Bihar, Zeljko

An axial electric motor stator with enhanced cooling features is disclosed. In a preferred embodiment, each stator segment (110) includes windings made from a single layer of a hollow conductor (120) connected to coolant distributors (130). All coolant distributors (130) are interconnected using flexible hoses (140) and curved inlets (150). The cooling system comprises one or two fluid lines, to which the hollow conductors (120) used for cooling the stator are connected. Each hollow conductor (120) contains an axial cavity and multiple side bores (129) distributed over its surface in contact with the axial cavity. A portion of the hollow conductor ends (125) is electrically connected via an auxiliary conductor and grouped according to the phase system, forming a star connection. The remaining conductor ends (125) are electrically connected via an auxiliary conductor to establish a common electrical ground.

An enhanced method for automated forklift (10, 20) pallet (90) transfer is disclosed, wherein camera (100, 101) calibration, essential for accurate pallet (90) pose estimation, is performed without external markers. The calibration assumes the camera (100, 101) yaw is initially set to 0 by mechanical means. The camera (100, 101) pitch and roll are calculated from the camera (100, 101)'s image (101). Specifically, each captured image (101) shows parallel forks (20) whose longest outer edges converge at a vanishing point, VP, distinct from the image (101) center IC. Using other pairs of mutually parallel and opposite planes one facing the other, and forks (20)' symmetry, together with the ground plane (1, 2) normal vector, enables the calculation of coordinate transformation TFC and the inverse coordinate transformation TCF , where C and F represent the camera (100, 101) and forklift (10, 20) coordinate systems, respectively. This method simplifies camera (100, 101) calibration and facilitates accurate pallet (90) picking.

A versatile tray (1) for storing bottle packs is disclosed. The tray's upper base (10) includes a matrix of connectors (14) arranged in a repetitive pattern, preferably circular, with each pattern equidistantly distributed across the base (10). Each connector pattern aligns with grooves in the bottle pack base, allowing secure engagement with a single groove. On the underside of the tray base (10), there is a corresponding arrangement of cylindrical bottleneck nests (25), aligned with the center points of each connector pattern on the upper side. Each bottleneck nest (25) accommodates the bottleneck of bottles within the bottle packs. This design allows for efficient stacking of multiple trays when empty, as well as stable stacking and cross-stacking when loaded with compatible bottle packs of various formats.

An autonomous mobile platform (100) is disclosed. It comprises a loading platform (10), an upper chassis (20), a lower chassis (30), two centrally positioned independently powered drive wheels (51, 61) with suspension means, a set of omni-wheels (70), a rotating plate (80) and a set of lifting means (40). The synchronous engagement of all lifting means (40) in one direction lifts the connected chassis (20, 30) towards the loading platform (10) and leaves the autonomous mobile platform (100) anchored on their anchoring legs (15) on the floor. The opposite action brings the platform wheels to the floor. The propelling and steering of the platform (100) are performed by the coordinated actions of the rotating plate (80), together with a separate independent rotation of the drive wheels (51, 61), and free rotation of the omni-wheels (70) on the floor. The platform is designed for carrying surgical equipment, especially surgical robots.

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