiled: October 21, 2020Publication date: August 24, 2023Applicant: STARSHIP TECHNOLOGIES OÜInventors: Ardi LOOT, Risto REINPÕLD, Sergii KHARAGORGIIEV, Tommi TYKKÄLÄ
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Patent number: 11693424Abstract: 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.Type: GrantFiled: June 12, 2019Date of Patent: July 4, 2023Assignee: STARSHIP TECHNOLOGIES OÜInventors: Rasmus Raag, Sergii Kharagorgiiev
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Publication number: 20230152810Abstract: 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.Type: ApplicationFiled: April 16, 2021Publication date: May 18, 2023Applicant: STARSHIP TECHNOLOGIES OÜInventors: Sergii KHARAGORGIIEV, Thomas SCHILDHAUER, Ahti HEINLA
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Publication number: 20230009584Abstract: 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: ApplicationFiled: July 22, 2022Publication date: January 12, 2023Applicant: STARSHIP TECHNOLOGIES OÜInventors: Lauri VÄIN, Viljar VALDEK, Märt LIIVIK, Henri LEND, Sergii KHARAGORGIIEV, Markus JÄRVE, Henrik HERRANEN, Ahti HEINLA, Veigo EVARD, Tommy BIENE
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Publication number: 20230008560Abstract: 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: ApplicationFiled: July 22, 2022Publication date: January 12, 2023Applicant: STARSHIP TECHNOLOGIES OÜInventors: Lauri VÄIN, Viljar VALDEK, Märt LIIVIK, Henri LEND, Sergii KHARAGORGIIEV, Markus JÄRVE, Henrik HERRANEN, Ahti HEINLA, Veigo EVARD, Tommy BIENE
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Patent number: 11532228Abstract: 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.Type: GrantFiled: August 1, 2019Date of Patent: December 20, 2022Assignee: STARSHIP TECHNOLOGIES OÜInventors: Kristjan Korjus, Sergii Kharagorgiiev, Rasmus Raag
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Patent number: 11424491Abstract: 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: GrantFiled: November 21, 2019Date of Patent: August 23, 2022Assignee: STARSHIP TECHNOLOGIES OÜInventors: Lauri Väin, Viljar Valdek, Märt Liivik, Henri Lend, Sergii Kharagorgiiev, Markus Järve, Henrik Herranen, Ahti Heinla, Veigo Evard, Tommy Biene
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Patent number: 11420531Abstract: 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: GrantFiled: November 20, 2019Date of Patent: August 23, 2022Assignee: STARSHIP TECHNOLOGIES OÜInventors: Lauri Väin, Viljar Valdek, Märt Liivik, Henri Lend, Sergii Kharagorgiiev, Markus Järve, Henrik Herranen, Ahti Heinla, Veigo Evard, Tommy Biene
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Publication number: 20220156967Abstract: A method for determining a location of a moving vehicle, the method comprising processing image data to determine a direction between a camera capturing an image and the moving vehicle; processing additional data comprising at least one of map data and velocity sensor data; and combining information based on the image data and the additional data to arrive at a location of the moving vehicle. The present invention also relates to a corresponding robot configured to carry out such a method.Type: ApplicationFiled: January 31, 2022Publication date: May 19, 2022Applicant: STARSHIP TECHNOLOGIES OÜInventors: Kristjan KORJUS, Sergii KHARAGORGIIEV
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Patent number: 11270457Abstract: 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.Type: GrantFiled: November 20, 2019Date of Patent: March 8, 2022Assignee: STARSHIP TECHNOLOGIES OÜInventors: Kristjan Korjus, Sergii Kharagorgiiev
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Publication number: 20220050473Abstract: 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.Type: ApplicationFiled: September 18, 2019Publication date: February 17, 2022Inventors: Rao PÄRNPUU, Kristjan KORJUS, Vahur LAAS, Kalle-Rasmus VOLKOV, Lauri VÄIN, Sergii KHARAGORGIIEV, Joonatan SAMUEL
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Publication number: 20210343143Abstract: 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.Type: ApplicationFiled: August 1, 2019Publication date: November 4, 2021Inventors: Kristjan KORJUS, Sergii KHARAGORGIIEV, Rasmus RAAG
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Publication number: 20210209367Abstract: 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.Type: ApplicationFiled: May 20, 2019Publication date: July 8, 2021Applicant: Starship Technologies OÜInventors: Kristjan KORJUS, Sergii KHARAGORGIIEV, Ahti HEINLA, Tanel PÄRNAMAA
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Publication number: 20200159245Abstract: 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.Type: ApplicationFiled: June 12, 2019Publication date: May 21, 2020Inventors: Rasmus RAAG, Sergii KHARAGORGIIEV
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Publication number: 20200091744Abstract: 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: ApplicationFiled: November 20, 2019Publication date: March 19, 2020Inventors: Lauri VÄIN, Viljar VALDEK, Märt LIIVIK, Henri LEND, Sergii KHARAGORGIIEV, Markus JÄRVE, Henrik HERRANEN, Ahti HEINLA, Veigo EVARD, Tommy BIENE
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Publication number: 20200090366Abstract: 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.Type: ApplicationFiled: November 20, 2019Publication date: March 19, 2020Inventors: Kristjan KORJUS, Sergii KHARAGORGIIEV
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Publication number: 20200086757Abstract: 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: ApplicationFiled: November 21, 2019Publication date: March 19, 2020Inventors: Lauri VÄIN, Viljar VALDEK, Märt LIIVIK, Henri LEND, Sergii KHARAGORGIIEV, Markus JÄRVE, Henrik HERRANEN, Ahti HEINLA, Veigo EVARD, Tommy BIENE
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Publication number: 20200091565Abstract: 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: ApplicationFiled: November 21, 2019Publication date: March 19, 2020Inventors: Lauri VÄIN, Viljar VALDEK, Märt LIIVIK, Henri LEND, Sergii KHARAGORGIIEV, Markus JÄRVE, Henrik HERRANEN, Ahti HEINLA, Veigo EVARD, Tommy BIENE
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Patent number: D834081Type: GrantFiled: September 18, 2017Date of Patent: November 20, 2018Assignee: STARSHIP TECHNOLOGIES OÜInventors: Antti Mäkelä, Henrik Herranen, Mikko Seppänen, Sergii Kharagorgiiev, Ahti Heinla, Lauri Väin, Henri Lend, Tommy Biene