Omni-directional actuation surface for dispensing items

Abstract

The application relates to an omni-directional actuation surface for dispensing items, and specifically, a system may include an assembly including a plurality of rotating segments coupled together to cause movement of items in contact with the assembly, the assembly including a plurality of destinations defining a dispensing area. The system may include a controller configured to detect a characteristic of the item, identify a destination of the plurality of destinations for dispensing the item based on the characteristic, and modify a configuration of the component to direct the item to the destination. Additional systems and associated methods are also disclosed.

Description

Omnidirectional actuation surface for delivering items Technical Field

[0001] This application relates to sorting and routing systems, such as rotating segments joined together to cause movement of items on a supporting surface. Background Technology

[0002] Traditional sorting and routing systems for items of various sizes (such as suitcases or briefcases at airports, large and small boxes at post offices, unpackaged items, and boxes of various sizes in warehouse order processing facilities) are complex, difficult to design, and prone to congestion. Traditional systems use complex combinations of individual conveyors, wheels, rollers, gravity ramps, sorting doors, and / or vehicles to sort and distribute their goods. These systems are difficult to design because they must be able to move items of different sizes, accommodate oddly shaped items without jamming, and handle large, heavy items as well as potentially fragile small items. Typically, traditional systems are only suitable for items in uniform packaging, such as rectangular boxes of a specific size. In many cases, when a traditional system malfunctions, items may become stuck in certain parts of the machine, making them difficult to remove and causing delays in system restart.

[0003] Therefore, a system and method are needed to address the aforementioned shortcomings or at least provide alternatives to existing solutions. Summary of the Invention

[0004] In one example, a system includes a component comprising multiple rotating segments coupled together to induce movement of an item in contact with the component, the component including multiple destinations defining a delivery area. The system also includes a processor configured to detect characteristics of the item, identify a destination among the multiple destinations for delivering the item based on the characteristics, and modify the configuration of the component to guide the item to the destination.

[0005] Optionally, the component includes a starting position and a bidirectional path between the starting position and the destination, wherein the processor is configured to guide the item along the bidirectional path via the component.

[0006] Optionally, characteristics may include the size of the item, the weight of the item, or an identifier attached to the item.

[0007] Optionally, the system also includes an image system configured to capture images of objects.

[0008] Optionally, the component defines multiple paths to the destination, wherein the processor is configured to select a path from the multiple paths based on characteristics. The multiple paths can be parallel paths.

[0009] Optionally, the rotating segment forms a floor or a covering surface.

[0010] Alternatively, the item is a package.

[0011] In another example, a delivery system includes a delivery component comprising rotating segments coupled together to cause movement of an item in contact with the delivery component; an imaging system configured to capture an image of the item; and a controller configured to receive the image, identify a destination for the item based on the image, and modify the configuration of the delivery component to guide the item to the destination via the delivery component.

[0012] Optionally, the delivery component defines a receiving area configured to receive multiple items, including items. The imaging system can be configured to capture corresponding images of the multiple items. The controller can be configured to identify the corresponding destinations of the multiple items, and the delivery component routes the multiple items to their respective destinations. The controller can be configured to modify the delivery component at the receiving area to separate the multiple items for detection. The controller can be configured to modify the delivery component at the receiving area to orient the multiple items for image capture.

[0013] Optionally, the controller is configured to modify the delivery components based on user input at the destination to direct items to different destinations.

[0014] Alternatively, a warehouse may include the distribution system described herein.

[0015] Alternatively, an assembly line may include the delivery system described herein.

[0016] In another example, a method is provided for delivering items to a destination using a delivery component, the delivery component including multiple rotating segments connected together to cause movement of items in contact with the delivery component. The method includes: detecting characteristics of the items; identifying the destination of the delivered items based on the characteristics; and modifying the configuration of the delivery component to deliver the items to the destination via the delivery component.

[0017] Optionally, the method includes determining a path along the delivery component to route the item to its destination.

[0018] Optionally, the method includes separating multiple items comprising items at a receiving area of ​​the delivery component via the delivery component.

[0019] Optionally, the method includes reconfiguring the delivery component based on user input at the destination to deliver items to different destinations.

[0020] Optionally, the method includes adjusting the delivery component based on detected anomalies in the delivery component.

[0021] In addition to the exemplary aspects and embodiments described above, further aspects and embodiments will become apparent from reference to the accompanying drawings and a study of the following description. Attached Figure Description

[0022] Figure 1 is a schematic diagram of the delivery system.

[0023] Figure 2A illustrates an exemplary delivery system that includes a delivery component formed by multiple rotating segments.

[0024] Figure 2B illustrates another exemplary delivery system, which includes a delivery component formed by multiple rotating segments.

[0025] Figure 3 shows an example support surface formed by multiple movable floor tiles.

[0026] Figure 4 shows an example pallet assembly used in a delivery system.

[0027] Figure 5 shows an exploded view of the disk assembly of Figure 5.

[0028] Figure 6A shows the first orientation of the tilted contact disc of the disc assembly of Figure 4, which defines a first direction for the supported article to move by the disc assembly.

[0029] Figure 6B shows a second orientation of the tilted contact disc of the disc assembly of Figure 4, which defines a second direction for the supported article to be moved by the disc assembly.

[0030] Figure 6C shows the third orientation of the tilted contact disc of the disc assembly of Figure 4, which defines the third orientation of the supported article moved by the disc assembly.

[0031] Figure 6D shows the fourth orientation of the tilted contact disc of the disc assembly of Figure 4, which defines a fourth direction for the supported article moving by the disc assembly.

[0032] Figure 7 shows a portion of an active floor tile including an array of disk assemblies.

[0033] Figure 8 illustrates an example computing system for implementing various examples of this disclosure.

[0034] Figure 9 shows a flowchart illustrating an example method for delivering items to their destination using modular flooring. Detailed Implementation

[0035] Omnidirectional actuated surfaces, such as those defined by modular omnidirectional actuated floors, can be used to deliver or position items as desired (e.g., for package or item sorting in a factory setting). Automated detection systems (e.g., barcodes, QR codes, optical recognition, etc.) determine what the item is and where it needs to go; items can be placed anywhere on the system surface and routed to any destination within the system. Actuated surfaces can include rotating segments capable of moving items independently of each other in substantially any direction (e.g., backward, forward, right, left, rotation, etc.). Items can be moved to avoid each other, uphill, or downhill to different distribution levels, etc. Actuated surfaces can, for example, automatically and actively position and orient items for item identification and placement.

[0036] Figure 1 is a schematic diagram of a delivery system 100. The delivery system 100 may include multiple elements or subsystems that collectively define a system for delivering or transporting items from one location to another. For example, the delivery system 100 may deliver packages, containers, palletized goods, or other items between multiple locations (e.g., within warehouses, sorting facilities, etc.) based on detected (e.g., automatically) characteristics of the items.

[0037] Delivery system 100 may include delivery component 104, sensor 108, controller 112, and network 116. Delivery component 104 may be configured to transport or move one or more items on it from one location to another. For example, delivery component 104 may include a rotating segment that causes or drives the movement of items to move items between multiple locations (e.g., moving items to a desired location for storage, pickup, delivery, temporary storage, buffering, etc.). As one implementation, delivery component 104 provides a distribution surface (e.g., a floor or covered surface). Items may be placed on the distribution surface (e.g., anywhere) and routed to any other location in the system. For example, barcode and / or quick response (QR) code tracking, optical recognition, etc., may be used to determine what the item is and where it needs to go (e.g., supported by a stored map). Delivery component 104 may independently move any and every item in any direction (e.g., backward, forward, right, left, etc.), uphill or downhill, around other items, etc. The delivery component 104 can not only move items from one place to another, but in some examples, it can also rotate or align items (e.g., while moving items or as a final step before delivery). In this way, gates and other conventional components of a sorting and routing system may not be necessary. For example, the delivery component 104 can move items to different destinations without using different technologies such as ramps, rollers, conveyors, sorting gates, and sorting arms. A separate orientation system may also not be required.

[0038] Sensor 108 can be configured to detect one or more items on delivery assembly 104. For example, sensor 108 may include a barcode scanner, vision sensor, camera, load sensor, etc., to capture characteristics of the items. In some examples, sensor 108 may automatically detect characteristics of the items, such as using machine vision or other algorithms (e.g., using machine learning, sorting, image detection, machine-assisted inspection, etc.). Item characteristics may include the item's size or weight, the item's position on delivery assembly 104, labels or identifiers attached to or printed on the item, or other characteristics. Based on the detected characteristics, delivery system 100 can determine where the items need to be sent, such as a destination location, address, or placement location. In this example, delivery assembly 104 may facilitate item detection by sensor 108. For example, delivery assembly 104 may move items individually to allow a barcode or camera reader to view the surface of the items. If an item obstructs other items, delivery assembly 104 may pull apart a stack of items or otherwise unfold the items to facilitate identification of each item, for example, by activating when the system issues an alarm or other notification to introduce space between items.

[0039] Controller 112 may include one or more processors configured to receive and process data or information. For example, controller 112 may use visual information or data from sensor 108 to identify the characteristics of an item. In some examples, controller 112 may query a database (e.g., a local database, an online database, a server, etc.) to identify items, access information about items, etc. Such information may include the item's placement or relocation destination, the item's origin, the item's size or weight, etc. In examples, controller 112 may determine the item's destination based on the item's characteristics themselves (e.g., using machine learning). Controller 112 may determine a path to route the item to its destination. For example, controller 112 may calculate the optimal route for the item from one location to another (e.g., to improve the efficiency or throughput of delivery system 100, avoid congestion on delivery component 104, limit travel time or distance, etc.). When calculating the optimal route or path for the item along delivery component 104, controller 112 may consider other items on delivery component 104 and their associated paths or routes. For example, controller 112 can coordinate the movement of multiple items along delivery component 104, such as moving multiple items to the same or different destinations simultaneously.

[0040] Network 116 facilitates communication between the various components of delivery system 100. For example, network 116 may include hardware, software, or both that provide one or more interfaces for communication (such as, for example, packet-based communication) between delivery component 104, sensor 108, and controller 112, or other components of delivery system 100 (e.g., one or more computer systems, sensors, or devices). Network 116 may include a modem, an Ethernet card, a network interface controller (NIC) or network adapter for communicating with Ethernet or other wired networks, or a wireless NIC (WNIC) or wireless adapter for communicating with wireless networks (such as Wi-Fi networks).

[0041] Figure 2A illustrates an example implementation of delivery system 100. As shown, delivery system 100 can be implemented as parcel delivery system 200. For example, delivery component 104 can be implemented to deliver one or more parcels or items 204 to various destinations, such as warehouses or parcel sorting facilities (e.g., post offices, airport baggage sorting facilities, etc.). Delivery component 104 can include multiple destinations 208 that define delivery areas (e.g., a first destination 208A defining a first area for delivering items 204, a second destination 208B defining a second area for delivering items 204, etc.). Depending on the application, destinations 208 can be located at the same level or different levels within a warehouse or parcel sorting facility. For example, delivery component 104 can include ramps 212 configured to move items 204 between different levels. Destination 208 can define areas for storing multiple items 204, such as temporary storage areas or storage areas configured to store multiple items 204 simultaneously.

[0042] In the example, delivery component 104 may include a starting position 216 and an imaging system 218. The starting position 216 may be a receiving area (e.g., an unloading location) configured to receive and begin sorting multiple items 204. Delivery component 104 may pull apart a stack of items 204 placed at the starting position 216, such as using a rotating segment that actively unfolds the items 204, to facilitate identification of the items 204 using the imaging system 218. For example, controller 112 may be configured to modify delivery component 104 at the starting position 216 or the receiving area to separate the multiple items 204 for detection. Additionally or alternatively, controller 112 may be configured to modify delivery component 104 at the starting position 216 or the receiving area to orient the multiple items 204 for image capture (e.g., via imaging system 218).

[0043] Image system 218 can be configured to capture images of the corresponding item 204. For example, image system 218 may include the sensor 108 described above for detecting characteristics of item 204 at starting position 216. In some examples, image system 218 may include additional sensors at each destination 208 and / or other areas of delivery component 104. In such examples, image system 218 may be configured to observe where item 204 is located and / or facilitate route calculation (e.g., detecting congestion or other route anomalies).

[0044] Delivery component 104 may include a starting point 216 and one or more routes 220 between various destinations 208. Route 220 may include a central route 222 and one or more branches 224 extending from the central route 222 to the destinations 208 (e.g., a first branch 224A between the central route 222 and a first destination 208A, a second branch 224B between the central route 222 and a second destination 208B, etc.). Route 220 or path may be bidirectional. For example, delivery component 104 may include a rotating segment that can actively move the item 204 along route 220 in any direction (e.g., towards destination 208, away from destination 208, etc.).

[0045] The controller of the delivery system 200 (e.g., controller 112) can be configured to detect characteristics of a corresponding item 204 at a location (e.g., at starting location 216), identify a destination 208 among a plurality of destinations 208 for delivering the item 204 based on the detected characteristics, and modify the configuration of the delivery component 104 to guide the item 204 to the destination 208. The detected characteristics may be the size of the item 204, the weight of the item 204, or an identifier attached to the item 204. For example, the detected characteristics may include a barcode, a QR code, or a visual identifier associated with the item 204, such as one detectable in an image captured by the image system 218 and received by the controller 112, which identifies or indicates the destination 208 of the item 204. Based on the detected item characteristics, the controller 112 can determine which of the first destination 208A, the second destination 208B, or other destinations 208 to deliver the item 204, such as based on similar size, weight, delivery address, customer, or baggage for travel (e.g., airplane, cruise ship, train, etc.). In order to deliver item 204 to its destination 208, controller 112 may modify the configuration of delivery component 104, such as driving a rotating segment of delivery component 104 to actively move item 204 to its destination 208. For example, controller 112 may be configured to guide item 204 along a bidirectional route 220 or path via delivery component 104.

[0046] In some examples, delivery component 104 may define multiple paths to the same destination 208. For example, multiple paths or branches 224 may extend to the same destination 208, such as for redundancy or efficiency. In examples, a single route or branch may include multiple paths, such as parallel paths. For example, delivery component 104 may allow items 204 to pass each other along the same route or branch. In such examples, delivery component 104 may dynamically adjust to allow multiple items 204 to travel along the same route or path, such as at different speeds and / or in different directions. Controller 112 may be configured to select a path among the multiple paths based on the characteristics of the items 204. For example, one path among the multiple paths may be configured to carry heavy objects, another path among the multiple paths may be configured to move fragile items, and yet another path among the multiple paths may be configured for rapid transport.

[0047] In the example, item 204 can switch between paths, such as based on priority, congestion along one path, or anomalies along one or more paths, to maintain efficient operation. In this way, delivery system 200 can dynamically adjust based on the current situation, such as bypassing congested routes for item 204, adjusting routes based on demand, and adjusting routes based on changes in destination 208 (e.g., updated trip information).

[0048] In some examples, delivery component 104 can move one or more items 204 based on user input. For example, controller 112 can be configured to modify delivery component 104 based on user input at the initial destination 208 to direct items 204 to different destinations 208. As an example, user input at the initial or intermediate destination 208 of item 204 might indicate that item 204 is not expected (e.g., not requested, damaged, otherwise rejected, etc.). In such examples, delivery component 104 can direct rejected items 204 to different destinations 208, such as returning to starting position 216, directing them to a storage area for further inspection, etc.

[0049] Figure 2B illustrates another example implementation of the delivery system 100. As shown, the delivery system 100 can be implemented as an assembly line 240 (e.g., a factory site). For example, the delivery component 104 can be implemented to deliver parts, components, or tools along the assembly line 240 or the factory site to individual workstations 242. Therefore, the movable items 204 of the delivery component 104 are not limited to any particular implementation. For example, the delivery component 104 can move parts and components down the line as needed while simultaneously delivering parts and tools to workstations 242. If an abnormality occurs in the assembly expectations, the delivery component 104 can adjust the assembly line 240 accordingly. For example, the delivery component 104 can remove components, parts, or even workstations 242 or machinery off the line, such as automatically based on changing conditions, such as replacement and / or continue operation with other components and workstations 242. This allows the factory site to adapt to various conditions, such as component shortages, tool failures, load balancing needs, employee skill levels, quality assurance, or rework, such as improvements to linear assembly line factory architectures. Although Figures 2A, 2B and 3 show a distribution system 100 implemented in a warehouse and / or assembly line 240, other configurations are conceivable, and therefore the embodiments shown are merely exemplary and not intended to be limiting.

[0050] Referring to Figures 2A, 2B, and 3, the delivery component 104 may include a support surface 246 to facilitate the movement of items 204 between various destinations 208 and areas. Depending on the application, the support surface 246 may be defined as a floor or a covering surface. The support surface 246 may be defined by a plurality of floor tiles 250 joined together. For example, any number of floor tiles 250 may be clamped, joined, or secured together to define the desired size or dimensions of the support surface 246, such as based on the size or configuration of the warehouse, a specific package sorting environment, etc. In this sense, the support surface 246 may define at least a portion of the warehouse floor.

[0051] Floor tile 250 may include a rotating segment configured to move independently to cause movement of items 204 in contact with support surface 246, such as selective actuation to move items 204 to their destination 208. For example, support surface 246 may define an infinitely adjustable path for the items 204 to be moved. For example, items 204 may be moved by support surface 246 in any direction, thus providing unique configurations and possibilities for package sorting and item delivery. For example, support surface 246 may move items 204 in a linear and / or rotational direction. Items 204 may be moved by support surface 246 independently of each other. For example, multiple items 204 may be moved in the same or different directions to deliver items 204 to their respective destinations 208.

[0052] Figure 3 illustrates an example support surface 246 formed by multiple movable tiles 250 (e.g., rotating segments). The tiles 250 may include the same or similar shapes, such that multiple tiles 250 can be joined together to form the support surface 246. The tiles 250 can be any shape that can cover a surface without noticeable gaps by repetition. For example, the tiles 250 may include shapes that allow multiple tiles 250 to be joined together to form an integrated surface 246. For example, the tiles 250 may include polygonal shapes of any closed planar figure defined by three or more line segments, such as three line segments defining a triangle, four line segments defining a quadrilateral, or more than four line segments defining other polygonal shapes (e.g., six line segments defining a hexagon, and other suitable shapes). In other examples, the tiles 250 may have curved edges that still interlock to create a continuous surface. In such examples, any number of tiles 250 can be joined together to define a support surface 246 of desired size and shape. Individual tiles 250 may be connected together (e.g., via interlocking or connecting features), or tiles 250 may be positioned adjacent to each other to define a support surface 246.

[0053] As described herein, the support surface 246 includes rotating segments coupled together to cause, provide, or facilitate movement of one or more articles 204 (e.g., packages, suitcases, luggage, containers, platforms, parts, tools, utensils, goods, or any other articles placed or positioned on the support surface 246) on the support surface 246. For example, the rotating segments or elements may cause one or more articles 204 to move across the support surface 246, such as from a first position to a second position on the support surface 246.

[0054] In one example, the support surface 246 can support the independent movement of multiple (e.g., two or more) items 204. For example, as shown, the support surface 246 can cause a first item 204A to move along a first direction 302 and a second item 204B to move along a second direction 306 different from the first direction 302. Directions 302 and 306 can be independent and concurrent, even if they differ in the example shown. In some examples, the support surface 246 can be configured to move or facilitate the movement of items 204 in any direction (e.g., any lateral or rotational direction through the support surface 246), such that the support surface 246 can be considered an omnidirectional actuated floor.

[0055] The movement control described herein may be provided by one or more tray assemblies 330 of the delivery assembly 104. As shown, each tile 250 may include one or more tray assemblies 330, such as a plurality of tray assemblies 330. In such an example, the tray assembly 330 may support one or more items 204 on a support surface 246. The tray assembly 330 is operable to move the items 204 on the support surface 246, such as in a manner as described herein. For example, the tray assembly 330 may engage the items 204 to move the items 204 when the tray assembly 330 is operated, as described herein.

[0056] Figure 4 illustrates an example tray assembly 330 in a system used in this specification (e.g., the delivery system 100 / 200 / 240 described above, delivery component 104), such as multiple other tray assemblies 330 having movable tiles 250. Figure 5 shows an exploded view of the tray assembly 330. The tray assembly 330 may include a contact tray 402. The contact tray 402 may be located at a first end (e.g., an outer or exposed end) of the tray assembly 330 and includes an upper surface 406. In one example, the upper surface 406 may be used in a support surface 246 as described herein, such as supporting and moving an article 204 together with multiple other surfaces. The contact tray 402 may be positioned and / or supported in the tray assembly 330 such that the upper surface 406 is positioned at an angle θ relative to a plane 408 of the movable tile 250. In one example, the upper surface 406 may include a contact surface 410 defined by a segment or edge protruding relative to the remainder of the upper surface 406. In such examples, contact surface 410 (and similar segments / parts of other contact discs in active tile 250) can contact and support an item 204 placed on disc assembly 330. The tilt angle θ can be an angle of 5 to 60 degrees, and in some examples approximately 8 to 15 degrees is useful, and in one implementation approximately 10 degrees (e.g., 9.5 to 10.5 degrees) is useful.

[0057] During use, the contact disk 402 can rotate about a rotation axis 418, such as by rotation 420. As shown, the rotation axis 418 extends to the plane of the upper surface 406 at a non-orthogonal angle. Thus, during operation of the disk assembly 330, the contact surface 410 of the contact disk 402 can be positioned in a predetermined position relative to the rotation axis 418 to move the supported article 204 in a desired direction, as described herein. For example, the disk assembly 330 may include a ramp 426 having an angled or inclined surface 428 to support the contact disk 402 at an angle θ. The ramp 426 can be driven to selectively change the position of the contact surface 410 relative to the rotation axis 418. For example, the ramp 426 can be driven via external teeth 430 as shown in FIG. 4, can be belt driven, etc. In such examples, selectively positioning the contact surface 410 via rotation of the ramp 426 can control the direction of movement of the supported article 204. In one example, during the rotation 420 of the contact plate 402, the swashplate 426 can remain stationary or be fixed in place relative to the axis of rotation 418.

[0058] The disk assembly 330 may include various drive components and bearings to support the contact disk 402 and facilitate rotation of the contact disk 402 under load. For example, the disk assembly 330 may include a gear 440 for rotating the contact disk 402 about a rotation axis 418, as detailed herein. A first thrust bearing 442 may be positioned between the contact disk 402 and the swashplate 426 to reduce friction between the contact disk 402 and the swashplate 426. A second thrust bearing 444 may be positioned between the swashplate 426 and the gear 440 to reduce friction between the swashplate 426 and the gear 440. The first thrust bearing 442 and the second thrust bearing 444 may be configured to transfer a load on the contact disk 402 downward into the disk assembly 330 (e.g., into a stack of components of the disk assembly 330). For example, the first thrust bearing 442 may transfer a downward load from the contact disk 402 to the swashplate 426, while the second thrust bearing 444 may transfer a downward load from the swashplate 426 to the gear 440. In some examples, the disk assembly 330 may include a top bearing 450 and a bottom bearing 452, such as for the purposes described below. Fasteners 456 may hold the components of the disk assembly 330 together as operable units.

[0059] Referring to Figure 5, the disk assembly 330 may include a drive shaft 510. The drive shaft 510 may be coupled to the contact disk 402 and driven by a gear 440. For example, the disk assembly 330 may include a U-joint 512 pivotally coupled to an end 518 of the drive shaft 510 and a lower side 520 of the contact disk 402. The U-joint 512 may allow the contact disk 402 to rotate while simultaneously rotating or reorienting the high point or contact surface 410 of the contact disk 402 via a ramp 426 to change the tilt direction or disk orientation of the contact disk 402 (e.g., changing the position of the contact surface 410 relative to the axis of rotation 418). The drive shaft 510 may be coupled to the gear 440 (e.g., via a key engagement 524) such that rotation of the gear 440 causes rotation of the drive shaft 510. In such an example, rotation of the gear 440 causes rotation of the drive shaft 510, which in turn causes rotation of the contact disk 402 about the axis of rotation 418. Referring again to Figure 5, the top and bottom bearings 450, 452 can rotatably support the drive shaft 510, such as centered the drive shaft 510 within the disk assembly 330.

[0060] According to the various examples described herein, the contact disc 402 is supported by the inclined surface 428 of the swashplate 426 at an angle θ, and then selectively rotated (e.g., rotated 420) about the axis of rotation 418 while the swashplate 426 remains stationary, in order to move the article 204 supported on the contact surface 410 of the upper surface 406. Rotation 420 can be provided by a disc rotation mechanism (which includes at least a gear 440) in the disc assembly 330, which works in conjunction with a drive system (not shown in Figures 4-5) (e.g., one or more motors driving belts, helical drives, gears, etc., to apply motion to one or more components of the disc rotation mechanism, such as to the external teeth 430 of the gear 440).

[0061] In the illustrated embodiment, the upper surface 406 is circular, and the contact surface 410 is an outer annular surface or lip configured to engage the surface of the supported article 204. The contact disc 402 is positioned or supported at a disc angle or tilt angle θ (e.g., an angle measured between a horizontal plane and the upper surface 406 of the contact disc 402, ranging from 5 degrees to 60 degrees, etc.). This configuration allows a raised edge or portion of the contact surface 410 to contact and move the article 204 (e.g., a package, vehicle, container, or any other article) supported on the contact disc 402. The raised edge / portion can be a small portion of the contact surface 410, such as ranging from 1 / 10 to 2 / 5 of the available surface, depending on the size of the tilt angle θ.

[0062] Each disk assembly 330 is adjustable to allow the contact disk 402 to be oriented as desired, thereby setting the position of the contact surface 410 relative to the axis of rotation 418. For example, the contact disk 402 can be rotated relative to the axis of rotation 418, such as by rotation of the swashplate 426 about the axis of rotation 418, thereby orienting the contact disk 402 relative to the axis of rotation 418, as described above. In such examples, the orientation of the contact surface 410 relative to the axis of rotation 418 can define the direction of the supported article 204 moved by the disk assembly 330.

[0063] For example, Figures 6A-6D illustrate various orientations of the contact disk 402 that define the corresponding directions of the supported article 204 moved by the disk assembly 330. Referring to Figure 6A, the tilt direction or disk orientation of the contact disk 402 can be set such that the contact surface 410 is located at the “top” of the contact disk 402 (when viewing the page including Figure 6A). If the contact disk 402 rotates clockwise about the axis of rotation 418, the supported article 204 can move in the positive X direction, or to the right when viewing the page including Figure 6A. Conversely, if the contact disk 402 rotates counterclockwise about the axis of rotation 418, the supported article 204 can move in the negative X direction, or to the left when viewing the page including Figure 6A.

[0064] Referring to Figure 6B, the tilt direction or orientation of the contact disk 402 can be set such that the contact surface 410 is located on the "right side" of the contact disk 402 (when viewing the page including Figure 6B). If the contact disk 402 rotates clockwise about the axis of rotation 418, the supported item 204 can move in the negative Y direction, or downwards when viewing the page including Figure 6B. Conversely, if the contact disk 402 rotates counterclockwise about the axis of rotation 418, the supported item 204 can move in the positive Y direction, or upwards when viewing the page including Figure 6B.

[0065] Referring to Figure 6C, the tilt direction or disk orientation of the contact disk 402 can be positioned such that the contact surface 410 is located at the "bottom" of the contact disk 402 (when viewing the page including Figure 6C). If the contact disk 402 rotates clockwise about the axis of rotation 418, the supported item 204 can move in the negative X direction, or to the left when viewing the page including Figure 6C. Conversely, if the contact disk 402 rotates counterclockwise about the axis of rotation 418, the supported item 204 can move in the positive X direction, or to the right when viewing the page including Figure 6C.

[0066] Referring to Figure 6D, the tilt direction or orientation of the contact disk 402 can be set such that the contact surface 410 is located on the "left side" of the contact disk 402 (when viewing the page including Figure 6D). If the contact disk 402 rotates clockwise about the axis of rotation 418, the supported item 204 can move in the positive Y direction, or upwards when viewing the page including Figure 6D. Conversely, if the contact disk 402 rotates counterclockwise about the axis of rotation 418, the supported item 204 can move in the negative Y direction, or downwards when viewing the page including Figure 6D.

[0067] During any particular operation for moving article 204 in a specific direction, the components of disk assembly 330 can be configured to allow contact disk 402 to orient itself in any of the four orientations or disk directions shown in Figures 6A-6D (or any intermediate position between these four orientations), while simultaneously allowing contact disk 402 to rotate about axis of rotation 418 at a desired rate or velocity, while maintaining a tilt angle θ with a specific disk orientation / direction. Therefore, disk assembly 330 can move article 204 across support surface 246 in any direction. In this way, disk assembly 330 can define an omnidirectional actuated floor.

[0068] An array or multiple disk assemblies 330 may be combined to form a single tile 250, and multiple tiles 250 may be combined to provide the support surface 246 described herein, or may be used in combination to provide a large floor or platform for moving supported items 204. In such embodiments, each drive assembly may be driven independently; however, in some embodiments, it may be useful to simultaneously drive an array or subset of disk assemblies 330 that form the support floor / platform, such as by similarly orienting and driving / rotating each contact disk 402 in the movable tiles 250 (e.g., simultaneously and similarly driving each drive assembly in the movable tiles 250 to move the items 204 on the tiles 250 in a particular direction and at a particular speed).

[0069] Therefore, Figure 7 shows a portion of a movable floor tile 250, which includes an array or multiple disk assemblies 330. Referring to Figure 7, the array or multiple disk assemblies 330 can be arranged in a pattern. For example, multiple disk assemblies 330 can be arranged in a rectangular pattern of parallel rows and columns, but other configurations are conceivable. The disk assemblies 330 can include parallel axes of rotation (e.g., the axes of rotation 418 of each disk assembly 330 can be parallel), and the upper surface 406 faces a single direction. For example, each contact disk 402 can be oriented to have the same disk orientation or to have its tilt angle oriented in the same way. The disk assemblies 330 can be driven together as a group, or can be driven simultaneously to rotate about their axes of rotation at the same rate and direction. In this way, multiple disk assemblies 330 (or a subset of disk assemblies 330) can move the supported item 204 on them in the same direction and at the same rate.

[0070] In the embodiment shown in Figure 7, a first lead screw 704 is positioned to contact the external teeth 430 of each swashplate 426, and a second lead screw 706 is positioned to contact the gear / tooth-like outer surface of each gear 440. One or more drive motors 710 can be selectively controlled to rotate the first lead screw 704 as needed / desired along the rotation direction 712 to set the tilt direction or disk orientation of each contact disk 402 (e.g., orienting the contact disk 402 by rotating the swashplate 426 about its respective axis of rotation 418) so as to simultaneously position the raised edges of the contact disk 402 in the desired location. In other words, rotating the first lead screw 704 with the drive motor causes the swashplate 426 to rotate about its respective axis of rotation, which in turn causes the supported contact disk 402 to also rotate to position the contact surface 410 in the new location.

[0071] Simultaneously or at different times, one or more rotary motors 720 can be selectively controlled to rotate the second lead screw 706, thereby driving the gear 440 to rotate (e.g., at the same rate). The rotation of the gear 440 causes the contact disk 402 to rotate, wherein the direction of rotation of the contact disk 402 is set by the rotation direction 722 of the second lead screw 706. Similarly, the rotation rate of the contact disk 402 can be set by the rotation rate of the second lead screw 706 in the rotation direction 722.

[0072] Such examples are merely illustrative, and the support surface 246 may operate using other systems and configurations. For example, the contact disk 402 may be rotated via meshing gears, and so on. In some examples, one or more (e.g., each) contact disks 402 may be rotated via a gear train comprising multiple gears. In such examples, one or more motors (e.g., drive motor 710 and / or rotary motor 720) may be selectively controlled to rotate the gears, thereby causing the contact disk 402 to rotate.

[0073] The embodiments shown in Figures 3-7 are non-limiting examples of a mobility system comprising a modular floor formed by a plurality of movable floor tiles (e.g., tile 250), each movable floor tile having one or more disc assemblies, each disc assembly having a rotatable, angled disc and a mechanism for rotating / spinning the disc and for orienting the disc so that its raised edges / parts are in a desired position, thereby guiding a supported article 204 in a desired direction during disc rotation. Therefore, the delivery assembly 104, support surface 246, movable floor tile 250, and disc assembly 330 described above are merely illustrative, and other configurations are contemplated. In one example, the systems and elements described herein (e.g., tile 250 and disc assembly 330) may resemble those described in U.S. Patent Application No. 15 / 790,124 (now U.S. Patent No. 10,416,754B2) and U.S. Patent Application No. 16 / 135,952 (now U.S. Patent No. 10,732,197B2), the disclosures of which are incorporated herein by reference for all purposes.

[0074] Figure 8 illustrates an example computing system 800 for implementing the various examples described herein. For example, in various embodiments, components of the delivery system 100 or other systems described herein may be implemented by one or more computing systems 800. This disclosure contemplates any suitable number of computing systems 800. For example, computing system 800 may be a server, desktop computing system, mainframe, computing system grid, laptop or notebook computing system, tablet system, embedded computer system, system-on-a-chip, single-board computing system, or a combination of two or more of these. Where appropriate, computing system 800 may include one or more computing systems; may be single or distributed; span multiple locations; span multiple machines; span multiple data centers; or reside in the cloud, which may include one or more cloud components in one or more networks (e.g., network 116).

[0075] The computing system 800 includes a bus 810 (e.g., an address bus and a data bus) or other communication mechanisms for communicating information, interconnecting subsystems and devices such as a processor 808, a memory 802 (e.g., RAM), static storage 804 (e.g., ROM), dynamic storage 806 (e.g., magnetic or optical storage), a communication interface 816 (e.g., a modem, an Ethernet card, a network interface controller (NIC) or network adapter for communicating with Ethernet or other wired networks, a wireless NIC (WNIC) or wireless adapter for communicating with wireless networks (such as Wi-Fi networks), and an input / output (I / O) interface 820 (e.g., a keyboard, keypad, mouse, microphone, display). In certain embodiments, the computing system 800 may include one or more of these components.

[0076] In a particular embodiment, processor 808 includes hardware for executing instructions, such as instructions constituting a computer program. For example, processor 808 may execute instructions for various components (e.g., controller 112) of delivery systems 100 / 200 / 240, delivery component 104, or other systems described herein. The circuitry of processor 808 includes circuitry for performing various processing functions, such as executing specific software to perform specific calculations or tasks. In a particular embodiment, I / O interface 820 includes hardware, software, or both that provide one or more interfaces for communication between computing system 800 and one or more I / O devices. Computing system 800 may include one or more of these I / O devices where appropriate. One or more of these I / O devices can enable communication between a person and computing system 800.

[0077]

[0078] In a particular embodiment, the communication interface 816 includes hardware, software, or both that provide one or more interfaces for communication (such as, for example, packet-based communication) between the computing system 800 and one or more other computer systems or one or more networks (e.g., network 116). One or more memory buses (each of which may include an address bus and a data bus) may connect the processor 808 to the memory 802. Bus 810 may include one or more memory buses, as described below. In a particular embodiment, one or more memory management units (MMUs) are located between the processor 808 and the memory 802 and facilitate access to the memory 802 requested by the processor 808. In a particular embodiment, bus 810 includes hardware, software, or both that interconnect components of the computing system 800.

[0078] According to a particular embodiment, computing system 800 performs specific operations by processor 808 executing one or more sequences of one or more instructions included in memory 802. For example, instructions for delivery system 100, delivery component 104, or other systems described herein (e.g., for performing the operations described above) may be included in memory 802 and may be executed by processor 808. For example, processor 808 may be configured to modify the configuration of support surface 246 to move article 204 to a intended destination 208, as described herein. In an example, processor 808 may be configured to modify the configuration of delivery system 100 based on sensor input (e.g., based on detected orientation, position, or movement of article 204 on support surface 246). In such an example, processor 808 may communicate with sensor 108. Based on the detected orientation, position, or movement of article 204, processor 808 may adjust delivery component 104, such as adjusting support surface 246.

[0079] Such instructions can be read into memory 802 from another computer-readable / usable medium, such as static storage 804 or dynamic storage 806. In alternative embodiments, hard-wired circuitry is used in place of or in combination with software instructions. Therefore, specific embodiments are not limited to any particular hardware circuitry and / or software combination. In various embodiments, the term "logic" refers to any software or hardware combination used to implement all or part of the specific embodiments disclosed herein.

[0080] As used herein, the terms "computer-readable medium" or "computer-usable medium" refer to any medium that participates in providing instructions to processor 808 for execution. Such media can take many forms, including, but not limited to, non-volatile and volatile media. Non-volatile media include, for example, optical discs or magnetic disks, such as static storage 804 or dynamic storage 806. Volatile media include dynamic storage, such as memory 802.

[0081] The computing system 800 can send and receive messages, data, and instructions, including programs (e.g., application code), via communication link 818 and communication interface 816. Received program code can be executed by processor 808 upon receipt and / or stored in static storage 804, dynamic storage 806, or other memory for later execution. Database 814 can be used to store data accessible by the computing system 800 via data interface 812. In various examples, communication link 818 can communicate with delivery system 100 or other systems described herein.

[0082] Turning to Figure 9, an example method 900 for delivering an item (e.g., item 204) to a destination 208 as described herein is depicted. Method 900 can be implemented using various systems described herein, such as delivery systems 100 / 200 / 240 or computing system 800 (e.g., processor 808). In step 910, method 900 includes detecting characteristics of the item (e.g., item 204). For example, an imaging system 218 (e.g., sensor 108) can be used to detect barcodes, QR codes, visual identifiers, or other characteristics of item 204, such as in the manner described above.

[0083] In step 920, method 900 includes identifying a destination 208 for delivering item 204 based on characteristics. For example, characteristics may indicate a delivery location, such as by querying a database or as indicated by the detected characteristics themselves (e.g., tags, etc.). In some examples, destination 208 may be identified based on the size or weight of the detected item 204, or by grouping similar items 204 together to the same destination 208.

[0084] In step 930, method 900 may include determining a path along delivery component 104 to route item 204 to destination 208. For example, an optimal route may be calculated for the efficiency of delivery system 100 or increased throughput to avoid congestion along high-utilization paths, taking into account other items 204 en route to their respective destinations 208, and so on, in a manner as described herein.

[0085] In step 940, method 900 includes modifying the configuration of a delivery component (e.g., delivery component 104) to deliver items 204 to destination 208 via delivery component 104. For example, a rotating segment of delivery component 104 (such as a disc assembly 330 of support surface 246) may be driven to rotate, and the rotation of disc assembly 330 moves items 204 along support surface 246 to their respective destinations 208. In this way, step 940 may include delivering items 204 to destination 208, such as along the path determined in step 930. Multiple items 204 may move sequentially or simultaneously, such as along parallel or non-parallel paths on support surface 246, such as in the manner described herein.

[0086] Method 900 may include one or more optional steps, such as steps 950, 960, and 970 as shown in FIG. 9. In step 950, method 900 may include multiple items 204 separated at a receiving area of ​​delivery component 104 via delivery component 104. For example, delivery component 104 may pull apart a pile or clump of items 204 placed at starting position 216 (e.g., using tray component 330 to actively unfold items 204) to facilitate identification of items 204 using imaging system 218, as described above. Step 950 may be performed prior to any of the method steps described herein.

[0087] In step 960, method 900 includes reconfiguring delivery component 104 to deliver item 204 to a different destination 208, such as based on user input at destination 208. For example, user input at destination 208 might indicate that item 204 is not expected or has been otherwise rejected, so delivery component 104 can direct the rejected item 204 to a different destination 208, such as returning to starting position 216, to a storage area for further inspection, etc.

[0088] In step 970, method 900 includes adjusting delivery component 104 based on detected anomalies (such as detected anomalies in delivery component 104). For example, the imaging system 218 or other system of delivery system 100 may detect congestion or other route anomalies along various routes 220 or paths. In such examples, delivery component 104 may be adjusted to guide item 204 along different paths, such as routing item 204 around congestion, adjusting routes based on demand, adjusting routes based on changes in destination 208 (e.g., updated trip information), etc. Step 970 may be performed prior to other method steps described herein. For example, step 970 may be performed after steps 930, 940, or 950, rather than after step 960.

[0089] The descriptions of certain embodiments included herein are exemplary in nature only and are in no way intended to limit the scope of this disclosure or its application or use. In the detailed description of embodiments of the included systems and methods, reference is made to the accompanying drawings, which form part of the detailed description and are shown in a manner that particularly illustrates embodiments in which the described systems and methods may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the systems and methods currently disclosed, and it should be understood that other embodiments may be used and structural and logical changes may be made without departing from the spirit and scope of this disclosure. Furthermore, for clarity, detailed descriptions of certain features will not be discussed where they are obvious to those skilled in the art, so as not to obscure the description of embodiments of this disclosure. Therefore, the included detailed description should not be construed as restrictive, and the scope of this disclosure is defined only by the appended claims.

[0090] As will be understood from the foregoing, although specific embodiments of the invention have been described herein for illustrative purposes, various modifications may be made without departing from the spirit and scope of the invention.

[0091] The details shown herein are merely illustrative and intended to illustrate preferred embodiments of the invention, and are provided to offer the most useful and readily understood description of the principles and concepts of various embodiments of the invention. In this regard, this document does not attempt to show the structural details of the invention in more detail than necessary for a basic understanding of the invention, and the description, taken in conjunction with the accompanying drawings and / or examples, is intended to enable those skilled in the art to clearly understand how the various forms of the invention can be embodied in practice.

[0092] As used herein, and unless otherwise stated, the terms “a” or “an” shall be understood as “an,” “at least one,” or “one or more.” Unless the context requires otherwise, singular terms as used herein shall include the plural, and plural terms shall include the singular.

[0093] Unless the context explicitly requires otherwise, throughout the specification and claims, the terms "comprising," "including," and "comprise" should be understood in an inclusive sense, rather than an exclusive or exhaustive sense; that is, they mean "including but not limited to." The use of singular or plural terms also includes both singular and plural forms, respectively. Furthermore, when used in this application, "this article," "above," "below," and similar terms, they should refer to the entire application, not any specific part of it.

[0094] Of course, it should be understood that any example, embodiment, or process described herein may be combined with one or more other examples, embodiments, and / or processes, or may be performed separately and / or between separate means or parts of means according to the system, apparatus, and method.

[0095] Finally, the above discussion is intended to illustrate the system only and should not be construed as limiting the appended claims to any particular embodiment or group of embodiments. Therefore, although the system has been described in particular detail with reference to exemplary embodiments, it should be understood that those skilled in the art can devise numerous modifications and alternative embodiments without departing from the broader and contemplated spirit and scope of the system as set forth in the appended claims. Thus, the specification and drawings should be regarded as illustrative and not intended to limit the scope of the appended claims.

Claims

1. A system comprising: A component comprising rotating segments coupled together to cause movement of an item in contact with the component, the component comprising multiple destinations defining a delivery area; And a processor configured to: detect characteristics of the item; identify a destination for delivering the item from among a plurality of destinations based on the characteristics; and modify the configuration of the components to direct the item to the destination.

2. The system according to claim 1, wherein, The component includes a starting position and a bidirectional path between the starting position and the destination, and wherein the processor is configured to guide the item along the bidirectional path via the component.

3. The system according to claim 1, wherein, The characteristics include the size of the item, the weight of the item, or the identifiers attached to the item.

4. The system of claim 1, further comprising an image system configured to capture an image of the article.

5. The system according to claim 1, wherein, The component defines multiple paths to the destination, and the processor is configured to select a path from the multiple paths based on the characteristics.

6. The system according to claim 5, wherein, The multiple paths are parallel paths.

7. The system according to claim 1, wherein, The rotating section forms a floor or covering surface.

8. The system according to claim 1, wherein, The item in question is a package.

9. A delivery system, comprising: A delivery component, comprising rotating segments joined together to cause movement of an item in contact with the delivery component; An image system configured to capture images of the items; The controller is configured to: receive the image; identify the destination of the item to be delivered based on the image; and modify the configuration of the delivery component to guide the item to the destination via the delivery component.

10. The delivery system according to claim 9, wherein: The delivery component defines a receiving area configured to receive a plurality of items including the item; the imaging system is configured to capture corresponding images of the plurality of items; and the controller is configured to identify the corresponding destination of the plurality of items, and the delivery component routes the plurality of items to the corresponding destination.

11. The delivery system according to claim 10, wherein, The controller is configured to modify the delivery component at the receiving area to separate the plurality of items for detection.

12. The delivery system according to claim 10, wherein, The controller is configured to modify the delivery component at the receiving area to orient the plurality of items for image capture.

13. The delivery system according to claim 9, wherein, The controller is configured to modify the delivery component based on user input at the destination to direct the item to a different destination.

14. A warehouse comprising the delivery system according to claim 9.

15. An assembly line comprising the delivery system according to claim 9.

16. A method for delivering articles to a destination using a delivery component, the delivery component including rotating segments coupled together to cause movement of the articles in contact with the delivery component, the method comprising: Detect the properties of the item; The destination for delivering the item is identified based on the aforementioned characteristics; And modify the configuration of the delivery component to deliver the item to the destination via the delivery component.

17. The method of claim 16, further comprising determining a path along the delivery component to route the item to the destination.

18. The method of claim 16, further comprising separating a plurality of items including the items at the receiving area of ​​the delivery component via the delivery component.

19. The method of claim 16, further comprising reconfiguring the delivery component based on user input at the destination to deliver the item to a different destination.

20. The method of claim 16, further comprising adjusting the delivery component based on detected anomalies in the delivery component.

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