product packaging and treatment system

专利摘要:
Embodiments of product handling systems facilitate the transfer of individual product items in bulk form into dedicated trays for inspection, classification, selection and packaging. The inspection may comprise interrogation of product items inside a tray by electromagnetic (for example, optical, hyperspectral) or other techniques (for example, physical, acoustic, gas detection, etc.). Before packaging, product items arranged inside the tray can be classified in a mobile carousel responsible for controlling environmental factors, such as temperature, humidity, lighting, ambient gases, product-to-product interactions, and / or others . The movement of product items from a carousel transfer station to an outside staging position can be done using robots and / or conveyor belts. The embodiments may allow quick, low-cost consumer selection of specific individual product items based on their accompanying metadata (eg, source, identifier), in combination with inspection results (eg, visual appearance). The embodiments can receive pre-packaged product items in tray format for dispatching inspection, classification, selection and packaging.
公开号:BR112020010229A2
申请号:R112020010229-6
申请日:2018-11-13
公开日:2020-11-10
发明作者:Gilad Almogy；Jason Kalus；Nathan Beckett；David Cameron Hosken；John Hosken；Matthew Hohenberger
申请人:Fulfil Solutions, Inc.；
IPC主号:

专利说明:

[0001] [0001] This application claims priority to United States Provisional Patent Application No. 62 / 589,409, filed on November 21, 2017, and United States Provisional Patent Application No. 62 / 675,656, filed on May 23, 2018, each of which is hereby incorporated by reference in its entirety for all proposals. BACKGROUND
[0002] [0002] The efficient treatment of many different types of items that exhibit a variety of shapes and / or sizes, can impose an increasingly complex technological challenge. For example, production items only offered by a conventional grocery store can display sizes ranging from that of a raisin to that of a watermelon. In addition, the quality of such production items may degrade over time, affecting their monetary value. RESUME
[0003] [0003] Product treatment systems, according to the embodiments, facilitate the transfer of individual product items in bulk form into dedicated trays for inspection, classification, selection, and packaging. The inspection may comprise interrogation of product items inside a tray by electromagnetic techniques (for example, optical, hyperspectral) or others (for example, physical, acoustic, gas detection, etc.). Before packaging, product items arranged inside the tray can be classified in a mobile carousel responsible for controlling environmental factors, such as temperature, humidity, lighting, ambient gases, product-to-product interactions, and / or others. The movement of product items from a carousel transfer station to an outside staging position can be done using robots and / or conveyor belts. The embodiments may allow quick, low-cost consumer selection of specific individual product items based on their accompanying metadata (eg, source, identifier), in combination with inspection results (eg, appearance visual). Some embodiments may receive product items that are already pre-packaged in a tray format in order to expedite inspection, classification, selection, and packaging.
[0004] [0004] One embodiment of an apparatus comprises a structure translatable to a staging position at the front of a carousel, and a fork supported by the structure and configured to extend in one direction towards the carousel to engage a tray that holds the item. The device additionally comprises a movable member configured to project vertically at a first opening of the tray, contact the item at a first point, and to dispense the item from the tray in a direction away from the carousel, in the packaging. BRIEF DESCRIPTION OF THE DRAWINGS
[0005] [0005] Figure 1 is a simplified isometric view of a product treatment system according to an embodiment.
[0006] [0006] Figure 1A is a simplified side view of the embodiment of Figure 1.
[0007] [0007] Figure 1B is a simplified plan view of the embodiment of Figure 1.
[0008] [0008] Figure 1C is a simplified enlarged isometric view of the embodiment of Figure 1 illustrating six carousels.
[0009] [0009] Figure 1D is another simplified plan view including a section of the embodiment of Figure 1.
[0010] [0010] Figure 2 is seen in simplified perspective illustrating a tray according to an embodiment. Figures 2A-2B show edge and plan views, respectively.
[0011] [0011] Figure 3 is a simplified plan view illustrating a concretization of a tray having groove characteristics configured to hold items.
[0012] [0012] Figure 4 is a plan view simplified graphically illustrating a product item arranged on a tray by a carrier.
[0013] [0013] Figures 5A-D are several simplified views illustrating a merry-go-round according to one embodiment.
[0014] [0014] Figure 6 shows a perspective view of a tray with product items arranged in it, interacting with a transfer mechanism. Figures 6A-B show plan and edge views, respectively.
[0015] [0015] Figures 7A-C are simplified side views illustrating the operation of a transfer mechanism according to an embodiment.
[0016] [0016] Figure 8 shows a simplified side view illustrating the operation of a transfer mechanism that features edges according to an embodiment.
[0017] [0017] Figure 9 shows a simplified side view illustrating the operation of a transfer mechanism according to another embodiment.
[0018] [0018] Figure 10 shows a simplified flow diagram of a method according to an embodiment.
[0019] [0019] Figure 11 is a simplified diagram illustrating an embodiment of a product treatment system according to an example.
[0020] [0020] Figure 12 shows a perspective view of the realization of a product treatment system.
[0021] [0021] Figure 13 shows a side view of a carousel seat of the system of Figure 12.
[0022] [0022] Figure 14 shows a perspective view of a bag approaching and pausing at the front of the carousel in the transport path.
[0023] [0023] Figure 15 shows a perspective view of bifurcations from the structure extending on the carousel and raising a tray.
[0024] [0024] Figure 16 shows a perspective view of the structure showing the extended bifurcations.
[0025] [0025] Figure 17 shows a terminal view of the structure showing the bifurcation extending below the edge of the tray loaded with products.
[0026] [0026] Figure 18 shows a perspective view of the structure before the extension of the bifurcations.
[0027] [0027] Figures 19A-D show enlarged views of the front part of the structure during the recovery process.
[0028] [0028] Figure 20 is a terminal view of the structure with the extended forks engaging the tray as part of the recovery process.
[0029] [0029] Figure 21 shows a perspective view of a product carrier that includes a slide.
[0030] [0030] Figure 22 shows a perspective view of a bench (here empty for illustration) lowering over the product carriers.
[0031] [0031] Figure 23 shows a perspective view of the product carriers hitching to lift the products from the lowered bench.
[0032] [0032] Figures 24A-B show side views of the product carrier in non-extended and extended positions, respectively.
[0033] [0033] Figure 25 shows a side view of the extended product carrier supporting elevated products from the tray.
[0034] [0034] Figure 26 shows a front view of the item being moved from the product carrier extended in the bag.
[0035] [0035] Figures 27A-C are side views showing a sequence of disposition of a product in a bag according to an embodiment.
[0036] [0036] Figures 28-28B show views of a first type of tray according to an embodiment.
[0037] [0037] Figures 29-29B show views of a second type of tray according to an embodiment.
[0038] [0038] Figure 30 shows a simplified view of an approach taking a series of optical images of a product (here a bunch of bananas) at a different stage than its freshness life.
[0039] [0039] Figure 31 is a histogram of saturation data.
[0040] [0040] Figure 32 shows a simplified flow diagram illustrating a machine learning process.
[0041] [0041] Figure 33 shows a simplified diagram illustrating the implementation of artificial intelligence principles for treating the product according to the embodiments.
[0042] [0042] Figures 34A-B show NIR images, and Figures 34C-D show RGB images, resulting from camera inspection.
[0043] [0043] Figure 35 shows a simplified spectrography.
[0044] [0044] Figures 36A-B show perspective views of a single conveyor having a connection that can be angled flat over a range of angles.
[0045] [0045] Figures 37A-F show simplified views of pivot belt conveyor flows.
[0046] [0046] Figures 38A-D show several views of an embodiment
[0047] [0047] Figures 39A-B show different views of items of approach to the image in free fall.
[0048] [0048] Figure 40 shows a side view of a star wheel conveyor according to an embodiment.
[0049] [0049] Figures 40A-C show simplified views illustrating that balls and cylinders can be rotated as the conveyor belt moves. Figures 40D-F show simplified views of the inversion of cuboid items when moving through the system.
[0050] [0050] Figure 41A shows a top view, and Figures 41B-C show end views, of a popup roller conveyor.
[0051] [0051] Figure 42A shows a top view, and Figures 42B-C show end perspective views of an embodiment of a roller and spinner conveyor mechanism.
[0052] [0052] Figures 43A-B illustrate top and side views, respectively, of an overflow through the conveyor mechanism that can be used to position items on a tray.
[0053] [0053] Figures 44A and 44B show simplified top views and side views respectively of an XYZ geometry mechanism according to an embodiment that can be used to position items on a tray.
[0054] [0054] Figure 45A shows a side view, and Figures 45B-C show top views, illustrating a vertical stack buffer system according to an embodiment that can be used to position items on a tray.
[0055] [0055] Figure 46 shows a simplified perspective view of a front of the carousel according to an embodiment.
[0056] [0056] Figure 46A illustrates a perspective view of a postion
[0057] [0057] Figure 46B illustrates a perspective view of an alternative embodiment of a carrier.
[0058] [0058] Figure 46C shows a simplified front view of a carrier.
[0059] [0059] Figure 46D shows carriers having a different number of levels, and bids per level.
[0060] [0060] Figure 47 shows a perspective view of a front side of an embodiment of the carousel having a dispensing station attached to it.
[0061] [0061] Figure 48A shows an enlarged view of a tail on a conveyor. Figure 48B shows a simplified perspective view of the dispensing station conveyor, prepared to dispense item (s) from a particular tray series.
[0062] [0062] Figure 49A shows a side view of a pop-up conveyor mechanism including an optical sensor for detecting a dispensed item. Figure 49B shows an enlarged view of the optical sensor on the pop-up conveyor.
[0063] [0063] Figure 50 shows a perspective view of a dispensing station configured with load cells.
[0064] [0064] Figure 51A shows a tray arriving at the carousel. Figure 51B shows the tray loaded on the carousel.
[0065] [0065] Figure 51C shows a simplified view illustrating the use of indexing pins.
[0066] [0066] Figure 52A illustrates a simplified side view of a terminal effector design according to an embodiment. Figures 52B-C show alternative embodiments.
[0067] [0067] Figures 53A-B show different views of embodiments of a carrier design.
[0068] [0068] Figures 54A-B show perspective views of con-
[0069] [0069] Figures 55A-B show views of an embodiment of the displacer incorporating load cells.
[0070] [0070] Figures 56A-B show top perspective views, and enlarged views respectively, of a displacer including a structure.
[0071] [0071] Figures 57A-B show different embodiments of the displacers.
[0072] [0072] Figures 58A-B show simplified views of a piston and washer, and embodiment of the displacer incorporating them.
[0073] [0073] Figures 59A-C show simplified views of a hinged cover.
[0074] [0074] Figures 60A-B are seen in perspective of a shifter with the lid open and closed, respectively.
[0075] [0075] Figures 61A-B are seen in perspective of different battery pack embodiments.
[0076] [0076] Figure 62 shows carriers that can stop at a specific stage, in order to receive items dispensed from a given carousel.
[0077] [0077] Figure 63A shows a terminal view of a tray that is configured to hold circular items.
[0078] [0078] Figure 63B shows an end view of a tray configured to hold cuboid items.
[0079] [0079] Figure 64 shows a top view of a tray according to an embodiment.
[0080] [0080] Figures 65A-B show perspective views of multiple types of tray that can be assembled from a plurality of parts.
[0081] [0081] Figures 66A-B are enlarged views of the tray showing multiple types of support beams.
[0082] [0082] Figures 67A-B are enlarged views showing tray features formed from multiple molds.
[0083] [0083] Figure 68 shows a simplified view of a gantry robot according to one embodiment.
[0084] [0084] Figure 69 is a simplified flow diagram summarizing process control according to an embodiment.
[0085] [0085] Figure 70 shows a simplified view of food item categories organized in a hierarchy tree for research.
[0086] [0086] FIG. 71 shows an embodiment of a computer system used to implement item handling.
[0087] [0087] FIG. 71A illustrates basic subsystems in the computer system of FIG. 71.
[0088] [0088] Figures 72A-B show views of different embodiments of the displacer featuring a drive system.
[0089] [0089] Figures 73A-B show embodiments of shifters with rails and wheels, respectively, featuring multiple bags added to a single drive unit.
[0090] [0090] Figures 74A-B show embodiments of shifters with rails and wheels, respectively, leading a tray.
[0091] [0091] Figures 75A-C show the respective front view, front perspective view, and side perspective view of a robot with the wheel displacer.
[0092] [0092] Figure 76 is a simplified block diagram showing a summary of a system according to an embodiment.
[0093] [0093] Figures 77A-E show several views of a drawing of an inspection station.
[0094] [0094] Figures 78A-C show several views of a carrier drawing.
[0095] [0095] Figures 79A-B show several views of a foam fixation approach.
[0096] [0096] Figures 80A-B show several views of an embodiment of a layoff approach.
[0097] [0097] Figures 81A-C show various views of an embodiment of a layoff approach.
[0098] [0098] Figure 82 shows a side view illustrating a realization of a layoff approach.
[0099] [0099] Figure 83 shows a top view illustrating an embodiment of a layoff approach. DESCRIPTION
[00100] [00100] Figure 1 is a simplified isometric view of a product treatment system according to an embodiment. Figure 1A is a simplified side view of the embodiment of Figure 1.
[00101] [00101] In particular, product handling system 100 comprises loading, sorting and initial inspection areas for tray 102 which are configured to receive items in bulk. This input region 102 is in turn communicating with the network of tray conveyors 104.
[00102] [00102] In this particular embodiment, the tray carrier network is located above a second customer carrier network 106. However, this is not required, and the relative vertical locations of the first and second carrier networks can be be inverted, or according to additional alternative embodiments, the two conveyor networks (tray, customer) can be positioned on the same vertical level. In accordance with yet other embodiments, the separate customer conveyor network that distributes outbound packages can be located on the opposite side as the incoming tray conveyor network.
[00103] [00103] The trays are fed along the tray conveyor to the entry area of a tray buffer 108. The tray buffer, in turn, receives the trays from a tray washing station 110 that works to sanitize the trays once they have completed their previous product treatment activities.
[00104] [00104] As additionally shown in Figure 1, once the product items are arranged in the trays, the trays move along the tray conveyor belt from the entry region to the carousels 112. There, the trays are loaded (for example, by a robot and / or conveyor 113) on the carousels for storage under controlled conditions.
[00105] [00105] As previously mentioned, the product treatment system of Figure 1 additionally comprises a second customer conveyor network 106 which is located at a lower level relative to the upper tray conveyor network. This particular embodiment shows a customer carrier network 106 as a two-way configuration.
[00106] [00106] For particular embodiments using conveyor belts, these conveyor belts can cause fixed separation between transported trays and / or packaged product items. The straps can be shown to determine cleaning needs. A conveyor belt can be configured to lift layer by layer, and can feature grooves and or lifts similar to a duster. Certain embodiments can provide a human-assisted station that shares a conveyor with robot elevators.
[00107] [00107] Via the customer carrier network, the customer packaging deployment tool 114 provides empty product packaging (for example, a bag or box) for the customer packaging loading station 118 which is close to the carousel. There, individual product items are loaded from the shelf in the product packaging, and transported via the customer's conveyor network to a loading dock 120 and, consequently, to the customer in packaged form.
[00108] [00108] Figure 1B is a simplified plan view of the embodiment of Figure 1. Figure 1B shows an input pallet 122 of individual product items 124 (e.g., apples) in bulk form. Each individual product item is inspected 125 and then arranged at a known location on a tray 126. As shown in 128, the tray will be moved by the network of tray carriers to the appropriate carousel and placed in storage with the product items in it.
[00109] [00109] Figure 1C is a simplified enlarged isometric view of the embodiment of Figure 1 illustrating six carousels 112. The enlarged view of Figure 1C also shows a corridor conveyor 119 that links successive carousels, as is further discussed below.
[00110] [00110] Figure 1D is another simplified plan view including a section of the embodiment of Figure 1B. When an item from the shelf is selected by a customer, the tray will exit the carousel. In this particular view, the tray in Figure 1D is shown coming out of a different carousel than in Figure 1B, which may have been transported during an intermediate stage, via the network of tray conveyors.
[00111] [00111] The unloading equipment 130 will remove from the bank, the particular item that was requested by the customer. The tray will return back on the carousel until called again or empty.
[00112] [00112] Once the order is filled, the customer's carrier network will transport 131 the selected product item 124 along with customer packaging 131 to the loading or distribution area.
[00113] [00113] It is noted that some embodiments, the conveyor belts that transport the customer's packaging, can also move a passive or active device adjacent to some or all of the packaging. This device can assist in placing items in the bag or box.
[00114] [00114] An example of a passive device may have spring loaded 'landing pads' or an active controlled height 'shell'. With the latter, the items land in the shell (which can change the height, and then fall into a package). Another example of an active device could be a robot. Devices (which may also have cameras) can be powered by the conveyor belt (powered or induction), or powered by battery.
[00115] [00115] While the description above indicated the loading of product items into the trays, this is not required by all embodiments. According to alternative embodiments, items entering the product treatment system can already be arranged on a tray.
[00116] [00116] An example can occur for standard items (for example, cereal boxes). Here, each cereal box product item can be associated with data such as an expiration date (and potentially an individual serial number).
[00117] [00117] Trays can arrive pre-loaded with non-standard items (for example, product, individually cut meat / cheese / meat…, others), and already be associated with individual product item data such as product data images or other sensor data. The incoming tray may also include a mechanism for measuring and classifying environmental conditions, since the tray has been jammed.
[00118] [00118] Such environmental post-tray packaging conditions may include temperature and vibration / impact (for example, via a G meter). In this way, a system according to a concretization would receive the prepackaged tray for treatment, as well as data associated with that particular tray.
[00119] [00119] According to certain embodiments, product treatment systems can also be used to transform packages comprising one product each, into other packages having specific mixtures of product items. In such a 'break pack' implementation, a distribution center transforms incoming packages of one type of item (for example, typically from the factory) into mixed packages intended for the neighboring grocery store to replenish what has been consumed (for example , 3 boxes of cereal A, 6 cans of tuna, 3 salt shakers, etc.)
[00120] [00120] It is further noted that temporal factors (for example, urgency of distribution) can impact the way in which individual product items are dispensed from the carousel in the packaging. Thus, where needed for a delivery time, under a 'split bag' mode of operation, a product handling system can use more than one customer package to fill a customer order. Here, the item (s) most urgently needed would be dispensed in the first packaging, followed by less urgent items being dispensed and loaded into a different packaging.
[00121] [00121] Product treatment systems, according to the specifications, can also pre-calculate and store estimates related to the order fulfillment time. Such expected filling data can be referenced by the system to decide whether or not to classify the split bag mode in order to find an urgent order.
[00122] [00122] An exemplary sequence of actions that can be performed by a product treatment system according to a concretization, is now described together with the flow diagram 1000 in Figure 10. First, in 1002, the incoming material in bulk form it is received for transfer in the trays if necessary.
[00123] [00123] The transfer of product material in the trays can be automatically or manually performed. In the case of automatic transfer in the dedicated trays, products are placed or dumped by a human or mechanical tool, or picked up by a robot on a conveyor.
[00124] [00124] In 1004, the carrier will classify individual product items in an orderly manner for inspection. During a 1005 inspection process, individual product items are worked on / inspected, and images / data are associated with each item (for example, as metadata).
[00125] [00125] After inspection, the system will load 1006 each product in trays and transport the trays to the storage area (for example, carousel). In some cases, items are classified in the Trays based on certain criteria (for example, different size, quality or maturation in different Columns).
[00126] [00126] Once transferred to a known location on the tray, in 1008 that information will be kept at least until the item has been placed in the packaging for delivery. All or some of the data and metadata can be stored for longer to allow learning once feedback from a customer or other entity is obtained from the items.
[00127] [00127] In 1010, Trays are loaded on carousels. Trays can be loaded manually or automatically. The trays can be loaded through the same door from the product items are later dispensed, or (as in the illustrated examples) through a separate door or level. In a possible alternative, the trays remain inside the carousels and the items are loaded individually. Alternatively, the trays are loaded into other trays close to a carousel and placed on the carousel manually.
[00128] [00128] In 1012, when an item is selected by a customer and needs to be dispensed in packaging, the carousel can bring the tray to the dispensing door. Here, the tray can be moved to the staging position from which individual items will be dispensed. The tray can be moved by a transport element inside the carousel, or by an external lifting mechanism (for example, belt or robot). Alternatively, individual product items can be dispensed from the tray, while the tray remains inside the Carousel.
[00129] [00129] From the staging position, in 1014, items are dispensed from the trays in packages (for example, distribution, internal, or transient) that are moving along the aisle conveyor. Alternatively, the packages can be moved by an independent moving vehicle / robot.
[00130] [00130] The corridor conveyor is positioned to support one or more parallel series of carousels along its direction of travel. The aisle conveyor transports the various packages and potentially the input trays (for example, with product items) and output trays (empty, expired, or otherwise, removed from the system).
[00131] [00131] The packages can be moved continuously or indexed and stopped near the staging positions. Packages can stop at any staging position along their corridor, or as needed. Packages can advance at fixed intervals, or as needed.
[00132] [00132] Packages can be placed in a aisle conveyor in coordination with placed orders and the expected availability of items for transporting the staging positions along the aisle. Alternatively, transient packages are placed at fixed intervals.
[00133] [00133] Specific packages (for example, including specific inserts if necessary) can be placed on the aisle conveyor for specific orders. If the exact number of packages required in order is not precisely known in advance (for example, a certain order may not be based on a package) than extra 'buffer' packages can be placed on the aisle conveyor in all various packages.
[00134] [00134] A package can travel in more than one aisle conveyor to collect the items needed for a particular order. Alternatively, the distribution package can move in one or more aisles and both / or transient packages or internal packages will move below one or more other aisles.
[00135] [00135] In this case the items can be merged into one or more distribution packages manually or automatically. Additional items considered too large or fragile for automation can also be manually added to the loading at the end of the aisle conveyor.
[00136] [00136] As described here, robots can be used in one or more stages of the product treatment sequence. Examples of product treatment activities that can be performed by a robot may include, but are not limited to: • handling individual product items for inspection / image;
[00137] [00137] There may be one or more robots per location in the product treatment system. Robots can be optimized in terms of weight and adherence to specific product items and / or system components (for example, trays). A robot can have several clamps, switch clamps, or each of the robots can have a different clamp.
[00138] [00138] Robots can reference several pieces of information to grab a product item. Examples of such information may pertain to the layout of the tray, images taken on the main conveyor or side conveyor before, and / or dedicated images taken close to the robot (or on the robot arm).
[00139] [00139] Robots can be of various types, including, but not limited to, cartesian, Selective Compliance Assembly Robot Arm (SCARA), cylindrical, delta, polar or a 4 or 6 axis articulated robot. Robot clamps can use pressure by rigid or flexible claws, vacuum / suction, magnetic lifting, electrostatic, leaking vacuum (for example, Bernoulli elevators), or a combination of these.
[00140] [00140] A robot can use features inside the trays to allow the lifting of product items, especially delicate / damageable items. In certain embodiments, these can be similar to rake / trash, which grab items that have been pinned up (for example, from the bottom with a potential balance / locking thumb from above).
[00141] [00141] The packaging may pause adjacent to carousels or may have a parking area for one or more (for example,
[00142] [00142] Due to its intimate relationship with the product being handled, the tray component forms a component of a product treatment system. According to certain embodiments, a tray can be wider than it is tall.
[00143] [00143] In some embodiments, a tray may comprise a plate formed of plastic or metal, which holds individual items or item recipes, in a controlled order, while the tray moves through the system.
[00144] [00144] Product items can be arranged on the loose tray (for example, an individual apple). Alternatively, product items may be contained within a box (for example, a box of tomatoes).
[00145] [00145] A tray can receive one type of item as a standard, but they can also receive more than one variety. This can occur for low consumption items. A tray can receive a subcategory of an item (for example, oranges between 3 and 4 Pounds Vs oranges 4 and above).
[00146] [00146] Some product items may be partially packaged. Examples include parsley tied with a rubber band, bunches of bananas, etc.
[00147] [00147] Product items can be individually labeled, for example, with bar codes, and / or RFID tags. The tray itself may have a bar code, RFID tag, or some other mark to allow tracking if necessary.
[00148] [00148] Product items inside the trays can be arranged in rows and columns. Lines can be oriented parallel to the edge of the tray from which they are unloaded. Columns can be separated by barriers to allow product items to be arranged within the columns using grooves or other molded features.
[00149] [00149] Specific embodiments can classify items such that each box is inside a different column. Here, the crate can represent quality, size, appearance, or a different type of product.
[00150] [00150] The trays can be open, or have an open wall on one or two of the edges parallel to the lines. Alternatively, the trays can be closed on all sides.
[00151] [00151] Trays may have openings, slots, holes, or other characteristics to allow lifting and / or moving the bottom product items. Figure 2 shows a perspective view of a tray according to an embodiment. Figures 2A-2B show edge and plan views, respectively, of a tray embodiment. Tray 200 includes slots 202 and slots 204.
[00152] [00152] Certain tray characteristics may retain a particular type of product or a certain variety (for example, stone fruit of a given size range, oval shape, loose leaf, etc.). Figure 3 is a plan view of an embodiment of a tray having groove features configured to retain fruit items 300.
[00153] [00153] Trays exhibiting different characteristics can be used to effectively handle various types of product. Trays can hold product items in a known location that will not change during transportation.
[00154] [00154] The trays can be designed with sufficient spacing and other characteristics to allow tasks such as image formation, scanning, detection, and / or elevation. Trays can
[00155] [00155] Embodiments of product treatment systems can inspect trays for cleanliness and integrity. The trays can be single use or multipurpose.
[00156] [00156] Some tray embodiments may feature a multipurpose part covered by a single-use layer. Such a single-use layer may comprise paper, plastic, cardboard, or other materials.
[00157] [00157] Product treatment system embodiments may include mechanisms for cleaning trays after some or all of the product items have been removed. Cleaning can include washing, brushing, electrostatic discharge, UV, vaporization, or other disinfectant techniques.
[00158] [00158] For image formation proposal, product items that are to be transferred to trays, can be loaded on transfer conveyor belts. Such conveyor belts may have imaging stations and / or other detection stations.
[00159] [00159] Examples of imaging techniques that can be employed may include, but are not limited to: • multispectral imaging • hyperspectral imaging • acoustic or optic-acoustic detection • optical spectrometers • 3-dimensional imaging • UV imaging • imaging visible • infrared (IR) image
[00160] [00160] Examples of detection technology that involve other than electromagnetic imaging may include, but are not limited to: • chemical detection (for example, odor detection technology); and • physical detection (for example, spring loaded or weighing firmness gauges - of or individual items or trays).
[00161] [00161] All items, or a sample of these, can be placed in image and / or detected. Product items can be imaged or detected individually, or collectively, or in subgroups.
[00162] [00162] The weight can be estimated from the size of the product and / or the size of the product relative to another product in the tray when the total weight of the items in the tray is known.
[00163] [00163] The weight can be determined if the item is lifted by a robot. This weight can be used to refine the estimate.
[00164] [00164] Imaging and / or detection can occur as long as the product items are located on a transfer conveyor belt, are gripped by a robotic arm, or as the product items are rolling or falling before be arranged on a tray.
[00165] [00165] A transfer conveyor can be optically transparent to allow image formation of product items from multiple sides and / or accessible angles. However, items can also be grabbed and elevated for inspection, imaging, or detection, or simply elevated such as via cushioned pins that protrude through holes in the conveyor belt and / or tray.
[00166] [00166] Additionally, image taking / secondary inspection can occur during storage, or before dispensing a product in a packaging. Such an imaging / inspection can be used as a final go-no-go check step after the attributes of the product item have been determined from prior imaging.
[00167] [00167] Other sensors and / or image capture devices can be used to confirm the successful transfer of trays, items, and packaging.
[00168] [00168] As described in detail below, the product treatment system can comprise the trays used in conjunction with the carousel elements. One or more sensors or cameras can be installed inside the carousel.
[00169] [00169] Such carousel sensors / cameras can image some or all of the items as the carousel rotates (for example, a part of regular movement or to specifically allow image taking). Several images can be taken during the movement to allow viewing from different perspectives, and optionally 3-D reconstruction of the product.
[00170] [00170] Some embodiments may install cameras on the top of the carousel to provide a top view of the tray. The cameras can be positioned at the top at the front and at the back so as to 'triangulate' an image.
[00171] [00171] Items can be taken in image once they enter, periodically (such as every day, using spare time, for example), or based on other rules. Items can be imaged from the top, while supported on trays, and then turned individually or as a total tray to be imaged from the other side, or otherwise manipulated to rotate that they can be taken in image from the other side.
[00172] [00172] Image formation can occur on the main conveyor belt, and / or on the side conveyors, and / or in the storage cabins, and / or at parking points before a robot manipulates the item.
[00173] [00173] A block can represent a plurality of trays. A given block can contain a set of items (for example, all fruits and vegetables, all dairy, etc.), and is expected to retain many (for example, tens, hundreds, or even thousands) of unique items.
[00174] [00174] A block can contain all or some of the items for sale. The block can hold multiple trays of frequently accessed product items to ensure fast supply. Conversely, a block may have partial trays, or none of items rarely accessed that will instead be loaded on demand.
[00175] [00175] The conveyor belt can lead to a set of modules that can be located orthogonally on one or both sides of the conveyor belt. The modules can be dedicated to a specific variety of items (similar to fruit versus vegetables, packaged product items versus loose product items, etc.). Specific trays can be moved to the side conveyors of individual modules as they pass through the conveyor.
[00176] [00176] According to the embodiments, a loading mechanism can be employed to move product items to and / or from the trays. In particular, once the product items have been inspected (for example, by imaging and / or detection), they are classified in trays.
[00177] [00177] One method to follow this classification is to move the items along conveyor belts. Trays (for example, with slots) can be positioned above a lifting conveyor. The elevating conveyor will rise through the tray and thereby allow product items to be transported over the tray.
[00178] [00178] Once in place, the carriers will move down and the items will rest on the tray. This is represented graphically in the plan view of Figure 4, where product item 400 is arranged on the tray by the conveyor 402. The tray can then move for storage (for example, on a carousel).
[00179] [00179] Several stations can be used to match the variety of items. Alternatively, the automatically adjustable conveyor can accommodate all or many of the possible varieties of product items.
[00180] [00180] In certain embodiments, trays with product items already arranged in it, will be loaded in carousel elements. According to an alternative approach, product items can be loaded in trays that are already on the carousel.
[00181] [00181] Figures 5A-D show different views of an example of a carousel 500 according to an embodiment.
[00182] [00182] The carousels can be oriented in a horizontal direction, containing several dozen trays. Carousels can exhibit the ability to bring individual trays to the transfer station 502, from which they can be moved in the staging position 504 (FIG. 5C).
[00183] [00183] The carousels can operate in a continuous way of indexing, bringing the following trays to a unloading station. Alternatively, the carousel can call trays in turn as needed.
[00184] [00184] Each carousel can operate with its own specific controlled environmental conditions. Examples of such conditions may include, but are not limited to: • temperature, • humidity,
[00185] [00185] According to the embodiments, a carousel can have an opening (for example, slot) for loading and unloading. The opening can be parentally opened, a door actively opened, opened / closed by the movement of the tray, or closed with a material that allows movement of the tray (for example, a plastic sheet).
[00186] [00186] Carousels can be designed to allow placement of trays with different spacing. This can allow treatment of product items displaying different sizes (for example, heights).
[00187] [00187] Alternatively, trays can be designated with fixed spacing. A control program can determine which slot is appropriate for each tray height. A single carousel (an engine) can rotate one or more Tray columns.
[00188] [00188] Carousels can be designed with belts in cameras and sensors to continue monitoring products as they age. A specific design can have cameras or other sensors located at the top of the carousel path, inspecting the products in the tray that passes at the top.
[00189] [00189] Additionally, there may be rejection mechanisms built in the carousels to allow the items to be automatically removed from the system. A drawing can employ elevating carriers at the bottom of the carousel path. These carriers are able to lift and remove an item from the tray as needed.
[00190] [00190] Trays can be removed from the carousel manually
[00191] [00191] For crossbeam embodiments, the carousel can stop with the appropriate tray at the front of the dispensing door. One or more beams would move on the carousel, lift the tray up and pull it out of the door, and down on a conveyor belt or rollers.
[00192] [00192] For the case where the conveyor is built on the carousel, each line of the carousel can have its own set of belts or rollers actuated to remove the tray. Each line can have its own motor, or a single motor can engage with the conveyors at the dispensing door.
[00193] [00193] Once located in a staging position, the tray will be in proximity to the aisle conveyor. This will allow items to be transferred from the tray in the staging position to the packages.
[00194] [00194] Referring now to Figure 6, conveyor belts 602 can lift through openings 604 in tray 606. Product items 608 can be moved along a conveyor in a position 610 from which they will be transferred 611 to the pile - treatment, or in a separate transfer mechanism that will move the product items into the packaging.
[00195] [00195] Figure 6 shows a perspective view of a tray with product items arranged in it, interacting with a 600 transfer mechanism. Figures 6A-B show plan and edge views, respectively.
[00196] [00196] Product items can also be pushed, lifted, or dragged from the tray to that position for packaging.
[00197] [00197] Once the product item or items have been removed from the tray, the tray will be transported back on the Carousel to store remaining items.
[00198] [00198] Details related to a transfer mechanism for moving product items apart from the tray according to the embodiments, are now discussed. Specifically, once an item is outside a tray, it can be moved into packaging by multiple methods.
[00199] [00199] One method is to have a robot that captures the item and places it in the packaging. Here, there may be specific EOATs for various classes and sizes of products. Some EOATs may have suction cups, others may have tongs, yet others may excavate items above.
[00200] [00200] An alternative method is to have the product items fall from the end of a conveyor into a receptacle such as a rigid box or flexible bag, which may or may not have padding to break the fall. Figure 9 shows an example of such an embodiment featuring a 900 receptacle.
[00201] [00201] The item may fall on a spring loaded slide or rim that falls below the bag or box to mitigate the landing. The bag or box can be actuated to raise the box above the edge of the conveyor. The box can also be constructed in a way that the one or more sides of the bag or box temporarily collapse to allow items to be brought into them.
[00202] [00202] A third possible approach is to employ a vertical conveyor whose belt has large edges to retain the product item. Figure 8 shows a side view of such an embodiment that includes edges 800.
[00203] [00203] The carrier would lower into the bag or box, or the bag or box could rise around the carrier. The carrier can be acted on in a way to select the location to drop the item into the box or bag.
[00204] [00204] A fourth approach is to have the item move above the packaging on a conveyor. Once in position, the carrier pivots downwards similar to a trap door. Figures 7A-C are side views showing the operation of such an embodiment.
[00205] [00205] The carrier can lower in the bag, controlling the descent of the item until it is beyond the reach of the carrier. The straps can be produced from a thick foam that helps to capture the items in the means of access. There may be two or more lanes on each side with several spacings that can process several dimensioned items. Each station can be assigned a certain shape, weight or volume. Or, a design can be actuated in a way that the location of each belt is movable to handle a variety of items.
[00206] [00206] A fifth method is to pull or push the product items from the rear of the column or row of the tray. This can be followed from above, via a mechanical gantry system, from below via an actuator through a slit, or using a robotic arm.
[00207] [00207] A sixth possible method is to transport the product items through a hole with a pile of mesh or plastic wrapped around it. As the items are pushed, the bag will roll forward until full and then be finished and closed.
[00208] [00208] Certain embodiments may feature a transfer mechanism per tray. Other embodiments may feature a transfer mechanism per column or row of the tray.
[00209] [00209] There may be one or more transfer mechanisms per carousel. The transfer mechanism can be actuated in such a way as to move between positions. Alternatively, individual product items can be lifted on conveyors in the staging position and then transported to one or more fixed transfer mechanisms.
[00210] [00210] The embodiments of product treatment systems may allow the customer to select specific items. In some cases, for example, product or other non-uniform products (meat, deli cheese, etc.,) the consumer may be offered the ability to choose from a number of specific items.
[00211] [00211] According to such embodiments, images or other data (for example, detection) provided to the customer, may allow him or her to successfully execute the product selection. The specific item can be reserved for a certain amount of time allowing selection. Once selected by the customer, the specific item will be sold from the carousel.
[00212] [00212] Certain embodiments may allow dispensing only from the front line (for example, closer to packaging). Here, customer selection can be limited to the front row, and / or selection of sequential items in the same column will be possible.
[00213] [00213] In alternative embodiments, a series of carriers can move some items outside a column or row, so that an interior item can be sold to the customer. The carriers can then move the remaining items back into the tray for return to storage.
[00214] [00214] The achievements can offer the client multiple qualities to evaluate when selecting his item. The customer can evaluate color images of the item from multiple angles. The client can also be offered hyperspectral images.
[00215] [00215] A system according to the embodiments can show a customer a classification that signifies the firmness of the item. Classification can be on a scale showing maximum firmness for similar items. For example, the right pear a tree can be rated with a value of 10, while a pear on the expiration day can be rated with a value of 0.
[00216] [00216] The scale can be adjusted based on the item's station. For example, off-season product may have the narrowest range of possible ratings.
[00217] [00217] Similarly, a rating scale can be shown for various characteristics of product items. Examples may include, but are not limited to: • sugar content in the fruit • the ripening of certain items similar to bananas or avocados • a total rating that shows our combined assessment of the total quality of the item. The rating scale can be any set of numbers, or an A, B, C, D, F, or similar scale.
[00218] [00218] Product treatment systems, according to the embodiments, can include areas of incorporation and / or loading. At the end of aisle conveyors, other conveyor systems (or product movement mechanisms) can transfer packages either to other aisles, or to a loading area.
[00219] [00219] Multiple packages can be incorporated in one or more distribution packages. For embodiments featuring transient packages, individual items can be lifted or otherwise transferred (such as spilled) into distribution packages.
[00220] [00220] The product treatment systems can feature a buffer station where packages are waiting. The wait can be for other packages in the same load, or for other reasons.
[00221] [00221] The nature of the distribution packages according to the embodiments, are now described. Distribution packs can be bags, simple boxes, or boxes with spacers on the inside.
[00222] [00222] A packaging option is for stackable single layer boxes. Another option is to have boxes of varying heights, with the box last used determined by the largest item that is designated to retain.
[00223] [00223] A box height can be designated to have 1 or more layers, with packaging material to contact fragile items, and remaining layers for regular items. The packaging for a fragile layer may have a formed plastic or cardboard insert sized to fit various types of items (for example, round, oblong, flat, etc.).
[00224] [00224] The packaging can be single use of recyclable material, and can be recycled. The packaging can also be designed to be returnable from the customer.
[00225] [00225] Transient packaging can be individual bags or boxes with items collected in a larger box. Transient packaging can be a large tray on which items in an order are placed for transport to the packaging area.
[00226] [00226] Various distribution packages can be collected for a sales order. This can, for example, be due to the use of vertical stacking or nylon wrapping, or another technique.
[00227] [00227] The embodiments can employ techniques for controlling the queuing and / or regulating the movement of the product through the product treatment system. Particular embodiments may use information from orders received, as well as orders that are expected. The latter can be followed through machine learning techniques that are out of tune with past behavior.
[00228] [00228] An example of product movement that can be coordinated, is to send packages on aisle conveyors. This packaging shipment can be for distribution, internal movement only, or for transient packaging.
[00229] [00229] Another example of product movement that can be coordinated according to the embodiments, is to bring the trays to an unloaded position from the carousels, and to the staging position. This movement may need to be done in time to empty the loading of specific items in the packages.
[00230] [00230] Yet another example of product movement that can be coordinated is action to bring trays, transient packaging, or customer package boxes to the robot's loading area. The activity of conveyors, carousels, and loading mechanisms can be coordinated in order to maximize the production of the system and minimize the time it takes to receive the order for packaging.
[00231] [00231] The embodiments of the product treatment system can work to optimize the location of items in the trays, and the location of trays in carousels. This allows each carriage and packaging location to be fully utilized.
[00232] [00232] The embodiments can track the performance of the various components. A healthy total system can be revealed to users.
[00233] [00233] Embodiments of product treatment systems can also operate to plan for optimal packaging, for example, by calling specific package boxes as necessary to fill each order. In one embodiment, the system can place large heavier items at the beginning of a signal that those items are at the bottom of the package. Then, as the packaging becomes full, progressively lighter and more fragile items can be positioned at the top.
[00234] [00234] The embodiments can also work to determine where in the box a particular item should be placed. This allows you to know where the product items are located through the full packaging sequence.
[00235] [00235] The image and detection data collected from the product items (as well as other available information, such as images or other measurements / information taken prior to arrival at the facility) can be used to assign properties to the item. Such other information may include data provided in bar codes or similar mechanisms such as RFID tags. These can be located in the individual item, in the incoming tray, or can be traced to the input loading. In some embodiments, the other information can be measured 'off-line', such as a sample of fruits that are sent for laboratory tests, or savored.
[00236] [00236] The customer can be offered several packages if desired. In one example, the product can be selected based on an expected day of maturation. In this way, an instruction received from the client can be to “select 7 bananas, one that ripens every day for the next week”. Alternatively, a customer can order one box of fruit a day, each box maturing as needed.
[00237] [00237] In another example, a customer can select kits specifically foreseen for a certain recipe. In this way, bananas
[00238] [00238] Alternatively, a customer can order a lasagna kit. During the selection process, the customer can be offered a list and choose some or all of the ingredients from this list.
[00239] [00239] The embodiments may allow external links to be placed on recipe sites, so that a user can add the recipe to his list of saved recipes. For example, a customer may prefer the pasta sauce available from a particular website, and click the option to save the recipe. This product item will then be added to the customer's profile.
[00240] [00240] Later, the customer can look through their recipes and plan meals for the week by selecting each meal and the day that is expected to be eaten. The achievements can then sort through the order and select items of the best quality of the day table for consumption.
[00241] [00241] According to the embodiments, the product treatment system can also be connected to other Internet of Things (IoT) devices that are able to determine or predict particular items already present in a customer's refrigerator or cabinet. These particular items may then be able to automatically order a recurring period of time. Alternatively, when a recipe is ordered, items already owned by the customer can be automatically removed from the list.
[00242] [00242] A system according to the embodiments can be connected to devices controlled by voice. This allows a user to add an item to their grocery list so that it can be saved for a characteristic order. A customer can track this by asking to have saved items to be carted, or by notifying the system of a deficit for a certain item. Information related to particular dishes, or recipes can be saved in a similar way.
[00243] [00243] Users of the system may have the ability to save past quality preferences. Thus, if a customer has ordered the level of zucchini B (for example), this customer can check a box saving that preference for all future zucchini purchases. This shortens the verification time and improves consumer confidence.
[00244] [00244] Image and other parameters (for example, detection) can be stored long enough to allow comparison after customer feedback has been received. (This may take about a week to purchase fresh produce.) The information stored may be the raw data or a subset of it that has been processed (for example, for compression or encryption).
[00245] [00245] Parameters or classifications can be referenced to offer different price schemes or price dynamics (adjustable) based on quality and / or variations in supply demand.
[00246] [00246] A customer can provide feedback on the particular parameters of the distributed product. Examples of such parameters may include, but are not limited to, the quality, maturity date, stains, or other parameters of the purchased product.
[00247] [00247] The systems according to the embodiments can use machine learning to process feedback information along with other collected parameters (for example, images of product items). This allows the system to fine-tune the accuracy of predicted general properties (for example, maturation day, color, cultivation, and other attributes), as well as the preferences of a specific customer. Such data processing can assist customers in obtaining preferences, allow vendors to assess supplier performance, and allow suppliers to collect information.
[00248] [00248] The user interface (UI) can include images or virtual or augmented reality scenarios. In one example, a user can enter a virtual supermarket where they can inspect and select the specific one to be placed in their cart. Such an online store environment can be optimized to minimize time spent selecting items in an order that they are shown according to preferences.
[00249] [00249] Product items not normally brought by a particular customer can be presented for inspection (including physical treatment).
[00250] [00250] Recipes offered by the system that accompany product items, may be available for customer review to inform about possible uses for the product. If a recipe is selected, the user may be asked to add the other recipe items to be carted. Alternatively or in addition, a user who selects a recipe can enter a virtual environment that reveals finished dishes or recipes for ordering other ingredients as desired.
[00251] [00251] According to the embodiments, a product treatment system can provide estimated packaging time based on factors including, but not limited to: • the contents of the order • other orders in the queue, and • the known content of the block containing other orders.
[00252] [00252] A product treatment system according to the embodiments can suggest changes in the order to reduce time of package availability. The system can also actively suggest changes in the order based on price considerations, for example, to find a budget request.
[00253] [00253] Example
[00254] [00254] An example of a product treatment system is now described. An embodiment of an automatic system allows you to quickly distribute a large number (in the order of many 10,000's) of unique incoming products in packages for distribution to the customer.
[00255] [00255] According to one embodiment, the system provides an automatic grocery store that offers fast (for example, minutes) filling and packaging. In particular, grocery items typically involve 1,000s or 10,000s of unique items.
[00256] [00256] For example, individual product items in the fresh produce field, can comprise a large volume of associated data. That is, an individual fruit or vegetable (for example, an apple) can be associated with one or more of the following pieces of information: • product item identifier (ID); • size; • color; • variety; • date of collection; • source (for example, farm); • result of visual inspection; • non-visual inspection result (for example, smoothness, gas sample, many others).
[00257] [00257] This information can be stored in electronic format in a non-transitory computer-readable storage medium. In one example, information can be stored as fields in a data object stored in a database. The information can shift associated with the particular product item, together
[00258] [00258] After user selection of the particular product item (for example, apple), the product treatment system can dispense the item to the consumer along with the packaging (for example, box, bag, along with any insert) within a short time structure.
[00259] [00259] While this particular example describes an embodiment that is designed for use in packaging distribution and fresh product distribution, this is not required. Other potential applications may call for the rapid completion of a large number of product options, for example, in the area of recycling clothing or other items.
[00260] [00260] Particular embodiments may be especially suitable to allow rapid distribution of a large number (in the order of many 10,000's) of unique incoming products in packages for customer distribution. In contrast, a conventional online retailer can transport millions of different individual items in warehouses for distribution.
[00261] [00261] The embodiments can, thus, offer an efficient solution of space that can be local within the proximity of customer demand. However, some embodiments may be located in larger warehouses outside densely populated areas. The systems can allow for a high level of quality control, allowing customers to avoid inefficient travel to and from a store in order to select individual items for freshness and relevance.
[00262] [00262] In summary, the embodiments can offer optical inspection (hyperspectral, potentially 3D, potentially multi-angle) or other (similar to acoustics, pressure gauge, gas detection systems,
[00263] [00263] The embodiments allow the customer to select specific product items (for example, a particular tomato) based on one or more of the following: • specific information (images); • specific or aggregated sensor data; • typical images (of others that we classify in the same box); • metadata accompanying the items (manufacturer's location and collection data if applicable, storage and transport conditions, etc.); • the ranking of a specific item within a larger aggregate of items; • other criteria (such as size, weight, volume, color).
[00264] [00264] The embodiments may offer storage of product items within carousels that control multiple environmental factors (eg, temperature, humidity, proximity and product-to-product interactions, mold growth, gas detection). Such a carousel-based storage system can be designed to allow quick packaging of individual products to provide quick order fulfillment.
[00265] [00265] The embodiments may permit the sale of fresh product in either a distribution packaging, an internal packaging, or a resilient packaging. Here, an internal package represents a tray that will later go in a box with others. A resilient packaging serves only to transport the product item (s) to a loading packaging location where a loading packaging is consolidated.
[00266] [00266] In the case of direct sale in a distribution package
[00267] [00267] According to certain optional embodiments, internal packages, and / or individual items, and / or transient packages can be merged into a distribution package if appropriate.
[00268] [00268] In some cases, other material may be added to prevent damage to items in loading or packaging. Examples may include, but are not limited to, cardboard, shredded paper, inflatable plastic bags, or other fillers. Alternatively, the individual dispensed product items can be covered with another flat or molded surface or a stretch or inflatable membrane for protection during loading.
[00269] [00269] The embodiments may allow individual item selection by a consumer based on image data and other sensor data. This selection can be enhanced by learning consumer preference (s) based on the image, collected data, and other sensors. This can be achieved independently, or in conjunction with automatic features.
[00270] [00270] Various product treatment systems according to the embodiments can exhibit one or more of the following characteristics. Certain embodiments can keep specific selected single product items for a customer, while they are in your cart. Some embodiments can save a customer's quality preferences for future orders.
[00271] [00271] Particular embodiments can feature recipe buttons that allow the user to save a recipe, and select one or more particular product items from that recipe as part of an order. Product grouping characteristics can facilitate a user who orders total recipes, kits or a series of items. Several embodiments may allow for optional navigation and selection of menu options instead of individual items.
[00272] [00272] Voice controlled additions to a cart can be allowed for future orders. Several embodiments can implement dynamic pricing based on factors that may include, but are not limited to, expiration dates, consumer feedback, and carrier charge. Some embodiments may dispense product items for packaging according to the expected expiration date.
[00273] [00273] Figure 11 is a simplified diagram illustrating an embodiment of a product treatment system 1100 according to an example. Specifically, a user 1102 interacts with a processor 1104, via a 1106 graphical user interface (GUI).
[00274] [00274] The processor is in communication 1107 with both a database 1108 in a storage medium readable by a non-transitory computer 1110, and the various other components of the system
[00275] [00275] The individual product items are then inspected
[00276] [00276] As extensively described above, the individual single product items are then loaded 1124 into the tray (s). Again, the processor stores in the database, the corresponding
[00277] [00277] Then the trays are moved to the carousel for storage 1130. A carousel identifier 1132, and a location 1134 in the tray inside the carousel, can be stored by the processor in the database associated with the others IDs, therefore, allowing tracking of product and tray.
[00278] [00278] The specific data relevant to various product items are then communicated 1136 from the processor to the GUI, where 1138 are revealed to the user. Based on this revealed product item data, the user provides an entry to select 1140 a particular product item.
[00279] [00279] The processor receives this selection, and in response communicates an 1142 instruction to the carousel. Based on that instruction, the carousel dispenses 1144 the single product item in the packaging. Finally, the product item along with the packaging is distributed 1146 to the customer.
[00280] [00280] Clause 1A. A method comprising: classifying a first single product item from a plurality of product items; assign a first identifier to the first unique product item; conduct a first inspection of the first single product item; classifying on a non-transitory computer-readable storage medium, a result of the first inspection associated with the first identifier; arranging the first single product item on a tray in a location that is assigned a second identifier;
[00281] [00281] Clause 2A. A method as in clause 1A further comprising: communicating the first identifier and the result of the first inspection to a customer; receive an instruction from the client including the first identifier; in response to the instruction, reference the second identifier based on the first identifier; in response to referencing, make the carousel dispense the product item from the first single location in a package; and distribute the product item in the packaging to a consumer.
[00282] [00282] Clause 3A. A method as in clause 2A in which: conducting the first inspection comprises conducting an optical inspection; and the result of the first inspection comprises an image of the unique product.
[00283] [00283] Clause 4A. A method as in clause 2A further comprising: conducting a second inspection of the first single product item; classifying in the non-transitory computer-readable storage medium, a result of the second inspection associated with the first identifier; and communicate the result of the second inspection to the customer along with the first identifier and the result of the first inspection.
[00284] [00284] Clause 5A. A method as in clause 4A in which the second inspection is different than optical in nature.
[00285] [00285] Clause 6A. A method as in clause 1A in which the controlled environmental condition is selected for temperature, humidity, exposure to lighting, and proximity to another single product item.
[00286] [00286] Clause 7A. A method comprising: communicating to an interface, an inspection result for a single product item stored under a controlled environmental condition inside a carousel; receive from the interface a selection of the single product item; in response to the selection, reference a data object stored in a database to correlate a first identifier for the unique product item with a second identifier for a specific location within a tray on which the unique product item is arranged; and based on the second identifier, communicate an instruction to the carousel to dispense the single product item in the packaging.
[00287] [00287] Clause 8A. A method as in clause 7A, in which before the communication the method additionally comprises: classifying the first single product item out of a plurality of product items; assign the first identifier to the first unique product item; conduct a first inspection of the first single product item;
[00288] [00288] Clause 1B. An apparatus comprising: a first carousel configured to receive from a first transport network, a tray including a unique location associated with a first identifier and supporting a unique product item associated with a second identifier, the first carousel configured to hold the item unique product under a first controlled environmental condition; a transfer mechanism configured to dispense the single product item in a first packaging at a staging location; and a second shipping network configured to move the single product item and the first packaging from the staging location for distribution to a customer.
[00289] [00289] Clause 2B. An apparatus as in clause 1B in which the first package comprises a distribution package.
[00290] [00290] Clause 3B. A device as in clause 1B in which the second transport network is configured to move the single product item for distribution via a second roundabout.
[00291] [00291] Clause 4B. An apparatus as in clause 3B in which the first packaging comprises a transient packaging.
[00292] [00292] Clause 5B. An apparatus as in clause 3B in which the second transport network comprises a aisle conveyor belt.
[00293] [00293] Clause 6B. An apparatus as in clause 1B in which the transfer mechanism comprises a robot.
[00294] [00294] Clause 7B. An apparatus as in clause 1B in which: the tray defines an opening; and the transfer mechanism comprises a movable member at the opening to contact the single product item.
[00295] [00295] Clause 8B. An apparatus as in clause 1B in which: the first transport network is in a foreground that intersects the carousel; the second transport network is a second plane also intersecting the carousel; and the carousel is configured to move the tray between the foreground and the background.
[00296] [00296] Clause 9B. An apparatus as in clause 1B in which: the first transport network is in communication with a first end of the carousel; the second transport network is in communication with a second end of the carousel opposite the first end; and the carousel is configured to move the tray between the first end and the second end.
[00297] [00297] Clause 10B. An apparatus as in clause 1B further comprising an inspection station configured to interrogate the single product item before being disposed of in the single location.
[00298] [00298] Clause 11B. An apparatus as in clause 10B in which the inspection station includes an optical camera.
[00299] [00299] Clause 12B. An apparatus as in clause 1B in which the first packaging comprises a bag or a box.
[00300] [00300] Clause 13B. An apparatus as in clause 1B in which the first packaging additionally comprises an insert.
[00301] [00301] Clause 14B. An apparatus as in clause 13B in which the insert comprises a filler.
[00302] [00302] Clause 15B. An apparatus as in clause 1B further comprising a charging station configured to arrange the single product item in the single location of the tray.
[00303] [00303] Clause 16B. An apparatus as in clause 11B in which: the tray defines an opening; and the charging station comprises a movable member at the opening for contacting the single product item.
[00304] [00304] Clause 17B. An apparatus as in clause 16B in which the member comprises a robot.
[00305] [00305] Clause 18B. An apparatus as in clause 11B in which: the tray defines an opening; and the first transport network comprises a mobile member at the opening to contact the single product item.
[00306] [00306] Clause 19B. An apparatus as in clause 18B in which the member comprises a pin.
[00307] [00307] Clause 20B. An apparatus as in clause 19B in which the first transport network comprises a carrier.
[00308] [00308] Figure 12 shows a perspective view of a product treatment system according to an embodiment. The product treatment system 1200 includes multiple banks 1202 comprising six carousels 1204 each, which are oriented in their straight lines.
[00309] [00309] The storage of particular items within a specific carousel is typically determined at least in part by the conditions of that carousel. Certain items can be stored in groups asking for the same or similar conditions.
[00310] [00310] For example, a set of fruit product items that ask for a set of conditions such as: ● high relative humidity (RH), ● low temperature, ● low oxygen, and ● high CO2, can all be stored together in the same cars.
[00311] [00311] Product types asking for different storage conditions, can all be stored together in a different carousel. For example, in contrast to fruit product items, certain dairy product items may order for: ● low temperature, and ● normal HR conditions. Each carousel can therefore be characterized in part by its particular set of environmental conditions, as well as by its physical location within the system.
[00312] [00312] Figure 13 shows a side view of a carousel seat of the system of Figure 12, with the side wall of a carousel in section. This system uses a two-level transport path configuration, with trays 1206 arriving for loading at a higher level 1208, and trays being retrieved and products being dispensed in bags 1210 at a lower level 1212. Details related to recovery of the product and discharge process for this particular embodiment are further described below.
[00313] [00313] Returning to Figure 12, it is noted that multiple carousels of the same type (for example, “Berries”) can be present in a single system. This redundancy can be introduced in order to distribute items throughout the system, and increases the efficiency of the bag's trajectory. Unwanted bottlenecks in the flow of materials through the system can be avoided, for example, where product (s) from a particular carousel are popular and, consequently, need to be dispensed / restored, frequently.
[00314] [00314] It is further noted that the arrangement of carousels, and even their seats, can be carefully determined in order to intensify the efficiency of material flow through the system. For example, carousel classification items typically purchased together, can be grouped to be physically close to each other, thereby reducing travel / distance time inefficiencies.
[00315] [00315] The specific location of product items on the carousels can be adjusted over time. This can be done in response to identifying product buying behaviors that emerge for private customers or subsets of these. Such trends can be determined with the aid of intelligent learning approaches that are trained in the client's past behavior.
[00316] [00316] Other considerations may influence the location of the carousel within the system. For example, as described here, placing items in a bag can be carefully determined, with fragile products being dispensed, on top of more durable items. In this way, carousels that classify such fragile products can be located downstream in the process flow, with items arranged in such a way that those inclined to the bottom of the bag fall first, and those inclined to the top of the bag fall later.
[00317] [00317] In addition to the relative fragility, a dispensation order may also depend on the relative size of the product item. Certain approaches may seek to dispense with a larger item (for example, a large box of cereal) almost in sequence, and then dispense with smaller products around it.
[00318] [00318] Returning to Figure 13, the sectional view shows the storage of multiple product trays inside the rotating carousel. Depending on factors such as the number and quantity of products to be stored, carousels can be of varying sizes. Examples of standard carousel weights may include, but are not limited to (in feet): 13.5, 17.25, 21, 24.75, and 28.5. Other weights can also be used.
[00319] [00319] Conditions within each carousel are carefully maintained, and the environment of each selectively modified in order to extend the life of the product. Environmental conditions that may be relevant for the classification of products in a desired state, may include, but are not limited to: ● storage time; ● temperature; ● relative unit; ● gas levels (for example, O2, CO2); ● ethylene removal; ● exposure to light; ● cross contamination; ● Volatile Organic Compound (VOC) levels; ● levels of mold spore; and ● cross contamination.
[00320] [00320] Detection of such conditions can occur within the carousel itself, checking multiple trays at the same time. Alternatively, such conditions can be detected on an item-by-item basis during product entry and classification, or before dispensing.
[00321] [00321] Consequently, products that are desired to be kept under similar conditions, can be stored within the same carousel. Incorporated by reference here for all proposals, is the following g document: Agricultural Handbook No. 66, “The Commercial Package of Fruits, Vegetabelas, and Florist and Nurery Stocks”, printed by the US Department of Agriculture as revised in February 2016. This publication provides a table listing compatible fresh fruits and vegetables for 7 days of storage.
[00322] [00322] Considerations other than environmental may determine the storage of products inside or outside the same carousel. For example, consumer safety reasons may require the segregation of product items that are the source of food allergies. Consequently, certain carousels can be dedicated to the classification of nuts only.
[00323] [00323] Details related to dispensing items from the tray with a bottom conveyor, are now provided. In particular, the recovery of product and dispensing apparatus according to particular embodiments, can offer three services: ● removal of the carousel tray; ● removing items from the tray; and ● placing items in the tray in a bag.
[00324] [00324] Figure 14 shows a perspective view of bag 1210 (shown with handles folded down), which is approaching and stopping at the front of the carousel in the transport path. At this moment, the structure 1220 rises to the level of the opening of the carousel 1222.
[00325] [00325] Figure 15 shows a perspective view of bifurcation
[00326] [00326] Details related to the architecture of the machinery along the recovery axis, are now described together with Figures 18-19D. In particular, Figure 18 shows a perspective view of the structure before the extension of the bifurcations.
[00327] [00327] Figures 19A-D show enlarged views of the front part of the structure during the recovery process. In Figure 19A, a drive fin 1232 is spring loaded in the upward position. Figures 19B-D show that when the bifurcation end effector is extended by the rear drive gear 1234, a roller interface 1236 that depends on the drive flap pushes it down into position.
[00328] [00328] After some amount of displacement, the rear drive gear 1238 engages the shelf. The gear is designed so that both drive gears can interact with the shelf at the same time, and pass off the shelf with each other. At full length only, the front drive gear is engaged.
[00329] [00329] Between FIG. 19C and 19D, the fin raises the bifurcations to make the tray come out of its support on the carousel. A benefit is that the rear side of the bifurcations does not adhere in the space, and can be level with the end of the tool.
[00330] [00330] Figure 20 is a terminal view of the structure with the extended forks engaging the tray as part of the recovery process. As the forks lift the tray from the carousel, product carriers 1240 move sideways 1242 to the specific pickup location (that is, below the line of the tray from which item is to be dispensed).
[00331] [00331] Figure 21 shows the perspective view of a product carrier 1240 that includes a slide 1244. Figure 22 shows a perspective view of a tray (here empty for illustration) lowering over the product carrier. Figure 23 shows a perspective view of the product carrier engaging to lift the products from the lowered tray.
[00332] [00332] Figures 24A-B show side views of the product conveyor in non-extended and extended positions, respectively, including belt 1246 and fixed pulleys 1248. Figure 25 shows a side view of the extended product conveyor supporting elevated products from the tray. In particular, the product carrier can slide in front of the tray and over the customer's bag, in order to dispense the item in a specific location.
[00333] [00333] Here, the belt is tensioned as it moves between fixed pulleys. The 1251 pulleys move back and forth. They are between the outer pulleys. This helps to ensure that tension is maintained on the belt.
[00334] [00334] The movement of the belt and sliding action can be driven by the two 1250 shafts and gears so that the motors are fixed under the unit, making them easily removable and clean. As the 1240 conveyor slides left and right to seat in the correct slot in the tray, the shaft will be engaged with the gears that trigger the sliding action and the movement of the belt.
[00335] [00335] Figure 26 shows a front view of the item being moved out of the product carrier extended in the bag.
[00336] [00336] Figures 27A-C are side views showing a sequence
[00337] [00337] One benefit of this approach is that the height of the fall is always the same height. In addition, some items may be positioned in specific locations by controlling one or more parameters such as: ● bag height; ● position of the carrier; and / or ● location of the bag.
[00338] [00338] In one example, a product in the form of a wine bottle can be initially placed on the tray, oriented parallel to the product carrier. Like the ends of the bottle on the edge of the product carrier, the bottom of the bottle will reach the bag and stop at an angle, resting against the product carrier. The product carrier can then push the top of the bottle forward until it is sitting straight.
[00339] [00339] As described here, a benefit of product treatment systems according to the embodiments, is that they can allow the total diversity of products from a conventional grocery store, to be simply organized, stored, and , then accessed. A feature that is particularly useful in this regard is the tray element.
[00340] [00340] The particular embodiments can feature two different types of tray, each type configured in various sizes to receive different products. A first type of tray is designed to store products that are round or cylindrical in shape, and consequently exhibit an approximate cross section
[00341] [00341] Figures 28 and 28A-B show top and cross-sectional views, respectively, of such a first type of tray 2800 according to an embodiment. Here the tray is supporting products 2802 in a cylindrical shape having an approximately circular cross section. These trays can also hold spherical items.
[00342] [00342] In contrast, Figures 29 and 29A-B show top and cross-sectional views, respectively, of a second type of tray 2900 according to an embodiment. Here the tray is supporting 2902 cuboidal products with an approximately rectangular cross section. This type of tray may differ from the other type of tray in that it does not have concave characteristics configured to receive product items having a rounded cross section.
[00343] [00343] Given these two basic types, several sizes of line dimensions can allow the support of a wide variety of potential products, as described in the following tables. TABLE - Group I (circular cross-section of the product) Tray # Range of Se Diameter- Product of Cross Section of the Pro- Example duct (mm) I.1 ~ 30 - ~ 47 Loose Carrot I.2 ~ 47 - ~ 65 Avocado I.3 ~ 55 - ~ 87 Orange I.4 ~ 80 - ~ 123 Peppers I.5 ~ 115 - ~ 155 Cauliflower I.6 ~ 140 - ~ 207 Bunch of
[00344] [00344] As previously described, the embodiments can employ detection of product characteristics that are stored in the carousel, in order to ensure distribution at predetermined levels of freshness. One way this can be done is by image of the product.
[00345] [00345] Specifically, optical characteristics of specific products at specific stages of freshness can be taken and recorded, in order to provide a quality measurement method. Figure 30 shows a simplified view of such an approach, where a series of 3000a-e optical images were taken of a product
[00346] [00346] Various optical characteristics of the image can be measured for each image and stored, and a database created from the measurements. Exemplary optical characteristics that can be sampled by image according to the embodiments, may include one or more of the following color properties: ● tint; ● saturation; and / or ● brightness.
[00347] [00347] Using machine learning techniques in combination with artificial intelligence (AI) approaches, these images taken from product throughout its freshness life cycle, can be automatically segregated into quality clusters, depending on how its optical properties (for example, colors) change over time.
[00348] [00348] In one example, thirty-eight (38) images were taken of the specific bunch of bananas over their freshness life cycle. The saturation color property data for pixels of each of these images were classified into 16 compartments. Then, over ten K-media aggregation interactions, the five clusters resulting from product quality in Figure 30 emerge.
[00349] [00349] Figure 31 is a histogram resulting from the saturation data, showing a fraction of pixels showing different values. By reference to such color properties stored in a database together with additional images that are acquired from new input products, the embodiments can immediately and precisely assign a freshness category to this input product.
[00350] [00350] In summary: by calculating one or more pixel color properties in various optical images of a perishable product (such as product) and then using that color property data in order to develop a database, you can provide a model of the freshness life cycle typical of that product. Such approaches would allow future color measurements to accurately predict a current state of recently received examples of that perishable product during its freshness life cycle (for example, from collection, to pre-mature, to mature, to over-mature , to no longer usable).
[00351] [00351] It is noted that the freshness correlation immediately described above, is not limited to being based on the detected optical property of saturation. Other optical pixel data (such as hyperspectral or multi-spectral data) can be referenced in the database.
[00352] [00352] In addition, the freshness forecast does not need to be based exclusively on detected optical characteristics. To intensify the accuracy of the product's freshness model and database, other factors may also be correlated within the database with the product and considered, including, but not limited to, one or more of: • diameter; • length / width / height (LWH); • Weight; • form; • spot count; • spot size; • detection of the presence of mold or insects; • elapsed collection time;
[00353] [00353] In addition to the inspection data mentioned above, the input data with the product item from the source, can also be included in the database and correlated with the expected freshness and other AI procedures. Examples of such types of input data may include, but are not limited to: • source (eg, producer); • location (for example, orchard #); • heat treatments; • radiation treatments; • pesticides; • organic certification; • Genetically Modified Organism (GMO); • Sun days; • rainy days; • collection data; • days in storage; • transport company; • type of transport; • transport conditions (for example, temperature, duration); and • processed time.
[00354] [00354] One or more of the types of data described above, can be additionally correlated with product item data that are also stored in the database. Examples of such product item data may include: • unique product item identifier; • Stock Keeping Unit (SKU);
[00355] [00355] One or more of the types of data described above can be additionally correlated with customer data that are also stored in the database. Examples of such customer data may include, but are not limited to: • dynamic pricing data (for example, per-quality pricing, coupons, bulk discounts); • product image data offered to the customer as part of the selection process; • user feedback; • producer preferences; • repeated ordering trends;
[00356] [00356] One or more of the types of data immediately described can be additionally correlated with system data that are also stored in the database. Examples of such system data may include, but are not limited to: • tray identifier; • line identifier inside the tray; • position identifier inside the tray; • carousel identifier; • condition (s) of storage of the carousel (s); • bag identifier; • storage time; • time off; • inter-carousel transfer time (s).
[00357] [00357] Thus, according to some embodiments, the database can be a relational type database having rows corresponding to individual product entry items being manipulated, and several columns corresponding to different properties of that item (for example, source, state of freshness, carousel conditions, many others as mentioned here). Such a database structure allows relevant data for each item of product handled to remain associated with that product over the total useful life of the handling process (for example, entry, through storage, retrieval, and final dispensation for the client).
[00358] [00358] As mentioned above, the embodiments can employ artificial intelligence (AI) and machine learning techniques - for example, to assess product freshness and predict future freshness based on inspection and other types of data. Such AI approaches involve a specialized procedure performed by a processor, which recognizes correlations between a body of known starting conditions and resulting historical results. The specialized procedure is trained and refined based on historical results, and is then used to predict results for new starting conditions not previously encountered (for example, a new product being received for imaging).
[00359] [00359] Figure 32 shows a simplified flow diagram illustrating a 3200 machine learning process. In 3202, a body of training data is selected. This training data represents the various historical entries, and the corresponding known results.
[00360] [00360] In 3204, a model for forecasting the results of the corresponding entries is created. This model is mathematical in nature, and can be in the form of heavy equations, neural networks, and others.
[00361] [00361] The model is configured to receive entries in numerical form. Consequently, in 3206 pre-processing is carried out after the various inputs of the training set, in order to convert them into numbers recognizable by the model. Such pre-processing can involve a variety of techniques such as standardization, tokenization, and others.
[00362] [00362] In 3208, the training data is applied to the model to refine its structure. In certain embodiments, this training phase may involve adjusting weights within the model to allow
[00363] [00363] In 3210, a new entry is applied to the model that was trained by the training data. In response, the trained model releases a probability that the new entry corresponds to a particular result. This application of new data to the trained model is known as the inference phase.
[00364] [00364] In 3212, the numerical results released by the model are mapped into useful information. For example, mapping to a result can correlate a numerical result to a particular state of freshness product.
[00365] [00365] In 3214, the accuracy of the new planned exit can be assessed. This precision assessment can then be 3216 feedback in the training body to help further refine the model's precision performance in predicting the results of new inputs. This new entry is applied to the model as trained by the training data.
[00366] [00366] Figure 33 shows a simplified diagram illustrating the implementation of artificial intelligence principles for product treatment according to the embodiments. The 3300 system comprises a 3302 imaging camera that performs an optical inspection after the perishable product 3304 has been entered (here an apple). This optical inspection can be for visible wavelengths, multiple wavelengths (multi-spectral image), or can include other than visible wavelengths (hyperspectral image).
[00367] [00367] The optical data resulting from the optical inspection are stored in the 3306 database. As previously described,
[00368] [00368] Based on the stored data, an assessment of the physical state 3309 of the product can be produced by an artificial intelligence inspection model. This state can reveal spots or other characteristics of freshness of the product (for example, water content).
[00369] [00369] The product is then directed by the 3310 automation control to a private 3312 carousel based on considerations such as its freshness, expected useful life, and popularity. A separate AI degradation model 3314 can predict the progression of the stored product through its freshness life cycle (for example, as collected, pre-mature, ripe, over-ripe, unusable). This degradation model can ensure that only products with a precisely predicted freshness are ultimately dispensed to the customer according to their preferences.
[00370] [00370] In particular, Figure 33 also shows an input from the client 3320 received by a filling engine 3322. The engine processes the input, and in response, causes the carousel to dispense the product in its known cool state. according to the AI model. As described above, the filling engine can use data including 3324 learning feedback (for example, from the customer) in order to enhance the accuracy of this product dispensing process.
[00371] [00371] As described above, artificial intelligence and machine learning approaches can prove useful in predicting a number of different types of results in the total product treatment process. An example is to use automatic quality forecasting procedures and models in order to separate Stock Keeping Units (SKUs) into quality groups that a consumer can select from based on their preferences. Magnet-
[00372] [00372] Artificial intelligence and machine learning approaches can also be used in conjunction with dynamic pricing of specific items. That is, automatic quality forecasting procedures, and models can be used to dynamically charge each individual item based on the properties of such freshness, expected expiration, and demand.
[00373] [00373] Automatic quality forecasting models can also be referenced in order to rank individual product items belonging to a SKU, due to their maturity and expiration dates.
[00374] [00374] In summary, the following table lists several AI models, together with their expected inputs and outputs. AI model Input Output Inspection - Optical data - Defects - Other data Inspection product - Water content (for example, Mold detection product, ethylene, etc.) Life cycle - Optics - Freshness status - Product Freshness Defects Product - Source / Data - Expansion Date Transport - Other inspection data (eg
[00375] [00375] The successful application of several such AI approaches can help to ensure that a product exhibiting the quality desired by a customer, can be quickly and efficiently distributed to that customer. For example, the consumer may be offered his selection of SKUs in a way that allows the customer to always consume the item at peak maturity. This can lead to increased customer satisfaction.
[00376] [00376] Product treatment systems according to the embodiments, can provide the customer with the ability to purchase a set of individual product items belonging to a particular SKU, with each individual item maturing on the day requested by the customer.
[00377] [00377] The embodiments can also provide the customer with the ability to purchase individual product items belonging to a complementary set of SKUs. That is, items belonging to certain SKUs can commonly be purchased together (for example, cake ingredients), and the system facilitates the treatment and distribution of a set of these SKU items together.
[00378] [00378] The embodiments also allow dynamic pricing of handled items. By generation and storage in the database of an evaluation so far and you need product quality and expiration date for each item, the items can be dynamically priced for sale. For example, the aging product having a previous expiration date can be dynamically priced at a lower value, allowing for faster sales and product turnover, and reducing waste.
[00379] [00379] Product treatment approaches according to the embodiments may exhibit increased efficiency and flexibility in other ways. For example, the large number of types of data stored in the database and available to various AI models, can allow automatic filtering of a consumer product choice or meal kit choice. This filtering can be based on stored factors such as consumer diets, consumer allergies, and current availability of bulk items in stock at a consumer's home.
[00380] [00380] As described above, methods and apparatus for treating the product according to the embodiments, can be particularly useful for distributing perishable items. In some embodiments, the useful life of a product can be measured in days, for example, in the case of fresh product. Other products may have useful lives that are significantly longer than a week, for example, pre-packaged products or aged items such as cheese and wine. Examples of product lifetimes that can be accommodated according to the embodiments are 1 day, 2 days, 3 days, 4 days, 5 days, 6 days, 1 week, 2 weeks, 1 month, 6 months, 1 year, and 5 years.
[00381] [00381] While the description above has focused on the treatment
[00382] [00382] Clause 1C. A method comprising: receiving a perishable item; detecting an optical image of the perishable item, the optical image comprising a plurality of pixels; calculate color properties for at least some of the plurality of pixels; classify color properties in a database; and Predict a freshness status of the perishable product based on color properties, by referencing a freshness model trained according to historical freshness data.
[00383] [00383] Clause 2C. A method as in clause 1C further comprising: identifying a stain on the perishable item based on color properties, by referencing a trained inspection model according to historical stain data; and classify the spot in the database.
[00384] [00384] Clause 3C. A method as in clause 2C in which the freshness model additionally considers the stain in predicting the state of freshness.
[00385] [00385] Clause 4C. A method as in clause 1C further comprising: loading the perishable product item in a selector car maintained under an environmental condition based on the state of freshness; and classification of environmental condition in the database.
[00386] [00386] Clause 5C. A method as in clause 4C further comprising: control of the environmental condition based on the state of freshness to prolong the freshness of the perishable item.
[00387] [00387] Clause 6C. A method as in clause 4C further comprising dispensing the perishable product item from the carousel by having a product carrier project through an opening in the tray to contact the perishable product item, and advance the conveyor to cause the perishable product item to fall into a bag having a bottom positioned at a first height close to the conveyor.
[00388] [00388] Clause 7C. A method as in clause 6C further comprising: lowering the bottom of the bag away from the carrier before receiving another item of dispensed product on top of the perishable item.
[00389] [00389] Clause 8C. A method as in clause 6C in which the dispensation is in response to a consumer input that accepts a price for the perishable product item.
[00390] [00390] Clause 9C. A method as in clause 8C further comprising: dynamically calculate the price according to the price model based on the state of freshness.
[00391] [00391] Clause 10C. A method as in clause 8C further comprising: before receiving input from the consumer, separate the perishable product item into a freshness grouping based on the state of freshness and a consumer preference stored in the database.
[00392] [00392] Clause 11C. A method as in clause 8C further comprising: before receiving input from the consumer, reveal the optical image to the consumer.
[00393] [00393] Clause 12C. An apparatus comprising: a product treatment carousel that stores a perishable product item under an environmental condition; a database that classifies a state of freshness of the perishable product, a carousel identifier, and the environmental condition; a filling engine configured to reference the state of freshness and the carousel identifier in response to a customer input, and causes the carousel to dispense the perishable product item in a bag.
[00394] [00394] Clause 13C. An apparatus as in clause 12C further comprising a structure having extensible forks to retrieve a tray from the product treatment carousel.
[00395] [00395] Clause 14C. An apparatus as in clause 12C further comprising a product conveyor configured to, project through an opening in a tray to contact the perishable item, and proceed to cause the perishable item to fall into one bag having a bottom positioned at a first height close to the conveyor.
[00396] [00396] Clause 15C. An apparatus as in clause 14C in which the structure is movable to lower the tray on the product conveyor.
[00397] [00397] Clause 16C. An apparatus as in clause 14C comprises
[00398] [00398] Clause 17C. An apparatus as in clause 12C in which: the perishable item showing an approximately circular cross section is supported on a first type tray; or the perishable item that has an approximately rectangular cross section is supported on a second type tray.
[00399] [00399] Clause 18C. An apparatus as in clause 12C further comprising a camera configured to: detect an image of the perishable item, the image comprising a plurality of pixels; calculate color properties for at least some of the plurality of pixels; and store in the database, the color properties associated with the perishable item.
[00400] [00400] Clause 19C. A device as in clause 18C in which the database is configured to store the color properties together with at least one of the system data, customer data, and incoming data associated with the perishable item.
[00401] [00401] Clause 20C. An apparatus as in clause 18C in which the filling engine is configured to: process the color properties to generate a state of freshness for the perishable item; and store in the database the state of freshness associated with the perishable item.
[00402] [00402] Additional details related to product inspection to determine defects are now described. The embodiments can use machine learning in combination with inspection to detect product defects based on their area and type of failure.
[00403] [00403] There are at least two ways to inspect defects. A first approach involves developing a model for each product variety. This assembles around 700 different models.
[00404] [00404] An alternative approach develops a universal model for each defect. Examples of such universal models may comprise a hematoma model and a cut skin model. This defect-based approach results in only about 40 models being needed, reducing development time and intensifying robustness.
[00405] [00405] Specifically, using visual / near infrared image in combination with machine learning, allows detection of the quality of the product item. Camera systems are used to take product images in a lightly controlled environment.
[00406] [00406] The images cover wavelengths in the visible range of RGB, as well as in the wavelength range (NIR) near the infrared. This can be accompanied with multiple cameras (for example, an RGB camera and an NIR camera), or a single multi-channel camera.
[00407] [00407] Specific filters can be added to the cameras to focus the inspection on a particular band of wavelengths, especially for the NIR camera. Each of the imaging modalities can reveal different types of defects in the product. For example, Figures 34A-B show images of NIR, and Figures 34C-D show images of RGB.
[00408] [00408] As the acquired images are tagged, and then used to train machine learning models to detect defect (s) that may be present. Models can be trained in at least two different modes.
[00409] [00409] According to one approach, a model is trained to detect all possible types of defects in a single type of item (for example, apples), by using a training set comprising known defects in a series of images taken from that one type of item.
[00410] [00410] According to another approach, a model is trained to detect a specific defect (for example, a crush) through many types of product (for example, as seen in apples, pears, tomatoes, peaches, etc.). ) using a training set comprising images including the specific defect in a variety of product types.
[00411] [00411] The object detection type model is a possible example. Here, the RetinaNet deep learning algorithm was adapted for this proposal. The size of the resulting connection box around the detected defect, indicates the size of the defect.
[00412] [00412] The resulting information on the defects differentiated in the images, and the size of each defect, is combined with a product-specific algorithm to determine a quality rating for the item.
[00413] [00413] In addition, this information can also be combined with other information (including date of collection, previous storage conditions, future storage conditions, etc.) in a procedure that predicts how the product will mature or degrade over time. While the above describes item inspection using a camera, this is not required. As an alternative or supplement to a camera, a spectrometer can also be used.
[00414] [00414] Specifically, spectrometer measurements (for example, reflection, absorbance, transmission, etc.) of an item in the VIS / NIR wavelength range (~ 350–2500 nm), allow analysis of external / internal properties of the item, which may include, but are not limited to: ● color; ● external defects; ● internal browning; ● dry matter content; ● sugar content; ● firmness; ● decay; and ● others.
[00415] [00415] In one implementation, portable spectrometers were developed for agricultural applications in product inspection prior to capture, or for manual inspection of individual parts of the product.
[00416] [00416] An embodiment of a process according to a particular example, can use VIS / NIR spectrometer measurements of input product items. These spectrometer data can be correlated with quality, defects, and current product maturity level. Figure 35 shows a simplified spectrographic.
[00417] [00417] The spectrometer's maturation forecast is combined with data from other camera inspection systems and historical information on the product (for example, date captured, variety, growth location, storage preconditions, storage conditions, while than at the grocery store). This data can be used to access optimal time to distribute product to the customer and provides a timeline for how to produce it will mature and / or decay while in the grocery store. This approach reduces waste, improves operations / logistics, and improves customer satisfaction.
[00418] [00418] Products can be inspected before storage that enters the carousel (s). The service life of the product can be
[00419] [00419] In some embodiments, however, products can be automatically inspected after storage, either exclusively, or in combination with inspection before storage. Such post-storage inspection may employ one or more of the following techniques.
[00420] [00420] Cameras can be used to inspect a full tray or products directly after being pulled from the carousel. Cameras can also inspect individual products after they are removed from a tray and before they are dispensed in a bag.
[00421] [00421] In addition, sensors other than visual sensors (for example, cameras) can be used to inspect products. For example, berries degrade quickly because they become moldy - a negative experience for the customer.
[00422] [00422] It is possible to detect mold by "sniffing" the gas around the product. In one embodiment, a nozzle can be immediately positioned to suck air from the inside of a grapple that holds a berry. The sampled air can then be analyzed. In another approach, each case can go through a closed box where the air is analyzed for mold spores.
[00423] [00423] Details related to devices that can be used for product inspection, are now provided. A variety of methods can invert and / or rotate product items during camera inspections to prevent multi-sided interrogation.
[00424] [00424] The shapes of the product item can generally be classified into spheres, cylinders, and cuboids. After inspection, items are classified in trays based on various criteria. A number of approaches can be used to place items in the trays as part of input, inspection, and / or classification of individual items of unique products entering the system.
[00425] [00425] One approach uses an articulating conveyor belt. Figures 36A-B show perspective views of a single conveyor having a connection that can be angled from the plane over a range of angles.
[00426] [00426] Items can be translated through the carrier. Figures 37A-F show simplified views of the articulation conveyor belt flows.
[00427] [00427] The balls and cylinders will roll when the conveyor is rotated upwards at an angle. This is shown in Figures 37A-C.
[00428] [00428] Also, the unit can fold over itself in order to invert a cash item. This is shown in Figures 37D-F.
[00429] [00429] It is noted that two O-ring conveyor belts can carry almost all items. And, 6-way cameras capture images of the items. Figures 38A-D show various views of an embodiment of such a single carrier with multiple camera approaches. Using six cameras as shown, all sides of the item can be viewed with an image quickly.
[00430] [00430] Certain approaches may use image of free falling items. That is, as items fall off a conveyor, they are visualized with an image in the air. Figures 39A-B show different views of such an approach.
[00431] [00431] Multiple cameras capture all sides of the items. The item is picked up with a cushioned conveyor or other soft landing pad, before moving the product further along the conveyor. This method allows quick image capture from all sides of an item, without having to negotiate with other hardware being in the camera's field of view. This allows a single machine-learning model to be used with the images taken from all cameras.
[00432] [00432] Another possible approach uses a star wheel conveyor, as shown in Figure 40. The star wheel conveyor is a multi-arm conveyor that can rotate. Figures 40A-C show simplified views illustrating which balls and cylinders can be rotated as the conveyor belt operates. When in the 12 o'clock position, the item can be viewed by image while rotated.
[00433] [00433] Cuboid items can be inverted when moving through the system. This is shown in Figures 40D-F.
[00434] [00434] Such a star wheel conveyor allows many items to be completely imaged with a limited number of cameras. Cameras can have the same mechanical components in FOV, which simplifies machine learning.
[00435] [00435] Yet another approach can use a popup roller conveyor. Figure 41A shows a top view, and Figures 41B-C shows an end view of such a mechanism.
[00436] [00436] According to this approach, two o-ring straps carry items in the store. The rollers appear next to the conveyor when the item is in place. Cylinders and spheres are rolled along the conveyor, thus presenting all sides of a few cameras. Different size rolls can be used based on the size of the item.
[00437] [00437] This system allows most items to be fully visualized by image with a limited number of limited cameras. Cameras can have the same mechanical components in FOV, which simplifies machine learning strategies.
[00438] [00438] Another mechanism that can be useful for handling items within the system, is a roller conveyor and rotator conveyor. Figure 42A shows a top view, and Figures 42B-C show perspective end views of an embodiment using this approach.
[00439] [00439] Here, the conveyor comprises trapezoidal rollers, and items are transported along by the conveyor. The roller conveyor / rotator ceases and the rollers thus rotate by rolling cylinders and spheres. Again, this action allows the sides of the item to be presented to only a few cameras. The cameras will have the same mechanical components in the FOV, which simplifies machine learning.
[00440] [00440] Figures 43A-45C show other possible approaches for handling items for placement on a tray. These methods described below can be used alone or in various combinations.
[00441] [00441] An appearance of the carrier offers a possible approach to item handling. Figures 43A-B illustrate top views and side views, respectively, of such a mechanism. Here, the tray moves left and right, while conveyors advance items along a belt.
[00442] [00442] Specifically, this concept provides an auto tray loading concept that is similar to the dispensing station. Two conveyor belts distribute the items along the length of each line. The tray that moves items in this way is located on the correct line. This approach allows items of varying degrees to be separated on their separate line from the tray, without requiring a buffer system or unique sorting separation system.
[00443] [00443] Yet another item handling approach may use an XYZ gantry mechanism. Figures 44A and 44B show simplified top and side views, respectively, of an embodiment according to this approach. In these figures, the tray moves left and right and in and out. Item feeding does not require an item in the tray.
[00444] [00444] Here, the trays are arranged in a mobile XYZ frame, and move the tray to a different position so that the item can be placed in the exact desired position. This concept allows items of different grades to be separated on their separate line from the tray without requiring a unique sorting buffer or sorting system.
[00445] [00445] Still other approaches to item handling may use a vertical stack buffer system. Figure 45A shows a side view, and Figures 45B-C show top views, illustrating an embodiment.
[00446] [00446] Specifically, this approach offers a degree of post-inspection loading, pre-tray and size filtering system, allowing items of the same grade and / or size to be grouped together. This mechanism allows a simpler tray loading mechanism as all items are filtered into the correct category, before being taken to the tray loader.
[00447] [00447] In the specific approach illustrated in these figures, there is a vertical buffer that constitutes each line. In this way, the inlet feed becomes more complex, moving up and down and left to right to feed a fixed position of the bench.
[00448] [00448] As shown in the top view of Figure 45C, the carrier branches to allow First In, First Out (FIFO) of filtration between each branch. Each branch contains the same size and / or grade.
[00449] [00449] This multiple conveyor shown in Figure 45C allows for a simpler tray inventory mechanism as all items are filtered into the correct category before being taken.
[00450] [00450] As previously discussed, embodiments can claim items that are stored under controlled conditions, in a carousel structure. Various aspects of possible designs for the carousel element are now described.
[00451] [00451] Initially, it is noticed that trays can be changed from one carousel to another. This can be done automatically in order to control maturation.
[00452] [00452] For example, an avocado should be initially stored in a cold carousel in order to preserve its life. Then, a few days before being dispensed, the avocado should be changed to a different carousel that is kept under warmer temperature conditions, and then paired with an ethylene production item. This will start ripening.
[00453] [00453] Once the ripening process has started, the avocado can be switched back to a cooler carousel to keep it from over ripening. The avocado can then be sold to a consumer at the desired ripeness. Such a carousel exchange approach allows more products to be stored in the inventory, without deterioration and loss of desirable characteristics (for example, taste and nutrients in the case of a product item).
[00454] [00454] Figure 46 shows a simplified perspective view of a carousel front according to an embodiment. As previously illustrated, items are stored inside the carousel under mobile carriers (for example, vertically mobile).
[00455] [00455] Figure 46A illustrates a perspective view of a possible embodiment of a carrier. This embodiment of the carrier features lower support beams.
[00456] [00456] Figure 46B illustrates a perspective view of an alternative embodiment of a carrier. Here, the lower supports are placed with rear support beam (s). Such a rear support approach can effectively increase the density of items that can be stored inside the carousel.
[00457] [00457] Specifically, by avoiding the space occupied by a bottom support beam, a carrier design can fit 7, 6, 5, or 4 shelves. Carriers of various capacities can be available on each carousel as needed.
[00458] [00458] Figure 46C shows a simplified view of the front of a carrier. Here, two 3 mm rear support beams take up a lot of the load, and transfer to the external support walls. The rear beams support vertical load, and resist deflection / distortion.
[00459] [00459] Extending outside the page in Figure 46C, there is a single part featuring tabs to hold trays. By eliminating bottom supports (and increased rear support), this embodiment provides enhanced vertical tray stacking density - according to some embodiments, thereby allowing for a fuller layer of trays per carrier. Particular embodiments can offer 10.2% more product storage because of the rear support design (preferably than the bottom).
[00460] [00460] Various configurations can additionally intensify densities of vertically stacked trays inside a carousel. For example, while the specific embodiment of Figure 46B offers support for multi-layers for trays with a fixed pitch, the pitch may not be optimal for all items.
[00461] [00461] Different types of carriers can be present in each carousel. Each carrier can be built to handle different level counts in order to maximize density.
[00462] [00462] For example, Figure 46D shows carriers having a different number of levels, and steps per level, to allow storage of different items. As shown in Figure 46D: ● a carrier having 4 levels can offer a higher stacking density for trays that store honey dew melons and 2 gallon milk bottles. ● a carrier having 5 levels can offer greater stacking density for trays that store green peppers and jars of mayonnaise. ● a carrier having 6 levels can offer greater stacking density for trays storing oranges and pasta boxes. ● a carrier having 7 levels can offer greater stacking density for trays storing apples and boxes of rice. ● a carrier having 8 levels can offer greater stacking density for trays that store files and salad dressing bottles.
[00463] [00463] Once the items are stored inside the carousel under a tray supported by a carrier, individual items can be dispensed from it. Several details related to the particular embodiments of the dispensing mechanism are now described.
[00464] [00464] Figure 47 shows a perspective view of one side of the front of a carousel, having fixed to it a dispensing station in accordance with an embodiment. The view in Figure 47 can usefully be contrasted with the previous view in Figure 46.
[00465] [00465] An item dispensing station according to the specifications can feature one or more elements to enhance performance. For example, it is important to prevent items from falling out of the dispensing station. Consequently, certain embodiments may feature a dispensing conveyor barrier in overflow through the conveyor, in order to keep items tilted backwards.
[00466] [00466] Figure 48A shows an enlarged view of a tail on the conveyor, which prevents items from rolling backwards when the tray is lowered over it and items from a line are dispensed. Figure 48B shows a simplified perspective view of the dispensing station carrier, prepared to dispense item (s) from a particular tray row.
[00467] [00467] The dispensing stations, according to the embodiments, can also characterize sensors for detecting dispensed items. Figure 49A shows a side view of a conveyor mechanism including an optical sensor for detecting a dispensed item. Figure 49B shows an enlarged view of the optical sensor on the conveyor.
[00468] [00468] This presence sensor detects when an item arrives at the end of the conveyor. The length of the item is already known, so that once the item is detected, the carrier can be triggered in the known quantity to dispense the item outside the end of the carrier. The sensor also detects that the item leaves the carrier, thereby allowing for secure confirmation of dispensing a single item.
[00469] [00469] The weight can also be detected as a quantity detected during dispensing. Figure 50 shows a perspective view of a dispensing station configured with load cells for this proposal.
[00470] [00470] Load cells can allow weight measurement to detect items that fall outside the dispensing station (for example, outside the rear). Load cells can also be used to detect the change in weight as the item leaves the carrier.
[00471] [00471] The load cells can be positioned in a number of different possible locations, including, but not limited to: ● under the mounting rails for the mobile platform; ● on the conveyor track extension; and / or ● on a tension meter between the terminal fools.
[00472] [00472] As an item is dispensed outside the end of the conveyor, the load cell reads marks of a change of step, indicating the reduction in mass on the conveyor. This again allows safe dispensing of just one item at a time from the tray.
[00473] [00473] In order to precisely monitor the dispensing of the item in a safe manner, it may be useful to precisely control the position of the tray. Keeping the position control of the tray within a tolerance, allows the dispensing of conveyors to settle repeatedly through the slots in the tray, while reducing layers of closed motion control.
[00474] [00474] The position control exercise on the tray can begin when the tray arrives at the carousel (Figure 51A), and is then loaded onto the carousel (Figure 51B). Once the tray is initially physically contacted, it is moved from the fixed location to the fixed location.
[00475] [00475] Figure 51C shows a simplified view of the use of indexing pins. Specifically, a tray elevator aligns with the tray and raises it upward with the end effector. These terminal effectors in the tray elevators that insert and remove the carousel tray have pins that index with the tray.
[00476] [00476] The carrier has pins that index with the tray. The ban-
[00477] [00477] The exercise of controlling the position of the tray in the terminal effector, also allows precise deposition of the dispensing of the carriers so that they settle through the slots in the tray without closing the loop between the position of the tray and the position of the dispense. the carrier.
[00478] [00478] Details related to the drawings for the terminal effector are now described. It has been found that reaching relatively deep in a narrow space called for better control over the angle of the end effector, than: ● reach in a short space, or ● do not reach at all, and immediately hooking the end of the front of the tray .
[00479] [00479] Consequently, Figure 52A illustrates a simplified side view of a terminal effector design according to an embodiment. Here, the use of injection molded parts for the trays allows for simplification in the carrier. The shelf under which the tray rests, was produced flat rather than U-shaped, in order to avoid the linear slides of the tray lift.
[00480] [00480] Figure 52B shows an alternative embodiment in which the end effector in the tray lift is a hook that engages with the front edge of the tray. The tray is pushed in or pulled out of the carrier by the hook end effector.
[00481] [00481] The tray runs on the carrier's shelf and also runs on a shelf in the tray lift. This eliminates the problem of leveling the carriers to the tray lift, and maintaining the level tolerance for every carrier in every loaded state.
[00482] [00482] Figure 52C shows another alternative embodiment. Here, the end effector in the tray lift can have a pinion gear that engages with a support (which can be molded in the tray). The drive of the pinion gear pushes the tray out of the carrier and into the tray elevator. This eliminates the problem of leveling the carriers to the tray lift, and maintaining a tight level tolerance for every carrier in every loaded state.
[00483] [00483] Figures 53A-B show different views of embodiments of carrier design configured to interact with the end effectors of Figures 52B-C. Here, with the new hook design or gear support design, the slides do not have to be inserted into the carrier.
[00484] [00484] This allows an increase in the pitch of the shelves of the holder who receives the tray. Such an increased step of the shelf promotes an increase in the density of the tray packaging, by allowing the choice of the best shelf to place the tray to allow the same stele closer to the next tray above or below.
[00485] [00485] It is noted that the slides that retain the terminal effector need to be seated between the shelves. Not needing to preserve the open space for slides, the shelf pitch is allowed to be tighter. The tray may be positioned closer to one above or below it, depending on the height of items in the tray.
[00486] [00486] Details related to various designs for the customer's bag and its transport for loading, are now discussed.
[00487] [00487] A displacer containing a bag to receive dispensed items, can feature a platform that can be raised and lowered. There are several possible ways to raise and lower the platform.
[00488] [00488] Figure 54A shows a perspective view of a displacer rendering. In this embodiment, the displacer platform can be moved up and down through the operation of lead screws that are driven by a chain or belt.
[00489] [00489] Figure 54B shows an alternative embodiment of a displacer. Here, the platform can be raised or lowered using linear actuator (s), and guide rail (s) located at opposite corners.
[00490] [00490] Alternative designs for displacers are, of course, possible. Certain embodiments can characterize the platform attached to a scissor lift. Some embodiments can characterize the raised platform in corners by belts or poles. Also, a displacer design may comprise an assembly of springs that compress the bag is total, and extends when the bag is empty.
[00491] [00491] Some embodiments may add load cell (s) to the platform, allowing measurement of changes in weight in the displacer. Figures 55A-B show views of an embodiment of a displacer incorporating load cells.
[00492] [00492] In this embodiment, the loading platform comprises two plates. The bottom plate is anchored to drive nuts that move up and down the screws.
[00493] [00493] Four cantilever load cells support the top plate. These load cells measure the weight of items in the bag, helping to determine whether items have been successfully dispensed.
[00494] [00494] While the specific configuration of the load cell may vary, the basic concept characterizes the measurement of weight changes to evaluate the dispensing. Given the known item weights, with correct calibration, the difference between weight changes (for example, 1 apple vs. 2 apples) can reveal when possible errors occur.
[00495] [00495] Bag (s) to accommodate items dispensed from the carousel, are supported by the displacer. One or more methods can be used to hold the bag in place at the top of the structure.
[00496] [00496] Figures 56A-B show views in top perspective and enlarged, respectively, of a displacer including a structure. Bags are first branched or folded, around a rectangular box for quick loading on the shifter. This restricts the fabric to the perimeter of the bag, thereby leaving the bottom of the bag exposed to receive the dispensed item, without interference from branched fabric.
[00497] [00497] According to particular embodiments, the bags may have fabric rings installed in their upper corners. The bags are loaded into the displacer by hooking the rings onto curved pegs located in the upper corners of the structure.
[00498] [00498] A hinged lid (with an integrated lock) opens and closes to lock the bag in place. The inner rim of the lid can be coated with bulb edge protectors to protect items that are lost from being damaged.
[00499] [00499] However, alternative designs for the displacer are possible
[00500] [00500] Figure 57B shows an alternative embodiment of the displacer that features straight vertical pin loops, which adhere downwards, embedded in the cover. When closed, the pegs will penetrate holes, locking the bag in place.
[00501] [00501] Still additionally alternative designs of displacer are possible. Some embodiments may feature a quick-swing arm and locking post. Other embodiments may include velcro flaps at the top corners of the bag. Magnets can also be used as staples.
[00502] [00502] Figures 58A-B show simplified views of a piston and washer, and embodiment of the displacer incorporating them. Here, panel fixing plungers are installed in the bag loop to lock in place. A sheet metal loop wraps around the bag's loop and fabric, securing the bag in place.
[00503] [00503] A displacer according to an embodiment can characterize a structure covered with a hinged cover. Figures 59A-C show simplified views of a hinged cover. The enlarged view of Figure 59C shows the T-profile joint integrated into the sheet metal, locked in place after initial assembly by installing a block that covers the wide slot. Figures 60A-B are seen in perspective of a displacer showing the articulation and spring lock, with the lid open and closed, respectively.
[00504] [00504] According to certain embodiments, the displacer can be powered by a design of a set of fast-changing batteries
[00505] [00505] A processor can measure the state of the charge battery by reading its voltage. When the battery pack is low on charge, it can be removed from the shifter base without tools. It can be unplugged without any loose wires; the power socket and connector are built into the base of the displacer and battery pack housing, respectively.
[00506] [00506] The battery pack can be loaded in a parallel rack system located close to the bag non-loading station. A fully charged battery can be charged in the displacer so that it can continue its operation with just a short interruption.
[00507] [00507] As noted previously, particular embodiments can provide movement of the carrier based on the nation. Figure 62 is a simplified view showing carriers 6200 that can stop tray 6201 at the front of an initial stage position 6202, to receive item 6204 (s) dispensed from a given 6206 carousel.
[00508] [00508] In particular embodiments, the carrier system for the displacer may comprise a collection of modular carrier sections and 90 ° transfer stations. This conveyor system moves the shifters around the filling center to perform these tasks (for example, receiving dispensed items, possibly loading trays on the carousels).
[00509] [00509] The conveyors can be arranged in crates and loops. Each section is able to move in both forward and reverse directions.
[00510] [00510] According to the embodiments, each carrier section is an independently controlled set of rollers connected together with the drive O-rings. A roller pin in each conveyor section has an integrated motor with servo control that allows precise positioning of a displacer in that section, in the transport dimension (for example, through the dispensing station located at the front of the carousel).
[00511] [00511] Controlling the position along this dimension, combined with controlling the position of the tray lift dispensing arms in a perpendicular dimension, allows items to be dispensed to precise locations in the bag.
[00512] [00512] When a shifter is supported by the rolls of adjacent sections of the conveyor, the control software can instruct coordinated movement of both conveyors until the shifter is fully in control of the downstream section. At this point, the section can move the shifter around without affecting the positions of other shifters.
[00513] [00513] This independent control can facilitate accurate item dispensing in every dispensing station. A photoelectric sensor can be integrated in each conveyor section to trigger a reference position of the displacer as it moves in the section.
[00514] [00514] Different variations in the design and operation of the displacer component, can serve to intensify the operation of the system. For example, in certain embodiments, the displacer may include its own drive system (for example, wheels, rails, others) and / or sensors (for example, cameras, line tracking optics) that allow autonomous or semi-autonomous movement through the entire filling center.
[00515] [00515] Certain embodiments may characterize the addition of duplicate bag locking mechanisms. These can allow each shifter to transport multiple bags immediately.
[00516] [00516] It is noted that a single displacer can fill a single order, multiple orders, or parts of separate orders, during several courses around the filling center. This can lead to increased efficiency.
[00517] [00517] Certain embodiments may feature the addition of a tray transport fixture for the displacer. This would allow the displacer to bring trays to each carousel for loading. Such integration of tray loading and item dispensing with a common movable structure (the displacer), would lead to substantially simplified operation.
[00518] [00518] Some embodiments may feature the addition of a high speed actuator capable of moving the loading platform down at high speed. Such close correspondence to the downward projectile speed of a dropped item can desirably reduce impact forces on the item and under the loading platform.
[00519] [00519] Some specific details related to the design and operation of trays according to particular embodiments, are now provided. The trays can be manufactured using an injection molding approach that ensures high strength.
[00520] [00520] According to certain embodiments, the total tray can be created as a single, single injection molded piece. Figure 63A shows an end view of a tray that is configured to hold circular items.
[00521] [00521] Here, the largest external diameter (OD) of an item stored
[00522] [00522] The resistance of the center support is dependent on the height. This reduces packing density on the carousel. The base can be extended with ribs to withstand lateral loads.
[00523] [00523] Figure 63B shows an end view of a tray configured to hold cuboid items. The boxes can also fix the same lines and steps. As the width of stored items increases, the items begin to rest on the edges of side walls. This serves to spread the load, while keeping smaller boxes under straps. The conveyor belts at the dispensing station ascend through the same position, depending on the tray top and type of item (for example, round vs cuboid). The straps are designed to ensure contact with the smallest permissible box item of a given tray type.
[00524] [00524] Figure 64 shows a top view of a tray according to an embodiment. The impacts stop the items from moving past the curve of the belt. Molded holes for attaching to the carousel and dispensing station. The wefts intersect to add additional support and torsional strength. The wefts on the external support line up with the internal support walls in order to reduce wall deformation.
[00525] [00525] Reliance on a single unit tray design can increase manufacturing costs. In addition, the fixed size resulting from the characteristics of the tray (for example, number of lines, line width, number and shape of separators) can limit flexibility and degraded efficiency.
[00526] [00526] Consequently, alternative embodiments can feature a design that allows different types of tray to be selected.
[00527] [00527] The enlarged views of the tray of Figures 66A-B show 2 types of support beams. One type is wet on both sides. The center supports are attached to the support beams. There are 4 types of center supports, with a center separation support being of one type.
[00528] [00528] Figures 67A-B are enlarged views showing tray features formed from multiple molds. In particular, the view in Figure 67A shows the support beam resting on the side beam. Key features keep parts from rotating at the bottom. The view in Figure 67B shows a pin through 4 tabs, bending them backwards, and locking the pin vertically.
[00529] [00529] In some embodiments, trays having several different characteristics can be assembled on demand. The equipment can be designed to carry out this process of assembling the bench.
[00530] [00530] Specifically, item handling systems according to the embodiments can use a fixed number (e.g. 10) of tray types. Each type of tray can hold a certain size of item.
[00531] [00531] Individual trays may comprise a plurality of parts in the form of long narrow injection molded parts that attach together to form a tray.
[00532] [00532] After inspecting the item, the bank loading station needs to receive an appropriate tray type to load the inspected item.
[00533] [00533] Preferably than stacks of trays of each type,
[00534] [00534] It is noted that the disassembled parts have a higher storage density than the assembled tray. In this way, on-demand tray assembly can save valuable space within the ease of filling.
[00535] [00535] According to the embodiments, the machine can also quickly assemble trays in configurations other than the limited number of standard types. This can be done by building lines with different spacing, as called by the bank charging station.
[00536] [00536] Empty trays removed from the carousel can be returned to the machine. There, the empty trays are automatically divided into individual pieces for efficient storage.
[00537] [00537] Such approaches featuring tray assembly on demand, may offer one or more benefits. As mentioned above, these approaches can save space on the line.
[00538] [00538] Also, tray assembly on demand can allow for a greater variety of tray types, and can decrease the distance a tray has to travel to reach the tray loading station if the machine can be nearest location (potential time reduction).
[00539] [00539] Tray assembly on demand can reduce the total number of tray part parts required. This is because the trays can be reconfigured as needed, rather than losing tray inventory space on the types of trays that are not being used.
[00540] [00540] Returning now to the discussion of general system operation, under some circumstances, it may be desired to dispense with an item that is not located at the end of a tray line (for example, it is stored in the middle part of the tray). As a result, certain embodiments can use a gantry robot for a layoff proposal, as shown in the simplified view of Figure 68.
[00541] [00541] For example, when each item in a SKU has a different value, it may be desired to dispense it from the center of a tray. Thus, where the product is a meat, there may be 40 images of different cuts of meat that are available to show the customer for selection. By allowing a portico to access center portions of the tray, all of the cuts of meat may be available for dispensing.
[00542] [00542] Another possible circumstance that may be favorable to the use of a gantry robot is where the items are not susceptible to the carrier's dispensation. This may be due, for example, to the size, shape, and weight of the items. In such cases, a gantry robot can be a viable alternative.
[00543] [00543] Also, when items are small and thin (for example, a broth package or dehydrated meat package), it would be advantageous to stack them vertically in a tray and then pick up the item from each tray on top . This increases the density.
[00544] [00544] Finally, dispensing with a gantry robot can be useful when an item is rarely purchased. Under such circumstances, it is inefficient to carry a line from that SKU. The use of a gantry robot to capture from the center of a tray, allows placing multiple SKUs in a row, and capturing them as needed.
[00545] [00545] It is further noted that a gantry robot can be used in combination with a conveyor. Specifically, a gantry attached to the end of the conveyor belt (s) can pick up the item and lower it into the bag. This can reduce damage to items.
[00546] [00546] Item handling systems according to the embodiments, may not be limited to a single physical location. Items can be dispensed and distributed from multiple smaller sites that are located relatively close together (for example, in different neighborhoods within a single large metropolitan area).
[00547] [00547] Under such conditions, an inventory control solution can characterize a central store (the nucleus) and many satellite stores (the rays). This approach can be implemented with tray packaging carried out in the core, and trays loaded in each radius. Transport tracks can be designed to allow distribution of vehicles to quickly and easily load, transport, and unload.
[00548] [00548] In summary, Figure 69 offers a simplified flow diagram of a process control according to an embodiment. This flow diagram illustrates the interaction between a central process and a control system with several stages of order filling at the front end, and inventory control at the rear end.
[00549] [00549] A system according to several embodiments can include one or more characteristics to intensify automatic dispensing and distribution of handled items. For example, in order to replace paleie jackets, robotic pallet jackets can be used to remove items from trucks that are distributing items in bulk for entry, inspection, sorting, and loading on carousels. Also, robotic systems can lift and lower pallets, and insert into the shelf, they can be responsible for lifting pallets on the shelves. In addition, once the pallet is ready for inspection, automation equipment can move pallet boxes,
[00550] [00550] In addition, particular embodiments can order automatic packaging as follows. When a total displacer arrives, the equipment would lift a bag out of the displacer and move it to a loading area. Another piece of equipment can place a new bag on the displacer.
[00551] [00551] A robotic seroa cart would be deployed to transport bags from the factory to the parking lot. The robotic cart would place bags in the mode of transport for distribution.
[00552] [00552] A variety of distribution options are naturally possible. Vehicles can be manually powered by humans, or self-powered. Alternatives may include distribution by bikes, cartes, drones, or trucks plus drones.
[00553] [00553] It is noted that several embodiments can enhance a customer experience by allowing flexibility and choice in the selection of items. A customer can search for items on a website using a search bar.
[00554] [00554] Under this approach, the user enters a product name, and in response a list of options is presented. The customer selects an option, which is added to the customer's cart. While the search bar approach is quick for individual items, it can be cumbersome for a cart comprising multiple items. Also, the search bar approach requires that a customer know the desired items in advance.
[00555] [00555] In contrast, with the search bar approach, a corridor-based approach involves a customer looking for a particular product item, to cross a complex hierarchy. In this way, a customer looking to buy a red onion, may need: - to click on fruits and vegetables
[00556] [00556] Such a corridor-based approach takes more time than researching whether a customer knows ahead of time what is desired. But, the aisle approach gives the customer the ability to browse different options, and draws inspiration for other products. However, corridor-based selection can be tedious due to the many possible options available to move through each corridor.
[00557] [00557] Consequently, particular embodiments may allow customer search for items based on categories. This approach can specifically lead customers to the particular items they want to buy.
[00558] [00558] Under the category-based approach, a customer browses item categories, allowing viewing in a more useful way. The categories would start as general, and then narrow down to become more specific.
[00559] [00559] For example, Figure 70 shows a simplified view of categories for food items that are organized in a hierarchical tree. Once the “Pizza” category is selected by a customer, the website offers a variety of items for selection.
[00560] [00560] One possibility is to reveal the customer's selection, standard pizza options (for example, pre-pizza, sauce, cheese). Meat lovers will add sauce and salami (for example). Such category-based research may represent ingredients that go into making a pizza. Thus, this approach shows different types of pizza dough (frozen, chilled, different brands), sauces (in bottles, cans, brands), different vegetables, etc.
[00561] [00561] Then, the user can select one or more suggested items, removing or changing the brand. Finally, the user can add to the cart all of the items selected by the category -
[00562] [00562] Over time, a system engine can learn preferences from specific users / user groups, and suggests the appropriate option the next time the pizza category is selected.
[00563] [00563] The embodiments can suggest ideas for a customer based on machine learning. The embodiments may suggest specific items for purchase available in stock in large volumes.
[00564] [00564] Through the category-based search user, the consumer experience is faster and more intuitive. For example, when buying grocery items, customers traditionally think in terms of meal item groups and categories, for example: “We need three evening dinners, I need breakfast and lunch for a week, and I want to make this chocolate cake on Wednesday for Sue to take to school ”.
[00565] [00565] Here, the user can go to each category and select their dinners in low action steps (for example, clicks). Similarly, a customer can select a recipe for the cake and get all the ingredients immediately, or they can click each ingredient from a basic list if they have a recipe.
[00566] [00566] In this way, customers are free to select items in a more intuitive way, mirroring how they think and in terms of groups of items. So, instead of having to choose and select 30 separate items, they are selecting instead of just 7: ● 3 dinners ● 2 lunch options ● 1 breakfast option ● 1 cake option.
[00567] [00567] The selection based on category can intensify the speed
[00568] [00568] Purchasing a category-based item can also enhance the seller's flexibility. Grocery stores can look for leveraging relationships between items by placing them in close physical proximity (for example, parsley next to chips, marinated by the meat counter). However, this is done in a crude opportunistic manner, restricted by the available physical space (it is impossible to place pizza sauce, vegetables, pepperoni, and pizza dough, all in the same corridor).
[00569] [00569] In contrast, a website offers a virtually unlimited range of ways to group related items together to facilitate common purchasing. Category-based selection leverages this inherent advantage of web-based shopping to intensify user experience.
[00570] [00570] As described in detail above, embodiments of systems and methods for handling items may be particularly suitable for implementation in conjunction with a host computer including a processor and a computer-readable storage medium. Such processor and computer-readable storage medium can be built into the device, and / or can be controlled or monitored via external input / output devices.
[00571] [00571] FIG. 71 is a simplified diagram of a computing device for processing information according to an embodiment. This diagram is merely an example, which cannot be
[00572] [00572] Embodiments according to the present invention can be implemented in a single application program such as a browser, or can be implemented as multiple programs in a distributed computing environment, such as an operating station, personal computer, mobile device , or a remote terminal in a client server relationship.
[00573] [00573] FIG. 71 shows computer system 7110 including display device 7120, display screen 7130, cabin 7140, key 7150, and mouse 7170. The mouse 7170 and keyboard 7150 are representative “user input devices”. The 7170 mouse includes 7180 buttons for selecting buttons on a graphical user interface device. Other examples of user interface devices are a touch screen, optical pen, ball retake rail, data glove, microphone, and so on.
[00574] [00574] FIG. 71 is representative of yet another type of system for implementing various embodiments. It will be apparent to a person skilled in the art that many types of system and configuration are suitable for use in conjunction with item handling.
[00575] [00575] According to an example, the 7110 computer system includes a computer based on the Pentium ™ class, operating system operating Windows ™ XP ™ or Windows 7 ™ by Microsoft Corporation. However, the apparatus is easily adapted to other operating systems and architectures by those skilled in the art without departing from the scope of the present invention.
[00576] [00576] As noted, the 7170 mouse can have one or more buttons such as 7180 buttons. The 7140 cabin houses familiar computer components such as disk drives, a processor, storage device, etc. Storage devices including
[00577] [00577] FIG. 71A is an illustration of basic subsystems in computer system 7110 of FIG. 71. This diagram is merely an illustration, and should not limit the scope of the claims here. A person skilled in the art will recognize other variations, modifications, and alternatives.
[00578] [00578] In certain embodiments, the subsystems are interconnected via a system bus 7175. Additional subsystems such as a printer 7174, keyboard 7178, fixed disk 7179, monitor 7176, which is coupled to the display adapter 7182, and others are shown. Peripheral and input / output (I / O) devices, which are coupled to the 7171 I / O controller, can be connected to the computer system by any number of approaches known in the art, such as the serial port 7177. For example , the serial port 7177 can be used to connect the computer system to a 7181 modem, which in turn connects to a wide area network such as the Internet, a mouse input device, or a scanner . The interconnection, via system bus, allows the central processor 7173 to communicate with each subsystem and control the execution of instructions from the system memory 7172 or the fixed disk 7179, as well as the exchange of information between subsystems. Other arrangements of subsystems and interconnections are readily attainable by those skilled in the art. System memory and fixed disk are examples of tangible medium for storing computer programs, other types of tangible medium include floppy disks, hard disks,
[00579] [00579] As previously mentioned, item handling systems according to the embodiments are not limited to conveyor type systems. Alternative embodiments may include a drive system for a displacer that is responsible for receiving items dispensed from a carousel, and also responsible for the movement of trays having items arranged in it, for loading on a carousel.
[00580] [00580] Figures 72A-B show views of different embodiments of the displacer featuring a drive system. Such a displacer can feature integration of a drive system, for example, rails (Figure 72A), wheels (Figure 72B), others, and sensors (for example, cameras) in order to allow the displacer to move around the filling center.
[00581] [00581] In addition, certain embodiments of shifters may feature multiple bags added to a single drive unit, for example, rail (Figure 73A), wheels (Figure 73B). Such embodiments can feature supplicated bag locking mechanisms so that each displacer can carry multiple bags immediately. In this way, a single displacer can fill more than a single order, or parts of separate orders, during displacements around the filling center for improved efficiency.
[00582] [00582] It is further noted that a displacer can be equipped to include a tray carrying capacity. The addition of such a tray transport fixture can allow the shifter to bring trays to each carousel. Figures 74A-B show con-
[00583] [00583] It is noted that a shifter does not need to be equipped to transport a bag to receive dispensed items. According to some embodiments, a displacer can be designed to carry tray (s) only. Figures 75A-C show front views, seen in front perspective, and side perspective view, respectively, of such a tray shifting robot (with wheels).
[00584] [00584] Under certain implementations, there can be two types of robot on the floor of the filling center. A type of robot transports customer bags between carousels, lifting them with dispensed items as they go. The other type of robot transports multiple (for example, ~ 5-15 full trays), loading them on carousels as they go. Robots can be environmentally controlled to ensure the condition is maintained.
[00585] [00585] Clause 1D. A device comprising: a first carousel that classifies a first product under a first set of environmental conditions, the first product corresponding to a first Stock Keeping Unit (SKU); a second carousel that classifies a second product under a second set of environmental conditions different from the first set of environmental conditions, the second product corresponding to a second SKU different from the first SKU; and packaging arranged in a displacer that is movable to a first station next to the first carousel to receive the first product dispensed in a first direction in the packaging, and then a second station next to the second carousel to receive the second product dispensed in the first direction in the packaging, and then a charging station next to a vehicle for receiving the packaging.
[00586] [00586] Clause 2D. A device as in clause 1D additionally comprising a first tray configured to support the first product and a third product in the first carousel, the third product corresponding to a third SKU different from the first SKU and the second SKU.
[00587] [00587] Clause 3D. A device as in the 2D clause in which: the first tray is configured to support the first product in a first line; and the apparatus further comprises a second movable bench within the first carousel in a second direction close to the first dispensing station.
[00588] [00588] Clause 4D. A device as in the 3D clause in which the first direction is substantially orthogonal to the second direction.
[00589] [00589] Clause 5D. A device as in clause 4D in which the first direction is horizontal.
[00590] [00590] Clause 6D. A device as in clause 5D in which the second direction is vertical.
[00591] [00591] Clause 7D. A device as in clause 2D in which the first item is dispensed for packaging from the first tray located inside the first carousel.
[00592] [00592] Clause 8D. A device as in clause 2D in which the first item is dispensed for the packaging of the first tray moved outside the first carousel.
[00593] [00593] Clause 9D. A device as in clause 2D in which the first tray defines an opening that receives a movable member to contact the first product.
[00594] [00594] Clause 10D. An apparatus as in clause 9D in which the movable member comprises a belt configured to move in the first direction.
[00595] [00595] Clause 11D. A device as in clause 10D in which: the first direction is horizontal; and the first tray is configured to move vertically so that the belt protrudes into the opening and contacts the first product.
[00596] [00596] Clause 12D. A device as in clause 10D in which: the first direction is horizontal; and the belt is configured to move vertically to project into the opening and contact the first product.
[00597] [00597] Clause 13D. A device as in the 2D clause in which: the first direction is horizontal; and the first tray is configured to drop the first product in a vertical direction off one end of the tray in the package.
[00598] [00598] Clause 14D. An apparatus as in clause 13D further comprising a flexible member configured to cushion the first product that falls into the packaging.
[00599] [00599] Clause 15D. An apparatus as in clause 14D in which the cushion is disposed within the packaging.
[00600] [00600] Clause 16D. An apparatus as in clause 2D in which the tray comprises a plurality of injection molded parts assembled based on the dimensions of the first product.
[00601] [00601] Clause 17D. An apparatus as in clause 1D in which the displacer includes a weight sensor.
[00602] [00602] Clause 18D. An apparatus as in clause 1D in which: the first set of environmental conditions comprises a first condition selected from,
[00603] [00603] Clause 19D. A device as in clause 18D in which the second carousel is configured to receive from the carousel, the first tray supporting the first product.
[00604] [00604] Clause 20D. An apparatus as in clause 18D in which: the first set of environmental conditions is configured to extend the life of the first product; and the second set of environmental conditions is configured to accelerate the maturation of the first product.
[00605] [00605] Clause 1E. An apparatus comprising: a first carousel that classifies under a first set of environmental conditions, a first product supported on a first tray; a second carousel that classifies under a second set of environmental conditions different from the first set of environmental conditions, a second product supported on a second tray; and a non-transitory computer-readable storage medium in communication with the first carousel and the second carousel for recording data comprising, a first identifier of the first product, a first location of the first product, a second identifier of the second product, and a second second product location.
[00606] [00606] Clause 2E. An apparatus as in clause 1E in which the first location comprises: a third identifier for the first carousel; a fourth identifier for the first tray; and a fifth identifier for a position of the first product within the first tray.
[00607] [00607] Clause 3E. An apparatus as in clause 1E in which the data additionally comprises status information of the first product.
[00608] [00608] Clause 4E. An apparatus as in clause 3E in which the status information comprises: a weight of the first product; a result of visual inspection of the first product; a result of non-visual inspection of the first product; an image of the first product; a collection date for the first product; a loading date for the first product; a date of receipt of the first product; an expiration date of the first product; a quality of the first product; a name for the first product; a brand of the first product;
[00609] [00609] Clause 5E. A device as in clause 3E further comprising an engine configured to: receive a first entry specifying a particular SKU; match a particular SKU with the first product; and providing at least a portion of the status information related to the first product to a customer.
[00610] [00610] Clause 6E. An apparatus as in clause 5E in which the status information portion comprises an image of the first product.
[00611] [00611] Clause 7E. An apparatus as in clause 5E in which the status information portion comprises a quality of the first product.
[00612] [00612] Clause 8E. A device as in clause 5E in which the engine is additionally configured to: receive a second entry that selects the first product; and instruct the first carousel to dispense the first product in packaging.
[00613] [00613] Clause 9E. A device as in clause 8E in which the engine is additionally configured to: receive a third input that selects the second product; and instruct the second carousel to dispense the second product in packaging.
[00614] [00614] Clause 10E. An apparatus as in clause 9E in which the engine is configured to instruct the second carousel to dispense the second product in the packaging before the first product, based on a path between the first carousel, the second carousel, and a charging station.
[00615] [00615] Clause 11E. An apparatus as in clause 9E in which the engine is configured to instruct the second carousel to dispense the second product in packaging before the first product, based on a consideration comprising a weight, a size, or a fragility of the first product relative to the second product.
[00616] [00616] Clause 12E. An apparatus as in clause 8E in which the packaging comprises a bag.
[00617] [00617] Clause 13E. An apparatus as in clause 8E in which the packaging is arranged in a movable displacer between the first carousel and the second carousel.
[00618] [00618] Clause 14E. An apparatus as in clause 13E in which the displacer is configured to move on a conveyor.
[00619] [00619] Clause 15E. A device as in clause 13E in which the displacer is configured to move on a rail.
[00620] [00620] Clause 16E. An apparatus as in clause 13E in which the displacer is configured to transport the first tray.
[00621] [00621] Clause 17E. An apparatus as in clause 13E in which the displacer comprises wheels.
[00622] [00622] Clause 18E. An apparatus as in clause 17E in which the displacer is capable of semi-autonomous movement.
[00623] [00623] Clause 19E. An apparatus as in clause 8E in which the engine is additionally configured to instruct inspection of the first product before dispensing in packaging.
[00624] [00624] Clause 20E. An apparatus as in clause 1E in which the first tray comprises a plurality of injection molded parts assembled based on the dimensions of the first product.
[00625] [00625] Clause 1F. A method comprising: receiving a first product; perform a first inspection of the first product; a motor that determines, from the first inspection, a quality of the first product; the engine recording in a non-transitory computer-readable storage medium, the quality related to an identifier of the first product; based on quality, classify the first product in a first tray stored in a first carousel under a first set of environmental conditions; the motor registering in the non-transitory computer-readable storage medium, a location of the first item related to the identifier and the quality; and in response to a first entry, the engine offering the first item for a customer selection including quality disclosure.
[00626] [00626] Clause 2F. A method as in clause 1F in which quality comprises an image of the first product.
[00627] [00627] Clause 3F. A method as in clause 1F in which quality is determined by the physical appearance of the first product.
[00628] [00628] Clause 4F. A method as in clause 1F in which the quality is determined from a taste of the first product.
[00629] [00629] Clause 5F. A method as in clause 1F in which the quality is determined by the maturation of the first product.
[00630] [00630] Clause 6F. A method as in clause 1F in which the quality is determined from a nutritional value of the first product.
[00631] [00631] Clause 7F. A method as in clause 1F in which the quality is determined from a physical recovery of the first product.
[00632] [00632] Clause 8F. A method as in clause 1F in which the quality is determined by the useful life of the first product.
[00633] [00633] Clause 9F. A method as in clause 8F in which the engine is additionally configured to predict the useful life using a model.
[00634] [00634] Clause 10F. A method as in clause 9F in which the model considers one of the most conditions of the first set of environmental conditions.
[00635] [00635] Clause 11F. A method as in clause 1F in which the first inspection comprises an optical inspection.
[00636] [00636] Clause 12F. A method as in clause 1F in which the first inspection comprises spectroscopy.
[00637] [00637] Clause 13F. A method as in clause 1F further comprising: the engine determining a price for the first product based on quality; and the engine revealing the price with the quality.
[00638] [00638] Clause 14F. A method as in clause 1F in which the first entry comprises a Stock Keeping Unit (SKU) of the first product.
[00639] [00639] Clause 15F. A method as in clause 1F further comprising: based on quality, the engine instructing transfer of the first product to a second carousel under a second set of environmental conditions different from the first set of environmental conditions.
[00640] [00640] Clause 16F. A method as in clause 15F in which: the first set of environmental conditions is configured to extend the life of the first product; and the second set of environmental conditions is configured to accelerate the maturation of the first product.
[00641] [00641] Clause 17F. A method as in clause 1F further comprising: in response to a second entry comprising the customer's selection, the engine instructing the dispensing of the first product in the packaging.
[00642] [00642] Clause 18F. A method as in clause 17F further comprising: the engine instructing the movement of the displacer and the packing for a loading station.
[00643] [00643] Clause 19F. A method as in clause 17F further comprising: the engine instructing the movement of the displacer to receive a second product dispensed from a second carousel under second environmental conditions different from the first environmental conditions.
[00644] [00644] Clause 20F. A method as in clause 1F further comprising: the engine instructing the assembly of the first tray from a plurality of injection molded parts based on the dimensions of the first product.
[00645] [00645] Clause 1G. A method comprising: engine reference data on a data basis to reveal a plurality of related products, data comprising a product identifier and a product quality; the engine receiving a single selection from a category of related products from a customer; in response to the single selection, the engine instructing a system to dispense a subset of the related products corresponding to the category.
[00646] [00646] Clause 2G. A method as in clause 1G in which the plurality of related products comprises ingredients from a meal recipe.
[00647] [00647] 3G Clause. A method as in clause 2G in which the category comprises a type of meal.
[00648] [00648] Clause 4G. A method as in the 3G clause in which the type of meal comprises breakfast, lunch, dinner, or dessert.
[00649] [00649] Clause 5G. A method as in clause 1G further comprising: the engine instructing the system to dispense the subset additionally based on a second entry removing certain products from the total set of related products.
[00650] [00650] Clause 6G. A method as in clause 1G further comprising: the engine receiving a second entry specifying a replacement product; and the engine instructed the system to dispense with the replacement product in place of one of the products in the subset.
[00651] [00651] Clause 7G. A method as in clause 1G in which the plurality of related products are based on a customer purchase history stored in the database.
[00652] [00652] Clause 8G. A method as in clause 1G in which the plurality of related products are based on a customer preference stored in the database.
[00653] [00653] Clause 9G. A method as in clause 1G in which the plurality of related products are based on a customer's budget stored in the database.
[00654] [00654] Clause 10G. A method as in clause 1G in which the plurality of related products are based on an existing customer inventory stored in the database.
[00655] [00655] Clause 11G. A method as in clause 1G further comprising: classifying a plurality of related products based on an assigned quality according to an initial inspection; and load the plurality of related products in the respective trays based on the classification.
[00656] [00656] Clause 12G. A method as in clause 11G further comprising: the engine instructing the assembly of the plurality of injection molded parts trays based on the dimensions of the plurality of related products.
[00657] [00657] Clause 13G. A method as in clause 11G in which the initial inspection comprises an optical inspection.
[00658] [00658] Clause 14G. A method as in clause 13G in which the optical inspection comprises a visual inspection.
[00659] [00659] Clause 15G. A method as in clause 11G in which the initial inspection comprises spectroscopy.
[00660] [00660] Clause 16G. A method as in clause 11G further comprising: the engine instructing storage of the respective trays under controlled environmental conditions based on inspection.
[00661] [00661] Clause 17G. A method as in clause 11G further comprising: the engine instructing a subsequent inspection before dispensing the plurality of related products.
[00662] [00662] Clause 18G. A method as in clause 17G where the subsequent inspection is of the same type as the initial inspection.
[00663] [00663] Clause 19G. A method as in clause 17G where the subsequent inspection is of a different type than the initial inspection.
[00664] [00664] Clause 20G. A method as in clause 20G in which the initial inspection comprises an optical inspection.
[00665] [00665] Clause 1H. An apparatus comprising: a plurality of single individual product items stored in trays within a plurality of carousels under different environmental conditions; a non-transitory, computer-readable storage medium configured to record at least one location and status of each individual item of unique product; a graphical user interface (GUI) configured to offer a customer selection between a first individual item of a single product and a second individual item of a single product; and a motor in communication with the GUI and the non-transitory computer-readable storage medium, the motor configured to instruct dispensing of the first individual item of a single product from a first carousel in a packaging in response to customer selection.
[00666] [00666] Clause 2H. An apparatus as in clause 1H in which the first individual item of a single product and the second individual item of a single product differ from each other based on an attribute.
[00667] [00667] Clause 3H. An apparatus as in clause 2H in which the attribute is stored in the computer-readable storage medium
[00668] [00668] Clause 4H. A device as in clause 2H in which the attribute is based on a first inspection carried out before the dismissal.
[00669] [00669] Clause 5H. A device as in clause 4H in which the first inspection is carried out before loading the first individual item of single product in the first carousel.
[00670] [00670] Clause 6H. An apparatus as in clause 5H in which the first inspection is carried out with the first item of product arranged on a tray.
[00671] [00671] Clause 7H. An apparatus as in clause 5H in which the first inspection is carried out before the first item of product being placed on a tray.
[00672] [00672] Clause 8H. An apparatus as in clause 7H further comprising an apparatus configured to assemble the tray of a plurality of injection molded parts after receiving an instruction from the engine.
[00673] [00673] Clause 9H. An apparatus as in clause 4H in which the first inspection comprises rotation of the first single product item to obtain multiple views.
[00674] [00674] Clause 10H. An apparatus as in clause 9H further comprising a conveyor configured to handle the first individual item of single product during the first inspection.
[00675] [00675] Clause 11H. An apparatus as in clause 10H in which the rotation is orthogonal to a direction of travel along the conveyor.
[00676] [00676] Clause 12H. An apparatus as in clause 10H in which the conveyor comprises a pivoting conveyor belt.
[00677] [00677] Clause 13H. An apparatus as in clause 10H in which the carrier comprises a star wheel.
[00678] [00678] Clause 14H. An apparatus as in clause 10H in which the conveyor comprises a roller.
[00679] [00679] Clause 15H. An apparatus as in clause 14H in which the conveyor comprises a spinner and roller conveyor.
[00680] [00680] Clause 16H. An apparatus as in clause 10H in which the carrier comprises a pop-up carrier.
[00681] [00681] Clause 17H. A device as in clause 4H additionally includes a gantry to perform the rotation.
[00682] [00682] Clause 18H. A device as in clause 4H additionally comprising a camera to carry out the first inspection.
[00683] [00683] Clause 19H. An apparatus as in clause 2H in which the attribute is additionally based on a second inspection carried out during the dispensation.
[00684] [00684] Clause 20H. A device as in clause 2H in which the attribute comprises a current quality, a projected future quality, or a maturation.
[00685] [00685] Clause 1I. An apparatus comprising: a plurality of single individual product items stored within a plurality of carousels under different environmental conditions; a non-transitory computer-readable storage medium recording, an inspection result of each of the plurality of unique individual product items, and a location of each of the plurality of unique individual product items; a processing engine in communication with the plurality of carousels and with the readable storage medium
[00686] [00686] Clause 2I. A device as in clause 1I in which the non-transitory computer-readable storage medium additionally registers a Stock Keeping Unit (SKU) related to the inspection result and location.
[00687] [00687] Clause 3I. An apparatus as in clause 1I in which the non-transitory computer-readable storage medium additionally registers a quality of the product item related to the location and generated from the inspection result by the processing engine.
[00688] [00688] Clause 3I. An apparatus as in clause 1I in which the inspection result comprises an image.
[00689] [00689] Clause 4I. A device as in clause 3I in which the image comprises visible wavelengths.
[00690] [00690] Clause 5I. A device as in clause 3I in which the image comprises other than visible wavelengths.
[00691] [00691] Clause 6I. An apparatus as in clause 1I in which the inspection result comprises a spectrography.
[00692] [00692] Clause 7I. An apparatus as in clause 1I in which the inspection result comprises chemical detection.
[00693] [00693] Clause 8I. An apparatus as in clause 7I in which chemical detection detects deterioration.
[00694] [00694] Clause 9I. An apparatus as in clause 7I in which chemical detection detects a mold spore.
[00695] [00695] Clause 10I. An apparatus as in clause 1I in which the classification of the plurality of single individual product items in the plu-
[00696] [00696] Clause 11I. An apparatus as in clause 1I further comprising a mechanism configured to handle the plurality of single individual product items during inspection for disposal on a tray.
[00697] [00697] Clause 12I. An apparatus as in clause 11I in which the inspection comprises rotation of a single product item to obtain multiple views.
[00698] [00698] Clause 13I. An apparatus as in clause 12I in which the mechanism comprises a conveyor.
[00699] [00699] Clause 14I. An apparatus as in clause 13I in which the rotation is orthogonal to a direction of travel along the conveyor.
[00700] [00700] Clause 15I. An apparatus as in clause 13I in which the conveyor comprises a pivoting conveyor belt.
[00701] [00701] Clause 16I. An apparatus as in clause 13I in which the carrier comprises a star wheel.
[00702] [00702] Clause 17I. An apparatus as in clause 13I in which the conveyor comprises a roller.
[00703] [00703] Clause 18I. An apparatus as in clause 13I in which the conveyor comprises a spinner and roller conveyor.
[00704] [00704] Clause 19I. An apparatus as in clause 13I in which the carrier comprises a pop-up carrier.
[00705] [00705] Clause 20I. An apparatus as in clause 12I in which the mechanism additionally comprises a gantry to perform the rotation.
[00706] [00706] Figure 76 offers a simplified block diagram showing an overview of a system according to a concretization. Specifically, the 7600 system comprises a 7602 platform including a 7604 processing engine and a graphical interface.
[00707] [00707] The platform is in communication with a 7610 facility, via a 7611 communication network. In particular, the engine is configured to provide 7612 instructions to make the facility admit 7614 a plurality of product items in bulk form, to perform a 7616 inspection (for example, using a 7617 camera) of those bulk items, and to classify 7618 those bulk items on the basis of the inspection.
[00708] [00708] Additionally, on the basis of the inspection, the platform is additionally configured to instruct a 7620 device to assemble 7622 trays from individual 7624 parts (for example, injection molded parts). The trays then receive the classified product items, and in turn are loaded 7626 onto the carousels
[00709] [00709] The platform is additionally in communication with the non-transitory 7630 computer-readable storage medium having data stored on it. For example, the 7632 database can comprise data related to various aspects of the system and the products stored in it.
[00710] [00710] Dates stored in the database can be referenced by the platform to fill 7633 a customer order. In particular, the customer can ask the platform for a 7640 requisition specifying a particular item type 7642 (for example, a specific varietal apple such as golden delicious). The platform can receive the requisition, and reference that item according to a SKU information classification table.
[00711] [00711] Then, with reference to the data in the database, the platform can return to reveal to the client in the GUI, data related to
[00712] [00712] Next, the GUI is configured to receive a selection from user 7652 of one of the particular product items. In response, the engine is configured to instruct a dispensing station 7653 of the facility to dispense that single individual item from the sink and merry-go-round, in packaging 7654 supported on a mobile shifter 7656.
[00713] [00713] While the particular embodiment shown in Figure 76 represents the routing of product items directly from the dispensed carousel to a loading station for distribution, this is not required. Alternative embodiments can employ an intermediate carrier shuttle structure. There, items are dispensed for the intermediate carrier shuttle, which in turn is brought to a different location for consolidating product items in the packaging.
[00714] [00714] In some embodiments, it is noted that the processing engine can communicate to the facility, an instruction to transfer 7657 a product item from one storage carousel to another. Such a transfer instruction can be based on considerations such as an expected maturation of the product item, a storage capacity of a particular carousel, and an expected future order of a product item (for example, as can be predicted) machine learning). This transfer can be tracked using a displacer (as shown), or alternatively using a different system component.
[00715] [00715] According to certain embodiments, the dispensing product
[00716] [00716] Finally, once all of the selected customer items have been collected in the packaging, the engine is configured to instruct the displacer to move along path 7658 to the 7660 charging station. packaging is offered for distribution to the customer 7662.
[00717] [00717] According to certain embodiments, this distribution may comprise the customer receiving the product items in the packaging as transported, via a vehicle (for example, drone, truck, car, bicycle). According to alternative embodiments, however, distribution cannot characterize an increased drop, but preferably captured by a human customer. Such manual distribution options may use visual cues such as indicator lights or screen designs.
[00718] [00718] It is noted that the storage medium readable by a non-transitory computer in Figure 1 additionally comprises a knowledge base 7634. The data of the known base can be referenced by the engine when carrying out the machine learning processes 7690, as previously mentioned. Those learned characteristics can be used to enhance the system's operating efficiency and the quality of the experience of the customer who interacts with the system.
[00719] [00719] For example, according to some embodiments, a customer may be able to provide feedback on specific items. This feedback can be used to better predict preferences and other quality attributes.
[00720] [00720] In addition, information related to the availability of an item capable of being combined with expected demand and replenishment of expected inventory, can be used to encourage specific consumption trends. This can be accompanied by, among other techniques, placement in web browsers, relative pricing, promotions, and recipe suggestions that include such items or, otherwise.
[00721] [00721] Figures 77A-C show several views from the front, from the top, in perspective of an embodiment of a 7700 design for an inspection station. Here, product items 7702 enter on the left, move along conveyor 7703 to the center.
[00722] [00722] The item is lifted by the rollers, the rollers rotate and the cameras capture photos from above. Figure 77D shows a perspective view with the 7704 rollers raised.
[00723] [00723] The items are dropped back on the carriers and the items advance forward with their classification. Figure 77E shows a perspective with the rollers lowered.
[00724] [00724] Figures 78A show a perspective view of an alternative carrier design. According to this embodiment, the carrier 7800 features plastic walls 7802 to retain the flange of the tray in space.
[00725] [00725] To locate the tray, a click on the place characteristic was added to the carrier and tray. Specifically, when the tray is inserted, it moves four locks 7804 (two on each side of the tray) that are shown in the wall edge view of Figure 78B, and the enlarged view of Figure 78C. These latches bend during installation and then lock the tray in place once installed. This keeps the tray centered on the carrier and keeps it from sliding off or changing while the carousel rotates.
[00726] [00726] The embodiment of the carrier shown can offer benefits
[00727] [00727] Also, due to the dispensing tool not needing to sit on the carrier, a higher number of slots can be assigned to trays. In this particular embodiment, 2X the number of slots has been added. This provides flexibility when inserting trays into the carrier to achieve maximum density.
[00728] [00728] According to some embodiments, a carousel interior can be covered with foam panels. These foam panels fixed to the walls with a hook clamp, illustrated in perspective and side view in Figures 79A-B.
[00729] [00729] Here, the hook clamp 7900 has 7902 teeth that sink into the foam of the panels. The clamp may or may not be glued, too. Also, the cuff can be covered with some of the same coating as the foam is covered. The cuff may or may not be inserted into a foam pouch.
[00730] [00730] The carousel structure can have the projecting pin 7904 with which the clamp can correspond. In this way, to install the panel, the foam is raised so that the pin goes through large holes. Then, the panel is lowered and two or more clamps are secured to the pins as they slide into the keyhole shape.
[00731] [00731] Figures 80A-B show various views of an embodiment of a layoff approach. This embodiment 8000 features hooks 8002 that engage tray 8004 from the front of the carrier.
[00732] [00732] Such an approach can offer certain benefits. For example, it avoids tolerance considerations attributable to the wearer by tilting backwards and forwards. There will be a relative tolerance in the location of each carrier.
[00733] [00733] With this design, the hook rests on a large area and has a large tolerance. Now, the position can be released by> 5mm and still engage correctly. This increases the strength of the tool, and can reduce the cycle time of the dispensing process because less precision is required.
[00734] [00734] Figures 81A-C show perspective, side, and top views, respectively, of an embodiment of a dispensing approach 8100. Here, the vertical elevation design is incorporated into the conveyors. In place of axles, motor (s) 8102 were fitted to each conveyor. This offers potential savings in cost and complexity, in which stepper motors are cheaper than a single servo plus all the shafts and pulleys required to drive them.
[00735] [00735] This embodiment also features a left-to-right belt drive design 8104 that has a fixed adjusting belt 8106 and pulleys 8108 that moves through it. Again, this reduces cost and complexity, placing the motors in pop through the conveyor and making the tool easier to control.
[00736] [00736] Figure 82 shows a side view illustrating a concretization of a dispensation approach. Here, product items are moved out of the dispensing tool on a flat table or a set of conveyors that are built into a surface of the 8200 displacer platform. The displacer then moves to the loading area and an order is placed. consolidated.
[00737] [00737] The approach allows large items to be stored and dispensed. Such items may not normally sit in a bag, but this design saves the manual effector from moving in a corridor and picking them up from a shelf.
[00738] [00738] Figure 83 shows a top view illustrating a concretization of a layoff approach. Here, product items are moved out of the dispensing tool. But, instead of the customer's bag, the product item falls into a cushioned 8300 bag that protects the item. The shifter can have multiple buckets that items can be dumped into. These items are then moved to the loading area and consolidated in the highest order.
[00739] [00739] This can be used when items are too fragile to fall into the other, harder items in a bag. A peach, for example, can be damaged by falling into a corner of the box or the stem of a young pumpkin.
LEGENDS: FIG. 1D
CUT FIG. 10 1002 Bulk Material Received 1004 Classified Product Items 1005 Inspected Product Items 1006 Product Items Loaded in Trays 1008 Tray Location Information Held 1010 Tray Loaded in Carousel 1012 Selected Product Item 1014 Dismissed Product Item for Packaging FIG. 11 1102 User 1136 Single Product Item (s) 1140 Selection 1132, 1134 PROCESSOR 1142 Instruction
1108 Database Product Item Product Item ID Product Item Feature Tray ID Tray Location ID Product Inspection Inspection Result Inspection Result ID 1114 Classification Items 1116 Inspect Single Item 1124 Loading Tray 1130 Carousel Classification 1144 Single Item Dispensing in Packaging 1146 Single Item Distribution in Packaging FIG. 19B 1236 Roller Interface FIG. 19C 1238 Front Drive Gear 1234 Rear Drive Gear FIG. 21 1244 Slide FIG. 31 Pixel Fraction Saturation Histogram Saturation Value FIG. 32 3202 Selected Training Body 3204 Selected Model
3206 Training Body Input Processing 3208 Training Data Applied to Model 3210 New Data Applied to Trained Model 3212 Numerical Model Outputs for Results 3214 Accuracy of Assessed Result FIG. 33 Inspection 3320 Customer Input 3322 Filling Engine Modeling Degradation 3310 Automation Control 3324 Data and Learning Feedback FIG. 35 Wavelength (nm) Absorbance Red Blue Green Water Water Water FIG. 37A Waiting for Next Item First Item (cylinder or sphere) in position FIG. 37B Articulate Conveyor Arms Direction of the Top Surface of the Conveyor Belt.
The Item rolls when the straps are moving FIG. 37C The Next Item Moves at the Turning Station
The First Item Moves Out of the Turn Station FIG. 37D Cuboid Moves on the Conveyor.
Top surface is shown from above FIG. 37E Articulator and Cuboid Carrier Arms Start Tumbling FIG. 37F Cuboidal Bottom Surface is Now Displayed from Above FIG. 38C Conveyor Direction Side view FIG. 38D Top View FIG. 39A Front View Line of Belt Conveyors Rise Above the Foam and Moves the Item Along the Conveyor Soft Damping Foam Captures the Item First Item in Free Fall Waiting for Next Item FIG. 30B Side View Conveyor Direction FIG. 40 The 6 arms are rigid to each other, but rotate around the central axis Conveyor belt interconnecting all the way around the 6 arms FIG. 40A Waiting for next item First item (cylinder or sphere) moves in free fall
FIG. 40B Free fall rotation of 60 degrees Next item moves in free fall Direction of the top surface of the conveyor belt.
The item rolls when the straps are moving and is placed in picture FIG. 40C Rotate all star 60 degrees First item moves out of star wheel Second item rotates Next item moves in star wheel FIG. 40D Top surface is viewable from above and image obtained Cuboid moves on conveyor FIG. 40E Star wheel rotates FIG. 40F All star complete rotation 180 Top surface is viewable from above Cuboid moves outside the star wheel and images from above FIG. 41A Belt width changes depending on item size The item is transported to the rollers with a double belt conveyor FIG. 41B Item in rolling position FIG. 41C Rollers raise the item, Rotation of the rollers, Rotation of the item after rotation, rollers lower and the item is moved along by the conveyor FIG. 42B Rollers with part of a conveyor belt
FIG. 42C Rotational transfer mechanism, by turning the rollers the item is supported, thereby rolling the item FIG. 43A Tray moves sideways, so that the corrected line on the bench is shown FIG. 43B Top View Conveyors spread open-closed depending on the item's width Items line up after image, line up for tray loading Items already loaded raise the tray.
Each item additionally pushed to the right, a new item is added to the Tray line in the position for loading the item. Side View Conveyor Conveyor belts move up and down (pop through the trays). FIG. 44A Top View Items line up after image, line up for tray loading Items already loaded in the tray.
Tray in position to load the item.
Tray moves vertically so that the corrected line on the tray is displayed.
Tray moves sideways, so that the corrected line on the tray is displayed.
Tray moves sideways, so that the corrected column in the tray is displayed.
FIG. 44B
Side View Tray moves up and down to avoid contact with items below the queued conveyor. FIG. 45B Side View Items line up after image, line up for size and / or degree of filtering. Items already loaded on the platform. Platform moves up and down so that the corrected conveyor line is displayed Belt conveyors move along whenever a new item is to be placed on this line FIG. 45B Belt conveyors move items along whenever a new item is to be placed on this line FIG. 45C Top View FIG. 49A Small roller Large roller Sensor Fiber path Tail FIG. 50
1. Under the mounting rails for the total mobile platform
2. Between the slide and the moving rail
3. Under a single roller or set of rollers FIG. 51C Terminal Effector Tray
The Tray indexes on the pins on the end effector Dispensing conveyors It must rest through the slots in the tray FIG. 52A These shelves can now be flat The shelf has wings at the top that rest on the conveyor shelf The indexing pin is molded on the tray The tray hangs on the shelf The end effector sits on the tray from the bottom to capture the conveyor FIG . 52B Carrier Shelf Carrier Shelf Tray Inside Carousel Carousel Door Limit Carousel Door Limit The Terminal Effector Hook reaches the carousel and hooks to the tray Tray Lifting Shelf Tray Lifting Shelf Tray Hook Terminal effector pulls the tray on the tray lifting shelf FIG. 52C Tray Conveyor Shelf Conveyor Shelf Gear Holder Molded on Tray
Inside the Carousel Piston gear on one arm extends on the carousel and interfaces with the support on the tray Tray Piston gear drives the tray on the tray lifting shelf Carousel Door Threshold Carousel Door Threshold Tray Raising Shelf Tray Lift Shelf FIG. 58A Plunger Washer FIG. Front 61A FIG. 61B Front FIG. 62 Carousel Staging position 1 Staging position 2 Staging position 3 FIG. 69 Order Filling Front Terminal Process Data Control System Inventory Control Rear Terminal FIG. 70 Dinner Lunch Breakfast
Snack Barbecue Appetizer Party Baby Supplies Dessert Mexican Japanese Italian Indian Indian Grilled Foods Protein / Egg / Chinese Starch German Vegetarian Night Slower Stove Comforting Food Breakfast for Dinner Red Pasta White Pasta Pizza Classic Italian Recipes FIG. 71A 7171 I / O CONTROLLER 7172 SYSTEM MEMORY 7173 CENTRAL PROCESSOR 7174 PRINTER 7182 DISPLAY ADAPTER 7176 MONITOR 7177 SERIAL PORT
7178 KEYBOARD 7179 FIXED DISK 7181 EXTERNAL INTERFACE FIG. 76 7608 Customer 7652 Select 7640 Request 7604 Engine 7633 Fill in 7690 Learn Database - system - product - inspection - customer - received Information base - trajectory - price - useful life - revenue - prefs 7662 Distribute 7682 Inspect 7612 Instruct Inspect 7622 store 7624 mounting 7660 Dispensing load
Transfer Load Classification Store Entrance FIG. 82

权利要求:
Claims (20)
[1]
1. Apparatus characterized by the fact that it comprises: a translatable structure to a display position on the front of a carousel; a fork supported by the structure and configured to extend in one direction towards the carousel to engage a tray that holds an item; and a movable member configured to project vertically in a first opening of the shelf, contact the item at a first point, and dispense the item from the tray in a direction away from the carousel, in the packaging.
[2]
2. Apparatus according to claim 1, characterized by the fact that the movable member comprises a conveyor.
[3]
3. Apparatus, according to claim 2, characterized by the fact that the conveyor comprises: a first conveyor belt configured to project through the first opening and contact the item at a first point; and a second conveyor belt configured to project through a second opening in the tray, and to contact the item at a second point.
[4]
4. Apparatus according to claim 3, characterized by the fact that the first conveyor belt and the second conveyor belt are parallel.
[5]
5. Apparatus according to claim 2, characterized in that it additionally comprises a barrier configured to prevent an item from falling off the rear side of the tray opposite the display position.
[6]
6. Apparatus according to claim 1, characterized in that it additionally comprises a load cell.
[7]
7. Apparatus, according to claim 1, characterized by the fact that the movable member is configured to move in a horizontal position towards the display position after projection through the first opening.
[8]
8. Apparatus according to claim 1, characterized by the fact that it additionally comprises an item location sensor.
[9]
9. Apparatus according to claim 8, characterized by the fact that the item location sensor comprises an optical sensor.
[10]
10. Apparatus according to claim 9, characterized by the fact that it additionally comprises an optical fiber.
[11]
11. Apparatus, according to claim 1, characterized by the fact that the movable member is configured to move in a vertical direction to protrude in the first opening.
[12]
12. Apparatus, according to claim 1, characterized by the fact that the tray is configured to move in a vertical direction to allow the movable member to protrude into the first opening.
[13]
13. Apparatus according to claim 1, characterized by the fact that the tray comprises an injection molded part.
[14]
14. Apparatus according to claim 13, characterized by the fact that the tray comprises a plurality of injection molded parts assembled by a machine.
[15]
15. Apparatus, according to claim 1, characterized by the fact that the fork comprises a hook configured to engage a hole in the tray.
[16]
16. Apparatus, according to claim 1, characterized by the fact that the fork is configured to extend along one side of the tray.
[17]
17. Apparatus, according to claim 1, characterized by the fact that the fork is configured to align with the tray using a pin.
[18]
18. Apparatus according to claim 1, characterized by the fact that it additionally comprises a pulley.
[19]
19. Apparatus according to claim 1, characterized by the fact that it additionally comprises an axis.
[20]
20. Apparatus according to claim 1, characterized by the fact that it additionally comprises a belt.

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法律状态:
2021-12-07| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US201762589409P| true| 2017-11-21|2017-11-21|

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US62/589,409|2017-11-21|

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US201862675656P| true| 2018-05-23|2018-05-23|

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US62/675,656|2018-05-23|

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PCT/US2018/060790|WO2019103880A1|2017-11-21|2018-11-13|Product handling and packaging system|

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