Automatic or semi-automatic positioning, identification and relocation of objects, including during transit

Abstract

A system and method for shifting objects. The system includes: a plurality of object support structures (62); an object shifting device (80) configured to: locate and identify an object placed on a first object support structure of the plurality of object support structures, engage the object placed on the first object support structure, and transfer the object to a second object support structure of the plurality of object support structures when the first object support structure of the plurality of object support structures is positioned adjacent to the object shifting device; a shifting mechanism (58) operable to move the plurality of object support structures to different positions; and a computing device (38) configured to guide operation of the object shifting device and the shifting mechanism.

Description

Technical Field

[0001] This field relates to the automated handling of objects. Background Art

[0002] The transportation of objects, for example, within logistics networks, presents unique challenges. For example, organizing, routing, and tracking large numbers of objects (e.g., packages with contents destined for specific destinations) can require significant resources. Without these resources and / or greater efficiency, the ability to handle objects is limited. Therefore, there is a need for improved automated or semi-automated handling and manipulation of objects. Summary of the Invention

[0003] This summary is intended to introduce a series of concepts in a simplified form that are further described below in the detailed description of the present disclosure. This summary is not intended to identify necessary or essential features of the claimed subject matter, nor is it intended to be used in isolation to help determine the scope of the claimed subject matter.

[0004] In short, this disclosure generally describes embodiments for automatically or semi-automatically detecting, locating, identifying, engaging, and / or displacing objects. These embodiments can be implemented in static and / or moving environments and can be used to transfer, route, and / or organize objects based on their designated destinations. These embodiments can also be used in logistics networks to improve the efficiency, capacity, and / or accuracy of object handling within logistics network operations, among other advantages.

[0005] In one embodiment, an object displacement system is provided. The object displacement system includes at least one object displacement device. The object displacement device can be configured to detect, locate, identify, engage, and / or displace objects in an automatic or semi-automatic manner. The object displacement device includes a number of features and configurations to support this functionality. For example, the object displacement device can include an object detection component that detects, locates, and / or identifies an object, for example, in the three-dimensional space in which the object displacement device operates. This can include detecting, identifying, and / or locating the object itself or portions thereof, such as its edges, dimensions, and / or boundaries, as well as other characteristics. The object displacement device can include object engagement components that can engage, grip, transfer, and / or release the object. These object engagement components can also be adaptive or dynamically adjustable, allowing the object engagement components to engage and displace objects of different shapes and sizes, and / or objects located in different positions and / or orientations. In various aspects, the object displacement device can be configured to operate from a fixed position in space, and / or can be movable, for example, using a displacement mechanism. The displaced objects can be transported on an object support structure. In one aspect, the object support structure can be movable, for example, using a displacement mechanism, to enable relative positioning during the object displacement process. Systems and components for displacing objects in an automated or semi-automated manner can be guided by one or more computing devices, which can be local, remote, and / or distributed in various aspects.

[0006] In one embodiment, a system for shifting objects is provided. The system includes a plurality of object support structures; an object shifting device configured to locate and identify an object placed on a first object support structure of the plurality of object support structures, engage the object placed on the first object support structure, and transfer the object to a second object support structure of the plurality of object support structures when the first object support structure is positioned adjacent to the object shifting device; a shifting mechanism operable to move the plurality of object support structures to different positions; and a computing device configured to guide operation of the object shifting device and the shifting mechanism.

[0007] In another embodiment, a method for displacing an object is provided. The method includes using a displacement mechanism to displace a first object support structure to a first position in space, wherein the first position is adjacent to an object displacement device; using at least one object detection component to determine an identity of an object disposed on the first object support structure; using at least one object detection component to determine a position of the object in a three-dimensional space in which the object displacement device operates; using the displacement mechanism to displace a second object support structure to a second position in space, wherein the second position is adjacent to the object displacement device; using one or more object engagement components of the object displacement device to engage the object disposed on the first object support structure; displacing the object to the second object support structure; and releasing the object from the second object support structure.

[0008] In another embodiment, a system for shifting objects during transit is provided. The system includes a plurality of object support structures; a shifting mechanism operable to move the plurality of object support structures to different locations in space; an object shifting device configured to locate and identify objects placed on the plurality of object support structures and to engage and shift the objects to different object support structures; and a computing device configured to guide the operation of the object shifting device and the shifting mechanism.

[0009] In another embodiment, an object displacement device is provided. The object displacement device includes a base; a frame extending from the base; an object displacement mechanism movable along the frame to different positions, the object displacement mechanism including one or more object engagement components operable to engage and displace objects of a range of different sizes; and at least one object detection component configured to determine a position of an object in a three-dimensional space in which the object displacement device operates and to determine the identity of the object.

[0010] In another embodiment, an object shifting system is provided. The object shifting system includes a guide track; a plurality of object support structures, each object support structure including a track engagement structure adapted to couple with the guide track to allow the coupled object support structure to move along the guide track; an object shifting apparatus including a base, a frame extending from the base, and an object shifting mechanism, wherein the object shifting mechanism is movable along the frame to different positions, and wherein the object shifting mechanism includes one or more object engagement components operable to engage and shift a range of objects of different sizes, and at least one object detection component configured to determine a position of an object placed in a three-dimensional space in which the object shifting apparatus operates and to determine the identity of the object.

[0011] In another embodiment, a method for moving an object using an object-moving device is provided, the object-moving device comprising a base, a frame extending from the base, an object-moving mechanism movable along the frame, and at least one object-detecting component. The method includes moving the object-moving mechanism to a position on the frame adjacent to an object; detecting the object using the at least one object-detecting component; determining the identity of the object based on a unique identifier associated with the object; determining the position of the object in a three-dimensional space in which the object-moving mechanism operates; engaging the identified and located object using the object-moving mechanism; and moving the object to a position associated with a designated destination for the object.

[0012] In another embodiment, a computer-implemented method for guided object displacement is provided. The method includes directing a displacement mechanism to move a first object support structure from a plurality of object support structures to a first position in space, the first position being located in a three-dimensional space in which the object displacement mechanism operates; receiving identification data associated with an object placed on the first object support structure from the object displacement mechanism; determining a designated destination for the object based at least in part on the identification data; directing the displacement mechanism to move a second object support structure from the plurality of object support structures associated with the designated destination for the object, the second position being located in space, the second position being located in the three-dimensional space in which the object displacement mechanism operates; and directing the object displacement mechanism to transfer the object from the first object support structure to the second object support structure.

[0013] In another embodiment, one or more computer-readable media having computer-executable instructions stored thereon are provided that, when executed by one or more processors, perform a method for directed object displacement. The method includes directing a displacement mechanism to move a first object support structure of a plurality of object support structures to a first position in space, the first position being located in a three-dimensional space in which the object displacement mechanism operates; receiving identification data associated with an object placed on the first object support structure from the object displacement mechanism; determining a designated destination for the object based at least in part on the identification data; based on a second object support structure of the plurality of object support structures being associated with the designated destination for the object, directing the displacement mechanism to move the second object support structure to a second position in space, the second position being located in the three-dimensional space in which the object displacement mechanism operates; and directing the object displacement mechanism to transfer the object from the first object support structure to the second object support structure.

[0014] In another embodiment, a computer system is provided. The computer system includes at least one processor; at least one memory; and one or more computer-readable media having computer-executable instructions stored thereon, which, when executed by the one or more processors, perform a method for guided object displacement. The method includes directing a displacement mechanism to move a first object support structure from a plurality of object support structures to a first position in space, the first position being located in a three-dimensional space in which the object displacement mechanism operates; receiving identification data associated with an object placed on the first object support structure from the object displacement mechanism; determining a designated destination for the object based at least in part on the identification data; based on a second object support structure from the plurality of object support structures associated with the designated destination for the object, directing the displacement mechanism to move the second object support structure to a second position in space, the second position being located in the three-dimensional space in which the object displacement mechanism operates; and directing the object displacement mechanism to transfer the object from the first object support structure to the second object support structure.

[0015] As used herein, the term "object" should be broadly interpreted to include any combination of one or more items that can be transported from one location to another. For example, in one non-limiting aspect, an "object" can be a package with contents destined for a specific destination, such as in a logistics network. The phrase "logistics network" as used herein should also be broadly interpreted to include any one or combination of people, equipment, locations, and / or mobile vehicles (e.g., including those operating autonomously or semi-autonomously, vehicles, rail vehicles, ships, aircraft, etc.) used to transfer objects to different destinations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Embodiments of the present disclosure for automatically or semi-automatically shifting objects are described in detail below with reference to the accompanying drawings, which are intended to illustrate non-limiting examples, in which:

[0017] Figure 1 Depicted are example computing systems suitable for supporting the operations of the various embodiments described herein;

[0018] Figure 2 depicts a generally represented article displacement system according to embodiments thereof;

[0019] Figure 3 depicts a network of components that may be used with a system for displacing an object, according to embodiments thereof;

[0020] Figures 4 and 5 depicts a mobile transport having an object displacement system integrated therein according to an embodiment thereof;

[0021] Figure 6 depicts an example of an article support structure according to embodiments thereof;

[0022] Figure 7 Depicts a container in a configuration suitable for loading / unloading according to an embodiment thereof. Figure 6 The object support structure;

[0023] Figure 8 Depicts a device in another configuration suitable for loading / unloading according to an embodiment thereof. Figure 6 The object support structure;

[0024] Figures 9 and 10 An object-shifting apparatus and an object support structure according to embodiments thereof are depicted;

[0025] Figure 11 Described according to the embodiment Figure 9 A portion of the object shifting device shown;

[0026] Figure 12 Described according to the embodiment Figure 11 Enhanced view of the object shifting device;

[0027] Figure 13A depicts a portion of a door assembly according to an embodiment thereof;

[0028] Figure 13B depicts a door-engaging mechanism according to an embodiment thereof;

[0029] Figures 14A to 14D depicts various object engagement components according to embodiments thereof;

[0030] Figure 15 depicts a block diagram of a method for displacing an object according to an embodiment thereof;

[0031] Figure 16 another block diagram depicting a method for displacing an object according to embodiments thereof; and

[0032] Figure 17 Depicted is a block diagram of a method for guiding displacement of an object, according to embodiments thereof. DETAILED DESCRIPTION

[0033] This detailed description is provided to satisfy statutory requirements. However, this detailed description is not intended to limit the scope of the invention. Instead, the claimed subject matter may be embodied in other ways to include different steps, combinations of steps, different features, and / or combinations of different features similar to those described in this disclosure and in combination with other existing or future technologies. Furthermore, although the terms "step" and "block" may be used herein to identify different elements of the method employed, these terms should not be interpreted as implying any particular order among or between the different elements unless the order is explicitly stated.

[0034] In general, the present disclosure describes embodiments for detecting, locating, identifying, engaging, and / or displacing objects in an automated or semi-automated manner. These embodiments can be implemented in various aspects in static and / or moving environments and can be used to organize, transport, and / or route objects based on their designated destinations. These embodiments can further be implemented in logistics networks to increase the efficiency, capacity, and / or accuracy of associated logistics network operations. Figures 1 to 17 Describe example aspects of achieving these advantages.

[0035] The subject matter described herein can be implemented as methods, systems, and / or computer program products, among other things. Thus, certain aspects can take the form of hardware or software, or a combination of software and hardware. A computer program comprising computer-usable instructions embodied on one or more computer-readable media can also be used. The subject matter can further be implemented as hard-coded into the mechanical design of a computing component and / or can be built into a system, device, and / or component for detecting, identifying, locating, engaging, and / or displacing an object as described herein.

[0036] The computer-readable media described herein may include volatile media, non-volatile media, removable media, and non-removable media, and may also include media that can be read by databases, switches, and / or various other network devices. Network switches, routers, and related components are conventional in nature, as are methods for communicating therewith, and therefore no further detailed description is provided herein. By way of example and not limitation, computer-readable media may include computer storage media and / or non-transient communication media.

[0037] Computer storage media or machine-readable media described herein may include media implemented in any method or technology for storing information. Examples of stored information may include computer-usable instructions, data structures, program modules, and / or other data representations. Computer storage media may include, but are not limited to, RAM, ROM, EEPROM, flash memory or other storage technologies, CD-ROM, digital versatile discs (DVD), holographic media or other optical disk storage, cassettes, magnetic tape, magnetic disk storage, and other storage devices. These memory components may store data temporarily, temporarily, and / or permanently, and are not limited to the examples provided in this chapter.

[0038] Now refer to Figure 1 , provides a block diagram of an example computing device 1 suitable for supporting the operations described herein, according to an embodiment thereof. It should be understood that although Figure 1 Some components are shown and described in the singular form, but they may be plural and connected in different configurations, such as local or distributed configurations. For example, the computing device 1 may include multiple processors and / or multiple radios. Figure 1 As shown, computing device 1 includes a bus 9 that can directly or indirectly connect different components, including memory 2, processor 3, presentation component 4 (if applicable), radio 5, input / output (I / O) ports 6, input / output (I / O) components 7 and power supply 8.

[0039] Memory 2 can take the form of the memory components described herein. Therefore, no further detailed description will be provided here, but memory 2 may include any type of tangible medium capable of storing information, such as a database, etc. The database may include any collection of records, data, and / or other information. In one embodiment, memory 2 may include a set of computer-executable instructions that, when executed, perform the different functions or steps described herein. These instructions will be referred to as "instructions" or "applications" for short. Processor 3 may actually be a plurality of processors that receive instructions and process them accordingly. Display component 4 may include a display, a speaker, a screen, a portable digital device, and / or other components that can display information through visual, auditory, and / or other tactile prompts (e.g., a display, a screen, a light, a light emitting diode (LED), a graphical user interface (GUI), and / or an illuminated keyboard).

[0040] The radio 5 may support communications with a network and may additionally or alternatively facilitate different types of wireless communications, such as Wi-Fi, WiMAX, LTE, Bluetooth, and / or VoIP communications, among other communication protocols. In various aspects, the radio 5 may be configured to support multiple technologies, and / or multiple radios may be configured and used to support multiple technologies.

[0041] Input / output (I / O) ports 6 can take a variety of forms. Example I / O ports can include a USB jack, a stereo jack, an infrared port, a Firewire port, and / or other proprietary communication ports. Input / output (I / O) components 7 can include one or more keyboards, microphones, speakers, touch screens, and / or any other items that can be used to input data directly or indirectly into computing device 1. Power supply 8 can include a battery, a generator, a fuel cell, and / or any other component that can serve as a power source to power computing device 1 and any other components described herein.

[0042] Now refer to Figure 2 According to an embodiment thereof, a generally represented system 20 for automatically or semi-automatically displacing an object is provided. System 20 includes components configured to detect, locate, identify, engage, displace, and / or release an object and / or its associated object support structure. For purposes of clarity, simplicity, and explanation, system 20 is described in a general manner. However, it should be understood that in actual implementations, system 20 and its components may be implemented in a more detailed configuration. Figure 2 The system 20 shown in FIG. 2 is also intended to represent one of many possible configurations of such systems contemplated herein.

[0043] System 20 includes an object shifting device 22, a plurality of object support structures 28, and a shifting mechanism 26, each generally depicted and each located in space 24. The object support structures 28 can be used, for example, in a logistics network, to support and / or hold objects, such as those being transported to a specified destination. The object shifting device 22 can be configured to detect, locate, identify, engage, and / or shift objects, for example, to and / or from the object support structures 28. The shifting mechanism 26 can be configured in various aspects to reposition elements of the system 20 relative to space 24, such as the object support structures 28 and / or the object shifting device 22. To accomplish this, the shifting mechanism 26 can utilize tracks, rails, guides, actuators, couplings, mechanisms, control systems, and / or other components to facilitate the shifting of different elements of the system 20.

[0044] System 20 includes an object detection component 25. In various aspects, object detection component 25 can be configured to detect, locate, and / or identify objects and / or object support structures located in space 24. In practical implementations, object detection component 25 can, in various aspects, be a plurality of components that can be local, for example, to object shifting device 22, and / or distributed, for example, about system 20. Object detection component 25 can utilize sensors, scanners, imaging components (e.g., cameras, image / video processors, and / or other vision-based components), light detection and ranging (LIDAR) components, wireless communication components, radio frequency identification (RFID) components, and / or other data capture and / or data processing components to perform various detection processes in space 24.

[0045] The object detection component 25 can be configured to locate an object in the space 24. For example, the object detection component 25 can be configured to identify the position of an object in a three-dimensional space (e.g., the three-dimensional space in which the object shifting device 22 operates). For example, this position can be identified as a geometric coordinate or a set of geometric coordinates in a three-dimensional geometric coordinate system. Once the position of the object is determined, it can be used by other components of the system 20, such as the object shifting device 22, the object shifting mechanism 27, and / or the shifting mechanism 26. The object detection component 25 can also be configured to detect and locate an object support structure 28 in the space 24.

[0046] The object detection component 25 can be configured to determine characteristics of an object located in the space 24. These characteristics include the shape, size, orientation and / or physical features of the object, as well as other characteristics. For example, dimensions of the object, such as height, width and / or depth, can be determined by the object detection component 25; physical properties or boundaries of the object can be determined by the object detection component 25; and / or the orientation of the object in three-dimensional space can be determined by the object detection component 25. The object detection component 25 can also be configured to identify known reference points located on the object for connecting the object. The detected characteristics can be used by other elements of the system 20, such as the object shifting device 22. The object detection component 25 can also be configured to determine such characteristics of the object support structure 28 located in the space 24.

[0047] The object detection component 25 can be configured to identify objects located in the space 24. For example, the object detection component 25 can be configured to detect or identify a unique identifier associated with the object. This unique identifier can be a unique visual mark, a unique machine-readable mark, a unique radio frequency identification (RFID) signal, and / or another unique mark or signal. As another example, the object detection component 25 can be configured to identify an object, such as a box or package, by detecting or identifying certain uniquely identifiable attributes, such as the position of certain materials (e.g., sealing tape or other fixing elements), or other unique physical aspects or defects of the object. The object detection component 25 can further include a computing component that enables it to identify the object based on the detected unique identifier, and / or can include a communication component that can transmit the identity of the object to another computing device, such as a central server that communicates with multiple components of the system 20. In different aspects, the determined object identity can be stored in a memory and / or used to update a database, such as a shipping manifest. The object detection component 25 can also be used to identify the object support structure 28 using a similar process.

[0048] To illustrate an example operation of the system 20, the following non-limiting process is described. First, the shifting mechanism 26 shifts the object support structure 29 to a position adjacent to the object shifting device 22, such as Figure 2 As shown. The object detection component 25 then detects, locates, and determines the identity of the object 21 initially placed on the object support structure 29. In one contemplated aspect, this identity, once determined, is used to determine the designated destination of the object 21, for example, in a logistics network. Then, based on the designated destination, the shifting mechanism 26 shifts another object support structure 31 associated with the designated destination to a position also adjacent to the object shifting device 22, as shown. Figure 2 Then, the object shifting device 22 shifts the object 21 from the object support structure 29 to the object support structure 31, as shown. Figure 2 As shown. This process can be repeated to allow other objects to be transferred to different object support structures 28. This process can occur in an automated or semi-automated manner, and can be directed, for example, by a computing device that directs the various components of system 20, for example, allowing them to operate in coordination. In other embodiments, multiple object transfer devices can be used, and the object transfer devices can be moved using transfer mechanism 26 to achieve greater adaptability.

[0049] System 20 and its components may be communicatively connected to and / or controlled by one or more computing devices. Figure 2 The system 20 shown may be local, remote Figure 2The system 20 shown may be distributed, for example, provided at separate locations and connected via a network. Based on the objects being identified and / or moved, the computing device may update data stored, for example, in a memory and / or database. For example, each time an object is identified and / or moved, this information may be used to update the database, and / or updates on the object's routing status may be communicated, for example, to the intended recipient of the object.

[0050] The object shifting device 22 includes an object shifting mechanism 27, which is also generally described. The object shifting mechanism 27 may include a series of components that allow the object shifting mechanism 27 to dynamically or adaptively engage, shift, and release objects of different shapes and sizes. For example, the object shifting mechanism 27 may include one or more object engagement components that can be actuated to engage, clamp, and transfer objects. These object engagement components can be configured to extend, retract, raise, lower, pivot, or otherwise translate and / or reposition and / or redirect in different aspects to engage (e.g., grasp, clamp, and / or support) different objects. The object shifting mechanism 27 may further include one or more sensors, such as contact sensors or pressure sensors. The object engagement components can use such sensors to determine when an object is contacted, and / or when an object is fully held against or clamped to allow appropriate shifting / transfer.

[0051] Now refer to Figure 3 , according to an embodiment thereof, provides a network diagram 30 illustrating a series of components that may be used with a system for relocating objects. Figure 3 A series of components depicted in Figure 3 This is intended to represent a non-limiting example, and in other embodiments, more components, fewer components, and / or different components and / or different combinations of components may be used instead. Figure 3 A series of components depicted in . Figure 3 The components shown are connected via a network 31 and may be local in various aspects (eg, at least partially integrated into a common structure) and / or may be distributed (eg, at least partially physically separated but communicatively connected).

[0052] Figure 3 An object displacement device 32 is depicted connected to a network 31. Figure 2The object shifting device 32 described can be used to detect, locate, identify, engage, support, shift and / or release or reposition objects in three-dimensional space. In different aspects, the object shifting device 32 can operate in an automatic manner or in a semi-automatic manner, with some form of operator control and / or some form of computer control. In different aspects, the object shifting device 32 can operate in a static environment and / or can operate in a moving environment. Like other components of the system 30, the object shifting device 32 can be used in a logistics network, and in such circumstances, can be used to shift or route objects toward their final destination in the logistics network. The object shifting device 32 can also communicate with and / or be guided by a computing device such as a computing device 38.

[0053] Figure 3 Also depicted is an object shifting mechanism 34 connected to the network 31. In various aspects, the object shifting mechanism 34 can be at least partially integrated with the object shifting device 32, or can be at least partially distinct. The object shifting mechanism 34 can include components that allow it to adaptively or dynamically engage, clamp, and shift objects in three-dimensional space. In this sense, the object shifting mechanism 34 can include adjustable / adaptable object engagement components. These components are used to engage, clamp, and / or transfer objects of different shapes, sizes, and dimensions, and / or objects placed in different positions and / or orientations. The object shifting mechanism 34 can also communicate with and / or be directed by a computing device, such as a computing device 38.

[0054] Figure 3 Also depicted is a mobile vehicle 36 connected to the network 31. Figure 2 The mobile vehicle 36 described can be any vehicle, ship, aircraft, rail vehicle, etc., including autonomous or semi-autonomous vehicles capable of transporting objects. The embodiments described herein that allow for the automatic or semi-autonomous movement of objects can be integrated into the storage space of such a mobile vehicle in various aspects. The mobile vehicle 36 can also communicate with and / or be directed by a computing device such as computing device 38.

[0055] Figure 3Also depicted is a computing device 38 connected to network 31. Computing device 38 may represent a single computing device or, in various aspects, may represent multiple computing devices, either local or distributed. Computing device 38 may include one or more processors and / or one or more memories. Computing device 38 may direct the operation of the elements of system 30, for example, supporting the automated or semi-automated operation of those elements. Computing device 38 may include, or may be connected to, a database. The database may store or maintain detailed information about items being transported. This information may include the transit status of the item, the designated destination of the item, and, if the item is a package, the contents of the item, and other information.

[0056] Figure 3 Also depicted is a displacement mechanism 40 connected to the network 31. Figure 2 The shifting mechanism 40 described can be coupled to different elements of the system 30, thereby allowing those elements to be moved, for example, to different locations in space to facilitate the shifting and transfer of objects in an automatic or semi-automatic manner. For example, the shifting mechanism 40 can be coupled to a plurality of object support structures 48 for transporting objects, and can be used to shift those object support structures 48 to different locations in the object sorting area to facilitate shifting. The shifting mechanism 40 can also be coupled to the object shifting device 32 (of which there can be multiple), thereby allowing the object shifting device 32 to also be shifted. The shifting mechanism 40 can also communicate with and / or be guided by a computing device such as the computing device 38.

[0057] Figure 3 Also depicted is a computer vision system 42 connected to the network 31. The computer vision system 42 can be associated with the object shifting device 32 and / or other elements of the system 30. The computer vision system 42 can represent a collection of components for visually detecting, locating, and / or identifying objects in three-dimensional space. For example, the computer vision system 42 can use sensors, imaging components (e.g., cameras, LIDAR components, etc.), lighting elements, scanners, processors, and / or other detection, processing, and / or communication components that enable detection and / or identification of objects located in three-dimensional space. The computer vision system 42 can also include or operate in conjunction with an object detection component 44, which is further described below.

[0058] The computer vision system 42 can be configured to identify objects located in three-dimensional space. As described herein, this identification can be based on the detection of a unique identifier associated with the object. For example, the computer vision system 42 can be configured to detect visual markings present on the object (e.g., barcodes, identification numbers, digital watermarks, etc.). In another aspect, the computer vision system 42 can be configured to locate the object in three-dimensional space, such as the three-dimensional space in which the object displacement device 32 operates. For example, the computer vision system 42 can be configured to identify one or more geometric coordinates associated with the object in a three-dimensional geometric coordinate system. For example, these geometric coordinates can represent edges, boundaries, and / or surfaces of the detected object. The localization process can further include determining depth values for different parts of the object in the three-dimensional geometric coordinate system. In another aspect, the computer vision system 42 can be configured to detect features of the object. For example, this may include the object's shape, size, orientation, and / or relative positioning of the object relative to other objects / structures. The computer vision system 42 and / or the object detection component 44 can include any combination of the aforementioned capabilities. Computer vision system 42 may also be in communication with and / or may be directed by a computing device, such as computing device 38 .

[0059] Figure 3 Also depicted is an object detection component 44 coupled to the network 31. As discussed above, in one aspect, the object detection component 44 can be associated with the computer vision system 42 and / or can form a part of the computer vision system 42. The object detection component 44 can be configured to detect, locate, and / or identify objects in three-dimensional space and, in various aspects, can represent a single component or a plurality of components operating in concert. For detection purposes, the object detection component 44 can utilize vision-based components, such as cameras, image processors, laser measurement or laser scanning components, and / or communication-based components, such as RFID, Bluetooth, or other wireless or near-field communication components and protocols. The object detection component 44 can also communicate with and / or be directed by a computing device, such as the computing device 38.

[0060] Figure 3 Also depicted are a plurality of objects 46 connected to network 31. Objects 46 can represent objects that are transported using embodiments described herein. In some aspects, objects 46 can include components that allow the objects to be electronically detected, connected, identified, and / or tracked by other components of system 30. For example, objects 46 can include electronic features (e.g., electronic ID tags, RFID tags, wireless communication components, microchips, etc.) that can be detected or linked to by other components of system 30 (e.g., object detection component 44 and / or computing device 38). This connectivity can facilitate identification, routing, and tracking of objects in various aspects.

[0061] Figure 3 Also depicted are a plurality of object support structures 48 connected to the network 31. The object support structures 48 can be coupled to the shifting mechanism 40 and can be movable relative to the object shifting device 32 to facilitate the transfer of objects to or from the object support structures 48. The object support structures 48 are suitable for receiving, supporting, clamping and / or releasing objects, and / or can even be configured to shift objects. For example, in terms of shifting objects, the object support structures 48 can include different components and / or mechanisms (e.g., conveyors, elevators, or other mechanisms) configured to translate or move objects stored thereon to facilitate shifting and transferring objects. The plurality of object support structures 48 can be connected to a computing device and / or directed by a computing device.

[0062] Figure 3 Also depicted is a user device 49 connected to the network 31. The user device 49 can be configured to receive input, display data, and provide feedback, and in one aspect can be used to guide the operation of the system 30 and / or its components. The user device 49 can also store or provide updates as objects are displaced and display associated updates (e.g., on a screen). For example, the user device 49 can include a graphical user interface (GUI), communication components, and / or a processor, memory, and / or an operating system that operates in conjunction with the system for displacing objects. In various aspects, the user device 49 can be portable and can be integrated into a mobile vehicle.

[0063] Now refer to Figure 4 and Figure 5 According to an embodiment thereof, a mobile vehicle 50 is provided. The mobile vehicle 50 is depicted as a vehicle. However, in other embodiments, different types of mobile vehicles may be used in conjunction with the system for automatically or semi-automatically moving objects, as described herein. For example, in other aspects, a tractor trailer, a rail vehicle, a ship, or an aircraft may also be used.

[0064] Reference Figures 4 and 5 The mobile transport 50 has an object shifting system 52 integrated therein. The object shifting system 52 may include a combination of Figure 2 and Figure 3 The object transfer system 52 is specifically located in the storage space 54 of the mobile transport 50 and is configured to automatically or semi-automatically identify, engage, and / or transfer objects in the storage space 54, including when the mobile transport 50 is in transit between different locations.

[0065] The object transfer system 52 includes a plurality of object support structures 56 located in the storage space 54. The object support structures 56 are adapted to support and / or hold objects being transported. The object support structures 56 are coupled to a transfer mechanism 58, also located in the storage space 54. The transfer mechanism 58 is adapted to transfer the object support structures 56 to different locations within the storage space 54. The object transfer system 52 also includes an object transfer device 60 located in the storage space 54. The object transfer device 60 can, in various aspects, be operated from a fixed position or can be coupled to the transfer mechanism 58 and movable within the space 54. The object transfer device 60 is configured to transfer objects between the object support structures 56, including while the mobile transport 50 is in transit. This allows objects in the storage space 54 to be automatically or semi-automatically reorganized or sorted according to their designated destinations while they are in transit from one location to another. The object shifting system 52 can be directed, at least in part, by a computing device or system that can be integrated with the mobile transport 50 and / or remote from the mobile transport 50, or located partially local and partially remote. The mobile transport 50 also includes a loading mechanism 55 for loading an object support structure 56 into the storage space 54 and coupling the object support structure 56 to the shifting mechanism 58. The loading mechanism 55 can operate automatically or semi-automatically in various aspects.

[0066] To illustrate an example operation of system 52, the following non-limiting process is described. Initially, mobile vehicle 50 may travel to a first location. In one aspect, the first location is a location in a logistics network. A plurality of item support structures 56 with items loaded thereon are then loaded into mobile vehicle 50 at the first location. The item support structures 56 may then be coupled to a shifting mechanism 58, for example, through operation of a loading mechanism 55. The item support structures 56 may then be shifted within a storage space 54 using shifting mechanism 58, for example, under the direction of a computing device. The mobile vehicle 50 may then travel to a second location, for example, within the logistics network. During transit, shifting mechanism 58 may reposition item support structures 56 within storage space 54 so that a particular item support structure is positioned adjacent to item shifting device 60. The item shifting device 60 may then use one or more item detection components to detect, locate, and / or identify items on the adjacent item support structures. Next, the object shifting system 52 identifies another object support structure associated with the designated destination of the identified object. The shifting mechanism 58 can then shift the other identified object support structure into a position adjacent to the object shifting device 60 so that the two object support structures are located in the three-dimensional space in which the object shifting device 60 operates. Next, the object shifting device 60 can engage the object and transfer the object to the object support structure associated with the designated destination. This process can be repeated with different object support structures 56, thereby allowing the objects on the object support structures 56 to be sorted and reorganized in an automated or semi-automated manner while the mobile transport 50 is traveling. This allows objects to be sorted at a faster speed and with greater efficiency during periods of time when objects would not traditionally be sorted or organized.

[0067] Now refer to Figure 6 and Figure 7 , according to an embodiment thereof, an article support structure 62 is provided. Article support structure 62 is intended to represent one non-limiting example of an article support structure described herein, and accordingly, many other variations having different sizes, shapes, configurations, and / or features are contemplated. Figure 6 and Figure 7 The object support structure 62 shown is configured to support the object during transportation to various destinations. Figure 2 As described above, the object support structure 62 is also designed to be coupled to and repositioned by the displacement mechanism. Figure 2 As mentioned, the object support structure 62 is also designed to be manipulated by an object displacement device.

[0068] Object support structure 62 includes a wheeled base 64, a frame 66, a track engagement structure 68, a set of doors 72, and a set of doors 74. Wheeled base 64 includes rollers that can roll along a surface. This allows, for example, a displacement mechanism to be coupled to object support structure 62 at track engagement structure 68 to impart motion to object support structure 62, causing wheeled base 64 to roll along a surface. Alternatively, instead of or in addition to rollers, the base can include, for example, a coupling structure similar to track engagement structure 68, allowing the base to be coupled to and movable along a track or rail system forming part of the displacement mechanism.

[0069] The object support structure 62 includes, for example, a shelf 70 that can be used to support objects. In other aspects, different object support features, such as baskets, hooks, cages, etc., can be used in addition to or in place of the shelf 70. The interior of the object support structure 62 can be designed to support a plurality of such features and can be reconfigurable so that the object support and / or object clamping features used with the object support structure 62 can be removed and / or replaced. These features can also be coupled to a mechanism that can reposition the features within the object support structure 62.

[0070] The doors 72 and / or 74 of the object support structure 62 can be configured to open and close automatically or semi-automatically using a door-engaging mechanism, such as a door-engaging mechanism located on an object transfer device. Accordingly, the doors 72 and / or 74 can include features or structures that support such automatic operation. For example, the doors 72 and / or 74 can include protrusions, recesses, couplings, mechanisms, and / or other features that can be engaged by a mechanical mechanism that opens and closes the doors 72 and / or 74.

[0071] The track engagement structure 68 located on the object support structure 62 includes a protrusion 76. The protrusion 76 is sized, shaped, and positioned on the object support structure 62 to enable the protrusion 76 to engage a portion of the transfer mechanism, such as a guide track / rail system, thereby allowing the transfer mechanism to guide and transfer motion to the object support structure 62 during the transfer process. In other aspects, various features can be implemented on the object support structure 62 to allow it to be coupled to the transfer mechanism.

[0072] Now refer to Figure 8 , according to its embodiment, provides Figure 7 An article support structure 62 is shown in a configuration suitable for loading and / or unloading. Figure 8 In particular, object support structure 62 is shown with doors 72 and 74 open to provide access to the interior of object support structure 62. As described above, door 72 and / or door 74 may be configured for automatic manipulation via a door engagement mechanism. Figure 13BNon-limiting examples are depicted in FIG. Figure 8 As shown, the door 72 of the object support structure 62 is pivotally coupled to the frame 66. Figure 8 As shown, the doors 74 of the article support structure 62 are slidably coupled to the frame 66. In other embodiments, the article engagement structure can include different doors, or different combinations thereof. In different aspects, for example, two sets of opposing sliding doors can be used, two sets of opposing pivoting doors can be used, only one set of doors can be used, or no set of doors can be used, and the article support structure 62 can simply be open on one or more sides to allow access to the interior. Thus, many different configurations are possible without departing from the scope of the present disclosure.

[0073] Now refer to Figure 9 , according to an embodiment thereof, an object shifting device 80 and an object support structure 85 are shown. The object shifting device 80 is configured to engage and interact with the object support structure 85 in an automated or semi-automated manner. The object shifting device 80 is further configured to identify, locate, and engage objects placed on the object support structure 85, and / or to automatically or semi-automatically shift objects to / from the object support structure 85 during such interaction. The object shifting device 80 includes a number of components that enable this functionality, which are described in detail below.

[0074] The object shifting device 80 includes a base 82, a frame 84, and an object shifting mechanism 86. The object shifting mechanism 86 is movable along the frame 84. The object shifting device 80 also includes a track 88. The track 88 extends between the first end 81 and the second end 83 of the frame 84. The object shifting mechanism 86 is coupled to the track 88 and is movable along the track 88. This movement is enabled by a displacement component 98 coupled to the object shifting mechanism 86 and the track 88. The displacement component 98 may include an actuator, a guide, a control element, etc., which operates to shift the object shifting mechanism 86 along the track 88. Thus, in various aspects, the displacement component 98 may be mechanical (e.g., a worm drive or a gear-based system), electrical (e.g., using a solenoid), hydraulic, and / or pneumatic, or any combination of the foregoing. As with the object shifting device 80, the displacement component 98 may also be directed by a computing device local to and / or remote from the object shifting device 80.

[0075] The object shifting device 80 also includes a door engagement mechanism 102. The door engagement mechanism 102 is configured to engage, open, and close a set of doors 101 located on the object support structure 85. The door engagement mechanism 102 may include various features to support this function. For example, the door engagement mechanism 102 may include protrusions, recesses, coupling elements, mechanisms, actuators, alignment elements, computer vision elements, and / or other elements that may cooperate to engage, open, and close the door. Figure 9 The door 101 of the object support structure 85 is shown in FIG.

[0076] The object shifting device 80 further includes a track engagement structure 90. In one aspect, the track engagement structure 90 can be coupled to the guide rail of the shifting mechanism, for example, in combination with Figure 2 Through this connection, the shifting mechanism is operable to move the object shifting device 80 about a space to facilitate the displacement of the object. In another different aspect, the object shifting device 80 may not be coupled to the shifting mechanism, but may be operated from a fixed position. In yet another aspect, the object shifting device 80 and other object support structures used to transport objects may both be coupled to the shifting mechanism, allowing each of these structures to be displaced in space to achieve maximum adaptability in relative positioning.

[0077] The object shifting device 80 includes an object detection component 92. The object detection component 92 may actually be a combination of components that operate together to perform the detection process described herein. Figure 9 In FIG, one element of the object detection component 92 is identified, namely a set of sensors 94. However, the object detection component 92 may include other elements, such as computing components, communication components, lighting components, etc. Figure 9 In various aspects, these other elements of the object detection component 92 may be local to the object shifting device 80 and / or may be remote from the object shifting device 80, or both.

[0078] As described herein, the object detection component 92 can be used to identify an object (e.g., based on a unique identifier associated with the object), and / or locate the object (e.g., in a three-dimensional geometric coordinate system), and / or determine characteristics of the object (e.g., size, orientation, physical characteristics, etc.). The object detection component 92 and / or its components can be coupled to the object shifting mechanism 86, thereby allowing the object detection component 92 to move with the object shifting mechanism 86 on the frame 84, allowing the object detection component 92 to perform a detection process in the area adjacent to the object shifting mechanism 86. Figure 9Also shown is a sensor 94 of the object detection component 92 coupled to a shutter 95. The shutter 95 moves with the object shifting mechanism 86 and the sensor 94 and can be used to limit the field of view of the object detection component 92. This reduces interference from objects and structures that are not detection targets. The shutter 95 can also be used to limit or restrict other objects on the object support structure 85 from interfering with the operation of the object shifting device 80, for example, by restricting or restricting objects from sliding or falling, and / or by restricting or restricting the displacement of objects from the object support structure 85, for example, by blocking it. The object shifting mechanism 86 also includes a conveyor 100, which may or may not be used in different aspects. The conveyor 100 supports the objects to be shifted laterally through the object shifting mechanism 86, i.e., perpendicular to the length of the frame 84 extending between the first end 81 and the second end 83.

[0079] Now refer to Figure 10 , according to an embodiment thereof, the object displacement device 80 and the object support structure 85 are again shown from different perspectives. Figure 10 An object support structure 85 is depicted having a plurality of support elements 104, upon which a plurality of objects 106 are placed. The figure also shows a door 101 of the object support structure 85 in an open configuration. In this regard, the door 101 is movable, and in this example, the door 101 can slide between a closed configuration and an open configuration. A door engagement mechanism 102 located on the object transfer device 80 transmits the movement of the door 101.

[0080] Figure 10 1 illustrates how the object shifting device 80 can interact with the object support structure 85 in an automated or semi-automated manner. By way of example, first, the object support structure 85 is positioned, for example, by a shifting mechanism, in the three-dimensional space in which the object shifting device 80 operates. Door engagement mechanism 102 then engages (e.g., couples) door 101 and actuates to open door 101. Object shifting mechanism 86 is then shifted to a position on frame 84 adjacent to an object (e.g., object 108) located on the object support structure 85. Object detection component 92 can then identify, locate, and / or determine characteristics of object 108 located on the object support structure 85. For example, in one example, as described herein, object detection component 92 can identify object 108 based on a unique identifier associated with object 108. The unique identifier can be used to determine the source, destination, contents, associated sender, associated recipient, size, weight, shape, routing or history, and / or other information about object 108.

[0081] The object detection component 92 can locate the object 108 in the three-dimensional space in which the object shifting device 80 and / or the object shifting mechanism 86 operate. For example, the object detection component 92 identifies one or more geometric coordinates associated with the object 108 in a three-dimensional geometric coordinate system. These geometric coordinates are used to identify the boundaries of the object 108 (e.g., edges, corners, surfaces), and / or to determine the depth value of the object 108 relative to the reference system. The object shifting mechanism 86 then uses this information to dynamically position and articulate the object 108. Thus, even when the object is randomly placed on the object support structure 85 and its position is unknown, the object can still be located, articulated, and then shifted by the object shifting device 80 in an automatic or semi-automatic manner.

[0082] In another example, object detection component 92 is used to determine characteristics of object 108 (e.g., size, boundaries, orientation, reference points, etc.). For example, using the detection process described herein, object detection component 92 can determine the size of object 108 (e.g., the height, width, and / or depth of the object), the shape of the object (e.g., square, round, rectangular, asymmetrical, etc.), or an identifiable reference point on the object (e.g., a point at which the object displacement mechanism 86 can engage and clamp / hold the object). In addition, the orientation of the object in three-dimensional space can be determined and used. For example, the degree of rotation of object 108, such as in a three-dimensional geometric coordinate system, can be determined, thereby allowing object displacement mechanism 86 to engage object 108 in the correct orientation. In addition, in some examples, such as when object 108 is displaced in an automated or semi-automated manner based on its determined identity and / or its determined destination. In other examples, where identification is not required or desired, no identification process may be performed, and only the positioning and displacement of the object 108 may be performed in an automated or semi-automated manner. In either case, once the object 108 is detected, located, and / or identified, as applicable, it is then engaged and displaced by components of the object displacement mechanism 86, such as in conjunction with the object displacement mechanism 86. Figure 11 Describe further.

[0083] Now refer to Figure 11 , an object support structure 85 and a portion of an object shifting device 80 are shown according to an embodiment thereof. Figure 11 The object transfer device 80 is shown adjacent to and engaged with the object support structure 85. In particular, the door engagement mechanism 102 of the object transfer device 80 is engaging and holding open the door 101 of the object support structure 85, allowing access to the interior of the object support structure 85.

[0084] By omitting one side of the object shifting device 80, Figure 11 The object shifting mechanism 86 is also shown in more detail. Figure 11 As shown, the object shifting mechanism 86 is translatable at least in the z direction, as shown in FIG. Figure 11 . However, in other embodiments, the object shifting mechanism 86 and the shifting component 98 can be configured so that the object shifting mechanism 86 can shift in the x-direction, the y-direction, the z-direction, or any combination thereof. Having the ability to translate in the x-, y-, and / or z-directions allows for greater flexibility in engaging objects supported on different portions of the object support structure 85. For example, translation in the x-direction can help detect and engage objects placed across the width of the object support structure 85.

[0085] The object shifting mechanism 86 includes a pair of movable object engagement components 110. The object engagement components 110 are coupled to an actuator 112, which is configured to translate the object engagement components 110 to different positions and / or orientations. This allows the object engagement components 110 to engage (e.g., resist, grasp, support, etc.) and displace (e.g., push, pull, or otherwise translate) objects, for example, thereby transferring objects from one object support structure to the object shifting mechanism 86 and / or to another object support structure. In different aspects, the object engagement components 110 can be extendable, retractable, pivotable, translatable, and / or otherwise movable in different directions to allow the object engagement components 110 to adaptively or dynamically engage and displace objects having a range of different sizes. The object shifting mechanism 86 also includes a conveyor 100, which can assist in displacing objects (e.g., object 108 shown). As mentioned above, transmitter 100 may or may not be used in different aspects.

[0086] Now refer to Figure 12 According to its embodiment, the figure shows Figure 10 and 11 The object displacement mechanism 86 is enlarged to depict additional detail. Figure 12The various components of the object transfer mechanism 86 are depicted, including the transfer member 98, the object engagement member 110, the actuator 112, and the conveyor 100, among other features. The actuator 112 is operable to extend and retract the respective coupled object engagement member 110. The actuator 112 is operable to rotate / pivot the respective coupled object engagement member 110 so as to move the respective object engagement distal end 114 of the object engagement member 110 into / out of a position for engagement with an object. The actuator 112 is operable to translate, for example, in one or more directions, the respective coupled object engagement member 110 and / or its respective object engagement distal end 114 to facilitate engagement of the object. The object engagement member 110 and / or the actuator 112 coupled thereto may also include a contact sensor and / or a pressure sensor for detecting when the object engagement member 110 contacts the object and / or when the object engagement member 110 has applied sufficient force to the object to hold the object during transfer. The object shifting mechanism 86 may also include a lighting element (eg, a light emitting diode (LED), a light bulb, a flashing element, etc.) that operates with the object detection component 92 to provide illumination of the object during detection.

[0087] Figure 13A and Figure 13B Depicted are a door assembly 125 and a door engagement mechanism 127 according to an embodiment thereof. The door assembly 125 may form an object support structure (e.g., Figure 9 The door assembly 125 includes a set of sliding doors 129. The sliding doors 129 are coupled to a slide mechanism 131 that allows the doors 129 to slide between a closed configuration and an open configuration, as well as any intermediate positions that provide clearance. The door assembly 125 also includes an engagement feature 133 that engages with a position located Figure 13B The engagement features 133 and 135 correspond to the engagement features 135 on the door engagement mechanism 127 shown. For purposes of example, the engagement features 133 and 135 are shown as male-female type engagement features (e.g., a protrusion in one structure and a corresponding recess in the other structure). However, in other aspects, hooks / loops, latches, mechanical couplings, and / or other structures or mechanisms suitable for coupling elements together may be used instead. Figure 13A and Figure 13B The engagement features 133, 135 shown in FIG.

[0088] Figure 13BA door engagement mechanism 127 is depicted. The door engagement mechanism 127 is configured to engage, open, and / or close a door 129 located on a corresponding door assembly 125. To accomplish this, the door engagement mechanism 127 includes a pair of door actuators 137 coupled to engagement features 135. The door actuators 137 are operable to translate the engagement features 135 toward or away from each other, thereby allowing them to translate the door 129 between a closed configuration and an open configuration when engaged with corresponding engagement features 133 on the door assembly 125. The engagement features 135 can be fixed or can be extendable / retractable to facilitate contact with the engagement features 133 located on the slide bar mechanism 131.

[0089] Now refer to 14A to 14D According to an embodiment thereof, a plurality of object engaging components 120, 130, 138, 146 are provided. Figure 14A An object engaging member 120 is depicted, comprising an actuator 122, an actuator 124, an object engaging element 126, and a distal end 128 for contacting and abutting against an object being displaced. The actuator 122 allows the distal end 128 to translate in the x-direction, as shown. Figure 14A The actuator 124 allows the distal end 128 to translate in the y direction, as shown. Figure 14A Although the distal end 128 is depicted as having a particular shape, the distal end 128 may have different shapes in different aspects and may include different features to support engagement and clamping of an object. For example, mechanical clamping elements, suction or vacuum elements, electrostatic clamping elements, and / or adjustable support or clamping elements are also contemplated. 14A to 14D Any of the embodiments shown may be used together.

[0090] Figure 14B Another object engaging component 130 is depicted, comprising an actuator 132, an actuator 134, an object engaging element 136, and a distal end 128 for contacting and abutting an object being displaced. Actuators 132 and 134 allow object engaging element 136 to articulate in the x and y directions, as shown. Figure 14B In various embodiments, actuators 132, 134 may allow object engagement element 136 to translate in the x-, y-, and / or z-directions, depending on the configuration of the components and the desired adaptability.

[0091] Figure 14C Another object engaging component 138 is depicted, comprising an actuator 140, an actuator 142, an object engaging element 144, and a distal end 128. The actuator 140 allows the object engaging element 144 to translate (eg, extend and retract) in the x-direction, as shown. Figure 14CAs shown, the actuator 142 allows the object engaging element 144 to translate (eg, extend and retract) in the y-direction, as shown. Figure 14C In another aspect, an additional actuator may be provided to allow the object engaging element 144 to translate in the z-direction, or a rotary actuator may be used to allow the object engaging element 144 to pivot, among other possible configurations.

[0092] Figure 14D Another object engaging component 146 is depicted and includes an actuator 148 , an object engaging element 150 , and a distal end 152 . Figure 14D The illustrated actuator 148 is configured to translate (eg, extend and retract) the object engaging element 150 in the x-direction and is also configured to pivot or rotate the object engaging element 150 and associated distal end 152 about the x-axis, as shown. Figure 14D As shown. The pivoting of the distal end 152 allows the distal end 152 to rotate to allow the actuator 148 to translate (e.g., extend or retract) the object engaging element 150 to displace the object. The object engaging components 120, 130, 138, 146 allow different types of actuation and translation, thereby allowing them to displace objects through automatic or semi-automatic operation, as described herein. It should be understood that 14A to 14D Any of the features shown may be used in any combination to provide the desired adaptability of the articulation article.

[0093] Now refer to Figure 15 , according to an embodiment thereof, provides a block diagram of an example method 1500 for displacing an object. Figure 15 Blocks 1510 through 1570 in FIG. 15 represent method 1500. In block 1510, the method includes using a shifting mechanism (e.g., Figure 2 The shift mechanism 26 etc. provided in the embodiment of the present invention) moves the first object support structure (for example, Figure 2 The object support structure 28 shown in FIG. 2 is moved to a first position in space (e.g., Figure 2 24 etc.), wherein the first position is adjacent to the object displacement device, such as Figure 2 The object shifting device 22 is shown. In block 1520, the method includes using at least one object detection component (e.g., Figure 2 At block 1530, the method includes using at least one object detection component to determine a position of the object in a three-dimensional space in which the object shifting device operates. At block 1540, the method includes using a shifting mechanism to move a second object support structure to a second position in the space, wherein the second position is adjacent to the object shifting device. At block 1550, the method includes using one or more object engagement components (e.g., Figure 10 The method further includes engaging the object placed on the first object support structure using an object engaging member 110 (e.g., as shown in FIG. 1 ). At block 1560 , the method includes shifting the object to a second object support structure. At block 1570 , the method includes releasing the object onto the second object support structure.

[0094] Now refer to Figure 16 , according to an embodiment thereof, provides a block diagram of an example method 1600 for shifting an object. Blocks 1610 to 1660 represent the method 1600. In block 1610, the method includes moving an object shifting mechanism (e.g., Figure 2 27, etc.) to a frame (e.g. Figure 9 In block 1620, the method includes using at least one object detection component (e.g., Figure 2 The method includes detecting the object using an object detection component 25 shown in FIG. At block 1630 , the method includes determining the identity of the object based on a unique identifier associated with the object. At block 1640 , the method includes determining the position of the object in the three-dimensional space in which the object displacement mechanism operates. At block 1650 , the method includes engaging the identified and located object using the object displacement mechanism. At block 1660 , the method includes displacing the object to a position associated with the object's designated destination.

[0095] Now refer to Figure 17 , according to an embodiment thereof, provides a block diagram of an example computer-implemented method 1700 for guiding displacement of an object. Blocks 1710 to 1750 represent the method 1700. In block 1710, the method includes guiding a displacement mechanism (e.g., Figure 2 ) moves a first object support structure (such as a shift mechanism 26 shown in FIG. Figure 2 object support structure 28, etc.) to a first position in space (e.g. Figure 2 24, etc.), the first position is located at the object shifting device (such as Figure 2In block 1720, the method includes receiving, from the object shifting device, identification data associated with an object placed on an object support structure, such as, for example, data associated with a unique identifier. In block 1730, the method includes determining a designated destination for the object based at least in part on the identification data. In block 1740, the method includes directing a shifting mechanism to move a second object support structure to a second position in the space based on a second object support structure from the plurality of object support structures that is associated with the designated destination for the object, the second position being located in the three-dimensional space in which the object shifting device operates. In block 1750, the method includes directing the object shifting device to transfer the object from the first object support structure to the second object support structure.

[0096] Article 1 .A system for shifting objects, the system comprising: a plurality of object support structures; an object shifting device configured to: when a first object support structure of the plurality of object support structures is placed adjacent to the object shifting device, locate and identify an object placed on the first object support structure, engage the object placed on the first object support structure, and transfer the object to a second object support structure of the plurality of object support structures; a shifting mechanism operable to move the plurality of object support structures to different positions; and a computing device configured to guide the operation of the object shifting device and the shifting mechanism.

[0097] Article 2 .A system according to clause 1, wherein the computing device is configured to direct the movement of the item based on a designated destination of the item in a logistics network.

[0098] Article 3 . A system according to any of clauses 1-2, wherein the displacement mechanism comprises a track, and wherein the plurality of object support structures are coupled to and movable along the track.

[0099] Article 4 . A system according to any of clauses 1-3, wherein the object shifting device comprises at least one object detection component, and wherein the at least one object detection component is configured to detect a unique identifier associated with the object.

[0100] Article 5 . A system according to any of clauses 1-4, wherein the unique identifier comprises at least one of a visual mark, a machine-readable mark, and a radio frequency identification tag.

[0101] Article 6. A system according to any of clauses 1 to 5, wherein the object shifting device comprises at least one object detection component configured to detect the position of the object in the three-dimensional space in which the object shifting device operates.

[0102] Article 7 . A system according to any one of clauses 1 to 6, wherein the object displacement device comprises at least one object detection component configured to detect a dimensional characteristic of the object.

[0103] Article 8 . A system according to any of clauses 1 to 7, wherein the object shifting device comprises at least one object detection component configured to detect the position of the object in the three-dimensional space in which the object shifting device operates.

[0104] Article 9 . A system according to any of clauses 1 to 8, wherein the object shifting device, the shifting mechanism and the plurality of object support structures are located in a mobile transport and are configured to operate in conjunction to shift objects while the mobile transport is in transit.

[0105] Article 10 . A system according to any one of clauses 1 to 9, wherein the mobile vehicle comprises a vehicle, a vessel or an aircraft.

[0106] Article 11 . A system according to any of clauses 1 to 10, wherein the object shifting means comprises one or more object engaging members configured to adaptively engage a range of objects of different sizes.

[0107] Article 12 .A method for shifting objects, the method comprising: using a shifting mechanism to move a first object support structure to a first position in space, wherein the first position is adjacent to an object shifting device; using at least one object detection component to determine the identity of an object placed on the first object support structure; using the at least one object detection component to determine the position of the object in the three-dimensional space in which the object shifting device operates; using the shifting mechanism to move a second object support structure to a second position in the space, wherein the second position is adjacent to the object shifting device; using one or more object engagement components of the object shifting device to engage the object placed on the first object support structure; shifting the object to the second object support structure; and releasing the object onto the second object support structure.

[0108] Article 13 . A method according to clause 12, wherein the movement of the item is performed based on a designated destination of the item in the logistics network, and wherein the designated destination is determined at least in part based on an already determined identity of the item.

[0109] Article 14 . A method according to any of clauses 12-13, wherein the space is located in a mobile transport vehicle associated with a logistics network or in a fixed facility associated with a logistics network.

[0110] Article 15 A method according to any one of clauses 12 to 14, wherein the one or more object engaging members are adapted to engage a series of objects of different sizes.

[0111] Article 16 . A method according to any of clauses 12-15, wherein after determining the identity of the object, the second object support structure is moved to the second position.

[0112] Article 17 .A system for shifting objects during transit, the system comprising: a plurality of object support structures; a shifting mechanism operable to move the plurality of object support structures to different locations in space; an object shifting device configured to locate and identify objects placed on the plurality of object support structures, and to engage and shift objects to different object support structures; and a computing device configured to guide the operation of the object shifting device and the shifting mechanism.

[0113] Article 18 .A system according to clause 17, wherein the computing device is configured to direct the movement of the item based on a designated destination of the item in the logistics network.

[0114] Article 19 . A system according to any of clauses 17-18, wherein the space is located in a mobile transport vehicle operating in a logistics network.

[0115] Article 20 . A system according to any of clauses 17-19, wherein the mobile vehicle comprises a vehicle, a vessel or an aircraft.

[0116] Article 21 .An object shifting device comprises: a base; a frame extending from the base; and an object shifting mechanism, wherein the object shifting mechanism can be moved to different positions along the frame, and the object shifting mechanism includes one or more object connecting parts, wherein the one or more object connecting parts can be used to connect and shift a series of objects of different sizes; and at least one object detection component, which is configured to: determine the position of an object placed in the three-dimensional space in which the object shifting device operates, and determine the identity of the object.

[0117] Article 22.An object shifting device according to clause 21, wherein the at least one object detection component is further configured to: determine the orientation of the object placed in the three-dimensional space, and / or determine one or more dimensions of the object placed in the three-dimensional space.

[0118] Article 23 .An object shifting apparatus according to any one of clauses 21-22, wherein the object shifting mechanism is configured to adaptively engage the object using the one or more object engagement components based on a determined position and / or orientation and / or size.

[0119] Article 24 .An object shifting device according to any one of clauses 21 to 23, wherein the at least one object detection component comprises: one or more sensors, and a processor coupled to the one or more sensors, the processor being configured to process data received from the one or more sensors to thereby identify the object based on a unique identifier.

[0120] Article 25 . An object displacement device according to any of clauses 21-24, wherein the one or more sensors are associated with one or more cameras.

[0121] Article 26 . An object displacement apparatus according to any one of clauses 21 to 25, wherein the one or more sensors are associated with a light detection and ranging (LIDAR) device.

[0122] Article 27 . An object shifting device according to any one of clauses 21 to 26, wherein the base comprises a wheeled base, and wherein the frame further comprises a track engagement structure located at an end of the frame opposite the base.

[0123] Article 28 .An object displacement apparatus according to any one of clauses 21-27, further comprising one or more communication components adapted to communicate with a remote computing device.

[0124] Article 29 .The object shifting device according to any one of clauses 21 to 28 further comprises a door engagement mechanism capable of engaging, opening and closing a pair of sliding doors located on the object support structure.

[0125] Article 30 . The object shifting device according to any one of clauses 21 to 29, further comprising: a shutter coupled to the object shifting mechanism and movable therewith; and a conveyor belt coupled to the object shifting mechanism.

[0126] Article 31.An object shifting system, comprising: a guide rail; a plurality of object support structures, each comprising a rail engagement structure, wherein the rail engagement structure is suitable for coupling with the guide rail, thereby allowing the coupled object support structure to move along the guide rail; an object shifting device, comprising: a base, a frame extending from the base, an object shifting mechanism, wherein the object shifting mechanism is capable of moving to different positions along the frame, and wherein the object shifting mechanism includes one or more object engagement components, wherein the one or more object engagement components are capable of being used to engage and shift a series of objects of different sizes, and at least one object detection component, configured to: determine the position of an object placed in the three-dimensional space in which the object shifting device operates, and determine the identity of the object.

[0127] Article 32 .An object displacement system according to clause 31, wherein the one or more object engaging components include: a first object engaging component that is capable of extension and retraction; and a second object engaging component that is capable of extension and retraction.

[0128] Article 33 .An object shifting system according to any one of clauses 31-32, wherein the first object engaging member is pivotable and / or translatable at least when extended to facilitate the engagement of objects, and wherein the second object engaging member is pivotable and / or translatable at least when extended to facilitate the engagement of objects.

[0129] Article 34 . An object shifting system according to any of clauses 31-33, wherein the first object engagement component is coupled to a first pressure sensor, and wherein the second object engagement component is coupled to a second pressure sensor, the first pressure sensor and the second pressure sensor being configured to indicate when an object is engaged.

[0130] Article 35 . An object shifting system according to any one of clauses 31 to 34, wherein the object shifting device comprises a light emitting element cooperating with at least one object detection component.

[0131] Article 36 . An object shifting system according to any one of clauses 31 to 35, wherein the object shifting device includes a door engagement mechanism that can be used to engage, open and close a pair of sliding doors located on the object support structure.

[0132] Article 37.A method for shifting an object using an object shifting device, the object shifting device comprising a base, a frame extending from the base, an object shifting mechanism capable of moving along the frame, and at least one object detection component, the method comprising: moving the object shifting mechanism to a position on the frame adjacent to the object; detecting the object using the at least one object detection component; determining the identity of the object based on a unique identifier associated with the object; determining the position of the object in the three-dimensional space in which the object shifting mechanism operates; using the object shifting mechanism to engage an object that has been identified and located; and shifting the object to a position associated with a designated destination of the object.

[0133] Article 38 .A method according to clause 37, wherein the displacement of the object occurs during transit.

[0134] Article 39 . The method of any of clauses 37-38, further comprising determining a designated destination for the object based at least in part on the determined identity of the object.

[0135] Article 40 . The method of any of clauses 37-39, further comprising displacing the object support structure into a position adjacent to the object displacement device based at least in part on the determined identity of the object.

[0136] Article 41 .A computer-implemented method for guiding object displacement, the method comprising: guiding a displacement mechanism to move a first object support structure among a plurality of object support structures to a first position in space, the first position being located in the three-dimensional space in which the object displacement device operates; receiving identification data associated with an object placed on the object support structure from the object displacement device; determining a designated destination of the object based at least in part on the identification data; guiding the displacement mechanism to move a second object support structure among the plurality of object support structures that is associated with the designated destination of the object to a second position in the space, the second position being located in the three-dimensional space in which the object displacement device operates; and guiding the object displacement device to transfer the object from the first object support structure to the second object support structure.

[0137] Article 42 . The computer-implemented method of clause 41, further comprising generating an updated routing state for the object based at least in part on the transfer of the object from the first object support structure to the second object support structure.

[0138] Article 43. A computer-implemented method according to any of clauses 41-42, wherein the space is located in a mobile transport operating in a logistics network, and wherein the displacement is guided while the mobile transport is in transit.

[0139] Article 44 . A computer-implemented method according to any of clauses 41-43, wherein the space is located in a fixed facility that is part of a logistics network.

[0140] Article 45 .The computer-implemented method according to any one of clauses 41-44 further includes: receiving data including the position and / or orientation and / or size of the object from the object shifting device; and guiding the object shifting device to engage the object at least in part based on the data including the position and / or orientation and / or size of the object.

[0141] Article 46 . A computer-implemented method according to any of clauses 41-45, wherein the identification data is obtained from a scan of a machine-readable indicia associated with the object.

[0142] Article 47 . A computer-implemented method according to any of clauses 41-46, wherein the identification data is obtained from a radio frequency identification (RFID) scan of the object.

[0143] Article 48 .A computer-implemented method according to any one of clauses 41-47, further comprising: receiving identification data associated with an individual object located on the first object support structure from the object shifting device; determining a designated destination of the individual object based at least in part on the identification data associated with the individual object; guiding the shifting mechanism to move the second object support structure away from the object shifting device; guiding the shifting mechanism to move a third object support structure among the plurality of object support structures to the second position in the three-dimensional space, wherein the third object support structure is associated with the designated destination of the individual object; and guiding the object shifting device to shift the individual object from the first object support structure to the third object support structure.

[0144] Article 49 . A computer-implemented method according to any of clauses 41-48, wherein the identification data is obtained by one or more sensors located on the object displacement device.

[0145] Article 50.One or more computer-readable media having computer-executable instructions stored thereon, which, when one or more processors execute the computer-executable instructions, perform a method for guiding object displacement, the method comprising: directing a displacement mechanism to move a first object support structure of a plurality of object support structures to a first position in space, the first position being located in the three-dimensional space in which the object displacement device operates; receiving identification data associated with an object placed on the object support structure from the object displacement device; determining a designated destination of the object based at least in part on the identification data; directing the displacement mechanism to move a second object support structure of the plurality of object support structures associated with the designated destination of the object to a second position in the space, the second position being located in the three-dimensional space in which the object displacement device operates; and directing the object displacement device to transfer the object from the first object support structure to the second object support structure.

[0146] Article 51 . One or more computer-readable media according to clause 50, wherein the method further comprises generating an updated routing state for the object based at least in part on the transfer.

[0147] Article 52 . One or more computer-readable media according to any of clauses 50-51, wherein the space is located in a mobile vehicle operating in a logistics network, and wherein the transfer occurs while the mobile vehicle is in transit.

[0148] Article 53 . One or more computer-readable media according to any of clauses 50-52, wherein the space is located in a fixed facility that is part of a logistics network.

[0149] Article 54 .One or more computer-readable media according to any of clauses 50-53, wherein the method further comprises: receiving data including the position and / or orientation and / or size of the object from the object shifting device; and guiding the object shifting device to engage the object based at least in part on the data including the position and / or orientation and / or size of the object.

[0150] Article 55 . One or more computer-readable media according to any of clauses 50-54, wherein the identification data comprises a unique identifier associated with the object.

[0151] Article 56. One or more computer-readable media according to any of clauses 50-55, wherein the method further comprises determining a designated destination for the item based on the unique identifier.

[0152] Article 57 . One or more computer-readable media according to any of clauses 50-56, wherein the item is a package having contents, and wherein the designated destination is a location in a logistics network.

[0153] Article 58 . One or more computer-readable media according to any of clauses 50-57, wherein the method further includes: receiving identification data associated with an individual object located on the first object support structure from the object shifting device; determining a designated destination for the individual object based at least in part on the identification data associated with the individual object; directing the shifting mechanism to move the second object support structure away from the object shifting device; directing the shifting mechanism to move a third object support structure of the plurality of object support structures to the second position in the three-dimensional space, wherein the third object support structure is associated with the designated destination for the individual object; and directing the object shifting device to move the individual object from the first object support structure to the third object support structure.

[0154] Article 59 . One or more computer-readable media according to any of clauses 50-58, wherein the one or more computer-readable media are integrated with a computing device coupled to a mobile transportation vehicle operating in a logistics network.

[0155] Article 60 .A computer system comprising: at least one processor; at least one memory; and one or more computer-readable media having computer-executable instructions stored thereon, which, when the one or more processors execute the computer-executable instructions, perform a method for guiding object displacement, the method comprising: directing a displacement mechanism to move a first object support structure among a plurality of object support structures to a first position in space, the first position being located in a three-dimensional space in which the object displacement device operates; receiving identification data associated with an object placed on the object support structure from the object displacement device; determining a designated destination for the object based at least in part on the identification data; directing the displacement mechanism to move a second object support structure among the plurality of object support structures associated with the designated destination of the object to a second position in the space, the second position being located in the three-dimensional space in which the object displacement device operates; and directing the object displacement device to transfer the object from the first object support structure to the second object support structure.

[0156] Article 61 .Any combination of any of the preceding clauses 1-60.

[0157] In some embodiments, the present disclosure may include phrases such as “at least one of [element A] and [element B].” Such phrases may refer to one or more of these elements. For example, “at least one of A and B” may refer to “A,” “B,” or “A and B.” In other words, “at least one of A and B” may refer to “at least one of A and at least one of B” or “at least one of A or B.” In some embodiments, the present disclosure may include phrases such as “[element A], [element B], and / or [element C].” Such phrases may refer to any one of the elements or any combination thereof. In other words, “A, B, and / or C” may refer to “A,” “B,” “C,” “A and B,” “A and C,” “B and C,” or “A, B, and C.” Additionally, the present disclosure may use the term “and / or,” and “and / or” may refer to any one or combination of the associated elements.

[0158] The subject matter of the present disclosure has been described in relation to specific embodiments, which are intended in all respects to be illustrative rather than restrictive. Alternative embodiments will become apparent to those skilled in the art without departing from the scope of the present subject matter. Different combinations and subcombinations of elements, as well as the use of elements not shown, are also possible and contemplated.

Claims

1. A system for displacing an object, the system comprising: multiple object support structures; an object shifting device configured to: when a first object support structure of the plurality of object support structures is positioned adjacent to the object shifting device, locate and identify an object placed on the first object support structure, engage the object placed on the first object support structure, and transfer the object to a second object support structure of the plurality of object support structures; a shifting mechanism operable to move the plurality of object support structures to different positions; as well as a computing device configured to direct the operation of the object shifting apparatus and the shifting mechanism, Each of the plurality of object support structures includes a track engagement structure and a wheeled base, and the track engagement structure located on each of the plurality of object support structures includes a protrusion, which engages with the guide rail system of the shifting mechanism, thereby allowing the shifting mechanism to move each of the plurality of object support structures via the wheeled base.

2. The system according to claim 1, wherein: The computing device is configured to direct the movement of the item based on a designated destination of the item in a logistics network.

3. The system according to claim 1, wherein: The displacement mechanism includes a track, and wherein the plurality of object support structures are coupled to the track and are movable along the track.

4. The system according to claim 1, wherein: The object shifting apparatus comprises at least one object detection component, and wherein the at least one object detection component is configured to detect a unique identifier associated with the object.

5. The system according to claim 4, characterized in that The unique identifier includes at least one of a visual indicia, a machine-readable indicia, and a radio frequency identification signal.

6. The system according to claim 1, wherein: The object shifting device comprises at least one object detection component configured to detect a position of the object in a three-dimensional space in which the object shifting device operates.

7. The system according to claim 1, wherein: The object shifting device includes at least one object detection component configured to detect a size feature of the object.

8. The system according to claim 1, wherein: The object shifting apparatus comprises at least one object detection component configured to detect the position of the object in a three-dimensional space in which the object shifting apparatus operates.

9. The system according to claim 1, wherein: The object shifting apparatus, the shifting mechanism, and the plurality of object support structures are located in a mobile vehicle and are configured to operate in conjunction to shift objects while the mobile vehicle is in transit.

10. The system according to claim 9, characterized in that The mobile transportation means includes a vehicle, a ship or an aircraft.

11. The system according to claim 1, wherein: The object shifting apparatus includes one or more object engaging components configured to adaptively engage a range of objects of different sizes.

12. A method for displacing an object, the method comprising: moving the first object support structure to a first position in space using the displacement mechanism, wherein the first position is adjacent to the object displacement device; determining, using at least one object detection component, an identity of an object placed on the first object support structure; determining, using the at least one object detection component, a position of the object in a three-dimensional space in which the object displacement device operates; moving a second object support structure to a second position in the space using the displacement mechanism, wherein the second position is adjacent the object displacement device; engaging the object placed on the first object support structure using one or more object engaging components of the object shifting device; shifting the object to the second object support structure; as well as releasing the object onto the second object support structure, The first object support structure and the second object support structure each include a track engagement structure and a wheeled base, and the track engagement structure located on each of the first object support structure and the second object support structure includes a protrusion, which engages the guide rail system of the shifting mechanism, thereby allowing the shifting mechanism to move each of the first object support structure and the second object support structure via the wheeled base.

13. The method according to claim 12, characterized in that The displacement of the item is performed based on a designated destination of the item in a logistics network, and wherein the designated destination is determined based at least in part on the identity of the item.

14. The method according to claim 12, characterized in that The space is located in a mobile vehicle associated with a logistics network or in a fixed facility associated with the logistics network.

15. The method according to claim 12, characterized in that The one or more object engaging components are adapted to engage a range of objects of different sizes.

16. The method according to claim 12, characterized in that After determining the identity of the object, the second object support structure is moved to the second position.

17. A system for shifting objects during transit, the system comprising: multiple object support structures; a displacement mechanism operable to move the plurality of object support structures to different positions in space; an object shifting device configured to locate and identify objects placed on the plurality of object support structures, and to engage and shift the objects to different object support structures; as well as a computing device configured to direct the operation of the object shifting apparatus and the shifting mechanism, Each of the plurality of object support structures includes a track engagement structure and a wheeled base, and the track engagement structure located on each of the plurality of object support structures includes a protrusion, which engages with the guide rail system of the shifting mechanism, thereby allowing the shifting mechanism to move each of the plurality of object support structures via the wheeled base.

18. The system according to claim 17, wherein: The computing device is configured to direct the movement of items based on a designated destination of the items in the logistics network.

19. The system according to claim 17, wherein: The space is located in a mobile transport vehicle operating in a logistics network.

20. The system according to claim 19, wherein: The mobile transportation means includes a vehicle, a ship or an aircraft.

Images