Positioning, identification and displacement of objects in an automated or semi-automated manner, including during transfer

Abstract

A computer-implemented method for guiding the displacement of an object (106), the method comprising: guiding a displacement mechanism (58) to move a first object support structure (62) 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 an object displacement device (80) operates; receiving from the object displacement device (80) identification data associated with an object placed on the first object support structure; determining a designated destination of the object based at least in part on the identification data; guiding the displacement mechanism (58) to move a second object support structure (62) of the plurality of object support structures (62) associated with the designated destination of the object to a second position in space, the second position being located in the three-dimensional space in which the object displacement device (80) operates; and guiding the object displacement device (80) to transfer the object from the first object support structure (62) to the second object support structure (62).

Description

Technical Field

[0001] This field relates to the automatic handling of objects. Background Technology

[0002] The transportation of goods, such as those within logistics networks, presents unique challenges. For instance, organizing, route planning, and tracking large volumes of goods (e.g., packages with contents destined for a specific destination) can require significant resources. Without these resources and / or without greater efficiency, the capacity to handle goods is limited. Therefore, there is a need to improve the automated or semi-automated handling and manipulation of goods. Summary of the Invention

[0003] This summary is intended to introduce a series of concepts in a simplified form, which will be further described below in the Detailed Description of this disclosure. This summary is not intended to identify the necessary or essential features of the claimed subject matter, nor is it intended to help in isolation determine the scope of the claimed subject matter.

[0004] In summary, this disclosure provides a macroscopic description of embodiments for the automatic or semi-automatic detection, positioning, identification, engagement, and / or relocation of 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 in logistics network operations, and to provide other advantages.

[0005] In one embodiment, an object shifting system is provided. The object shifting system includes at least one object shifting device. The object shifting device can be configured to detect, locate, identify, engage, and / or shift objects in an automatic or semi-automatic manner. The object shifting device includes numerous features and configurations supporting this functionality. For example, the object shifting device may include an object detection component that detects, locates, and / or identifies objects, for example, in a three-dimensional space in which the object shifting device operates. This may include detecting, identifying, and / or locating the object itself or portions thereof, such as the object's edges, size, and / or boundaries, and other characteristics. The object shifting device may include object engagement components capable of engaging, clamping, transferring, and / or releasing objects. These object engagement components may also be adaptive or dynamically adjustable, allowing the object engagement components to engage and shift objects of different shapes and sizes, and / or objects located in different positions and / or orientations. In various aspects, the object shifting device may be configured to operate from a fixed position in space, and / or may be movable, for example, by using a shifting mechanism. The object to be moved can be transported on an object support structure. In one aspect, the object support structure can be movable, for example, by using a displacement mechanism, so that relative positioning can be achieved during the object displacement process. The systems and components for moving objects in an automatic or semi-automatic manner can be guided by one or more computing devices, which can be local, remote, and / or distributed in various ways.

[0006] In one embodiment, a system for moving objects is provided. The system includes a plurality of object support structures; an object moving device configured to, when a first object support structure is placed adjacent to the object moving 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 among the plurality of object support structures; a moving 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 moving device and the moving mechanism.

[0007] In another embodiment, a method for displacing an object is provided. This method includes moving a first object support structure to a first position in space using a displacement mechanism, wherein the first position is adjacent to an object displacement device; determining the identity of an object placed on the first object support structure using at least one object detection component; determining the position of the object in a three-dimensional space in which the object displacement device operates using at least one object detection component; moving a second object support structure to a second position in space using the displacement mechanism, wherein the second position is adjacent to the object displacement device; engaging the object placed on the first object support structure using one or more object connecting components of the object displacement device; displacing the object onto the second object support structure; and releasing the object onto the second object support structure.

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

[0009] In another embodiment, an object displacement device is provided. The object displacement device includes a base; a frame extending from the base; and an object displacement mechanism movable along the frame to different positions, the object displacement mechanism including one or more object connecting members for connecting and displacing a series of objects of different sizes; and at least one object detection member configured to determine the position of an object in a three-dimensional space in which the object displacement device operates, and to identify the object.

[0010] In another embodiment, an object displacement system is provided. The object displacement system includes a guide track; a plurality of object support structures, each object support structure including a track connection structure adapted to couple with the guide track, thereby allowing the coupled object support structure to move along the guide track; an object displacement device including a base, a frame extending from the base, and an object displacement mechanism, wherein the object displacement mechanism is movable along the frame to different positions, and wherein the object displacement mechanism includes one or more object connecting members for connecting and displacing a series of objects of different sizes, and at least one object detection member configured to determine the position of an object placed in a three-dimensional space in which the object displacement device operates, and to identify the object.

[0011] In another embodiment, a method is provided for moving an object using an object shifting device, the object shifting device including a base, a frame extending from the base, an object shifting mechanism movable along the frame, and at least one object detection component. This method includes moving the object shifting mechanism to a position on the frame adjacent to an object; detecting the object using at least one object detection component; identifying 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 shifting mechanism operates; engaging the identified and positioned object using the object shifting mechanism; and moving the object to a position associated with a specified destination of the object.

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

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

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

[0015] As used herein, the term "object" should be interpreted broadly to include any combination of one or more items that can be transported from one location to another. For example, in a non-limiting aspect, an "object" can be a package containing contents destined for a specific destination, for example, within a logistics network. The phrase "logistics network" as used herein should also be interpreted broadly to include any one or a combination of personnel, equipment, locations, and / or moving means of transport (e.g., including those that operate autonomously or semi-autonomously, such as vehicles, rail transport, ships, aircraft, etc.) used to transfer objects to different destinations. Attached Figure Description

[0016] The embodiments of this disclosure for automatically or semi-automatically moving objects are described in detail below with reference to the accompanying drawings, which are intended to illustrate non-limiting examples, wherein:

[0017] Figure 1 Example computing systems suitable for supporting the different embodiments described herein are depicted;

[0018] Figure 2 An object displacement system according to a general representation of its embodiments is depicted;

[0019] Figure 3 A network of components, according to embodiments thereof, is depicted that can be used with a system for moving objects;

[0020] Figures 4 to 5 A mobile transport vehicle, which integrates an object transfer system, is described according to an embodiment thereof;

[0021] Figure 6 An example of an object support structure according to an embodiment thereof is depicted;

[0022] Figure 7 A configuration suitable for loading / unloading, according to an embodiment thereof, is depicted. Figure 6 The object support structure;

[0023] Figure 8 Depicting another configuration suitable for loading / unloading according to embodiments thereof. Figure 6 The object support structure;

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

[0025] Figure 11 A description of an embodiment thereof is provided. Figure 9 Part of the object displacement device shown;

[0026] Figure 12 A description of an embodiment thereof is provided. Figure 11 An enhanced view of the object shifting device;

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

[0028] Figure 13B A door-engaging mechanism according to an embodiment thereof is described;

[0029] Figures 14A to 14D Different object connection components according to embodiments thereof are depicted;

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

[0031] Figure 16 Another block diagram depicts a method for moving an object according to an embodiment thereof; and

[0032] Figure 17 A block diagram depicts a method for guiding the displacement of an object according to an embodiment thereof. Detailed Implementation

[0033] This specific embodiment is provided to satisfy legal requirements. However, this specific embodiment is not intended to limit the scope of the invention. Rather, 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 herein and in combination with other existing or future techniques. Furthermore, although the terms "step" and "block" may be used herein to identify different elements of the method employed, these terms should not be construed as implying any particular order among or between the different elements unless the order is explicitly stated.

[0034] Generally, this disclosure describes embodiments for the automatic or semi-automatic detection, positioning, identification, connection, and / or relocation of objects. These embodiments can be implemented in various ways in static and / or moving environments and can be used to organize, transport, and / or route-plan objects based on their designated destinations. These embodiments can be further implemented in logistics networks to increase the efficiency, capacity, and / or accuracy of associated logistics network operations. Reference is made below. Figures 1 to 17 Describe example aspects that enable these advantages.

[0035] The subject matter described herein can be implemented as methods, systems, and / or computer program products, etc. Therefore, some aspects can take the form of hardware or software, or a combination of both. Computer programs comprising computer-usable instructions implemented on one or more computer-readable media can also be used. The subject matter can be further implemented as hard-coded into the mechanical design of computing components and / or can be incorporated into systems, apparatuses, and / or components as described herein for detecting, identifying, locating, engaging, and / or displacing objects.

[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 readable by databases, switches, and / or various other network devices. Network switches, routers, and related components are conventional in nature, and the methods of communication with them are also conventional, 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-transitory communication media.

[0037] The 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 Universal Optical Disc (DVD), holographic media or other optical disc storage, cassette tape, magnetic tape, disk storage, and other storage devices. These memory components may store data temporarily, provisionally, and / or permanently, and are not limited to the examples provided in this section.

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

[0039] Memory 2 may 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. A 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 simply referred to as “instructions” or “applications.” Processor 3 may actually be multiple processors capable of receiving instructions and processing them accordingly. Display component 4 may include a display, speakers, screen, portable digital device, and / or other components that can display information via visual, auditory, and / or other tactile cues (e.g., displays, screens, lights, light-emitting diodes (LEDs), graphical user interfaces (GUIs), and / or illuminated keyboards).

[0040] Radio 5 can support communication with networks and, in addition to other communication protocols, can facilitate different types of wireless communication, such as Wi-Fi, WiMAX, LTE, Bluetooth, and / or VoIP communication. In various aspects, Radio 5 can be configured to support multiple technologies, and / or multiple radios can be configured and used to support multiple technologies.

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

[0042] Now for reference Figure 2 According to embodiments thereof, a system 20 is provided, generally represented, for moving objects in an automatic or semi-automatic manner. System 20 includes elements configured to detect, locate, identify, engage, move, and / or release objects and / or their associated object support structures. For purposes of clarity, simplicity, and explanation, system 20 is described in a general form. 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 is also intended to represent one of many possible configurations of such a system as envisioned 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 located in space 24. The object support structures 28 can be used, for example, in a logistics network, to support and / or clamp objects, such as those being transported to a designated destination. The object shifting device 22 can be configured to detect, position, 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 ways to reposition elements of system 20 with respect to space 24, such as the object support structures 28 and / or the object shifting device 22. To accomplish this, the shifting mechanism 26 may utilize rails, guides, actuators, couplings, mechanisms, control systems, and / or other components to facilitate the shifting of different elements of system 20.

[0044] System 20 includes an object detection component 25. In various aspects, the 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, the object detection component 25 can be multiple components, which may be local to, for example, the object displacement device 22, and / or distributed, for example, around system 20. The 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 different detection processes in space 24.

[0045] The object detection component 25 can be configured to locate an object in the positioning space 24. For example, the object detection component 25 can be configured to identify the position of the 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 geometric coordinates 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 elements 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 the object support structure 28 in the positioning space 24.

[0046] The object detection component 25 can be configured to determine the characteristics of objects located in space 24. These characteristics include the object's shape, size, orientation, and / or physical features, as well as other properties. For example, dimensions such as height, width, and / or depth of the object 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 object's orientation 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 object docking. The detected characteristics can be used by other elements of 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 space 24.

[0047] Object detection component 25 can be configured to identify objects located in space 24. For example, object detection component 25 can be configured to detect or identify a unique identifier associated with an 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, object detection component 25 can be configured to identify objects, such as boxes or packages, by detecting or identifying certain uniquely identifiable attributes, such as the location of certain materials (e.g., sealing tape or other fastening elements), or other unique physical aspects or defects of the object. Object detection component 25 can further include computing components that enable it to identify objects based on the detected unique identifier, and / or may include communication components capable of transmitting the object's identity to another computing device, such as a central server communicating with multiple components of system 20. In various aspects, the determined object identity can be stored in memory and / or used to update a database, such as a shipping manifest. Object detection component 25 can also be used to identify object support structure 28 using a similar process.

[0048] To illustrate an example operation of 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, as follows: Figure 2 As shown. Then, the object detection component 25 detects, positions, and determines the identity of the object 21 initially placed on the object support structure 29. In one contemplated aspect, once this identity is determined, it is used to determine, for example, a designated destination for the object 21 within 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, such as... Figure 2 As shown. 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 automatically or semi-automatically, and it can be guided, for example, by a computing device that guides multiple components of system 20, for example, allowing them to operate in concert. In another embodiment, multiple object shifting devices can be used, which can be moved using shifting mechanism 26, to achieve greater adaptability.

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

[0050] The object shifting device 22 includes an object shifting mechanism 27, which is also generally depicted. 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 may be configured in various ways to extend, retract, raise, lower, pivot, or otherwise translate and / or reposition and / or reorient 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 may use such sensors to determine when an object is contacted, and / or when an object is sufficiently abutted or clamped to allow for proper shifting / transfer.

[0051] Now for reference Figure 3 According to an embodiment of the invention, a network diagram 30 is provided, which illustrates a series of components that can be used with a system for moving objects. Figure 3 A series of components depicted in Figure 3 This is intended to illustrate 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 the text. Figure 3 The components shown are connected via network 31 and may be local in different respects (e.g., at least partially integrated into a common structure) and / or may be distributed (e.g., at least partially physically separated, but communicatively connected).

[0052] Figure 3 An object shifting device 32 connected to network 31 is depicted. (See also: Regarding...) Figure 2The described object shifting device 32 can be used to detect, locate, identify, connect, support, shift, and / or release or reposition objects in three-dimensional space. In various aspects, the object shifting device 32 can operate automatically or semi-automatically, accompanied by some form of operator control and / or some form of computer control. In various aspects, the object shifting device 32 can operate in a static environment and / or in a moving environment. Like other components of system 30, the object shifting device 32 can be used in logistics networks, and in such cases, 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 computing device 38.

[0053] Figure 3 An object shifting mechanism 34 connected to network 31 is also depicted. In various aspects, object shifting mechanism 34 may be at least partially integrated with object shifting device 32, or may be at least partially distinct. Object shifting mechanism 34 may include components that allow it to adaptively or dynamically engage, clamp, and shift objects in three-dimensional space. In this sense, object shifting mechanism 34 may 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 place objects in different positions and / or orientations. Object shifting mechanism 34 may also communicate with and / or be guided by computing devices such as computing device 38.

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

[0055] Figure 3A computing device 38 connected to network 31 is also depicted. Computing device 38 may represent a single computing device, or it may represent multiple computing devices, either locally or distributed, in different respects. Computing device 38 may include one or more processors and / or one or more memories. Computing device 38 may direct the operation of components of system 30, for example, supporting automatic or semi-automatic operation of those components. Computing device 38 may include a database, or may be connected to a database. The database may store or maintain detailed information about items being transported. This information may include the item's transit status, the item's designated destination, and, if the item is a parcel, its contents, as well as other information.

[0056] Figure 3 A shifting mechanism 40 connected to network 31 is also depicted. (See also: Regarding...) Figure 2 The described shifting mechanism 40 can be coupled to different components of system 30, allowing those components to be moved, for example, to different locations in space, to facilitate the automatic or semi-automatic shifting and transfer of objects. For example, 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 an object sorting area for ease of shifting. Shifting mechanism 40 can also be coupled to object shifting devices 32 (of which there can be multiple), allowing object shifting devices 32 to also be shifted. Shifting mechanism 40 can also communicate with and / or be guided by computing devices such as computing device 38.

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

[0058] 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, computer vision system 42 can be configured to detect visual markings (e.g., barcodes, identification numbers, digital watermarks, etc.) present on the object. Alternatively, computer vision system 42 can be configured to locate objects in three-dimensional space, such as the three-dimensional space in which object displacement device 32 operates. For example, 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 ​​of different portions of the object in the three-dimensional geometric coordinate system. Alternatively, computer vision system 42 is 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 compared to other objects / structures. Computer vision system 42 and / or object detection component 44 can include any combination of the above capabilities. The computer vision system 42 can also communicate with and / or be guided by computing devices such as computing device 38.

[0059] Figure 3 An object detection component 44 connected to network 31 is also depicted. As described above, in one aspect, object detection component 44 may be associated with computer vision system 42 and / or may form part of computer vision system 42. Object detection component 44 may be configured to detect, locate, and / or identify objects in three-dimensional space, and may represent a single component or multiple components operating collaboratively in different aspects. For detection purposes, object detection component 44 may 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. Object detection component 44 may also communicate with and / or be guided by computing devices such as computing device 38.

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

[0061] Figure 3 Multiple object support structures 48 connected to network 31 are also depicted. Object support structures 48 may be coupled to displacement mechanism 40 and are also movable relative to object displacement device 32 to facilitate the transfer of objects to or from object support structures 48. Object support structures 48 are adapted to receive, support, clamp, and / or release objects, and / or may even be configured to displace objects. For example, in displacing objects, object support structures 48 may include different components and / or mechanisms (e.g., conveyors, elevators, or other mechanisms) configured to translate or move objects stored thereon to facilitate object displacement and transfer. The plurality of object support structures 48 may be connected to and / or guided by a computing device.

[0062] Figure 3 User equipment 49 connected to network 31 is also depicted. User equipment 49 can be configured to receive input, display data, and provide feedback, and in one respect, can be used to guide the operation of system 30 and / or its components. User equipment 49 can also store or provide updates when an object is moved, and display associated updates (e.g., on a screen). For example, user equipment 49 may 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 moving the object. In various respects, user equipment 49 may be portable and may be integrated into mobile transportation vehicles.

[0063] Now for reference Figure 4 and Figure 5 According to its embodiments, a mobile transport vehicle 50 is provided. The mobile transport vehicle 50 is depicted as a vehicle. However, in other embodiments, different types of mobile transport vehicles may be used in conjunction with systems for moving objects in an automatic or semi-automatic manner, as described herein. For example, in other respects, tractor-trailers, rail transport vehicles, ships, or aircraft may also be used.

[0064] Reference Figures 4 to 5 The mobile transport vehicle 50 has an object transfer system 52 integrated therein. The object transfer system 52 may include combinations of Figure 2 and Figure 3 Any capabilities described. The object transfer system 52 is specifically located in the storage space 54 of the mobile transport vehicle 50 and is configured to automatically or semi-automatically identify, connect, and / or transfer objects in the storage space 54, including when the mobile transport vehicle 50 is en route between different locations.

[0065] The object transfer system 52 includes a plurality of object support structures 56 located in a storage space 54. The object support structures 56 are adapted to support and / or clamp transported objects. 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 move 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 operate from a fixed position in various ways, or can be coupled to the transfer mechanism 58 and can move within the space 54. The object transfer device 60 is configured to transfer objects between the object support structures 56, including when the mobile transport vehicle 50 is in transit. This allows for the automatic or semi-automatic reorganization or sorting of objects in the storage space 54 according to their designated destination, while the objects are in transit from one location to another. The object transfer system 52 may be at least partially guided by a computing device or system, which may be integrated with and / or located remotely from the mobile transport vehicle 50, or partially local and partially remote. The mobile transport vehicle 50 also includes a loading mechanism 55 for loading the object support structure 56 into the storage space 54 and coupling the object support structure 56 to the transfer mechanism 58. The loading mechanism 55 operates automatically or semi-automatically in various aspects.

[0066] To illustrate an example operation of system 52, the following non-limiting process is described. Initially, a mobile vehicle 50 may travel to a first location. In one respect, the first location is a location in a logistics network. Then, a plurality of object support structures 56, on which objects are loaded, are loaded into the mobile vehicle 50 at the first location. Then, for example, through the operation of a loading mechanism 55, the object support structures 56 may be coupled to a shifting mechanism 58. Then, for example, under the instruction of a computing device, the object support structures 56 may be shifted in a storage space 54 using the shifting mechanism 58. The mobile vehicle 50 then travels to a second location, for example, in the logistics network. During transit, the shifting mechanism 58 may reposition the object support structures 56 in the storage space 54 such that a particular object support structure is positioned adjacent to an object shifting device 60. The object shifting device 60 may then use one or more object detection components to detect, locate, and / or identify objects on adjacent object support structures. Next, the object shifting system 52 identifies another object support structure associated with the designated destination of the identified object. Then, the shifting mechanism 58 can shift the other identified object support structure to a position adjacent to the object shifting device 60, such 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 it to the object support structure associated with the designated destination. This process can be repeated with different object support structures 56, allowing for the automatic or semi-automatic sorting and reorganization of objects on the object support structures 56 while the mobile transport vehicle 50 is in motion. This allows for faster and more efficient sorting of objects during periods when sorting or organization would not traditionally occur.

[0067] Now for reference Figure 6 and Figure 7 According to its embodiments, an object support structure 62 is provided. The object support structure 62 is intended to represent a non-limiting example of the object support structure described herein, and correspondingly many other variations with 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 transport to different destinations. (See also: Regarding...) Figure 2 The object support structure 62 is also designed to be coupled to and repositioned by the displacement mechanism. (See also: Regarding...) Figure 2 The object support structure 62 is also designed to be manipulated by an object displacement device.

[0068] The object support structure 62 includes a wheeled base 64, a frame 66, a track connection structure 68, a set of doors 72, and a set of doors 74. The wheeled base 64 includes rollers that can roll along a surface. This allows a displacement mechanism to be coupled to the object support structure 62, for example at the track connection structure 68, to transmit motion to the object support structure 62, causing the wheeled base 64 to roll along the surface. Alternatively, instead of rollers or other components, the base may include a coupling structure similar to the track connection structure 68, allowing the base to be coupled to and moved along a track or guide system that forms part of the displacement mechanism.

[0069] The object support structure 62 may include, for example, a shelf 70 for supporting objects. In other respects, different object support features, such as baskets, hooks, cages, etc., may be used instead of the shelf 70. The interior of the object support structure 62 may be designed to support a plurality of such features and may be reconfigurable so that object support and / or object clamping features used with the object support structure 62 can be removed and / or replaced. These features may also be coupled to mechanisms that allow for repositioning of features within the object support structure 62.

[0070] 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 shifting device. Therefore, doors 72 and / or 74 may include features or structures that support such automatic operation. For example, doors 72 and / or 74 may include protrusions, recesses, couplings, mechanisms, and / or other features that can be engaged with the mechanical mechanism that allows doors 72 and / or 74 to be opened and closed.

[0071] The track connection structure 68 located on the object support structure 62 includes a protrusion 76. The size, shape, and position of the protrusion 76 are determined to be located on the object support structure 62 so that the protrusion 76 can engage a portion of the displacement mechanism, such as a guide track / rail system, thereby allowing the displacement mechanism to guide and transmit motion to the object support structure 62 during the displacement process. In other respects, different features may be implemented on the object support structure 62 to allow it to be coupled to the displacement mechanism.

[0072] Now for reference Figure 8 According to its embodiments, it provides Figure 7 The object support structure 62 is shown in a configuration suitable for loading and / or unloading. Figure 8 Specifically, an object support structure 62 is shown, wherein doors 72 and 74 open to provide access to the interior of the object support structure 62. As described above, doors 72 and / or 74 can be configured for automatic operation via a door engagement mechanism. Figure 13BThe text describes non-restrictive examples. For example... Figure 8 As shown, the door 72 of the object support structure 62 is pivotally coupled to the frame 66. As... Figure 8 As shown, the door 74 of the object support structure 62 is slidably coupled to the frame 66. In other embodiments, the object connection structure may include different doors, or different combinations thereof. In various aspects, for example, two sets of opposing sliding doors may be used, two sets of opposing pivot doors may be used, only one set of doors may be used, or no sets of doors may be used, and the object support structure 62 may 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 this disclosure.

[0073] Now for reference Figure 9 An object shifting device 80 and an object support structure 85 are shown according to an embodiment thereof. The object shifting device 80 is configured to engage and interact with the object support structure 85 in an automatic or semi-automatic manner. The object shifting device 80 is further configured to identify, locate, and engage objects placed on the object support structure 85, and / or shift objects to / from the object support structure 85 in an automatic or semi-automatic manner during this interaction. The object shifting device 80 includes a plurality of components capable of performing this function, 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 a first end 81 and a second end 83 of the frame 84. The object shifting mechanism 86 is coupled to and movable along the track 88. A shifting component 98, coupled to the object shifting mechanism 86 and the track 88, enables this movement. The shifting component 98 may include actuators, guides, control elements, etc., which operate to shift the object shifting mechanism 86 along the track 88. Thus, in various aspects, the shifting component 98 may be mechanical (e.g., a worm gear drive or gear-based system), electrical (e.g., operating using a solenoid), hydraulic, and / or pneumatic, or any combination of the foregoing. Like the object shifting device 80, the shifting component 98 may also be guided by a computing device local to and / or remotely 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 supporting 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 can cooperate to engage, open, and close. Figure 9 The door 101 of the object support structure 85 shown.

[0076] The object shifting device 80 also includes a track connection structure 90. In one aspect, the track connection structure 90 can be coupled to the guide track of the shifting mechanism, for example, by combining... Figure 2 The aforementioned connection allows the displacement mechanism to operate with respect to a spatially movable object displacement device 80, facilitating the displacement of the object. In another aspect, the object displacement device 80 may not be coupled to the displacement mechanism, but can be operated from a fixed position. In yet another aspect, the object displacement device 80 and other object support structures for transporting the object may both be coupled to the displacement mechanism, allowing each of these structures to shift 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 can actually be a combination of components that operate together to perform the detection process described herein. Figure 9 In the process, one element of the object detection component 92, namely a set of sensors 94, was identified. However, the object detection component 92 may include other elements, such as a computing component, a communication component, a lighting component, etc. Figure 9 Not explicitly described. In different respects, these other elements of the object detection component 92 may be local to the object shifting device 80, and / or may be remote relative to the object shifting device 80, or both.

[0078] As described herein, the object detection component 92 can be used to identify objects (e.g., based on a unique identifier associated with the object), and / or locate objects (e.g., in a three-dimensional geometric coordinate system), and / or determine the characteristics of the objects (e.g., size, orientation, physical features, etc.). The object detection component 92 and / or its components can be coupled to the object displacement mechanism 86, thereby allowing the object detection component 92 to move with the object displacement mechanism 86 on the frame 84, and allowing the object detection component 92 to perform the detection process in the region adjacent to the object displacement mechanism 86. Figure 9The sensor 94 of the object detection component 92 is also shown coupled to a shutter 95. The shutter 95 moves together 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 the target of detection. The shutter 95 can also be used to limit or constrain other objects on the object support structure 85 that may interfere with the operation of the object shifting device 80, for example, by constraining or limiting the sliding or falling of objects, and / or by constraining or limiting the object shifting of 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 lateral shifting of objects through the object shifting mechanism 86, i.e., the length of the frame 84 extending perpendicularly between the first end 81 and the second end 83.

[0079] Now for reference Figure 10 According to its embodiments, the object displacement device 80 and the object support structure 85 are shown again from different perspectives. Figure 10 An object support structure 85 with a plurality of support elements 104 is depicted, on which a plurality of objects 106 are placed. The figure also shows the door 101 of the object support structure 85 in an open configuration. In this respect, 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 shifting device 80 transmits the movement of the door 101.

[0080] Figure 10 This illustrates how the object shifting device 80 can interact with the object support structure 85 in an automatic or semi-automatic manner. For example, firstly, the object support structure 85 is positioned in the three-dimensional space in which the object shifting device 80 operates, for example, by a shifting mechanism. Then, a door engagement mechanism 102 engages (e.g., couples) a door 101 and is actuated to open the door 101. The object shifting mechanism 86 is then shifted to a position on the frame 84 adjacent to an object (e.g., object 108) located on the object support structure 85. The object detection component 92 can then identify, locate, and / or determine the characteristics of the object 108 located on the object support structure 85. For example, in one instance, as described herein, the object detection component 92 can identify the object 108 based on a unique identifier associated with it. The unique identifier can be used to determine the object 108's origin, destination, contents, associated sender, associated receiver, size, weight, shape, route planning arrangements, or history and / or other information.

[0081] The object detection component 92 can position 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 a reference frame. Subsequently, the object shifting mechanism 86 uses this information to dynamically position and engage the object 108. Therefore, even when the object is randomly placed on the object support structure 85 and its position is unknown, the object can still be positioned, engaged, and then shifted automatically or semi-automatically by the object shifting device 80.

[0082] In another example, object detection component 92 is used to determine the 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., height, width, and / or depth of the object), the shape of the object (e.g., square, circle, rectangle, asymmetry, etc.), or identifiable reference points on the object (e.g., points where object shifting mechanism 86 can engage and hold / abut against the object). Furthermore, the orientation of the object in three-dimensional space can be determined and used. For example, the degree of rotation of object 108 in a three-dimensional geometric coordinate system can be determined, thereby allowing object shifting mechanism 86 to engage object 108 in the correct orientation. Additionally, in some examples, such as when object 108 is shifted automatically or semi-automatically according to its determined identity and / or its determined destination, an identification process can be performed on object 108. In other examples, where identification is neither required nor desired, the identification process can be omitted, and the positioning and displacement of object 108 can be performed automatically or semi-automatically. In either case, once object 108 is detected, positioned, and / or identified, if applicable, it is then engaged and displaced by components of object displacement mechanism 86, such as in conjunction with... Figure 11 To be further described.

[0083] Now for reference Figure 11 According to an embodiment, a portion of the object support structure 85 and the object displacement device 80 is shown. Figure 11 An object shifting device 80 is shown that is adjacent to and connected to the object support structure 85. In particular, the door connection mechanism 102 of the object shifting device 80 is engaged with and holds the door 101 of the open 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 shown in more detail. For example... Figure 11 As shown, the object displacement mechanism 86 is translationally movable at least in the z-direction, such as... Figure 11 References are provided. However, in other embodiments, the object shifting mechanism 86 and the shifting member 98 may be configured such that the object shifting mechanism 86 can shift in the x, y, z directions, or any combination thereof. The ability to translate in the x, y, and / or z directions allows for greater flexibility when connecting objects supported on different portions of the object support structure 85. For example, translation in the x direction can help detect and connect objects placed across the width of the object support structure 85.

[0085] The object shifting mechanism 86 includes a pair of movable object connecting members 110. The object connecting members 110 are coupled to an actuator 112 configured to translate the object connecting members 110 to different positions and / or orientations. This allows the object connecting members 110 to engage (e.g., abut, grip, support, etc.) and shift (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 another object support structure. In various aspects, the object connecting members 110 may be extendable, retractable, pivotable, translatable, and / or otherwise movable in different directions to allow the object connecting members 110 to adaptively or dynamically engage and shift objects with different size ranges. The object shifting mechanism 86 also includes a transmitter 100 that can assist in shifting objects (e.g., object 108 shown). As mentioned above, the transmitter 100 may or may not be used in different aspects.

[0086] Now for reference Figure 12 According to its embodiments, the figure shows Figure 10 and 11 The object shifting mechanism 86 is magnified to depict additional details. Figure 12Different components of the object transfer mechanism 86 are depicted, including a transfer component 98, an object connecting component 110, an actuator 112, and a transmitter 100, among other features. The actuator 112 is operable to extend and retract its respective coupled object connecting component 110. The actuator 112 is operable to rotate / pivot its respective coupled object connecting component 110, thereby moving the respective object connecting distal end 114 of the object connecting component 110 into / out of the connected object position. The actuator 112 is operable to translate, for example, in one or more directions, displace the respective coupled object connecting component 110 and / or its corresponding object connecting distal end 114 to facilitate object connection. The object connecting component 110 and / or the actuator 112 coupled thereto may also include contact sensors and / or pressure sensors for detecting when the object connecting component 110 contacts the object and / or when the object connecting component 110 has applied sufficient force to the object to hold the object during transfer. The object shifting mechanism 86 may also include a light-emitting element (e.g., a light-emitting diode LED, a light bulb, a flashing element, etc.) that operates together with the object detection component 92 to provide illumination of the object during detection.

[0087] Figure 13A and Figure 13B A door assembly 125 and a door connection mechanism 127 according to an embodiment thereof are depicted. The door assembly 125 may form an object support structure (e.g., Figure 9 This is part of the object support structure 85 shown. The door assembly 125 includes a set of sliding doors 129. The sliding doors 129 are coupled to a slide mechanism 131, which allows the doors 129 to slide between a closed configuration, an open configuration, and any intermediate position providing clearance. The door assembly 125 also includes a connecting feature 133, which is located at... Figure 13B The corresponding connection feature 135 on the door connection mechanism 127 is shown. For illustrative purposes, connection features 133 and 135 are represented as male-female type connection features (e.g., a protrusion in one structure and a corresponding recess in another structure). However, in other respects, hooks / rings, latches, mechanical couplings, and / or other structures or mechanisms suitable for coupling elements together can be used instead. Figure 13A and Figure 13B The connecting features 133 and 135 are shown.

[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 achieve 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 a corresponding engagement feature 133 on the door assembly 125. The engagement features 135 may be fixed or may be extendable / retractable to aid in contact with the engagement feature 133 located on a slide mechanism 131.

[0089] Now for reference Figures 14A to 14D According to its embodiments, a plurality of object connecting components 120, 130, 138, and 146 are provided. Figure 14A An object connecting member 120 is depicted, comprising an actuator 122, an actuator 124, an object connecting 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, such as... Figure 14A As shown. Actuator 124 allows distal end 128 to translate in the y-direction, as... Figure 14A As shown. Although the distal end 128 is depicted in a particular shape, it can have different shapes in various aspects and can include different features for supporting engagement and clamping objects. For example, mechanical clamping elements, suction or vacuum elements, electrostatic clamping elements, and / or adjustable support or clamping elements are also contemplated. Figures 14A to 14D Used in any of the embodiments shown.

[0090] Figure 14B Another object connection component 130 is depicted, which includes actuators 132 and 134, object connection element 136, and a distal end 128 for contacting and abutting the object being displaced. Actuators 132 and 134 allow object connection element 136 to articulate in the x and y directions, such as... Figure 14B As shown, this allows the distal end 128 to come into close contact with and abut against the object. In different embodiments, actuators 132, 134 may allow the object connecting 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 connection component 138 is depicted, which includes an actuator 140, an actuator 142, an object connection element 144, and a distal end 128. The actuator 140 allows the object connection element 144 to translate in the x-direction (e.g., extend and retract), such as... Figure 14CAs shown, and actuator 142 allows object connecting element 144 to translate in the y-direction (e.g., extend and retract), as Figure 14C As shown. On the other hand, among other possible configurations, an additional actuator may be provided that allows the object connecting element 144 to translate in the z-direction, or a rotary actuator may be used to allow the object connecting element 144 to pivot.

[0092] Figure 14D Another object connection component 146 is depicted, which includes an actuator 148, an object connection element 150, and a distal end 152. Figure 14D The actuator 148 shown is configured to translate (e.g., extend and retract) the object connecting element 150 in the x-direction, and is also configured to pivot or rotate the object connecting element 150 and the associated distal end 152 about the x-axis, as shown. Figure 14D As shown. 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 connecting element 150, thereby displacing the object. Object connecting parts 120, 130, 138, and 146 allow different types of actuation and translation, thus allowing them to displace objects through automatic or semi-automatic operation, as described herein. It should be understood that... Figures 14A to 14D Any of the features shown can be combined in any way to provide the desired adaptability for the connected objects.

[0093] Now for reference Figure 15 According to an embodiment thereof, a block diagram of an example method 1500 for moving an object is provided. Figure 15 Boxes 1510 to 1570 in the diagram represent method 1500. In box 1510, this method includes using a shifting mechanism (e.g., Figure 2 The displacement mechanism 26 provided in the middle) will move the first object support structure (for example, Figure 2 The object support structure 28 shown is moved to a first position in space (e.g., Figure 2 The space 24 shown (e.g.), wherein the first position is adjacent to the object displacement device, such as Figure 2 The object displacement device 22 is shown. In block 1520, this method includes using at least one object detection component (e.g., Figure 2 The object detection component 25, etc., shown, is used to determine the identity of an object placed on the first object support structure. In block 1530, this method includes using at least one object detection component to determine the position of the object in the three-dimensional space in which the object displacement device operates. In block 1540, this method includes using a displacement mechanism to move the second object support structure to a second position in space, wherein the second position is adjacent to the object displacement device. In block 1550, this method includes using one or more object connection components of the object displacement device (e.g., ... Figure 10 The object connecting component 110 (as shown) is used to connect an object placed on the first object support structure. In block 1560, this method includes moving the object to the second object support structure. In block 1570, this method includes releasing the object onto the second object support structure.

[0094] Now for reference Figure 16 A block diagram of an example method 1600 for moving an object is provided according to an embodiment thereof. Blocks 1610 to 1660 represent method 1600. In block 1610, this method includes a moving object displacement mechanism (e.g., Figure 2 The object shifting mechanism 27 shown is used to move objects to the frame (e.g., the object shifting mechanism 27 shown). Figure 9 The position of the object adjacent to the frame 84 shown. In frame 1620, this method includes using at least one object detection component (e.g., Figure 2 The object detection component 25 (as shown) is used to detect the object. In block 1630, this method includes identifying the object based on a unique identifier associated with it. In block 1640, this method includes determining the position of the object in the three-dimensional space in which the object displacement mechanism operates. In block 1650, this method includes using the object displacement mechanism to engage the identified and positioned object. In block 1660, this method includes displacing the object to a position associated with a specified destination for the object.

[0095] Now for reference Figure 17 According to its embodiments, a block diagram of an example computer-implemented method 1700 for guiding the displacement of an object is provided. Blocks 1710 to 1750 represent method 1700. In block 1710, this method includes a guiding displacement mechanism (e.g., Figure 2 The shifting mechanism 26 shown moves the first object support structure (e.g., the first object support structure among a plurality of object support structures) Figure 2 The object support structure 28 shown is positioned at the first location in space (e.g., the first location in space). Figure 2 The space 24 shown in the figure), the first position is located in the object displacement device (e.g. Figure 2The object shifting device 22, etc., shown in the diagram operates in a three-dimensional space. In block 1720, the method includes receiving identification data associated with an object placed on an object support structure, such as data associated with a unique identifier, from the object shifting device. 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 guiding the shifting mechanism to move a second object support structure, one of a plurality of object support structures, to a second position in space, based on a second object support structure associated with the designated destination of 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 guiding the object shifting device to transfer an object from a first object support structure to a second object support structure.

[0096] Clause 1 A system for moving an object, the system comprising: a plurality of object support structures; an object moving device configured to: 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 among the plurality of object support structures when a first object support structure is placed adjacent to the object moving device; a moving 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 moving device and the moving mechanism.

[0097] Clause 2 According to the system of Clause 1, the computing device is configured to guide the movement of the object based on the object's designated destination in the logistics network.

[0098] Clause 3 According to any one of Clauses 1-2, the displacement mechanism includes a track, and the plurality of object support structures are coupled to and movable along the track.

[0099] Clause 4 A system according to any one of clauses 1-3, wherein the object shifting device includes 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] Clause 5 A system pursuant to any of Clauses 1-4, wherein the unique identifier includes at least one of a visual mark, a machine-readable mark, and a radio frequency identification tag.

[0101] Clause 6A system according to any one of clauses 1-5, wherein the object shifting device includes 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] Clause 7 A system according to any one of clauses 1-6, wherein the object shifting device includes at least one object detection component configured to detect dimensional features of the object.

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

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

[0105] Clause 10 A system pursuant to any of Clauses 1-9, wherein the means of transport include vehicles, ships or aircraft.

[0106] Clause 11 A system according to any one of Clauses 1-10, wherein the object shifting device includes one or more object connecting parts configured to adaptively connect a series of objects of different sizes.

[0107] Clause 12 A method for displacing an object, the method comprising: moving a first object support structure to a first position in space using a displacement mechanism, wherein the first position is adjacent to an object displacement device; identifying an object placed on the first object support structure using at least one object detection component; determining the position of the object in a three-dimensional space in which the object displacement device operates using the at least one object detection component; moving a second object support structure to a second position in the space using the displacement mechanism, wherein the second position is adjacent to the object displacement device; engaging the object placed on the first object support structure using one or more object connecting components of the object displacement device; displacing the object onto the second object support structure; and releasing the object onto the second object support structure.

[0108] Clause 13 The method according to Clause 12, wherein the movement of the item is performed based on the item's designated destination in the logistics network, and wherein the designated destination is determined at least in part based on the item's already determined identity.

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

[0110] Clause 15 According to any of the methods in Clauses 12-14, one or more object connecting parts are suitable for connecting a series of objects of different sizes.

[0111] Clause 16 According to the method of any one of clauses 12-15, wherein after the identity of the object is determined, the second object support structure is moved to the second position.

[0112] Clause 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 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 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] Clause 18 According to Clause 17, the system wherein the computing device is configured to guide the movement of items based on the items’ designated destination in the logistics network.

[0114] Clause 19 A system pursuant to any of Clauses 17-18, wherein the space is located in a mobile transport vehicle operating within a logistics network.

[0115] Clause 20 A system pursuant to any of Clauses 17-19, wherein the means of transport include vehicles, ships or aircraft.

[0116] Clause 21 An object displacement device includes: a base; a frame extending from the base; and an object displacement mechanism capable of moving along the frame to different positions, the object displacement mechanism including one or more object connecting members capable of connecting and displacing a series of objects of different sizes; and at least one object detection member configured to: determine the position of an object placed in a three-dimensional space in which the object displacement device operates, and determine the identity of the object.

[0117] Clause 22According to the object displacement device of 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] Clause 23 An object shifting device according to any one of clauses 21-22, wherein the object shifting mechanism is configured to adaptively engage the object using one or more object connecting components based on a determined position and / or orientation and / or size.

[0119] Clause 24 An object displacement device according to any one of clauses 21-23, 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 identify the object based on a unique identifier.

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

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

[0122] Clause 27 The object transfer device according to any one of clauses 21-26, wherein the base includes a wheeled base, and wherein the frame further includes a track connection structure located at an end of the frame opposite to the base.

[0123] Clause 28 The object transfer device according to any one of Clauses 21-27 further includes one or more communication components adapted to communicate with a remote computing device.

[0124] Clause 29 The object transfer device according to any one of clauses 21-28 further includes a door connection mechanism capable of connecting, opening and closing a pair of sliding doors located on the object support structure.

[0125] Clause 30 The object transfer device according to any one of clauses 21-29 further includes: a shield, the shield being coupled to and movable with the object transfer mechanism; and a conveyor belt coupled to the object transfer mechanism.

[0126] Clause 31An object displacement system includes: a guide rail; a plurality of object support structures, each including a rail connection structure adapted to be coupled to the guide rail, thereby allowing the coupled object support structures to move along the guide rail; and an object displacement device including: a base, a frame extending from the base, an object displacement mechanism, wherein the object displacement mechanism is movable to different positions along the frame, and wherein the object displacement mechanism includes one or more object connecting members, the one or more object connecting members being capable of connecting and displacing a series of objects of different sizes, and at least one object detection member configured to: determine the position of an object placed in a three-dimensional space in which the object displacement device operates, and determine the identity of the object.

[0127] Clause 32 According to Clause 31, the object transfer system, wherein the one or more object connecting components include: a first object connecting component that is extendable and retractable; and a second object connecting component that is extendable and retractable.

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

[0129] Clause 34 An object transfer system according to any one of clauses 31-33, wherein the first object connection component is coupled to a first pressure sensor, and wherein the second object connection 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 connected.

[0130] Clause 35 An object shifting system according to any one of clauses 31-34, wherein the object shifting device includes a light-emitting element that operates in conjunction with at least one object detection component.

[0131] Clause 36 The object shifting system according to any one of clauses 31-35, wherein the object shifting device includes a door engagement mechanism capable of engaging, opening and closing a pair of sliding doors located on the object support structure.

[0132] Clause 37A method for moving an object using an object shifting device, the object shifting device including a base, a frame extending from the base, an object shifting mechanism movable 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; identifying 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 shifting mechanism operates; engaging the identified and positioned object using the object shifting mechanism; and shifting the object to a position associated with a designated destination of the object.

[0133] Clause 38 According to the method of Clause 37, the displacement of the object occurs during transit.

[0134] Clause 39 The method according to any one of Clauses 37-38 further includes determining the designated destination of the object based at least in part on the object's already determined identity.

[0135] Clause 40 The method according to any one of clauses 37-39 further includes at least in part, based on the already determined identity of the object, shifting the object support structure to a position adjacent to the object shifting device.

[0136] Clause 41 A computer-implemented method for guiding object displacement, the method comprising: guiding 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 an object displacement device operates; receiving from the object displacement device identification data associated with an object placed on the object support structure; 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 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 guiding the object displacement device to transfer the object from the first object support structure to the second object support structure.

[0137] Clause 42 The computer implementation method according to Clause 41 further includes generating an updated route planning state of 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] Clause 43The computer implementation method according to any one of clauses 41-42, wherein the space is located in a mobile transport vehicle operating in a logistics network, and wherein displacement is guided while the mobile transport vehicle is in transit.

[0139] Clause 44 The computer implementation method according to any one of clauses 41-43, wherein the space is located in a fixed facility as part of a logistics network.

[0140] Clause 45 The computer implementation method according to any one of clauses 41-44 further includes: receiving data from the object shifting device including the position and / or orientation and / or size of the object; 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.

[0141] Clause 46 The computer implementation method according to any one of clauses 41-45, wherein the identification data is obtained from a scan of a machine-readable mark associated with the object.

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

[0143] Clause 48 The computer implementation method according to any one of clauses 41-47 further includes: receiving from the object shifting device identification data associated with a single object located on the first object support structure; determining a designated destination of the single object based at least in part on the identification data associated with the single 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 single object; and guiding the object shifting device to shift the single object from the first object support structure to the third object support structure.

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

[0145] Clause 50One or more computer-readable media storing computer-executable instructions that, when executed by one or more processors, perform a method for guiding object displacement, the method comprising: guiding 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 an object displacement device operates; receiving from the object displacement device identification data associated with an object placed on the object support structure; 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 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 guiding the object displacement device to transfer the object from the first object support structure to the second object support structure.

[0146] Clause 51 According to one or more computer-readable media of Clause 50, the method further includes generating an updated route planning state of the object based at least in part on the transfer.

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

[0148] Clause 53 One or more computer-readable media according to any one of Clauses 50-52, wherein said space is located in a fixed facility as part of a logistics network.

[0149] Clause 54 According to any one or more computer-readable media of any of clauses 50-53, the method further comprises: receiving data from the object shifting device including the position and / or orientation and / or size of the object; 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] Clause 55 One or more computer-readable media according to any one of clauses 50-54, wherein the identification data includes a unique identifier associated with the object.

[0151] Clause 56According to any one or more computer-readable media of any of clauses 50-55, wherein the method further includes determining a designated destination of the object based on the unique identifier.

[0152] Clause 57 One or more computer-readable media according to any one 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] Clause 58 According to one or more computer-readable media of any one of clauses 50-57, the method further comprises: receiving from the object shifting device identification data associated with a single object located on the first object support structure; determining a designated destination of the single object based at least in part on the identification data associated with the single 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 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 of the single object; and guiding the object shifting device to move the single object from the first object support structure to the third object support structure.

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

[0155] Clause 60 A computer system includes: at least one processor; at least one memory; and one or more computer-readable media storing computer-executable instructions that, when executed by the one or more processors, perform a method for guiding object displacement, the method comprising: guiding 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 device operates; receiving from the object displacement device identification data associated with an object placed on the object support structure; 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 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 guiding the object displacement device to transfer the object from the first object support structure to the second object support structure.

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

[0157] In some embodiments, this disclosure may include terms such as “at least one of [element A] and [element B]”. Such terms 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, this disclosure may include terms such as “[element A], [element B], and / or [element C]”. Such terms 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”. Furthermore, this disclosure may use the term “and / or”, which may refer to any one or a combination of the associated elements.

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

Claims

1. A computer-implemented method for guiding the movement of objects in a vehicle, the method comprising: A guiding displacement mechanism moves a first object support structure, one of a plurality of object support structures, along a track to a first position in the vehicle, wherein the object displacement device operates inside the vehicle, each of the plurality of object support structures includes a plurality of support elements, a wheel base, and a coupling mechanism physically coupled to the track, the first position is adjacent to the object displacement device, and the displacement mechanism guides the coupling mechanism of the first object support structure to move the first object support structure along the track and to cause the wheel base of the first object support structure to roll along the interior surface of the vehicle; Receive identification data associated with the object placed on the first object support structure from the object displacement device; The designated destination of the object is determined at least in part based on the identification data; Based on the final destination of the object in the logistics network, the transfer mechanism guides the second object support structure among the plurality of object support structures to move to a second position in the vehicle, wherein the second position is adjacent to the object transfer device, and the transfer mechanism guides the coupling mechanism of the second object support structure to move the second object support structure along the track and cause the wheel base of the second object support structure to roll along the surface; and The object transfer device guides the object to transfer from the first object support structure to the second object support structure in the following manner: The object detection component locates and identifies the object placed on the first support element among the plurality of support elements of the first object support structure; The object shifting mechanism is shifted to the first support element based at least in part on the positioning and identification of the object placed on the first support element; The object is connected to the first support element placed on the first object support structure to move the object to the object shifting mechanism; The object shifting mechanism is shifted to the second support element among the plurality of support elements of the second object support structure; and The object is transferred from the object shifting mechanism to the second support element.

2. The computer implementation method according to claim 1, further comprising generating an updated route planning state of 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.

3. The computer implementation method according to claim 1, further comprising: Receive data from the object displacement device including at least one of the object's position, orientation, and dimensions; And based at least in part on the data, guide the object displacement device to engage the object.

4. The computer implementation method of claim 1, wherein the identification data is obtained from a scan of a machine-readable mark associated with the object.

5. The computer-implemented method according to claim 1, wherein the identification data is obtained from a radio frequency identification (RFID) scan of the object.

6. The computer-implemented method according to claim 1, further comprising: Receive second identification data associated with a separate object located on the first object support structure from the object displacement device; The second designated destination of the individual object is determined at least in part based on the second identification data; The displacement mechanism is guided to move the second object support structure away from the object displacement device; The displacement mechanism guides the third object support structure among the plurality of object support structures to the second position in the vehicle, wherein the third object support structure is associated with the second designated destination of the individual object; And guide the object displacement device to move the individual object from the first object support structure to the third object support structure.

7. The computer implementation method according to claim 1, wherein the identification data is obtained by one or more sensors located on the object shifting device.

8. One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by one or more processors, perform a method for guiding the displacement of an object, the method comprising: A guiding displacement mechanism moves a first object support structure out of a plurality of object support structures to a first position in space, wherein the first position is located in a three-dimensional space in which the object displacement device operates, each of the plurality of object support structures including a plurality of support elements, a wheel base, and a coupling mechanism physically coupled to a track of the displacement mechanism, the first position being adjacent to the object displacement device, and the displacement mechanism guiding the coupling mechanism of the first object support structure to move the first object support structure along the track and causing the wheel base of the first object support structure to roll along the surface of the space; Receive identification data associated with the object placed on the first object support structure from the object displacement device; The designated destination of the object is determined at least in part based on the identification data; Based on the final destination of the object, the displacement mechanism guides the second object support structure among the plurality of object support structures to a second position in the space, wherein the second position is located in the three-dimensional space in which the object displacement device operates, the second position is adjacent to the object displacement device, and the displacement mechanism guides the coupling mechanism of the second object support structure to move the second object support structure along the track and cause the wheeled base of the second object support structure to roll along the surface; and The object transfer device guides the object to transfer from the first object support structure to the second object support structure in the following manner: The object detection component locates and identifies the object placed on the first support element among the plurality of support elements of the first object support structure; The object shifting mechanism is shifted to the first support element based at least in part on the positioning and identification of the object placed on the first support element; The object is connected to the first support element placed on the first object support structure to move the object to the object shifting mechanism; The object shifting mechanism is shifted to the second support element among the plurality of support elements of the second object support structure; and The object is transferred from the object shifting mechanism to the second support element.

9. The one or more computer-readable media of claim 8, wherein the method further comprises generating an updated route planning state of 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.

10. The one or more computer-readable media according to claim 8, wherein the method further comprises: Receive data from the object displacement device, including at least one of the object's position, orientation, and dimensions; And based at least in part on the data, guide the object displacement device to engage the object.

11. One or more computer-readable media according to claim 8, wherein the identification data includes a unique identifier associated with the object.

12. One or more computer-readable media according to claim 11, wherein the method further comprises determining a designated destination of the object based at least in part on the unique identifier.

13. One or more computer-readable media according to claim 8, wherein the object comprises a package having contents, and wherein the designated destination is a location in a logistics network.

14. The one or more computer-readable media according to claim 8, wherein the method further comprises: Receive second identification data associated with a separate object located on the first object support structure from the object displacement device; The second designated destination of the individual object is determined at least in part based on the second identification data; The displacement mechanism is guided to move the second object support structure away from the object displacement device; The displacement mechanism guides the 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 second designated destination of the individual object; And guide the object displacement device to move the individual object from the first object support structure to the third object support structure.

15. One or more computer-readable media according to claim 8, wherein the one or more computer-readable media are integrated into a computing device coupled to the mobile transport vehicle.

16. A computer system, comprising: At least one processor; At least one memory; as well as One or more computer-readable media having computer-executable instructions stored thereon, which, when executed by one or more processors, perform a method for guiding the displacement of an object in a vehicle, the method comprising: A guiding displacement mechanism moves a first object support structure among a plurality of object support structures along a track to a first position in the vehicle while the vehicle is in transit. The object displacement device operates inside the vehicle. Each of the plurality of object support structures includes a plurality of support elements, a wheel base, and a coupling mechanism physically coupled to the track. The displacement mechanism guides the coupling mechanism of the first object support structure to move the first object support structure along the track and causes the wheel base of the first object support structure to roll along a surface. Receive identification data associated with the object placed on the first object support structure from the object displacement device; The designated destination of the object is determined at least in part based on the identification data; Based on the final destination of the object, the displacement mechanism guides the second object support structure among the plurality of object support structures to a second position in the vehicle, wherein the second position is adjacent to the object displacement device, and the displacement mechanism guides the coupling mechanism of the second object support structure to move the second object support structure along the track and cause the wheeled base of the second object support structure to roll along the surface; and The object transfer device guides the object to transfer from the first object support structure to the second object support structure in the following manner: The object detection component locates and identifies the object placed on the first support element among the plurality of support elements of the first object support structure; The object shifting mechanism is shifted to the first support element based at least in part on the positioning and identification of the object placed on the first support element; The object is connected to the first support element placed on the first object support structure to move the object to the object shifting mechanism; The object shifting mechanism is shifted to the second support element among the plurality of support elements of the second object support structure; and The object is transferred from the object shifting mechanism to the second support element.

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