Automated robotic object dispensing and transferring systems and processes

Abstract

Various embodiments of the present disclosure provide improved robotic systems and system configurations for various use cases. The system of the present disclosure may comprise a dispensing station comprising a dispenser mechanism, a robotic picking device, a labeling mechanism, and a first scanning device and a second scanning device positioned adjacent to the dispenser mechanism and the labeling mechanism, respectively; and a conveyance assembly positioned within a threshold distance to the dispensing station, wherein the dispenser mechanism of the dispensing station is physically separated from the conveyance assembly by the robotic picking device and the labeling mechanism.

Description

Atty Docket No. 054642-619949AUTOMATED ROBOTIC OBJECT DISPENSING AND TRANSFERRING SYSTEMS AND PROCESSESCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Application No. 63 / 701,342 entitled Rotary Dispensing Unit, filed September 30, 2024, the entirety of which is incorporated by reference herein for all purposes.BACKGROUND

[0002] In many industries, efficient and accurate handling of physical objects is crucial for operational effectiveness. Such systems traditionally aim to improve computer-controlled manipulation of objects by translating digital instructions into precise mechanical actions. The complexity of such action may be increased due to several technical challenges, including varying object sizes and shapes and specific handling procedures, such as individualized labeling and verification processes for objects subject to regulatory scrutiny. Historical techniques for automated logistics systems often implement bulk labeling and verification procedures using simple mechanical systems with limited flexibility and accuracy. These systems frequently encountered difficulties in adapting to different object types, ensuring proper object identification, and maintaining consistent performance across varied operational conditions.BRIEF DESCRIPTION OF THE DRAWINGS

[0003] FIG. 1 depicts a block diagram of an example architecture in accordance with some embodiments of the present disclosure.

[0004] FIG. 2 depicts a block diagram of an example predictive data analysis computing entity in accordance with some embodiments of the present disclosure.

[0005] FIG. 3 depicts a block diagram of an example client computing entity in accordance with some embodiments of the present disclosure.

[0006] FIG. 4A depicts a top view of an end-to-end dispensing system in accordance with some embodiments of the present disclosure.

[0007] FIG. 4B depicts a side view of an end-to-end dispensing system in accordance with some embodiments of the present disclosure.

[0008] FIG. 5 depicts a dispensing station in accordance with some embodiments of the present disclosure.Atty Docket No. 054642-619949

[0009] FIG. 6A depicts a top view of the dispensing station in accordance with some embodiments of the present disclosure.

[0010] FIG. 6B depicts a first side view of the dispensing station in accordance with some embodiments of the present disclosure.

[0011] FIG. 6C depicts a second side view of the dispensing station in accordance with some embodiments of the present disclosure.

[0012] FIG. 7 depicts an expanded view of the nested dispensing location in accordance with some embodiments of the present disclosure.

[0013] FIG. 8 depicts an expanded view of the robotic picking device in accordance with some embodiments of the present disclosure.

[0014] FIG. 9A depicts an expanded side view of the labeling mechanism in accordance with some embodiments of the present disclosure.

[0015] FIG. 9B depicts an expanded view of the guide platform in accordance with some embodiments of the present disclosure.

[0016] FIG. 9C depicts an expanded front view of the labeling mechanism in accordance with some embodiments of the present disclosure.

[0017] FIG. 10 depicts a data flow diagram of an automated dispensing process in accordance with some embodiments of the present disclosure.

[0018] FIG. 11 depicts an activity diagram of a loading process in accordance with some embodiments of the present disclosure.

[0019] FIG. 12 depicts an activity diagram of a dispensing process in accordance with some embodiments of the present disclosure.

[0020] FIG. 13 depicts an activity diagram of a deployment process in accordance with some embodiments of the present disclosure.DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure provide improved logistics systems and robotic automation techniques that address challenges in traditional logistic facilities. The improved logistics systems implement an end-to-end dispensing system that arranges a set of robotic devices in a specific configuration to improve throughput within a logistic facility, while implementing safeguards for handling sensitive objects, such as medication prescriptions, which are subject to strict regulatory oversight. Specifically, the end-to-end dispensing system comprises a dispensing station and a connected conveyance assembly. The dispensing station comprises a set of roboticAtty Docket No. 054642-619949 devices, including a dispenser mechanism, a labeling mechanism, and a robotic picking device that may be automated through interactions with a controller. In operation, the dispenser mechanism may be controlled to dispense a single physical object from a set of objects collected within the dispenser mechanism. The physical object is dispensed to a nested dispensing location that may hold the object in a manner that exposes a top and bottom portion of the object. This allows the robotic picking device to grip the object in a manner that exposes a side plane of the object for downstream scanning and labeling operations within the dispensing station.

[0022] After a physical object is dispensed, the robotic picking device may grip the object and move the object through a series of specific positions within the dispensing station to verify and prepare the object for a downstream user, such as a patient, pharmacist, healthcare provider, and / or the like. In this regard, the robotic picking device may comprise an articulating, multi-axis arm that enables precise positioning of the object at different positions within the dispensing station. At each position, the physical object dispensed from the dispenser mechanism may be individually verified and / or labeled with downstream order details. In this way, the dispensing station enables the individualized verification and labeling of an object within an automated framework that improves operational throughput, while meeting industry-specific regulatory requirements by ensuring proper handling and traceability of objects dispensed within the dispensing station.

[0023] For example, at a first position, the robotic picking device may present the object to a type verification scanner, which may scan the object to verify that the object corresponds to a downstream request, such as a prescription for a medication. This provides a first verification safeguard to ensure consistent delivery of objects dispensed from a dispenser mechanism, which may be crucial for regulated use cases, such as the fulfillment of medication prescriptions.

[0024] At a second position, the robotic picking device may present the object to a labeling mechanism. The labeling mechanism may print a label for the object that comprises information reflective of the downstream request, such as prescription details including medication information, patient details, pharmacy details, and / or the like. The robotic picking device (and / or a tamper of the labeling mechanism) may press the object and the printed label together to adhere object label to the object. In this way, a traditionally manual labeling process may be automated on an individualized basis that enables precise labeling of objects with object labels that incorporate downstream order details for the object.

[0025] At a third position, the robotic picking device may present the labeled object to a label verification scanner, which may scan the label to verify that the object label corresponds to the intended downstream request, such as a prescription for a medication. This provides a second verification safeguard to ensure consistent delivery of objects dispensed and labeled within aAtty Docket No. 054642-619949 dispensing station, which may be crucial for regulated use cases, such as the fulfillment of medication prescriptions.

[0026] Finally, the robotic picking device may place the labeled object within a container positioned on the connected conveyance assembly. The container may be moved along the conveyance assembly and to a final dispatch station wherein the contents of the container, including the pre-labeled object dispensed from the dispensing station, may be packaged and dispatched from the logistics facility.

[0027] The dispensing station of the present disclosure provides significant advancements in automated dispensing technology by enabling the “pre-labeling” and verification of physical objects before they arrive at the final dispatch station. For example, by doing so, the dispensing station minimizes errors by labeling an object at an origin of a request (e.g., immediately after the request is received rather than after an object transferred across a logistic facility to fulfill the request). Moreover, by controlling the components within the dispensing station in a collaborative manner, the dispensing station increases the speed and operational throughput of the logistics assembly while meeting industry-specific regulatory requirements.I. Overview of Embodiments

[0028] As should be appreciated, various embodiments of the present disclosure may be implemented as methods, apparatus, systems, computing devices, computing entities, computer program products, and / or the like. As such, embodiments of the present disclosure may take the form of an apparatus, system, computing device, computing entity, and / or the like executing instructions stored on a computer-readable storage medium to perform certain steps or operations. Thus, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely computer program product embodiment, and / or an embodiment that comprises a combination of computer program products and hardware performing certain steps or operations.

[0029] Embodiments of the present disclosure are described below with reference to block diagrams and flowchart illustrations. Thus, it should be understood that each block of the block diagrams and flowchart illustrations may be implemented in the form of a computer program product, an entirely hardware embodiment, a combination of hardware and computer program products, and / or apparatus, systems, computing devices, computing entities, and / or the like carrying out instructions, operations, steps, and similar words used interchangeably (e.g., the executable instructions, instructions for execution, program code, and / or the like) on a computer- readable storage medium for execution. For example, retrieval, loading, and execution of code mayAtty Docket No. 054642-619949 be performed sequentially such that one instruction is retrieved, loaded, and executed at a time. In some example embodiments, retrieval, loading, and / or execution may be performed in parallel such that multiple instructions are retrieved, loaded, and / or executed together. Thus, such embodiments may produce specifically configured machines performing the steps or operations specified in the block diagrams and flowchart illustrations. Accordingly, the block diagrams and flowchart illustrations support various combinations of embodiments for performing the specified instructions, operations, or steps.II. Example Framework

[0030] FIG. 1 depicts a block diagram of an example architecture 100 in accordance with some embodiments of the present disclosure. The architecture 100 comprises a computing system 101 configured to receive a request, such as a dispensing request, and / or the like, from client computing entities 102, process the request, and provide the responses to the client computing entities 102. The example architecture 100 may be used in a plurality of domains and not limited to any specific application as disclosed herewith. The plurality of domains may comprise healthcare, industrial, manufacturing, computer security, and / or the like to name a few.

[0031] In some embodiments, the computing system 101 may communicate with at least one of the client computing entities 102 using one or more communication networks. Examples of communication networks comprise any wired or wireless communication network including, for example, a wired or wireless local area network (LAN), personal area network (PAN), metropolitan area network (MAN), wide area network (WAN), or the like, as well as any hardware, software, and / or firmware required to implement it (such as, e.g., network routers, and / or the like).

[0032] The computing system 101 may comprise a predictive computing entity 106 and one or more external computing entities 108. The predictive computing entity 106 and / or one or more external computing entities 108 may be individually and / or collectively configured to receive requests from client computing entities 102, process the requests to generate a code prediction, and provide the code predictions to the client computing entities 102.

[0033] For example, as discussed in further detail herein, the predictive computing entity 106 and / or one or more external computing entities 108 comprise storage subsystems that may be configured to store input data, training data, and / or the like that may be used by the respective computing entities to perform predictive data analysis and / or training operations of the present disclosure. In addition, the storage subsystems may be configured to store model definition data used by the respective computing entities to perform various predictive data processing and / or training tasks. The storage subsystem may comprise one or more storage units, such as multipleAtty Docket No. 054642-619949 distributed storage units that are connected through a computer network. A storage unit in the respective computing entities may store at least one of one or more data assets and / or a set of data about the computed properties of one or more data assets. Moreover, each storage unit in the storage systems may comprise one or more non-volatile storage or volatile storage media similar to or different than the non-volatile and / or volatile computer-readable storage media discussed above.

[0034] In some embodiments, the predictive computing entity 106 and / or one or more external computing entities 108 are communicatively coupled using one or more wired and / or wireless communication techniques. The respective computing entities may be configured according to the techniques described herein to perform one or more operations of one or more techniques described herein. By way of example, the predictive computing entity 106 may be configured to train, implement, use (e.g., execute an inference operation(s)), update (e.g., fine-tune), and evaluate machine learning models in accordance with one or more training and / or inference operations of the present disclosure. In some examples, the external computing entities 108 may be configured to train, implement, use, update, and evaluate machine learning models in accordance with one or more training and / or inference operations of the present disclosure.

[0035] In some example embodiments, the predictive computing entity 106 may be configured to receive and / or transmit one or more datasets, objects, and / or the like from and / or to the external computing entities 108 to perform one or more steps / operations of one or more techniques described herein. The external computing entities 108, for example, may comprise and / or be associated with one or more entities that may be configured to receive, transmit, store, manage, and / or facilitate datasets, and / or the like. The external computing entities 108, for example, may comprise data sources that may provide such datasets, and / or the like to the predictive computing entity 106 which may leverage the datasets to perform one or more steps / operations of the present disclosure, as described herein. In some examples, the datasets may comprise an aggregation of data from across a plurality of external computing entities 108 into one or more aggregated datasets. The external computing entities 108, for example, may be associated with one or more data repositories, cloud platforms, compute nodes, organizations, and / or the like, which may be individually and / or collectively leveraged by the predictive computing entity 106 to obtain and aggregate data for an information domain.

[0036] In some example embodiments, the predictive computing entity 106 may be configured to receive a trained machine learning model trained and subsequently provided by the one or more external computing entities 108. For example, the one or more external computing entities 108 may be configured to perform one or more training steps / operations of the present disclosure to train a machine learning model, as described herein. In such a case, the trained machine learningAtty Docket No. 054642-619949 model may be provided to the predictive computing entity 106, which may leverage the trained machine learning model to perform one or more inference steps / operations of the present disclosure. In some examples, feedback (e.g., evaluation data, ground truth data) from the use of the machine learning model may be received and / or stored by the predictive computing entity 106. In some examples, the feedback may be provided to the one or more external computing entities 108 to continuously train the machine learning model over time. In some examples, the feedback may be leveraged by the predictive computing entity 106 to continuously train the machine learning model over time. In this manner, the computing system 101 may perform, via one or more combinations of computing entities, one or more prediction, training, and / or any other machine learning-based techniques of the present disclosure.A. Example Computing Entity

[0037] FIG. 2 depicts a block diagram of an example computing entity 200 in accordance with some embodiments of the present disclosure. The computing entity 200 is an example of the predictive computing entity 106 and / or external computing entities 108 of FIG. 1. In general, the terms computing entity, computer, entity, device, system, controller, and / or similar words used herein interchangeably may refer to, for example, one or more computers, computing entities, desktops, mobile phones, tablets, notebooks, laptops, distributed systems, kiosks, input terminals, servers or server networks, blades, gateways, switches, processing devices, processing entities, set- top boxes, relays, routers, network access points, base stations, the like, and / or any combination of devices or entities adapted to perform the functions, operations, and / or processes described herein. Such functions, operations, and / or processes may comprise, for example, transmitting, receiving, operating on, processing, displaying, storing, determining, creating / generating, training one or more machine learning models, monitoring, evaluating, comparing, and / or similar terms used herein interchangeably. In some embodiments, these functions, operations, and / or processes may be performed on data, content, information, and / or similar terms used herein interchangeably. In some embodiments, the one computing entity (e.g., predictive computing entity 106) may train and use one or more machine learning models described herein. In other embodiments, a first computing entity (e.g., predictive computing entity 106, which may be one or more predictive computing entities) may use one or more machine learning models that may be trained by a second computing entity (e.g., external computing entity 108) communicatively coupled to the first computing entity. The second computing entity, for example, may train one or more of the machine learning models described herein, and subsequently provide the trained machine learning model(s) (e.g., optimized weights, code sets) to the first computing entity over a network.Atty Docket No. 054642-619949

[0038] As shown in FIG. 2, in some embodiments, the computing entity 200 may comprise, or be in communication with, one or more processing elements 205 (also referred to as processors, processing circuitry, and / or similar terms used herein interchangeably) that communicate with other elements within the computing entity 200 via a bus, for example. As will be understood, the processing element 205 may be embodied in a number of different ways.

[0039] For example, the processing element 205 may be embodied as one or more complex programmable logic devices (CPLDs), microprocessors, multi-core processors, arithmetic logic units (ALUs) (e.g., which may be part of one or more graphics processing units (GPUs), tensor processing units (TPUs), and / or the like), coprocessing entities, application-specific instruction-set processors (ASIPs), microcontrollers, and / or controllers. Additionally, or alternatively, the processing element 205 may be embodied as one or more other processing devices and / or circuitry. The term circuitry may refer to an entirely hardware embodiment or a combination of hardware and computer program products. Examples of a combination of hardware and computer program products comprise application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), programmable quantum gate arrays, programmable logic arrays (PLAs), hardware accelerators, other circuitry, and / or the like. With respect to quantum computing embodiments of the computing entity 200, the processing element 205 may comprise specialized components for manipulating and measuring quantum states. These components may comprise quantum gates that perform operations on one or more qubits, quantum circuits that combine multiple gates to implement algorithms, measurement devices that extract classical information from quantum state, and / or the like. The quantum gates, circuits, and / or the like may be controlled, using one or more error correction mechanisms to compensate for decoherence and other quantum noise effects, to maintain quantum coherence while performing computations.

[0040] As will therefore be understood, the processing element 205 may be configured for a particular use or configured to execute instructions stored in volatile or non-volatile media or otherwise accessible to the processing element 205. As such, whether configured by hardware or computer program products, or by a combination thereof, the processing element 205 may be capable of performing steps or operations according to embodiments of the present disclosure when configured accordingly.

[0041] In some embodiments, the computing entity 200 may further comprise, or be in communication with, non-transitory computer readable media, such as non-volatile memory 210 (also referred to as non-volatile media, storage, memory storage, memory circuitry, and / or similar terms used herein interchangeably), volatile memory 215 (also referred to as volatile media, storage, memory storage, memory circuitry, and / or similar terms used herein interchangeably), quantum memory (e.g., solid quantum memory, atomic gas quantum memory), and / or the like.Atty Docket No. 054642-619949

[0042] In some embodiments, non-volatile memory 210 may comprise a computer-readable storage medium may comprise a floppy disk, flexible disk, hard disk, solid-state storage (SSS) (e.g., a solid-state drive (SSD), solid-state card (SSC), solid-state module (SSM)), enterprise flash drive, magnetic tape, or any other non-transitory magnetic medium, and / or the like. A non-volatile computer-readable storage medium may also comprise a punch card, paper tape, optical mark sheet (or any other physical medium with patterns of holes or other optically recognizable indicia), compact disc read only memory (CD-ROM), compact disc-rewritable (CD-RW), digital versatile disc (DVD), Blu-ray disc (BD), any other non-transitory optical medium, and / or the like. Such a non-volatile computer-readable storage medium may also comprise read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory (e.g., Serial, NAND, NOR, and / or the like), multimedia memory cards (MMC), secure digital (SD) memory cards, SmartMedia cards, CompactFlash (CF) cards, Memory Sticks, and / or the like. Further, a non-volatile computer-readable storage medium may also comprise conductive-bridging random access memory (CBRAM), phase-change random access memory (PRAM), ferroelectric randomaccess memory (FeRAM), non-volatile random-access memory (NVRAM), magnetoresistive random-access memory (MRAM), resistive random-access memory (RRAM), Silicon-Oxide- Nitride-Oxide-Silicon memory (SONOS), floating junction gate random access memory (FJG RAM), Millipede memory, racetrack memory, and / or the like.

[0043] In some embodiments, volatile memory 215 may comprise a computer-readable storage medium including random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), fast page mode dynamic random access memory (FPM DRAM), extended data-out dynamic random access memory (EDO DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), double data rate type two synchronous dynamic random access memory (DDR2 SDRAM), double data rate type three synchronous dynamic random access memory (DDR3 SDRAM), Rambus dynamic random access memory (RDRAM), Twin Transistor RAM (TTRAM), Thyristor RAM (T-RAM), Zero-capacitor (Z-RAM), Rambus in-line memory module (RIMM), dual in-line memory module (DIMM), single in-line memory module (SIMM), video random access memory (VRAM), cache memory (including various levels), flash memory, register memory, and / or the like. It will be appreciated that where embodiments are described to use a computer-readable storage medium, other types of computer-readable storage media may be substituted for or used in addition to the computer-readable storage media described above.

[0044] In some embodiments, quantum memory comprises a memory structure that utilize quantum bits, or qubits, which may exist in multiple states simultaneously through a property calledAtty Docket No. 054642-619949 superposition. Unlike classical bits that may only be in a state of 0 or 1, qubits may represent both states at once, allowing for exponentially larger information storage capacity. These quantum memory structures must maintain quantum coherence, which refers to the delicate quantum mechanical state of the system, while also allowing for rapid access and manipulation of stored quantum information.

[0045] As will be recognized, the non-volatile memory 210, the volatile memory 215, and / or the quantum memory may store respective part(s) of one or more databases, database instances, database management systems, data, applications, programs, program modules, scripts, code (e.g., source code, object code, byte code, compiled code, interpreted code, machine code) that embodies one or more machine learning models or other computer functions described herein, executable instructions, and / or the like being executed by, for example, the processing element 205. The term database, database instance, database management system, and / or similar terms used herein interchangeably, may refer to a collection of records or data that is stored in a computer-readable storage medium using one or more database models; such as a hierarchical database model, network model, relational model, entity-relationship model, object model, document model, semantic model, graph model, and / or the like.

[0046] Thus, the databases, database instances, database management systems, data, applications, programs, program modules, code (source code, object code, byte code, compiled code, interpreted code, machine code) that embodies one or more machine learning models or other computer functions described herein, executable instructions, and / or the like may be used to control certain aspects of the operation of the computing entity 200 by operating the processing element 205 according to software component(s) retrieved from any of the computer-readable storage media and executed by the processing element 205.

[0047] Embodiments of the present disclosure may be implemented in various ways, including as computer program products that comprise articles of manufacture. Such computer program products may comprise one or more software components including, for example, software objects, methods, data structures, or the like. A software component may be coded in any of a variety of programming languages. An illustrative programming language may be a lower-level programming language such as an assembly language associated with a particular hardware architecture and / or operating system platform. A software component comprising assembly language instructions may require conversion into executable machine code by an assembler prior to execution by the hardware architecture and / or platform. Another example programming language may be a higher-level programming language that may be portable across multiple architectures. A software component comprising higher-level programming language instructionsAtty Docket No. 054642-619949 may require conversion to an intermediate representation by an interpreter or a compiler prior to execution.

[0048] Other examples of programming languages comprise, but are not limited to, a macro language, a shell or command language, a job control language, a script language, a database query or search language, and / or a report writing language. In one or more example embodiments, a software component comprising instructions in one of the foregoing examples of programming languages may be executed directly by an operating system or other software component without having to be first transformed into another form, such as object code, or may be first transformed into another form, such as by compiling source code. A software component may be stored as a file or other data storage construct. Software components of a similar type or functionally related may be stored together such as, for example, in a particular directory, folder, or library. Software components may be static (e.g., pre-established, or fixed) or dynamic (e.g., created or modified at the time of execution).

[0049] A computer program product may comprise a non-transitory computer-readable storage medium storing one or more software components comprising application(s), program(s), program module(s), script(s), source code and / or compiler(s) for generating executable instructions such as object code using the source code, program code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, and / or the like (e.g., executable instructions, instructions for execution, computer program products, program code, and / or similar terms used herein interchangeably). Such non-transitory computer-readable storage media comprise all computer-readable storage media (including volatile memory 215 and non-volatile memory 210). In some embodiments, the computer program product may be executed by the computing entity 200 and / or the client computing entity. For example, at least a first portion of the computer program product may be stored within the volatile memory 215 and / or non-volatile 210 of the computing entity 200. In addition, or alternatively, at least a second portion of the computer program product may be stored within the volatile and / or non-volatile memory of a client computing entity.

[0050] In some embodiments, one or more embodiments of the present disclosure may be implemented using general and / or specialized quantum computers. For example, the computing entity 200 may comprise quantum memory and / or quantum processing elements, as described herein, that may be configured for general processing and / or specialized processing tasks. In some examples, the quantum memory and / or quantum processing elements of the computer entity 200 may be specialized for machine learning task. By way of example, large language models (LLMs) and other transformer networks may be specially designed for operation within a quantum environment by replacing weight matrices in self-attention and / or multi-layer perceptron layers ofAtty Docket No. 054642-619949 such models with one or more combinations of two variational quantum circuits and / or a quantum- inspired tensor networks, such as a matrix product operator (MPO). In this way, LLM functionality may be enabled within a quantum environment by decomposing weight matrices through the application of tensor network disentanglers and MPOs. Similarly, quantum support vector machines, quantum neural networks, and / or any other machine learning architecture may be modified to a quantum environment for implementation by the computing entity 200. Thus, the machine learning architectures of the present disclosure may be configured for classical computer or quantum computers based on the embodiment.

[0051] As indicated, in some embodiments, the computing entity 200 may also comprise one or more network interfaces 220 for communicating with various computing entities (e.g., the client computing entity 102, external computing entities), such as by communicating data, code, content, information, and / or similar terms used herein interchangeably that may be transmitted, received, operated on, processed, displayed, stored, and / or the like. Such communication may be executed using a wired data transmission protocol, such as fiber distributed data interface (FDDI), digital subscriber line (DSL), Ethernet, asynchronous transfer mode (ATM), frame relay, data over cable service interface specification (DOCSIS), or any other wired transmission protocol. In some embodiments, the computing entity 200 communicates with another computing entity for uploading or downloading data or code (e.g., data or code that embodies or is otherwise associated with one or more machine learning models). Similarly, the computing entity 200 may be configured to communicate via wireless external communication networks using any of a variety of protocols, such as general packet radio service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 2000 (CDMA2000), CDMA2000 IX (IxRTT), Wideband Code Division Multiple Access (WCDMA), Global System for Mobile Communications (GSM), Enhanced Data rates for GSM Evolution (EDGE), Time Division- Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolution-Data Optimized (EVDO), High Speed Packet Access (HSPA), High-Speed Downlink Packet Access (HSDPA), IEEE 802.11 (Wi-Fi), Wi-Fi Direct, IEEE 802.16 (WiMAX), ultra-wideband (UWB), infrared (IR) protocols, near field communication (NFC) protocols, Wibree, Bluetooth protocols, wireless universal serial bus (USB) protocols, and / or any other wireless protocol.

[0052] Although not shown, the computing entity 200 may additionally or alternatively comprise, or be in communication with, one or more input elements / devices, such as input sensor(s). In some examples, the input sensor(s) may comprise one or more keyboards, pointing devices (e.g., mouse, trackpad), touch screens, cameras (e.g., infrared light camera, visual light camera), depth sensors (e.g., LIDAR, radar, stereo cameras), gyroscopes, location sensors (e.g., global positioning systemAtty Docket No. 054642-619949(GPS), Hall effect sensor, laser doppler vibrometer), microphones, and / or the like. The computing entity 200 may additionally or alternatively comprise, or be in communication with, one or more output elements / devices (not shown), such as one or more speakers, visual display devices, haptic feedback devices, motion devices (e.g., electromechanically actuated devices), and / or the like.B. Example Client Computing Entity

[0053] FIG. 3 depicts a block diagram of an example client computing entity in accordance with some embodiments of the present disclosure. In general, the terms device, system, computing entity, entity, and / or similar words used herein interchangeably may refer to, for example, one or more computers, computing entities, desktops, mobile phones, tablets, phablets, notebooks, laptops, distributed systems, kiosks, input terminals, servers or server networks, blades, gateways, switches, processing devices, processing entities, set-top boxes, relays, routers, network access points, base stations, the like, and / or any combination of devices or entities adapted to perform the functions, operations, and / or processes described herein. Client computing entities 102 may be operated by various parties. As shown in FIG. 3, the client computing entity 102 may comprise an antenna 312, a transmitter 304 (e.g., radio), a receiver 306 (e.g., radio), and a processing element 308 (e.g., CPLDs, microprocessors, multi-core processors, coprocessing entities, ASIPs, microcontrollers, and / or controllers) that provides signals to and receives signals from the transmitter 304 and receiver 306, correspondingly.

[0054] The signals provided to and received from the transmitter 304 and the receiver 306, correspondingly, may comprise signaling information / data in accordance with air interface standards of applicable wireless systems. In this regard, the client computing entity 102 may be capable of operating with one or more air interface standards, communication protocols, modulation types, and access types. More particularly, the client computing entity 102 may operate in accordance with one or more wireless and / or wired communication standards and protocols, such as those described above with regard to the computing entity 200.

[0055] The client computing entity 102 may additionally or alternatively download code, changes, add-ons, and updates, for instance, to its firmware, software (e.g., including executable instructions, applications, program modules), and operating system.

[0056] According to some embodiments, the client computing entity 102 may comprise location determining aspects, devices, modules, functionalities, and / or similar words used herein interchangeably. For example, the client computing entity 102 may comprise outdoor positioning aspects, such as a location component adapted to acquire, for example, latitude, longitude, altitude, geocode, course, direction, heading, speed, universal time (UTC), date, and / or various otherAtty Docket No. 054642-619949 information / data. In some embodiments, the location component may acquire data, sometimes known as ephemeris data, by identifying the number of satellites in view and the relative positions of those satellites (e.g., using global positioning systems (GPS)). The satellites may be a variety of different satellites, including Low Earth Orbit (LEO) satellite systems, Department of Defense (DOD) satellite systems, the European Union Galileo positioning systems, the Chinese Compass navigation systems, Indian Regional Navigational satellite systems, and / or the like. This data may be collected using a variety of coordinate systems, such as the Decimal Degrees (DD); Degrees, Minutes, Seconds (DMS); Universal Transverse Mercator (UTM); Universal Polar Stereographic (UPS) coordinate systems; and / or the like. Alternatively, the location information / data may be determined by triangulating the position of the client computing entity 102 in connection with a variety of other systems, including cellular towers, Wi-Fi access points, and / or the like. Similarly, the client computing entity 102 may comprise indoor positioning aspects, such as a location component adapted to acquire, for example, latitude, longitude, altitude, geocode, course, direction, heading, speed, time, date, and / or various other information / data. Some of the indoor systems may use various position or location technologies including RFID tags, indoor beacons or transmitters, Wi-Fi access points, cellular towers, nearby computing devices (e.g., smartphones, laptops), and / or the like. For instance, such technologies may comprise the iBeacons, Gimbal proximity beacons, Bluetooth Low Energy (BLE) transmitters, NFC transmitters, and / or the like. These indoor positioning aspects may be used in a variety of settings to determine the location of someone or something to within inches or centimeters.

[0057] The client computing entity 102 may also comprise a user interface that may comprise an output device 316 coupled to a processing element 308 and / or a user input device 318 coupled to the processing element 308. An output device 316, for example, may comprise a hardware computing device comprising one or more output elements (not shown), such as one or more speakers, visual display devices, haptic feedback devices, motion devices (e.g., electromechanically actuated devices), and / or the like. A user input device 318 may comprise the same or different hardware computing device comprising one or more input elements (not shown), such as keyboards, pointing devices (e.g., mouse, trackpad), touch screens, cameras (e.g., infrared light camera, visual light camera), depth sensors (e.g., LIDAR, radar, stereo cameras), gyroscopes, location sensors (e.g., global positioning system (GPS), Hall effect sensor, laser doppler vibrometer), microphones, and / or the like.

[0058] In some examples, the user interface may additionally or alternatively comprise software component(s) executed by the processing element 308 to present (e.g., audibly, visually, tactilely) via a user input device 318 and / or output device 316 and / or a software endpoint such as an application programming interface (API) or exposed software function a graphical user interfaceAtty Docket No. 054642-619949(GUI) (e.g., at least a portion of a user application, browser), command-line interface, touch and / or haptic user interface, gesture and / or image capture-based interface, voice / audio user interface, and / or the like used herein interchangeably executing on and / or accessible via the client computing entity 102 to interact with and / or cause display of information / data from the computing entity 200, as described herein. In addition to providing input, the user input interface may be used, for example, to activate, deactivate, and / or modify certain functions, such as altering a power or operating state of the client computing entity 102, the computing system 101, the predictive computing entity 106, and / or the external computing entity 108.

[0059] The client computing entity 102 may further comprise, or be in communication with, one or more memory components, such as the volatile memory 322 and / or non-volatile memory 324. For example, the memory components may comprise non-transitory computer readable media, such as non-volatile memory 324 (also referred to as non-volatile storage, memory, memory storage, memory circuitry, and / or similar terms used herein interchangeably) and / or volatile memory 322 (also referred to as volatile storage, memory, memory storage, memory circuitry, and / or similar terms used herein interchangeably), as discussed above with reference to FIG. 2.

[0060] As will be recognized, the non-volatile memory 324 and / or the volatile memory 322 may store respective part(s) of one or more databases, database instances, database management systems, data, applications, programs, program modules, scripts, code (e.g., source code, object code, byte code, compiled code, interpreted code, machine code) that embodies one or more machine learning models or other computer functions described herein, executable instructions, and / or the like being executed by, for example, the processing element 308. The term database, database instance, database management system, and / or similar terms used herein interchangeably, may refer to a collection of records or data that is stored in a computer-readable storage medium using one or more database models; such as a hierarchical database model, network model, relational model, entity -relationship model, object model, document model, semantic model, graph model, and / or the like.

[0061] In another embodiment, the client computing entity 102 may comprise one or more components or functionalities that are the same or similar to those of the computing entity 200, as described in greater detail above. In one such embodiment, the client computing entity 102 downloads, e.g., via network interface 320, code embodying machine learning model(s) from the computing entity 200 so that the client computing entity 102 may run a local instance of the machine learning model(s). As will be recognized, these architectures and descriptions are provided for example purposes only and are not limited to the various embodiments.Atty Docket No. 054642-619949

[0062] In various embodiments, the client computing entity 102 may be embodied as an artificial intelligence (Al) computing entity (e.g., an intelligent agent machine-learned model), such as AutoGPT, My croft, Rhasspy, and / or the like. Accordingly, the client computing entity 102 may be configured to provide and / or receive information / data from a user via an input / output mechanism, such as a display, a camera, a speaker, a voice-activated input, and / or the like. In certain embodiments, an Al computing entity may comprise one or more predefined and executable program algorithms stored within an onboard memory storage component, and / or accessible over a network. In various embodiments, the Al computing entity may be configured to retrieve and / or execute one or more of the predefined program algorithms upon the occurrence of a predefined trigger event.III. Example Automated Systems

[0063] FIG. 4A depicts a top view 400 of an end-to-end dispensing system in accordance with some embodiments of the present disclosure. The end-to-end dispensing system comprises a set of robotic components that are placed in proximity to one another and collectively configured to dispense, verify, and deploy one or more physical objects. To do so, the end-to-end dispensing system may comprise a dispensing station 402 configured to store one or more sets of physical objects and dispense, verify, and label a single object from at least one of the one or more sets of physical objects. In addition, or alternatively, the end-to-end dispensing system may comprise a conveyance assembly that comprises a deployment platform 404 positioned in proximity to the dispensing station 402 and configured to move a labeled physical object from the dispensing station 402 and to an end (e.g., delivery) location.

[0064] In some embodiments, the dispensing station 402 comprises one or more of a dispenser mechanism 408, a robotic picking device 412, or a labeling mechanism 410. In addition, or alternatively, the dispensing station 402 may comprise one or more scanning devices (not depicted in the top view 400) and / or a dispensing station controller 406. The scanning devices, for example, may comprise one or more area scanners (e.g., depicted in FIGS. 4B, 6A, 6C) and / or verification scanners (e.g., depicted in FIGS. 7 and 9A-C). In some examples, the verification scanners may comprise a first scanning device (e.g., one or more type verification scanners as depicted in FIG. 7) and / or a second scanning device (e.g., one or more label verification scanners as depicted in FIGS. 9A-C) positioned adjacent to the dispenser mechanism 408 and labeling mechanism 410, respectively. As described in further detail herein, in some examples, the first scanning device may comprise a first barcode scanner and the second scanning device may comprise a second barcode scanner positioned at a location separate from the first scanning device. This allows for aAtty Docket No. 054642-619949 distribution of redundant safeguards across various locations of the dispensing station 402 to improve accuracy of dispensing operations.

[0065] As described in more detail with reference to the following figures, during operation, a physical object for an order (e.g., a prescription) may be placed, by the dispenser mechanism 408, within a nested dispensing location. The robotic picking device 412 may engage with a physical object nested within the nested dispensing location to move the physical object from the nested dispensing location and to one or more intermediate locations within the dispensing station 402. For example, the robotic picking device 412 may present the physical object to a first scanning device by positioning the physical object within a field of view of the first scanning device. The first scanning device may read machine-readable symbology, such as a onedimensional and / or two-dimensional barcode on the physical object, to verify that a correct physical object is dispensed from the dispenser mechanism 408. In the event that an incorrect physical object is dispensed, the robotic picking device 412 may place the physical object in a rejection chute (e.g., depicted in FIG. 5) to remove the physical object from the dispensing process. This process may be repeated until a correct physical object is dispensed from the dispenser mechanism 408 and / or a threshold number (e.g., 2, 5) of dispensing operations in performed.

[0066] In the event that a correct physical object is dispensed, the robotic picking device 412 moves the physical object to a labeling mechanism 410. A labeling device (e.g., depicted in FIGS. 6A-C) of the labeling mechanism 410 may print information corresponding to the order, such as an end username (e.g., customer, pharmacist, patient), order number (e.g., prescription number), onto an object label and place the object label on a guide platform. The robotic picking device 412 may present the physical object to the guide platform to position the physical object for a labeling operation. Thereafter, the robotic picking device 412 and / or labeling mechanism 410 may press the physical object and the object label together to adhere the object label to an exterior surface of the physical object. For instance, the robotic picking device 412 may press the physical object against the guide platform to adhere the object label to the physical object. In some examples, the robotic picking device 412 may roll the physical object against the guide platform to adhere the object label around an exterior circumference of the physical object. The robotic picking device 412 may present the labeled physical object to a second scanning device by positioning the labeled physical object within a field of view of the second scanning device. The second scanning device may read machine-readable symbology, such as a one-dimensional and / or two-dimensional barcode on the object label, to (i) verify that a correct object label is adhered to the physical object and / or (ii) record the labeled data of the object label within a request data object reflective of the order. If verified, the robotic picking device 412 may moveAtty Docket No. 054642-619949 the labeled physical object to another location, such as a bin or a conveyor, for downstream processing (e.g., shipping the product container to a customer). By way of example, the robotic picking device 412 may place the labeled physical object within a physical request container positioned at a deployment platform 404 of the conveyance assembly.

[0067] In some embodiments, the conveyance assembly comprises a set of conveyance lines that may be positioned at and / or between one or more separate locations within a logistics facility. The set of conveyance lines, for example, may be placed between a set of different stations of the logistics facility that may be configured for one or more different operations of a fulfillment process. By way of example, the set of conveyance lines may connect the dispensing station 402 to one or more other dispensing stations 402, packaging stations, verification stations, and / or the like. Up to each of the conveyance lines within the conveyance assembly may comprise any type of conveyance mechanism, such as one or more gravity conveyors, belt conveyors, motorized driven roller conveyors, sortation conveyors, accumulation conveyors, overhead trolley conveyors, pick and pass conveyors, empty corrugate conveyors, and / or the like.

[0068] In some examples, a subset of conveyance lines of the set of conveyance lines may form at least a portion of a deployment platform 404 for the dispensing station 402. The subset of conveyance lines, for example, may comprise an inflow conveyance line 416 (e.g., a first belt conveyor), an outflow conveyance line 418 (e.g., a second belt conveyor), and / or one or more transitioning conveyance lines 422 (e.g., a third belt conveyor). The inflow conveyance line 416, for example, may comprise unidirectional conveyor system that may be configured to move a surface component (e.g., a belt, exterior roller casing) in a first direction to push a physical request container toward a loading platform 414 of the deployment platform 404. The outflow conveyance line 418, for example, may comprise another unidirectional conveyor system that may be configured to move a surface component (e.g., a belt, exterior roller casing) in a second direction (e.g., opposite to the first direction) to push a physical request container toward another portion of the conveyance assembly and away from the deployment platform 404. The transitioning conveyance lines 422 may comprise a multi-directional conveyor system that may be configured to move a surface component (e.g., a belt, exterior roller casing) in one or more directions to push a physical request container from the loading platform 414 and to the outflow conveyance line 418. In some examples, the loading platform 414 may comprise another unidirectional conveyor system that may be configured to move a surface component (e.g., a belt, exterior roller casing) in the first direction to push a filled physical request container toward the transitioning conveyance line 422.

[0069] In some examples, the deployment platform 404 comprises one or more container scanners 420. A container scanner 420, for example, may comprise a scanning device that is positioned adjacent to a portion of the conveyance assembly and configured to read identifyingAtty Docket No. 054642-619949 information from a tracking mechanism of a physical request container. The tracking mechanism, for example, may comprise a visual-based tracking mechanism (e.g., a one- or two-dimensional barcode), radio-based tracking mechanism (e.g., radio-frequency identification (RFID) tag), and / or the like. The container scanner 420 may comprise one or more of a vision scanner (e.g., a barcode scanner), radio scanner (e.g., RFID scanner), and / or the like. In some examples, a set of container scanners 420 may be positioned at a set of various locations of the conveyance assembly. Up to each of the set of container scanners 420 may correspond to a relative and / or absolute position within the conveyance assembly. In some examples, this may enable a tracking of physical request containers as the containers are move in and out of container scanner's 420 field of view. For example, a container scanner 420 may provide (e.g., on a time interval, in response to detection stimuli or control instructions) detection messages to one or more controllers of the end-to-end dispensing system that identify a container identifier, a scanner identifier, and / or a location of a detection event (e.g., a position of the container scanner 420).

[0070] In some embodiments, the deployment platform 404 of the conveyance assembly is positioned within a threshold distance to the dispensing station 402. For example, the dispensing station 402 may be positioned within a threshold distance to the subset of conveyance lines that form at least a portion of the deployment platform 404 for the dispensing station 402. In some examples, the threshold distance may be defined based on a reach of the robotic picking device 412. For example, the dispenser mechanism 408 of the dispensing station 402 may be physically separated from the deployment platform 404 by the robotic picking device 412 and / or the labeling mechanism 410. Through a series of control operations, the robotic picking device 412 may move a physical object, from the dispenser mechanism 408, through one or more intermediate locations of the dispensing station 402, such as the labeling mechanism 410, to the loading platform 414 of the conveyance assembly.

[0071] In some embodiments, the end-to-end dispensing system comprises one or more controllers. The one or more controllers, for example, may comprise a dispensing station controller 406, a conveyance assembly controller, a system controller, and / or the like. The dispensing station controller 406, for example, may be communicatively connected to up to each dispensing component (e.g., dispenser mechanism 408, labeling mechanism 410, robotic picking device 412, scanners) of the dispensing station 402. The conveyance assembly controller (not depicted) may be communicatively connected to up to each conveyance component (e.g., line actuators, such as motors, etc., container scanners 420) of the conveyance assembly. In addition, or alternatively, the system controller (not depicted) may be communicatively connected to at least one of the dispensing station controller 406 (and / or directly to the components of the dispensing station 402)Atty Docket No. 054642-619949 and / or the conveyance assembly controller (and / or directly to the components of the conveyance assembly).

[0072] In some embodiments, dispensing station controller 406 comprises one or more processing elements, volatile memory, non-volatile memory, and / or network interfaces, as described herein with reference to the computing system 101. By way example, the dispensing station controller 406 may comprise an example computing system 101, as described herein. The dispensing station controller 406 may be communicatively connected to at least one of the dispenser mechanism 408, the robotic picking device 412, the labeling mechanism 410, the first scanning device, the second scanning device, and / or the like. For instance, the dispensing station controller 406 may comprise one or more wired and / or wireless interfaces that may connect the dispensing station controller 406 to up to each of the dispenser mechanism 408, labeling mechanism 410, the robotic picking device 412, one or more display devices, one or more scanning devices, such as area scanners, type verification scanners, label verification scanners, and / or the like, and / or any other electrical component associated with the dispensing station 402. In this manner, the dispensing station controller 406 may communicate (e.g., using one or more wired and / or wireless data transmission protocols, such as those described herein) control instructions to and receive feedback from up to each of the components of the dispensing station 402.

[0073] In some embodiments, conveyance assembly controller comprises one or more processing elements, volatile memory, non-volatile memory, and / or network interfaces, as described herein with reference to the computing system 101. By way example, the conveyance assembly controller may comprise another example computing system 101, as described herein. The conveyance assembly controller may be communicatively connected to up to each of a set of conveyance lines, such as the inflow conveyance line 416, outflow conveyance line 418, transitioning conveyance line 422 of the deployment platform 404, of the conveyance assembly and / or up to each of the container scanners 420 positioned at various locations of the conveyance assembly. For instance, the conveyance assembly controller may comprise one or more wired and / or wireless interfaces that may connect the conveyance assembly controller to up to each of the electrical component associated with the conveyance assembly. In this manner, the conveyance assembly controller may communicate (e.g., using one or more wired and / or wireless data transmission protocols, such as those described herein) control instructions to and receive feedback from up to each of the components of the conveyance assembly.

[0074] In some embodiments, system controller comprises one or more processing elements, volatile memory, non-volatile memory, and / or network interfaces, as described herein with reference to the computing system 101. By way example, the system controller may comprise another example computing system 101, as described herein. The system controller may beAtty Docket No. 054642-619949 communicatively connected to up to each component of the end-to-end dispensing system and / or conveyance assembly associated therewith. By way of example, the system controller may comprise one or more wired and / or wireless interfaces that may connect the system controller to the dispensing station controller 406 and / or the other components of the dispensing station 402, such as the dispenser mechanism 408, labeling mechanism 410, the robotic picking device 412, one or more display devices, one or more scanning devices, such as area scanners, type verification scanners, label verification scanners, and / or the like. In addition, or alternatively, the system controller may comprise one or more wired and / or wireless interfaces that may connect the system controller to the conveyance assembly controller and / or the other components of the conveyance assembly, such as the set of conveyance lines, a set of container scanners 420 positioned at different locations of the conveyance assembly, and / or the like. In this manner, the system controller may communicate (e.g., using one or more wired and / or wireless data transmission protocols, such as those described herein) control instructions to and receive feedback from up to each of the components of the end-to-end dispensing system.

[0075] FIG. 4B depicts a side view 450 of an end-to-end dispensing system in accordance with some embodiments of the present disclosure. The side view 450 depicts the deployment platform 404, the dispensing station controller 406, the dispenser mechanism 408, labeling mechanism 410, the robotic picking device 412, container scanner 420, and an area scanner 424. For example, the dispensing station may comprise a set of area scanners 424 that may be positioned proximate to an outer boundary of the dispensing station. The area scanner 424, for example, may comprise one or more safety laser scanners, light curtains, and / or the like, which may detect a presence of an object within an area defined by a calibrated field of view of the area scanner 424. The set of area scanners 424 may be communicatively connected to a dispensing station controller 406 of the dispensing station, a system controller, and / or the conveyance assembly controller. In response to an interruption of a light beam, infrared beam, and / or the like, emitted within the calibrated field of view, the area scanner 424 may communicate an error code to the dispensing station controller 406, the system controller, and / or the conveyance assembly controller to indirectly halt the operations of one or more components within the dispensing station and / or conveyance assembly. In addition, or alternatively, the area scanner 424 may be communicatively connected to the deployment platform 404, the dispensing station controller 406, the dispenser mechanism 408, the labeling mechanism 410, the robotic picking device 412, and / or the like to directly halt the operations of one or more components within the dispensing station and / or conveyance assembly.

[0076] FIG. 5 depicts an overview 500 of the dispensing station in accordance with some embodiments of the present disclosure. The dispensing station may comprise a housing defined by a set of boundary walls 506 that at least partially enclose a set of dispensing components of theAtty Docket No. 054642-619949 dispensing station. The dispensing components, for example, may comprise the dispenser mechanism 408, the labeling mechanism 410 (e.g., depicted in greater detail in FIGS. 9A-C), and / or robotic picking device 412 (e.g., depicted in greater detail in FIG. 8), as described herein. The boundary walls 506 comprise one or more hard guards and / or fences for safeguarding the components within the dispensing station 402. The hard guards, for example, may comprise one or more fixed, interlocked, adjustable, and / or self-adjusting physical barriers. In some examples, the boundary walls 506 may define one or more access gates 512 for allowing access to the internal components of the dispensing station through controlled (e.g., monitored by area scanners 424) access ways.

[0077] In some examples, the boundary walls 506 may at least partially enclose a rejection chute 504. For instance, the dispensing station may further comprise a rejection chute 504, such as bin, container, and / or any other at least partially enclosed area for receiving, collecting, and / or discarding rejected objects within the dispensing station. The rejection chute 504, for example, may comprise a three walled container with an opening to allow for the placement of physical objects within the rejection chute 504 through the opening.

[0078] By way of example, and as described in further detail herein, the dispensing station may comprise a set of verification safeguards (e.g., verification scanners described with reference to FIGS. 7 and 9A-C) for verifying an object type of a physical object dispensed from the dispenser mechanism 408 and / or an object label adhered to an exterior surface of a labeled physical object. In response to a rejection of an object type and / or object label, a physical object may be placed within the rejection chute 504 to remove the physical object from a fulfillment process. For example, the robotic picking device 412 may be configured to place a physical object within the rejection chute 504 in response to a rejection of the physical object based on scanning data from at least one verification scanner of the dispensing station. In some examples, the physical objects placed within the rejection chute 504 may be removed, repackaged, and / or reloaded within the dispenser mechanism 408 according to a loading procedure for the dispenser mechanism 408.

[0079] In some embodiments, the dispenser mechanism 408 comprises a robotic machine that comprises a dispensing apparatus and an actuator configured to push a physical object from the dispensing apparatus. In some examples, the dispensing apparatus may comprise a canister 510 (depicted in greater detail in FIG. 6B) that may be coupled to a channel of the dispenser mechanism 408. The channel, for example, may comprise a bracket, one or more sliding rails, and / or the like, which may couple, attach, and / or affix a canister 510 to the dispenser mechanism 408. A channel, for example, may comprise a receiving bracket that comprises a set of ledges and / or one or more threaded openings. The canister 510 may comprise a compatible protruding bracket that fits within the set of ledges. In some examples, the canister 510 may be couples, attached, and / or affixed at aAtty Docket No. 054642-619949 position that aligns the protruding bracket within the set of ledges by inserting one or more threaded attachment mechanisms (e.g., screws, mounting bolts) to the threaded openings of the channel.

[0080] In some embodiments, the canister 510 comprises a container for storing a set of vertically aligned physical objects. The canister 510, for example, may comprise a set of walls that are configurable based on a height and / or width of a physical object to allow a physical object to sit within the canister 510. In some examples, a depth of the canister 510 may be configured based on a height of a physical object to allow the physical object to sit on its side within the canister 510. The canister 510 may comprise at least one entry point (e.g., an opening in the canister walls) through which a set of physical objects may be loaded within the canister 510. In some examples, the at least one entry point may be compatible with a canister loader 508, as described and depicted in greater detail with reference to FIG. 6B. In addition, or alternatively, the canister 510 may comprise at least one egress point (e.g., an opening in the canister walls) through which a single of physical object may be dispensed from the canister 510 and to a nested dispensing location (depicted in greater detail in FIG. 7).

[0081] In some examples, the dispenser mechanism 408 may comprise a set of channels to increase the storage capacity and / or dispensing capabilities of the dispenser mechanism 408. For example, up to each of the set of channels may couple, attach, and / or affix a different canister to the dispenser mechanism 408. In some examples, each of the canisters may hold a set of vertically aligned physical objects. The sets of vertically aligned physical objects may correspond to one or more object types. For example, up to each of the set of channels may comprise a canister 510 that comprises a set of physical objects of a particular object type.

[0082] In some examples, the set of channels may be arranged according to an array at which up to each of the set of channels corresponds to an index position within the array. In some examples, the dispenser mechanism 408 may comprise one or more actuators to align different indexed positions of the array with a nested dispensing location. In this manner, physical objects of different object types may be dispensed from the dispenser mechanism 408 by modifying a dispensing orientation of the dispenser mechanism 408.

[0083] In some examples, the array may comprise a circular array that is positioned along an exterior circumference of the dispenser mechanism 408. For instance, the dispenser mechanism 408 may comprise a rotating drum or carousel positioned on a circular rotary mechanism (e.g., a rotary table). The set of channels may be arranged in a circular array around an outer circumference of the rotary mechanism. The dispenser mechanism 408 may comprise a motor positioned within the outer circumference of the circular rotary table. The rotary mechanism may be driven by the motor to allow the drum and / or carousel to turn smoothly and precisely. For example, the motorAtty Docket No. 054642-619949 may be configured to rotate the rotating drum about a fixed center axis of the rotary mechanism to change a dispensing orientation of the dispenser mechanism 408. One or more different physical objects may be organized in canisters 510 positioned at specific intervals or indices of the circular array. The rotary drum may be rotated to align each physical object with a nested dispensing location and / or a gripper end effector of the robotic picking device 412. The rotation may be precisely controlled to ensure the correct physical object is presented at the right time. When a specific canister 510 holding a particular physical object is aligned, the physical object may be either manually and / or automatically removed from the canister 510, depending on the design of the dispenser mechanism 408.

[0084] In some examples, the dispensing station may further comprise a display device 502 (e.g., configured to facilitate one or more operations discussed in FIGS. 10-13) that may be communicatively connected (e.g., via one or more wired and / or wireless interfaces) to one or more controllers, such as a system controller and / or dispensing station controller. In some examples, the display device 502 may provide (e.g., render) a control user interface that comprises at least one of a set of control icons and / or a set of activity icons associated with at least one of the dispenser mechanism 408, the robotic picking device 412, the labeling mechanism 410, and / or one or more scanning devices. In some examples, the display device 502 may be positioned outside of the boundary walls 506 to allow access to one or more users (e.g., maintenance personnel, pharmacists).

[0085] In some examples, the control user interface may comprise an interactive user interface associated with a dispensing station. The control interface, for example, may comprise one or more control icons that may be selectable to initiate a manual control instruction to a component of the dispensing station. By way of example, the control icons may comprise a halting icon for manually halting one or more operations of one or more of the components of the dispensing station. In addition, or alternatively, the control icons may comprise one or more operational controls, such as one or more deployment icons (e.g., for providing deployment control instructions to the robotic picking device 412), labeling icons (e.g., for providing labeling control instructions to the labeling mechanism 410), dispensing icons (e.g., for providing dispensing control instructions to the dispenser mechanism 408), verification icons (e.g., for providing object verification instructions to one or more verification scanners), and / or the like.

[0086] In addition, or alternatively, the control interface may comprise one or more activity icons that may be viewable to track the operations of the dispensing station. The activity icons, for example, may comprise one or more request icons that may render information associated with a set of requests issued to the dispensing station and / or the individual details of up to each of the set of requests. For instance, the request icon may reflect data stored within a request data object, suchAtty Docket No. 054642-619949 as a request identifier, one or more requested object types, a progress of a fulfillment of the request, and / or the like. In addition, or alternatively, the activity icons may comprise one or more dispenser mechanism icons that may render status information for a dispenser mechanism 408, such as a canister status (e.g., a capacity of a canister 510, an object type associated with the canister 510, a channel index of the canister 510), a channel status (e.g., a current dispensing orientation of the dispenser mechanism 408, an availability of the channel, a canister 510 mapped to an unavailable channel, an object type loaded within a canister 510 mapped to the unavailable channel), and / or the like. In some examples, the one or more activity icons may comprise labeling mechanism icons reflective of a labeler status (e.g., a current position and / or task of the labeling mechanism 410, usage metrics), a picking device icons reflective of a robotic picking device status (e.g., a current position and / or task of the robotic picking device 412, usage metrics), and / or the like. In some examples, the one or more activity icons of the control interface may provide information stored within data objects, described throughout the present disclosure, in a human readable format.

[0087] FIG. 6A depicts a top view 600 of the dispensing station in accordance with some embodiments of the present disclosure. The top view 600 illustrates the dispensing station at a labelling stage of a dispensing process. For example, during the labeling stage, the robotic picking device 412 may place a physical object 604 within a proximity to a labeling mechanism 410 to apply a label to an exterior surface of the physical object 604.

[0088] In some embodiments, the labeling mechanism 410 comprises a labeling device 602, a guide platform (e.g., depicted in FIGS. 9A-C), and / or one or more label verification scanners (e.g., depicted in FIGS. 9A-C). As depicted in further detail in FIGS. 9A-C, the guide platform comprises a supporting structure for an object label printed from the labeling device 602. In some examples, the robotic picking device 412 may hold the physical object 604 using a gripper end effector 606 that exposes a side (e.g., a body of a bottle) of the physical object 604 by gripping the physical object 604 at a top (e.g., a bottle cap) and bottom portion of the physical object 604. The robotic picking device 412 may be configured to upwardly press the exposed side of the physical object 604 against the supporting structure of the guide platform to apply the object label to the physical object 604. The supporting structure, for example, may comprise a flat surface and the robotic picking device 412 may be configured to roll the physical object 604 along the flat surface to apply the object label.

[0089] In some embodiments, the labeling device 602 comprises a manual, semi-automatic, and / or automatic labeling machine. The labeling device 602, for example, may comprise a single sided and / or double sided label printer. In some examples, the label printer may comprise a tamp and fold label printer. The label printer, for example, may comprise a label feeder (e.g., a label wheel), a printing mechanism (e.g., a laser printer, a rotating drum or cylinder that uses staticAtty Docket No. 054642-619949 electricity to attract toner particles, such as powdered ink, based on an image projected by a laser, toner, fixed roller), and / or a folding mechanism. The labeling device 602 may receive printing instructions (e.g., labeling control instructions) that reflect an image for printing to a blank label. The labeling device 602 may project the image to the blank label, apply (e.g., by rolling, melting) toner to label in accordance with the proj ected image, and output an obj ect label to a guide platform.

[0090] In some examples, the guide platform, as described in further detail with reference to FIGS. 9A-C, may comprise a supporting structure and the object label may be output with a print side facing the supporting structure. In some embodiments, the label printer comprises a fold mechanism that comprises a hinge connected to an actuator (e.g., pneumatic actuator). The hinge may connect a folding structure to the supporting structure. In operation, the folding mechanism may collapse the folding structure over the supporting structure to fold the first portion of the object label positioned on the folding structure over at least a portion of a second portion of the object label positioned on the supporting structure to create a double sided object label. In some examples, at least a portion of the second portion of the object label may be left exposed to allow adherence to the physical object 604.

[0091] In some embodiments, the physical object 604 comprises a domain-specific object that is distributed within the end-to-end dispensing system. The physical object 604, for example, may depend on the logistics use case in which the end-to-end dispensing system is implemented. For instance, in a pharmaceutical use case, the physical object 604 may comprise a medication bottle, such as a pill bottle, facial cream, and / or the like. As another examples, in a beverage use case, the physical object 604 may comprise a liquid container (e.g., an aluminum can, plastic bottle). In some examples, the physical object 604 may comprise a top portion, a bottom portion, and a side plane between the top portion and the bottom portion. The side plane may comprise a rectangular (e.g., a series of connected side walls), circular, cylindrical, or square surface the defines an interior chamber within the physical object 604. In some examples, the top portion may comprise a cap, lid, and / or the like that encloses a substance (e.g., a set of pills, medications, liquids) within the interior chamber of the physical object 604. By way of example, in the pharmaceutical use case, the physical object 604 may comprise a capped pill bottle that encloses a set of prescription pills for distribution in accordance with specific prescription instructions.

[0092] In some embodiments, the robotic picking device 412 presses the side plane of the physical object 604 against the exposed portion of the object label to adhere the object label to an exterior portion of the physical object 604. In the event of a square or rectangular side plane, the robotic picking device 412 may press at least one side wall of the side plane against the supporting structure of the guide platform to adhere the object label to the at least one side wall. In the event of a circular or cylindrical side plane, the robotic picking device 412 may roll the physical objectAtty Docket No. 054642-619949604 against the supporting structure to adhere the object label along the side plane of the physical object 604.

[0093] FIG. 6B depicts a first side view 650 of the dispensing station in accordance with some embodiments of the present disclosure. The first side view 650 illustrates a canister loader 508 and the canister 510 of the dispenser mechanism 408 in greater detail. The canister loader 508 comprises an extension to a canister 510 that comprises hollow shaft that, when attached to the canister, extends vertically from a top opening of the canister 510. The canister loader 508 comprises a bottom insert that may be placed within the top opening of the canister 510 to align the hollow shaft with an interior chamber of the canister 510. The canister loader 508 may comprise an access door integrated within the bottom insert and configurable to open and / or close in response to pulling or pushing force. In operation, the canister loader 508 may be loaded with a set of vertically aligned physical objects with the access door set to a close state. Once loaded, the bottom insert of the canister loader 508 may inserted to a top opening of the canister 510 and the access door may be opened to allow the set of vertically aligned physical objects to fall within the interior chamber of the canister 510. In this manner, the canister 510 may be quickly loaded without removing the canister 510 from the dispenser mechanism 408.

[0094] FIG. 6C depicts a second side view 670 of the dispensing station in accordance with some embodiments of the present disclosure. The second side view 670 comprises another view of the dispensing station controller 406, dispenser mechanism 408, robotic picking device 412, the labeling device 602 of the labeling mechanism, and canister loader 508, and one or more area scanner 424. As shown, the area scanners 424 may be placed at various locations of the dispensing station to improve safeguards within a logistics facility.

[0095] FIG. 7 depicts an expanded view 700 of the nested dispensing location in accordance with some embodiments of the present disclosure. The nested dispensing location 702 may comprise a platform that is configured to receive a physical object 604 dispensed from the dispenser mechanism 408. In some examples, a first scanning device, such as the type of verification scanners 704a-b, may be positioned within a scanning distance to the nested dispensing location 702. In this manner, the type of verification scanners 704a-b may be configured to scan a physical object 604 positioned at or near the nested dispensing location 702.

[0096] In some examples, the nested dispensing location 702 may comprise a supporting structure for supporting a physical object 604 dispensed from the dispenser mechanism 408. The supporting structure may comprise a nested indentation within which the physical object 604 may be placed. In some examples, the depth of the nested indentation may be configured to expose a portion of the top portion and a portion of the bottom portion of the physical object 604 to allowAtty Docket No. 054642-619949 the robotic picking device to pick up the physical object 604 by the gripping the top and bottom portion of the physical object 604.

[0097] In some examples, one or more type verification scanners 704a-b may be positioned at one or more distinct positions relative to the nested dispensing location 702. The type of verification scanners 704a-b may comprise barcode scanners, such as one-dimensional and / or two- dimensional code readers (e.g., image scanners, laser scanners). In addition, or alternatively, the type of verification scanners 704a-b may comprise radio frequency readers, such as RFID readers, and / or the like.

[0098] In some embodiments, at least one of the type of verification scanners 704a-b may scan the physical object 604 after the physical object 604 is nested within the nested dispensing location 702. In some examples, the type of verification scanners 704a-b may be triggered to automatically scan the 604 based on sensor data indicating that the physical object 604 is positioned within the nested dispensing location 702. The sensor data, for example, may comprise weight data detected by a weight sensor within the nested dispensing location 702, image data detected by a camera positioned above the nested dispensing location 702, and / or the like. In addition, or alternatively, the type verification scanners 704a-b may be controlled, by the system controller and / or dispensing station controller, to initiate a scanning operation.

[0099] In some examples, the at least one of the type verification scanners 704a-b may scan the physical object 604 while the physical object 604 is positioned within the nested dispensing location 702. In addition, or alternatively, the robotic picking device may place the physical object 604 within a field of view of the at least one of the type verification scanners 704a-b. For example, the robotic picking device may be triggered, based on the sensor data and / or control instructions from a system controller and / or dispensing station controller, to pick up the physical object 604 from the nested dispensing location 702 and move the physical object 604 within a field of view of at least one of the type verification scanners 704a-b.

[0100] FIG. 8 depicts an expanded view 800 of the robotic picking device in accordance with some embodiments of the present disclosure. The robotic picking device 412 may comprise a robotic manipulator arm. The robotic manipulator arm may comprise a single arm with one or more joints, each defining a different movement axis for the robotic arm. While one is shown in the expanded view 800, a person of ordinary skill in the art would understand that any number of robotic arms (and / or joints therein) may be implemented in accordance with the embodiments of the present disclosure. In some examples, the robotic picking device 412 may comprise a multiaxis robotic arm, such as a six-axis robotic manipulator arm.Atty Docket No. 054642-619949

[0101] In some examples, the robotic picking device 412 may comprise one or more precision grippers and / or suction mechanism end effectors designed to handle object types dispensed by the dispenser mechanism. The robotic picking device 412 may comprise a multi-axis arm with a range of movement to reach and pick physical objects from various positions. In some examples, the robotic picking device 412 may comprise one or more cameras and / or sensors to locate and / or identify a position of a physical object, which may enable the robotic picking device 412 to pick physical objects with high accuracy.

[0102] For example, the robotic picking device 412 may use visual and / or sensor-based feedback to identify and / or verify a physical object's position and / or orientation. Once identified, the robotic picking device 412 may grip the physical object and lifts the physical object from the dispenser mechanism and / or nested dispensing location. The grip strength and / or handling method may be adjusted based on a size, shape, and fragility of the physical object.

[0103] In some embodiments, the robotic picking device 412 comprises a custom end effector that is designed for a physical object stored within the dispenser mechanism 408. For instance, the robotic picking device 412 may comprise a gripper end effector 606. The gripper end effector 606 may comprise a custom attachment for the arm of the robotic picking device 412 that may be shaped according to a set of dimensions of the physical object 604. By way of example, in the pharmaceutical use case, the gripper end effector 606 may be shaped according to a set of bottle dimensions of a medication bottle.

[0104] The gripper end effector 606 may comprise any type of gripper end effector, such as a magnetic gripper, pneumatic gripper, mechanical gripper, finger gripper, vacuum gripper, suction gripper, and / or the like. By way of example, the gripper end effector 606 may comprise a pneumatic gripper end effector on a guided cylinder. In addition, or alternatively, the gripper end effector 606 may comprise a finger gripper with at least two fingers. The gripper end effector 606, for example, may comprise a set of fingers, including a first finger 802a and a second finger 802b. In some examples, the first finger 802a and / or the second finger 802b may be separated by a distance 804. The distance 804 may be set based on the dimensions (e.g., height, width) of the physical object 604. For instance, first finger 802a and / or second finger 802b may be separated by a distance that is based on a height of a medication bottle. In some examples, the set of fingers 802a-b may be attached to a pneumatic, electronic, and / or any other actuator that may be configured to modify the distance 804 (e.g., by opening and / or closing the fingers 802a-b) to clamp around a physical object 604. The set of fingers 802a-b may clamp around a top and bottom portion of the physical object 604 to expose a side plane of the physical object 604 for one or more scanning and / or labeling operations within the dispensing station.Atty Docket No. 054642-619949

[0105] FIG. 9A depicts an expanded side view 900 of a labeling portion of the dispensing station in accordance with some embodiments of the present disclosure. The labeling portion of the dispensing station comprises the labeling mechanism 410, one or more label verification scanners 904, and / or the rejection chute 504. In some examples, the labeling mechanism 410 may comprise a labeling device 602 and / or a guide platform 902. The label verification scanners 904 may be placed relative to the labeling device 602 and guide platform 902 to enable efficient, post labeling scanning operations for a label adhered using the labeling device 602.

[0106] The one or more label verification scanners 904 may be positioned at one or more different positions relative to the labeling mechanism 410. In some examples, the label verification scanner 904 may be placed above the rejection chute 504. The label verification scanners 904 may comprise barcode scanners, such as one-dimensional and / or two-dimensional code readers (e.g., image scanners, laser scanners). In addition, or alternatively, the type verification scanners 704a-b may comprise radio frequency readers, such as RFID readers, and / or the like.

[0107] In some examples, the labeling device 602 may be mounted, above the rejection chute 504, to a framing structure 914. For example, the rejection chute 504 may be placed within the framing structure 914 underneath the guide platform 902 and / or labeling device 602. In some examples, a first portion of the labeling device 602 may extend outside of the boundary walls 506 of the dispensing station to allow for maintenance, such as replacement of the label roll or toner, of the labeling device 602 without entering the dispensing station. In some examples, a second portion of the labeling device 602 may extend within the boundary walls 506 to output an object label to a guide platform 902 that is accessible to a robotic picking device.

[0108] An expanded view 950 of the guide platform 902 is provided with reference to FIG. 9B.

[0109] FIG. 9B depicts an expanded view 950 of the guide platform in accordance with some embodiments of the present disclosure. As depicted, the guide platform 902 may comprise one or more of a label supporting structure 908, a folding structure 910, and / or a hinge 906 coupling the label supporting structure 908 to the folding structure 910. In some examples, the folding structure 910 may support a first portion of an object label and the label supporting structure 908 may support a second portion of the object label. As described herein, a folding mechanism may collapse the folding structure 910 over the label supporting structure 908 to fold the first portion of the object label over at least a portion of a second portion of the object label to create a double sided object label. In some examples, at least a portion of the second portion of the object label may be left exposed to allow adherence to the physical object 604.

[0110] FIG. 9C depicts an expanded front view 975 of the labeling mechanism in accordance with some embodiments of the present disclosure. The expanded front view 975 shows anotherAtty Docket No. 054642-619949 view of the guide platform 902, the label verification scanner 904, and type verification scanner 704a. In some examples, the label verification scanner 904 may be positioned in an angled downward facing orientation (e.g., with a point of view aimed at the floor of the dispensing station). The robotic picking device may be configured to move a labeled physical object from the guide platform 902 to position the object label of the physical object 604 within a scanning distance of the label verification scanner 904.IV. Example Operations[OHl] FIG. 10 depicts a data flow diagram 1000 of an automated dispensing process in accordance with some embodiments of the present disclosure. The automated dispensing process comprises a sequence of control instructions, including dispensing control instructions 1010, intermediate positioning control instructions 1024, labeling control instructions 1034, deploy control instructions 1036, and / or the like, that control a set of devices, including a dispenser mechanism, a type verification scanner 704a, a robotic picking device 412, a labeling mechanism 410, a label verification scanner 904, a container scanner 420, and / or the like, within an end-to- end dispensing system. By doing so, the automated dispensing process may employ a set of robotic devices to dispense, prepare, and deploy a particular physical object in response to a request. To increase safeguards for the automatic deployment of such obj ect, at various stages of the automated dispensing process, the physical object may be verified by scanners within the end-to-end dispensing system. This allows for constant feedback throughout the process that enables improved control and traceability within an end-to-end dispensing system.

[0112] In some examples, one or more of the control instructions may be provided to up each of the set of devices by a centralized controller 1002, such as a system controller associated with the end-to-end dispensing system and / or a dispensing station controller associated with an individual dispensing station within the end-to-end dispensing system. In addition, or alternatively, one or more of the control instructions may be generated and / or implemented, individually, by devicelevel controllers within up to each of the set of devices. In such a case, the one or more control instructions may be implemented in response to defined triggers that may be identified via one or more cross-device communications and / or sensor data within one or more self-contained sensors. In this manner, the automated dispensing process may be executed by a set of collaborating robotic devices that may be individually controlled (e.g., using device-level controllers) and / or centrally controlled (e.g., using a centralized controller 1002) to perform a sequence of physical actions that dispense, prepare, and deploy a particular physical object in response to a request for a particular object type.Atty Docket No. 054642-619949

[0113] In some embodiments, the controller 1002 receives a request 1004 that identifies a requested object type 1006 associated with the dispenser mechanism 408. In some examples, the request 1004 may comprise an API call, a data message, and / or the like that comprises one or more instructions for performing a dispensing task. The request 1004, for example, may comprise one or more identifiers that identify one or more objects stored within a dispensing station. The one or more identifiers, for example, may comprise type identifiers associated with one or more different object types.

[0114] In some examples, the request 1004 corresponds to a fulfillment order and the one or more objects may correspond to one or more objects of the fulfillment order. The fulfillment order may be domain specific and / or may identify one or more objects associated with a particular domain. For example, for a pharmaceutical logistics system, a fulfillment order may comprise a prescription. For instance, the request 1004 may be associated with a prescription order for one or more prescribed medications. As another example, for a commercial logistics system, a fulfillment order may comprise a home goods order. For instance, the request 1004 may be associated with a home goods order for one or more home goods stored within a dispensing station.

[0115] In some examples, a requested object type 1006 is type of physical object identified by a request 1004. The requested object type 1006 may be domain-specific. For example, for a pharmaceutical logistics system, the requested object type 1006 may comprise a prescribed medication that may define a specific drug recipe and / or dosage of a medication stored within the dispensing station. In such a case, the request 1004 may instruct a dispensation of a physical object, such as a medication bottle, which comprises the prescribed medication.

[0116] The request 1004 may comprise a single requested object type 1006 and / or a set of requested object types 1006. In the event of a set of requested object types 1006, the set of requested object types 1006 may correspond to one or more different dispensing stations. For instance, an end-to-end dispensing system may comprise a set of dispensing stations that may be connected by a conveyance assembly. Up to each of the set of dispensing stations may correspond to one or more object types that are stored within a dispenser mechanism 408 of the dispensing station dispensing station. In some examples, the request 1004 may be fulfilled by repeating the automated dispensing process, in parallel and / or sequentially, at each dispensing station corresponding to at least one of the set of requested object types. In addition, or alternatively, in the event that the set of requested object types comprises at least two requested object types corresponding to a single dispensing station, the request 1004 may be fulfilled by repeating the automated dispensing process for each of the at least two object types within the single dispensing station.Atty Docket No. 054642-619949

[0117] In some examples, the request 1004 is received during a post-loading time period to dispense a physical object previously loaded within a canister of a set of canisters associated with the dispenser mechanism 408. At a loading time period, for example, the controller 1002 may receive, from a loading scanner, a scanned data object associated with the physical object and determine an object type of the physical object based on the scanned data object. The controller 1002, for example, may determine the object type of the physical object based on an object identifier of the scanned data object. For instance, the controller 1002 may compare the object identifier to an object lookup table to determine the object type based on a set of identifier-type pairs of the object lookup table.

[0118] In some embodiments, the scanned data object comprises sensor data (e.g., raw or processed sensor data) that is reflective of a symbology, such as a one-dimensional barcode, a two- dimensional barcode, and / or the like, which is captured from scanning at least one surface of a physical object. The scanned data object, for example, may comprise barcode indicia for the physical object that identifies an object specific identifier, such as a stock keeping unit (SKU), universal product code (UPC), a national drug code (NDC), and / or the like. In some examples, the object identifier may be reflective of an object type of the physical object. By way of example, in a clinical use case, the object identifier may comprise an NDC (e.g., a ten to eleven digit NDC) that may be encoded within a barcode symbology. In such a case, the object identifier may comprise a first segment (e.g., a first set of 4-5 characters) representing a manufacturer code, a second segment (e.g., a second set of 3-4 characters) representing a product code identifying a specific strength, dosage form, and / or formulation for a particular medication, and / or a third segment (e.g., a third set of 1-2 characters) representing a package code.

[0119] As described herein, a physical object may comprise a domain-specific object that may be loaded and dispensed from the dispenser mechanism 408. The physical object, for example, may comprise a pharmaceutical product within a pharmaceutical logistic system, such as a particular pill bottle, a medication cream, nasal spray, bandages, and / or the like. In some examples, the physical object may comprise a prescription drug that may be subject to strict regulatory oversights. To account for such objects, the automated dispensing process may implement a series of safeguards, including (i) loading operations, during a loading stage, to separately store physical objects according to object types and (ii) verification operations, during a post-loading stage, to verify objects dispensed from their separate storage locations.

[0120] In some embodiments, an object type comprises a domain-specific type classification for a physical object. The physical type, for example, may comprise a classification that may group a set of physical objects into related subsets. In some examples, an object type may identify a particular object, and a related subset of objects may comprise a plurality of instances of theAtty Docket No. 054642-619949 particular object. By way of example, in a pharmaceutical logistic system, an object type may comprise a prescription drug (e.g., a dosage, recipe) and a physical object of the object type may comprise a bottle, vial, tube, etc. of the prescription drug.

[0121] In some examples, at the loading time period, the controller 1002 may determine an object canister from a set of object canisters and for the physical container based on the object type. In some examples, the object canister may be determined from a subset of empty object canisters of the set of object canisters. In some examples, the object canister may be determined from the set of object canisters based on a previously assigned object type. The previously assigned object type, for example, may be assigned after a fabrication of the object canister in accordance with one or more dimensions (e.g., height, width) of an object type. In addition, or alternatively, the previously assigned object type may be assigned based on an object type of one or more loaded physical object previously loaded within the object canister.

[0122] In some examples, up to each of the object canisters may be associated with a canister data object 1016 that virtually records information associated with the object canister. The canister data object 1016, for example, may comprise a unique canister identifier (e.g., a numerical, alpha- numerical sequence of digits and / or characters) that identifies the physical object canister. In addition, or alternatively, the canister data object 1016 may comprise loading state data (e.g., identifying whether the object canister is currently being loaded, the last loading time of the canister, a user identifier of a user that loaded the canister), deployed state data (e.g., identifying whether the canister is coupled to a dispensing channel), a type identifier identifying an assigned object type, a channel identifier identifying an assigned dispensing channel, a channel index identifying a channel index of the assigned dispensing channel, and / or the like. In some examples, the canister data object 1016 may comprise a set of object identifiers that respectively correspond to a set of physical objects loaded within the object canister.

[0123] In some examples, at the loading time period, the controller 1002 may determine the dispensing channel for the object canister. For example, a dispenser mechanism 408 may comprise a set of dispensing channels. The set of dispensing channels may be arranged at one or more indices of an array, such as a circular array in a rotary dispenser mechanism example. In some examples, the dispensing channel may be determined from a subset of available dispensing channels of the set of dispensing channels that are not coupled to an object canister. In some examples, the dispensing channel may be determined from the set of dispensing channels based on a previously assigned object type. For instance, up to each of the set of dispensing channels may correspond to a different object type (e.g., medication / prescription types). The previously assigned object type, for example, may be assigned after a fabrication of the dispensing channel in accordance with oneAtty Docket No. 054642-619949 or more dimensions (e.g., height, width) of an object type and / or object canister designed for the object type.

[0124] In some examples, up to each of the dispensing channels may be associated with a channel data object 1014 that virtually records information associated with the dispensing channel. The channel data object 1014, for example, may comprise a unique channel identifier (e.g., a numerical, alpha-numerical sequence of digits and / or characters) that identifies the physical dispensing channel. In addition, or alternatively, the channel data object 1014 may comprise availability state data (e.g., identifying whether an object canister is coupled to the channel), a type identifier identifying an assigned object type, a canister identifier identifying an assigned object canister, a channel index identifying an index of an array of channels, and / or the like. In some examples, the channel data object 1014 may comprise a set of object identifiers that respectively correspond to a set of physical objects loaded within an object canister coupled to the dispensing channel.

[0125] In some examples, the controller 1002 may store the object identifier of the scanned data object in association with at least one of a canister identifier corresponding to the object canister and / or a channel identifier corresponding to the dispensing channel. For example, the controller 1002 may modify the canister data object 1016 corresponding to the object canister with a type identifier corresponding to the object type and / or an object identifier of the physical object. In addition, or alternatively, the controller 1002 may associate the dispensing channel with the object canister by modifying a channel data object 1014 corresponding to the dispensing channel with the type identifier, the canister identifier, and / or the object identifier.

[0126] In some embodiments, a set of channel data objects 1014 and / or canister data objects 1016 are stored in association with a dispenser data object corresponding to the dispenser mechanism 408 to allow tracking of physical objects placed within up to each of a set of different canisters attached to the dispenser mechanism 408 via a set of dispensing channels. The dispenser data object, for example, may comprise a set of channel identifiers and / or corresponding indices of the set of channel identifiers, a set of canister identifiers and / or corresponding channel identifiers for the set of canister identifiers, and / or a set of object types and / or corresponding canister identifiers and / or channel identifiers for the set of object types. In some examples, the dispenser data object may comprise state data that describes a dispensing orientation of the dispenser mechanism 408.

[0127] In some embodiments, turning back to the post-loading time period, the controller 1002 determines a dispensing channel from the set of dispensing channels of the dispenser mechanism 408 that corresponds to the requested object type 1006. For example, the controller 1002 may determine the dispensing channel from the dispenser data object, the channel data object 1014, and / or the canister data object 1016.Atty Docket No. 054642-619949

[0128] In some embodiments, the controller 1002 provides a first control instruction (e.g., a first of the dispensing control instructions 1010) to position the dispenser mechanism 408 in a dispensing orientation that aligns the dispensing channel over a nested dispensing location. The first control instruction, for example, may comprise one or more channel alignment control instruction for the dispenser mechanism 408. The channel alignment control instructions may identify a dispensing orientation of the dispenser mechanism 408, a channel index and / or channel identifier, a canister identifier, a type identifier, and / or the like and instructions to align a dispensing channel corresponding to a requested object type with a nested dispensing location.

[0129] In some embodiments, the controller 1002 provides a second control instruction (e.g., a second of the dispensing control instructions 1010) to dispense a physical object from an object canister within the dispensing channel. The second control instruction, for example, may comprise an instruction to activate an actuator of the dispenser mechanism 408 to push a physical object from a canister coupled to the dispensing channel. In addition, or alternatively, the second control instruction may comprise an instruction to open a retaining door of the dispensing canister to allow a physical object to be gravity fed from an opening of the dispensing canister and to the nested dispensing location.

[0130] In some examples, the controller 1002 may provide the second control instruction based on feedback from the dispenser mechanism 408. For instance, the controller 1002 may provide the second control instruction in response to a status update to a dispenser data object, a response message from the dispenser mechanism 408 that identifies an updated dispensing orientation, a response message from the dispenser mechanism 408 that identifies a completion of the first control instruction, and / or the like.

[0131] In the event that the request 1004 comprises (i) at least two requested object types 1006 (e.g., medication types) that each correspond to at least one channel of the set of dispensing channels and / or (ii) at least two instances of the same requested object type 1006 (e.g., multiple orders of the same medication type), the controller 1002 may repeat the above process for up to each of the at least two requested object types 1006 and / or instances of the same requested object type 1006 to dispense a physical object for up to each requested object type (and / or instances thereof) within the request 1004. In some examples, the dispensing process may be repeated after a physical object is moved, in accordance with the control instructions described herein, from the nested dispensing location.

[0132] For example, in response to an identification that a first physical object is moved from the nested dispensing location, the controller 1002 may determine a secondary dispensing channel (e.g., the same or different from the first dispensing channel) from the set of dispensing channelsAtty Docket No. 054642-619949 that corresponds to (i) a secondary object type of the at least two requested object types and / or (ii) the object type of the at least two instances of the same requested object type 1006. In the event of a different requested object type, the controller 1002 may provide a secondary first control instruction (e.g., one of the dispensing control instructions 1010) to position the dispenser mechanism 408 in a secondary dispensing orientation that aligns the secondary dispensing channel over the nested dispensing location. In addition, or alternatively, the controller 1002 may provide a secondary second control instruction (e.g., another of the dispensing control instructions 1010) to dispense a secondary physical object corresponding to the secondary object type from a secondary object canister within the secondary dispensing channel.

[0133] In some embodiments, the controller 1002 may receive, from the type verification scanner 704a and 704b positioned within a threshold distance to the nested dispensing location, the scanned data object 1020 associated with the physical object. The scanned data object 1020 may comprise another instance of scanning indicia that is received from the type verification scanner 704a or 704b during a post-loading time period. The scanned data object 1020, for example, may comprise scanning indicia that may be reflective of an object identifier for a physical object nested within the nested dispensing location. For instance, the scanned data object 1020 may comprise the object identifier corresponding to a physical object dispensed from the dispenser mechanism 408.

[0134] In some examples, the scanned data object 1020 may be received in response to a scanning operation by at least one of the type verification scanners 704a-b. The scanning operation may be triggered by a scanning instruction from the controller 1002. In addition, or alternatively, the scanning operation may be triggered in response to a detection of an object within the field of view of at least one of the type verification scanners 704a-b. For instance, the scanning operation may be triggered as the physical object is dispensed to the nested dispensing location. In addition, or alternatively, the scanning operation may be triggered by the controller 1002 through a pickup control instruction that causes the robotic picking device 412 to pick up the physical object and place the physical object within the field of view of at least one of the type verification scanners 704a-b.

[0135] In some embodiments, the controller 1002 determines an object type of the physical object based on the scanned data object 1020. For instance, the controller 1002 may determine the object type of the physical object based on the object identifier of the scanned data object 1020. For instance, the controller 1002 may compare the object identifier to an object lookup table (and / or any other data structure) to determine the object type based on a set of identifier-type pairs of the object lookup table. In addition, or alternatively, the object identifier may comprise one or more segments that may identify attributes of the physical object. For instance, a first segment may comprise an manufacturer segment that is unique to the manufacturer, repackager, or distributor ofAtty Docket No. 054642-619949 the physical object, a second segment may comprise an object type segment that is unique to an object type (e.g., in a pharmaceutical use case, a specific strength, dosage for, and drug formulation for a prescription drug), and / or a third segment may comprise a package segment that is unique to package from which the physical object is distributed. In some examples, the controller 1002 may determine the object type of the physical object based on the object type segment of the object identifier.

[0136] In some embodiments, the controller 1002 determines a type verification output based on a match between the requested object type 1006 and the object type. For example, the controller 1002 may determine a type verification output that verifies the object type of the physical object in response to an at least partial match between the object type and the requested object type 1006. In addition, or alternatively, the controller 1002 may determine a type verification output that rejects the object type of the physical object in response to an incompatibility between the object type and the requested object type 1006.

[0137] In some embodiments, the type verification output comprises a binary classification output. A positive class of the binary classification output may identify a string and / or categorical match between the object type of the dispensed physical object and the requested object type (e.g., a prescribed medication). A negative class of the binary classification output may identify a string and / or categorical mismatch between the object type of the dispensed physical object and the requested object type (e.g., a prescribed medication).

[0138] In some embodiments, the controller 1002 stores the type verification output and / or an object identifier of the scanned data object 1020 in association with the request data object 1008. For example, a request data object 1008 may comprise a data structure that stores information associated with a request. The request data object 1008 may comprise a unique request identifier (e.g., a prescription identifier), one or more requested object types, and / or one or more order attributes. The order attributes may depend on the use case. In a pharmaceutical use case, for example, the order attributes may comprise a patient identifier, a prescriber identifier (e.g., a healthcare professional), a pharmacist identifier, and / or any other prescription details for a prescribed medication. In some examples, the request data object 1008 may be modified as an order is dispensed from various locations of a logistics system to monitor a progress of an order fulfillment. To do so, the controller 1002 may store the type verification output and / or the object identifier within an activity log of the request data object 1008.

[0139] In some embodiments, in response to determining that the type verification output rejects (e.g., a negative class) the object type of the physical object, the controller 1002 provides a rejection control instruction (not depicted) to the robotic picking device 412. The rejection controlAtty Docket No. 054642-619949 instruction may cause the robotic picking device 412 to place the physical object within a rejection chute of the dispensing station. In addition, or alternatively, the controller 1002 may reissue (e.g., provide) the second control instruction (e.g., a second of the dispensing control instructions 1010) to dispense another physical object. This process may continue until a determination of a type verification output that verifies (e.g., a positive class) the object type of a physical object and / or until a threshold number (e.g., 2, 5) of rejections is met or exceeded. In some examples, the controller 1002 may store an error code for up to each of the rejections (e.g., type verification outputs identifying a mismatch between an object type and a requested object type). The error code, for example, may be stored within the request data object 1008, within an error log of the dispenser data object, and / or the like.

[0140] In some embodiments, in response to determining that the type verification output verifies (e.g., a positive class) the object type of the physical object, the controller 1002 provides a third control instruction (e.g., intermediate positioning control instruction 1024) to move, via the robotic picking device 412, the physical object to a labeling mechanism 410 comprising a labeling device. The controller 1002, for example, may provide the third control instruction to the robotic picking device 412. The third control instruction may comprise an indication to proceed, instructions to navigate to a labeling mechanism 410, and / or the like.

[0141] For example, the controller 1002 may provide a fourth control instruction (e.g., one of the labeling control instructions 1034) to the labeling mechanism 410 to cause a labeling device of the labeling mechanism 410 to generate (e.g., print) and / or position an object label based on the request data object. For instance, the fourth control instruction may comprise the object identifier and / or other request attributes of the request data object with an instruction to print the object identifier and / or other request attributes in accordance with a labeling format. By way of example, in a pharmaceutical use case, the request attributes may comprise prescription details for the physical object (e.g., a prescribed medication) and the instruction may instruct the labeling device to print the prescription details in accordance with a prescription label format. In some examples, one or more of the request attributes may printed in an encoded format (e.g., one- to two- dimensional barcode). For instance, an object identifier and / or request identifier may be printed, in an encoded format, as an encoded version of a label identifier for the object label.

[0142] In some examples, the fourth control instruction may comprise a first of two labeling control instructions 1034. The first labeling control instruction may be provided to the labeling mechanism 410 in response to a verification of the object type for the physical object. In some examples, a second of the two labeling control instructions 1034 may be provided to the robotic picking device 412 and / or the labeling mechanism 410 before, after, and / or contemporarily with the first labeling control instruction to apply the object label to the physical object.Atty Docket No. 054642-619949

[0143] For example, the controller 1002 may provide another fourth control instruction (e.g., one or more labeling control instructions 1034) to apply, using the labeling mechanism 410 and / or the robotic picking device 412, the object label to the physical object. The second labeling control instruction, for example, may cause the robotic picking device 412 to press the physical object to a guide platform of the labeling mechanism 410. For instance, the robotic picking device 412 may move (e.g., roll) the physical object along the guide platform of the labeling mechanism 410 to adhere the object label to the physical object.

[0144] In addition, or alternatively, the second labeling control instruction may cause the labeling mechanism 410 to press the object label to a physical object presented underneath the guide platform of the labeling mechanism 410. For instance, the robotic picking device 412 may move the physical object underneath the guide platform and the labeling mechanism 410 may actuate a mechanical and / or pneumatic tamper to press the object label to the physical object.

[0145] In some embodiments, the controller 1002 receives, from a label verification scanner 904 positioned within a threshold distance to the labeling mechanism 410, a scanned label data object 1028 associated with the physical object. The scanned label data object 1028 may comprise another instance of scanning indicia that is received from the label verification scanner 904 during a postloading time period. The scanned label data object 1028, for example, may comprise scanning indicia that may be reflective of one or more request attributes printed on a label adhered to a physical object. By way of example, the scanned label data object 1028 may comprise a label identifier that may be decoded from an encoded representation printed on the object label. In some examples, the label identifier may comprise one or more of the object identifier, the request identifier, and / or the like.

[0146] In some examples, the scanned label data object 1028 may be received in response to a scanning operation by the label verification scanner 904. The scanning operation may be triggered by a scanning instruction from the controller 1002. In addition, or alternatively, the scanning operation may be triggered in response to a detection of an object within the field of view of the scanned label data object 1028. For instance, the scanning operation may be triggered after the physical object is labeled below the guide platform. In addition, or alternatively, the scanning operation may be triggered by the controller 1002 through a positioning control instruction that causes the robotic picking device 412 to position within the field of view of label verification scanner 904.

[0147] In some embodiments, the controller 1002 determines a label verification output based on at least a partial match between the scanned label data object 1028 and the request data object 1008. For example, the controller 1002 may determine a label verification output based on at least aAtty Docket No. 054642-619949 partial match between the scanned label data object 1028 and the request data object. For example, the controller 1002 may determine a label verification output based on a match between the label identifier and (i) the object identifier and / or (ii) the request identifier. The controller 1002 may determine a label verification output that verifies the labeled object type of the physical object in response to match between the label identifier and (i) the object identifier and / or (ii) the request identifier. In addition, or alternatively, the controller 1002 may determine a label verification output that rejects the object type of the physical object in response to an incompatibility between the label identifier and (i) the object identifier and / or (ii) the request identifier.

[0148] In addition, or alternatively, the controller 1002 may determine a labeled object type of the physical object based on the label identifier (e.g., by looking up a corresponding request data object) of the scanned label data object 1028. In such a case, the controller 1002 may determine a label verification output based on a match between the requested obj ect type, the obj ect type, and / or the labeled object type. In some examples, the controller 1002 may determine a label verification output that verifies the labeled object type of the physical object in response to an at least partial match between the requested object type, the object type, and / or the labeled object type. In addition, or alternatively, the controller 1002 may determine a label verification output that rejects the object type of the physical object in response to an incompatibility between the requested object type, the object type, and / or the labeled object type.

[0149] In some embodiments, the label verification output comprises a binary classification output. A positive class of the binary classification output may identify (i) a string match between the object identifier, the request identifier, and / or the label identifier and / or (ii) a string and / or categorical match between the object type of the dispensed physical object, the requested object type (e.g., a prescribed medication), and / or the labeled object type of the object label. A negative class of the binary classification output may identify (i) a string mismatch between the object identifier, the request identifier, and / or the label identifier and / or (ii) a string and / or categorical mismatch between the object type of the dispensed physical object, the requested object type (e.g., a prescribed medication), and / or the labeled object type of the object label.

[0150] In some embodiments, the controller 1002 stores at least a portion of the label verification output and / or the scanned label data object 1028 in association with the request data object 1008. For example, the controller 1002 may store the label identifier and / or an indication of the label verification output within the request data object.

[0151] In some embodiments, in response to determining that the label verification output verifies (e.g., a positive class) the object label applied to the physical object, the controller 1002 provides a fifth control instruction to move, via the robotic picking device 412, the physical objectAtty Docket No. 054642-619949 to a physical request container. The fifth control instruction, for example, may comprise a deploy control instruction 1036. The controller 1002 may provide the deploy control instruction 1036 to the robotic picking device 412 to instruct the robotic picking device 412 to place the physical object within a physical request container.

[0152] In some embodiments, the physical request container comprises a physical storage bin, tote, and / or the like that is configured to group, transport, hold, and / or the like one or more physical objects associated with the request 1004. The physical request container, for example, may be positioned on deployment platform of a conveyance assembly. After the physical object is placed within the physical request container, the physical request container may be moved, with the physical objects placed therein, across the conveyance assembly. In this manner, physical objects dispensed from a dispenser mechanism 408 at one portion of the conveyance assembly may be tracked as the physical objects are moved to other portions of the conveyance assembly.

[0153] For instance, the physical request container may comprise a tracking mechanism, such as a visual-based tracking mechanism (e.g., a one- or two-dimensional barcode), a radio-based tracking mechanism (e.g., radio-frequency identification (RFID) tag), and / or the like. In some examples, the tracking mechanism may comprise an encoded representation of a container identifier 1038 corresponding to the physical request container. In some examples, the controller 1002 may receive from a container scanner 420, the container identifier 1038 for the physical request container. In some embodiments, the controller 1002 stores a container identifier 1038 corresponding to the physical request container in association with the request data object 1008 to track the physical object as it is moved, within the physical request container, across a downstream conveyance assembly.

[0154] In some embodiments, in response to determining that the label verification output rejects (e.g., a negative class) the object label applied to the physical object, the controller 1002 provides a rejection control instruction (not depicted) to the robotic picking device 412. The rejection control instruction may cause the robotic picking device 412 to place the labeled physical object within the rejection chute of the dispensing station. In addition, or alternatively, the controller 1002 may reissue (e.g., provide) the second control instruction (e.g., a second of the dispensing control instructions 1010) to dispense another physical object. This process may continue until a determination that both (i) a type verification output verifies the object type of a physical object and (ii) the label verification output verifies the object label of the physical object. In addition, or alternatively, the process may continue until a threshold a threshold number (e.g., 2, 5) of rej ections (e.g., for each verification output, or cumulative) is met or exceeded. In some examples, the controller 1002 may store an error code for up to each of the rejections (e.g., type verification outputs identifying a mismatch between an object type and a requested object type, labelAtty Docket No. 054642-619949 verification outputs identifying a mismatch between an object type, a requested object type, and / or a labeled object type). The error code, for example, may be stored within the request data object 1008, within an error log, and / or the like.

[0155] FIG. 11 depicts an activity diagram of a loading process 1100 in accordance with some embodiments of the present disclosure. The loading process 1100, for example, may comprise an at least partially automated loading technique for loading, tracking, and maintaining one or more sets of physical objects within a dispenser mechanism 408 of a dispensing station. The loading process 1100 may be implemented by one or more computing devices, entities, and / or systems described herein. For example, via the various steps / operations of the loading process 1100, the controller 1002, such as the system controller, dispensing station controller, and / or the like, may allocate, track, store a physical object within at least one canister of the dispenser mechanism 408. By doing so, the loading process 1100 may improve control within an end-to-end dispensing system, while increasing throughput and operational efficiency.

[0156] FIG. 11 illustrates an example loading process 1100 for explanatory purposes. Although the example loading process 1100 depicts a particular sequence of steps / operations, the sequence may be altered without departing from the scope of the present disclosure. For example, some of the steps / operations depicted may be performed in parallel or in a different sequence that does not materially impact the function of the loading process 1100. In other examples, different components of an example device or system that implements the loading process 1100 may perform functions at substantially the same time or in a specific sequence.

[0157] In some embodiments, the loading process 1100 comprises, at operation 1102, receiving scanned data object. For example, the controller 1002 may receive the scanned data object from a loading scanner 1112 during a loading time period for the dispenser mechanism 408. The scanned data object may be associated with a physical object. For instance, the scanned data object may comprise barcode indicia for the physical object the identifies an object specific identifier, such as a stock keeping unit, universal product code, a national drug code, and / or the like. In some examples, the object identifier may be reflective of an object type of the physical object.

[0158] In some embodiments, the loading process 1100 comprises, at operation 1104, determining an object type. For example, the controller 1002 may determine the object type of the physical object based on the scanned data object. For example, the scanned data object may comprise an object identifier. The controller 1002 may determine the object type of the physical object based on the object identifier.Atty Docket No. 054642-619949

[0159] In some embodiments, the loading process 1100 comprises, at operation 1106, determining an object canister. For example, the controller 1002 may determine the object canister from a set of object canisters and for the physical object based on the object type.

[0160] In some embodiments, the loading process 1100 comprises, at operation 1108, determining a dispensing channel. For example, the controller 1002 may determine a dispensing channel of a dispenser mechanism 408 for the object canister.

[0161] In some embodiments, the loading process 1100 comprises, at operation 1110, storing an object identifier in association with the dispensing channel and / or the object canister. For example, the controller 1002 may store the object identifier of the scanned data object in association with at least one of a canister identifier corresponding to the object canister or a channel identifier corresponding to the dispensing channel. By way of example, the controller 1002 may modify a canister data object corresponding to the object canister with a type identifier corresponding to the object type. The controller 1002 may associate the dispensing channel with the object canister by modifying a channel data object corresponding to the dispensing channel with the type identifier and / or the canister identifier.

[0162] FIG. 12 depicts an activity diagram of a dispensing process 1200 in accordance with some embodiments of the present disclosure. The dispensing process 1200, for example, may comprise an at least partially automated dispensing technique for providing and verifying a physical object of a particular type from a channel within a dispenser mechanism of a dispensing station. The dispensing process 1200 may be implemented by one or more computing devices, entities, and / or systems described herein. For example, via the various steps / operations of the dispensing process 1200, the controller 1002, such as the system controller, dispensing station controller, and / or the like, may identify, dispense, and verify a physical object in a controlled manner. By doing so, the dispensing process 1200 may implement safeguards within an automated environment allow for the controlled dispensation of physical objects within an end-to-end dispensing system.

[0163] FIG. 12 illustrates an example dispensing process 1200 for explanatory purposes. Although the example dispensing process 1200 depicts a particular sequence of steps / operations, the sequence may be altered without departing from the scope of the present disclosure. For example, some of the steps / operations depicted may be performed in parallel or in a different sequence that does not materially impact the function of the dispensing process 1200. In other examples, different components of an example device or system that implements the dispensing process 1200 may perform functions at substantially the same time or in a specific sequence.

[0164] In some embodiments, the dispensing process 1200 comprises, at operation 1202, receiving a request. For example, the controller 1002 may receive a request that identifies aAtty Docket No. 054642-619949 requested object type associated with the dispenser mechanism 408. In some examples, the request may be associated with a prescription order. For example, the requested object type may comprise a prescribed medication.

[0165] In some embodiments, the dispensing process 1200 comprises, at operation 1204, determining a dispensing channel. For example, the controller 1002 may determine the dispensing channel from a set of dispensing channels of the dispenser mechanism 408. The dispensing channel may correspond to the requested object type.

[0166] In some embodiments, the dispensing process 1200 comprises, at operation 1206, providing a first control instruction (e.g., a first of one or more dispensing control instructions). For example, the controller 1002 may provide the first control instruction to the dispenser mechanism 408. For instance, the controller 1002 may provide the first control instruction to position the dispenser mechanism 408 in a dispensing orientation that aligns the dispensing channel over a nested dispensing location.

[0167] For example, the set of channels may be arranged in a circular array within a rotary drum of the dispenser mechanism 408 and the dispensing orientation may be based on an orientation of the circular array. In some examples, the first control instruction may cause a rotation of the rotary drum around a fixed axis to change the orientation of the circular array and algin the dispensing channel corresponding to the requested object type with the nested dispensing location.

[0168] In some embodiments, the dispensing process 1200 comprises, at operation 1208, providing a second control instruction. For example, the controller 1002 may provide the second control instruction to the dispenser mechanism 408. For instance, the controller 1002 may provide a second control instruction to dispense a physical object corresponding to the object type from an object canister within the dispensing channel. In some examples, the physical object may comprise a medication bottle that comprises the prescribed medication.

[0169] In some embodiments, the set of dispensing channels respectively corresponds to a set of medication types. The request may comprise at least two requested object types that respectively correspond to at least two of the set of medication types. The controller 1002 may determine a secondary dispensing channel from the set of dispensing channels that corresponds to secondary object type of the at least two requested object types. The controller 1002 may provide a secondary first control instruction to position the dispenser mechanism in a secondary dispensing orientation that aligns the secondary dispensing channel over the nested dispensing location. The controller 1002 may provide a secondary second control instruction to dispense a secondary physical object corresponding to the secondary object type from a secondary object canister within the secondary dispensing channel.Atty Docket No. 054642-619949

[0170] In some embodiments, the dispensing process 1200 comprises, at operation 1210, receiving a scanned data object. For example, the controller 1002 may receive the scanned data object from the type verification scanner 704a. For instance, the controller 1002 may receive, from the type verification scanner 704a positioned within a threshold distance to the nested dispensing location, a scanned data object associated with the physical object. The scanned data object may comprise another instance of the scanned data object that is detected after the physical object is dispensed from the dispenser mechanism 408.

[0171] In some embodiments, the dispensing process 1200 comprises, at operation 1212, verifying the scanned data object. For example, the controller 1002 may determine an object type of the physical object based on the scanned data object and determine a type verification output based on a match between the requested object type and the object type. In some examples, the controller 1002 may determine a type verification output that verifies the obj ect type of the physical object in response to an at least partial match between the object type and the requested object type. In addition, or alternatively, the controller 1002 may determine a type verification output that rejects the object type of the physical object in response to an incompatibility between the object type and the requested object type.

[0172] In some embodiments, the controller 1002 stores the type verification output and / or an object identifier of the scanned data object in association with a request data object.

[0173] FIG. 13 depicts an activity diagram of a deployment process 1300 in accordance with some embodiments of the present disclosure. The deployment process 1300, for example, may comprise an at least partially automated deployment technique for preparing and then moving a physical object from a dispensing station to a downstream conveyance assembly for deliver to an end user. The deployment process 1300 may be implemented by one or more computing devices, entities, and / or systems described herein. For example, via the various steps / operations of the deployment process 1300, the controller 1002, such as the system controller, dispensing station controller, and / or the like, may handle, label, verify, and place a physical object in a controlled manner. By doing so, the deployment process 1300 may implement safeguards within an automated environment allow for the controlled labeling and tracking of physical objects within an end-to-end dispensing system.

[0174] FIG. 13 illustrates an example deployment process 1300 for explanatory purposes. Although the example deployment process 1300 depicts a particular sequence of steps / operations, the sequence may be altered without departing from the scope of the present disclosure. For example, some of the steps / operations depicted may be performed in parallel or in a different sequence that does not materially impact the function of the deployment process 1300. In otherAtty Docket No. 054642-619949 examples, different components of an example device or system that implements the deployment process 1300 may perform functions at substantially the same time or in a specific sequence.

[0175] In some embodiments, the deployment process 1300 may begin in response to a verification of the scanned data object at operation 1212 of the dispensing process 1200. For example, in response to a verification of the object type of the scanned data object, the controller 1002 may begin the deployment process 1300. In addition, or alternatively, in response to a detection of an invalid object type, the controller 1002 may provide a rejection instruction to the robotic picking device 412 to place the physical object within a rejection chute. In such a case, the controller 1002 may store an error code reflective of the invalid object type and return to operation 1208 to instruct a dispensation of a second physical object. This process may continue until a scanned data object is verified or a threshold number (e.g., 2, 5) of rejections is met or exceeded.

[0176] In some embodiments, the deployment process 1300 comprises, at operation 1302, providing a provide third control instruction. For example, in response to determining that a type verification output verifies the object type of the physical object, the controller 1002 may provide a third control instruction (e.g., intermediate positioning control instruction) to a robotic picking device 412. The third control instruction may cause the robotic picking device 412 to move the physical object to a labeling mechanism 410 comprising a labeling device.

[0177] In some embodiments, the deployment process 1300 comprises, at operation 1304, providing a provide fourth control instruction. For example, the controller 1002 may provide the fourth control instruction (e.g., one of the labeling control instructions) to the labeling mechanism 410. For instance, the controller 1002 may provide the fourth control instruction to cause a labeling device of the labeling mechanism 410 to generate (e.g., print) and / or position an object label based on the request data object. In addition, or alternatively, the controller 1002 may provide a fourth control instruction (e.g., another of the labeling control instructions) to the robotic picking device 412 to apply the object label to the physical object. For instance, the fourth control instruction may cause the robotic picking device 412 to move (e.g., roll) the physical object along a guide platform of the labeling mechanism to adhere the object label to the physical object.

[0178] In some embodiments, the deployment process 1300 comprises, at operation 1306, receiving a scanned label data object. For example, the controller 1002 may receive, from a label verification scanner 904 positioned within a threshold distance to the labeling mechanism 410, the scanned label data object from the label verification scanner 904.

[0179] In some embodiments, the deployment process 1300 comprises, at operation 1308, determining a label verification output. For example, the controller 1002 may determine a label verification output based on at least a partial match between the scanned label data object and theAtty Docket No. 054642-619949 request data object. For example, the controller 1002 may determine a labeled object type of the physical object based on a label identifier of the scanned label data object and determine a label verification output based on a match between the requested object type, the object type, and the labeled object type. In some examples, the controller 1002 may determine a label verification output that verifies the labeled object type of the physical object in response to an at least partial match between the requested object type, the object type, and the labeled object type. In addition, or alternatively, the controller 1002 may determine a label verification output that rejects the object type of the physical object in response to an incompatibility between the requested object type, the object type, and / or the labeled object type.

[0180] In some embodiments, the deployment process 1300 comprises, at operation 1310, storing the label verification output in association with the request. For example, the controller 1002 may store at least a portion of the label verification output and / or the scanned label data object in association with a request data object.

[0181] In some embodiments, the deployment process 1300 comprises, at operation 1312, providing a fifth control instruction. For example, in response to the determining that the label verification output verifies the object label applied to the physical object, the controller 1002 may provide a fifth control instruction to move, via the robotic picking device 412, the physical object to a physical request container. In some examples, the controller 1002 may store a container identifier corresponding to the physical request container in association with the request data object.V. Conclusion

[0182] Throughout this specification, components, operations, or structures described as a single instance may be implemented as multiple instances. Although individual operations of one or more methods (or processes, techniques, routines, etc.) are illustrated and described as separate operations, two or more of the individual operations may be performed concurrently or otherwise in parallel, and nothing requires that the operations be performed in the order illustrated. Structures and functionality (e.g., operations, steps, blocks) presented as separate components in example configurations may be implemented as a combined structure, functionality, or component. Similarly, structures and functionality presented as a single component may be implemented as separate components. These and other variations, modifications, additions, and improvements fall within the scope of the subject matter herein.

[0183] Certain embodiments are described herein as including logic or a number of routines, subroutines, applications, operations, blocks, or instructions. These may constitute and / or beAtty Docket No. 054642-619949 implemented by software (e.g., code embodied on a non-transitory, machine-readable medium), hardware, or a combination thereof. In hardware, the routines, etc., may represent tangible units capable of performing certain operations and may be configured or arranged in a certain manner. In example embodiments, one or more computer systems (e.g., a standalone, client or server computer system) or one or more hardware modules of a computer system (e.g., a processor or a group of processors) may be configured by software (e.g., an application or application portion) as a hardware component that operates to perform certain operations as described herein.

[0184] In various embodiments, a hardware component may be implemented mechanically or electronically. For example, a hardware component may comprise dedicated circuitry or logic that is permanently configured (e.g., as a special-purpose processor, such as a field programmable gate array (FPGA) or an application-specific integrated circuit (ASIC)) to perform certain operations. A hardware component may also or instead comprise programmable logic or circuitry (e.g., as encompassed within one or more general-purpose processors and / or other programmable processor(s)) that is temporarily configured by software to perform certain operations.

[0185] Accordingly, the term “hardware component” should be understood to encompass a tangible entity, be that an entity that is physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein. Considering embodiments in which hardware components are temporarily configured (e.g., programmed), each of the hardware components need not be configured or instantiated at any one instance in time. For example, where the hardware components comprise a general -purpose processor configured using software, the general-purpose processor may be configured as respective different hardware components at various times. Software may accordingly configure a processor, for example, to constitute a particular hardware component at one instance of time and to constitute a different hardware component at a different instance of time.

[0186] Hardware components may provide information to, and receive information from, other hardware components. Accordingly, the described hardware components may be regarded as being communicatively coupled. Where multiple of such hardware components exist contemporaneously, communications may be achieved through signal transmission (e.g., over appropriate circuits and buses) that connect the hardware components. In embodiments in which multiple hardware components are configured or instantiated at different times, communications between such hardware components may be achieved, for example, through the storage and retrieval of information in memory structures to which the multiple hardware components have access. For example, one hardware component may perform an operation and store the output of that operation in a memory device to which it is communicatively coupled. A further hardwareAtty Docket No. 054642-619949 component may then, at a later time, access the memory device to retrieve and process the stored output. Hardware components may also initiate communications with input or output devices, and may operate on a resource (e.g., a collection of information).

[0187] As noted above, the various operations of example methods (or processes, techniques, routines, etc.) described herein may be performed, at least partially, by one or more processors that are temporarily configured (e.g., by software) or permanently configured to perform the relevant operations. Whether temporarily or permanently configured, such processors may constitute processor-implemented components that operate to perform one or more operations or functions. The components referred to herein may, in some example embodiments, comprise processor- implemented components.

[0188] Moreover, each operation of processes illustrated as logical flow graphs may represent a sequence of operations that may be implemented in hardware, software, or a combination thereof. In the context of software, the operations represent computer-executable instructions stored on one or more computer-readable storage media that, when executed by one or more processors, perform the recited operations. Generally, computer-executable instructions comprise routines, programs, objects, components, data structures, and the like that perform particular functions or implement particular data types. The order in which the operations are described is not intended to be construed as a limitation, and any number of the described operations may be combined in any order and / or in parallel to implement the processes.

[0189] The terms “coupled” and “connected,” along with their derivatives, may be used. In particular embodiments, “connected” may be used to indicate that two or more elements are in direct physical or electrical contact with each other, although the context in the description may dictate otherwise when it is apparent that two or more elements are not in direct physical or electrical contact. “Coupled” may mean that two or more elements are in direct physical or electrical contact. However, “coupled” may also mean that two or more elements are not in direct contact with each other, yet still co-operate, transmit between, or interact with each other.

[0190] An algorithm may be considered to be a self-consistent sequence of acts or operations leading to a desired result. These comprise physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical, magnetic, or optical signals capable of being stored, transferred, combined, compared, and otherwise manipulated. These signals are commonly referred to as bits, values, elements, symbols, characters, terms, numbers, flags, or the like. It should be understood, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities.Atty Docket No. 054642-619949

[0191] Unless specifically stated otherwise, discussions herein using words such as “processing,” “computing,” “calculating,” “determining,” “presenting,” “displaying,” or the like may refer to actions or processes of a machine (e.g., a computer) that manipulates or transforms data represented as physical (e.g., electronic, magnetic, or optical) quantities within one or more memories (e.g., volatile memory, non-volatile memory, or a combination thereof), registers, or other machine components that receive, store, transmit, or display information.

[0192] As used herein any reference to “some embodiments,” “one embodiment,” “an embodiment,” “in some examples,” or variations thereof means that a particular element, feature, structure, characteristic, operation, or the like described in connection with the embodiment is comprised in at least one embodiment, but not every embodiment necessarily comprises the particular element, feature, structure, characteristic, operation, or the like. Different instances of such a reference in various places in the specification do not necessarily all refer to the same embodiment, although they may in some cases. Moreover, different instances of such a reference may describe elements, features, structures, characteristics, operations, or the like be combined in any manner as an embodiment.

[0193] As used herein, the terms “comprises,” “comprising,” “comprises,” “including,” “has,” “having” or any other variation thereof, are intended to cover a non-ex elusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but may comprise other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, unless the context of use clearly indicates otherwise, “or” refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present).

[0194] The term “set” is intended to mean a collection of elements and may be a null set (i.e., a set containing zero elements) or may comprise one, two, or more elements. A “subset” is intended to mean a collection of elements that are all elements of a set, but that does not comprise other elements of the set. A first subset of a set may comprise zero, one, or more elements that are also elements of a second subset of the set. The first subset may be said to be a subset of the second subset if all the elements of the first subset are elements of the second subset, while also being a subset of the set. However, if all the elements of the second subset are also elements of the first subset (in addition to all the elements of the first subset being elements of the second subset), the first subset and the second subset are a single subset / not distinct.

[0195] For the purposes of the present disclosure, the term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” or “an”, “one or more”, and “at least one” may be usedAtty Docket No. 054642-619949 interchangeably herein unless explicitly contradicted by the specification using the word “only one” or similar. For example, “a first element” may functionally be interpreted as “a first one or more elements” or a “first at least one element.” Unless otherwise apparent from the context of use, reference in the present disclosure to a same set of “one or more processors” (or a same “plurality of processors,” etc.) performing multiple operations may encompass implementations in which performance of the operations is divided among the processor(s) in any suitable way. For example, “generating, by one or more processors, X; and generating, by the one or more processors, Y” may encompass: (1) implementations in which a first subset of the processors (e.g., in a first computing device) generates X and an entirely distinct, second subset of the processors (e.g., in a different, second computing device) independently generates Y; (2) implementations in which one or more or all of the processor(s) (e.g., one or multiple processors in the same device, or multiple processors distributed among multiple devices) contribute to the generation of X and / or Y; and (3) other variations. This may similarly be applied to any other component or feature similarly recited (e.g., as “a component”, “a feature”, “one or more components”, “one or more features”, “a plurality of components”, “a plurality of features”). Moreover, the performance of certain of the operations may be distributed among the one or more components, not only residing within a single machine, but deployed across a number of machines. The set of components may be located in a single geographic location (e.g., within a home environment, an office environment, a cloud environment). In other example embodiments, the set of components may be distributed across two or more geographic locations. Further, “a machine-learned model”, equivalent terms (e.g., “machine learning model,” “machine-learning model,” “machine-learned component”, “artificial intelligence”, “artificial intelligence component”), or species thereof (e.g., “a large language model”, “a neural network”) may comprise a single machine-learned model or multiple machine- learned models, such as a pipeline comprising two or more machine-learned models arranged in series and / or parallel, an agentic framework of machine-learned models, or the like.

[0196] Upon reading this disclosure, those of skill in the art will appreciate still additional alternative structural and functional designs through the principles disclosed herein. Therefore, while particular embodiments and applications have been illustrated and described, it is to be understood that the disclosed embodiments are not limited to the precise construction and components disclosed herein. Various modifications, changes and variations, which will be apparent to those skilled in the art, may be made in the arrangement, operation and details of the method and apparatus disclosed herein without departing from the spirit and scope defined in the appended claims.Atty Docket No. 054642-619949

[0197] The patent claims at the end of this patent application are not intended to be construed under 35 U.S.C. § 112(f) unless traditional means-plus-function language is expressly recited, such as “means for” or “step for” language being explicitly recited in the claim(s).VI. Examples

[0198] Some embodiments of the present disclosure may be implemented by one or more computing devices, entities, and / or systems described herein to perform one or more example operations, such as those outlined below. The examples are provided for explanatory purposes. Although the examples outline a particular sequence of steps / operations, each sequence may be altered without departing from the scope of the present disclosure. For example, some of the steps / operations may be performed in parallel or in a different sequence that does not materially impact the function of the various examples. In other examples, different components of an example device or system that implements a particular example may perform functions at substantially the same time or in a specific sequence.

[0199] Moreover, although the examples may outline a system or computing entity with respect to one or more steps / operations, each step / operation may be performed by any one or combination of computing devices, entities, and / or systems described herein. For example, a computing system may comprise a single computing entity that is configured to perform the steps / operations of a particular example. In addition, or alternatively, a computing system may comprise multiple dedicated computing entities that are respectively configured to perform one or more of the steps / operations of a particular example. By way of example, the multiple dedicated computing entities may coordinate to perform the steps / operations of a particular example.

[0200] Example 1. A system comprising a dispensing station comprising a dispenser mechanism, a robotic picking device, a labeling mechanism, and a first scanning device and a second scanning device positioned adjacent to the dispenser mechanism and the labeling mechanism, respectively; and a conveyance assembly positioned within a threshold distance to the dispensing station, wherein the dispenser mechanism of the dispensing station is physically separated from the conveyance assembly by the robotic picking device and the labeling mechanism.

[0201] Example 2. The system of example 1, wherein the conveyance assembly comprises a set of conveyance lines, the dispensing station is within the threshold distance to a subset of conveyance lines of the set of conveyance lines that forms at least a portion of a deployment platform for the dispensing station.Atty Docket No. 054642-619949

[0202] Example 3. The system of example 2, wherein the subset of conveyance lines comprises an inflow conveyance line and an outflow conveyance line and the deployment platform further comprises a container scanner for scanning a physical request container.

[0203] Example 4. The system of any of the preceding examples, wherein the dispensing station further comprises a rejection chute, and the robotic picking device is configured to place a physical object from the dispenser mechanism within the rejection chute based on scanning data from the first scanning device.

[0204] Example 5. The system of any of the preceding examples, further comprising a controller that is communicatively connected to at least one of a dispensing station controller or a conveyance assembly controller.

[0205] Example 6. The system of any of the preceding examples, wherein the dispensing station further comprises a dispensing station controller and a display device, the dispensing station controller is communicatively connected to at least one of the dispenser mechanism, the robotic picking device, the labeling mechanism, the first scanning device, or the second scanning device, and the display device provides a control user interface that comprises at least one of a set of control icons or a set of activity icons associated with at least one of the dispenser mechanism, the robotic picking device, the labeling mechanism, the first scanning device, or the second scanning device.

[0206] Example 7. The system of any of the preceding examples, wherein the first scanning device comprises a first barcode scanner and the second scanning device comprises a second barcode scanner.

[0207] Example 8. The system of any of the preceding examples, wherein the dispensing station comprises a nested dispensing location that is configured to receive a physical object dispensed from the dispenser mechanism and the first scanning device is positioned within a scanning distance to the nested dispensing location and is configured to scan the physical object.

[0208] Example 9. The system of any of the preceding examples, wherein the robotic picking device comprises a six-axis robotic manipulator arm.

[0209] Example 10. The system of example 9, wherein the robotic picking device comprises a gripper end effector that is shaped according to a set of bottle dimensions of a medication bottle.

[0210] Example 11. The system of example 10, wherein the gripper end effector comprises a finger gripper with two fingers separated by a distance that is based on a height of the medication bottle.

[0211] Example 12. The system of any of examples 9 through 11, wherein the robotic picking device comprises a pneumatic gripper end effector on a guided cylinder.Atty Docket No. 054642-619949

[0212] Example 13. The system of any of the preceding examples, wherein the labeling mechanism comprises a guide platform and a labeling device, the guide platform comprises a supporting structure for an object label printed from the labeling device, and the robotic picking device is configured to upwardly press a physical object against the supporting structure to apply the object label to the physical object.

[0213] Example 14. The system of example 13, wherein the supporting structure comprises a flat surface and the robotic picking device is configured to roll the physical object along the flat surface to apply the object label.

[0214] Example 15. The system of any of examples 13 through 14, wherein the second scanning device is positioned in a downward facing orientation and the robotic picking device is configured to move the object label of the physical object within a scanning distance of the second scanning device.

[0215] Example 16. The system of any of the preceding examples, wherein the dispensing station further comprises a set of area scanners that define an outer boundary of the dispensing station and is communicatively connected to a dispensing station controller of the dispensing station.

[0216] Example 17. The system of any of the preceding examples, wherein the threshold distance is defined based on a reach of the robotic picking device.

[0217] Example 18. A dispensing station comprising a dispenser mechanism; a robotic picking device; a labeling mechanism; and a first scanning device and a second scanning device positioned adjacent to the dispenser mechanism and the labeling mechanism, respectively.

[0218] Example 19. The dispensing station of example 18, wherein the first scanning device comprises a first barcode scanner and the second scanning device comprises a second barcode scanner.

[0219] Example 20. The dispensing station of any of examples 18 or 19, wherein the dispensing station comprises a nested dispensing location that is configured to receive a physical object dispensed from the dispenser mechanism and the first scanning device is positioned within a scanning distance to the nested dispensing location and is configured to scan the physical object.

Claims

Atty Docket No. 054642-619949CLAIMSWhat is claimed is:

1. A system comprising: a dispensing station comprising: a dispenser mechanism, a robotic picking device, a labeling mechanism, and a first scanning device and a second scanning device positioned adjacent to the dispenser mechanism and the labeling mechanism, respectively; and a conveyance assembly positioned within a threshold distance to the dispensing station, wherein the dispenser mechanism of the dispensing station is physically separated from the conveyance assembly by the robotic picking device and the labeling mechanism.

2. The system of claim 1, wherein the conveyance assembly comprises a set of conveyance lines, the dispensing station is within the threshold distance to a subset of conveyance lines of the set of conveyance lines that forms at least a portion of a deployment platform for the dispensing station.

3. The system of claim 2, wherein the subset of conveyance lines comprises an inflow conveyance line and an outflow conveyance line and the deployment platform further comprises a container scanner for scanning a physical request container.

4. The system of claim 1, wherein the dispensing station further comprises a rejection chute, and the robotic picking device is configured to place a physical object from the dispenser mechanism within the rejection chute based on scanning data from the first scanning device.

5. The system of claim 1, further comprising a controller that is communicatively connected to at least one of a dispensing station controller or a conveyance assembly controller.

6. The system of claim 1, wherein: the dispensing station further comprises a dispensing station controller and a display device, the dispensing station controller is communicatively connected to at least one of the dispenser mechanism, the robotic picking device, the labeling mechanism, the first scanning device, or the second scanning device, andAtty Docket No. 054642-619949 the display device provides a control user interface that comprises at least one of a set of control icons or a set of activity icons associated with at least one of the dispenser mechanism, the robotic picking device, the labeling mechanism, the first scanning device, or the second scanning device.

7. The system of claim 1, wherein the first scanning device comprises a first barcode scanner and the second scanning device comprises a second barcode scanner.

8. The system of claim 1, wherein the dispensing station comprises a nested dispensing location that is configured to receive a physical object dispensed from the dispenser mechanism and the first scanning device is positioned within a scanning distance to the nested dispensing location and is configured to scan the physical object.

9. The system of claim 1, wherein the robotic picking device comprises a six-axis robotic manipulator arm.

10. The system of claim 9, wherein the robotic picking device comprises a gripper end effector that is shaped according to a set of bottle dimensions of a medication bottle.

11. The system of claim 10, wherein the gripper end effector comprises a finger gripper with two fingers separated by a distance that is based on a height of the medication bottle.

12. The system of claim 9, wherein the robotic picking device comprises a pneumatic gripper end effector on a guided cylinder.

13. The system of claim 1, wherein the labeling mechanism comprises a guide platform and a labeling device, the guide platform comprises a supporting structure for an object label printed from the labeling device, and the robotic picking device is configured to upwardly press a physical object against the supporting structure to apply the object label to the physical object.

14. The system of claim 13, wherein the supporting structure comprises a flat surface and the robotic picking device is configured to roll the physical object along the flat surface to apply the object label.Atty Docket No. 054642-61994915. The system of claim 13, wherein the second scanning device is positioned in a downward facing orientation and the robotic picking device is configured to move the object label of the physical object within a scanning distance of the second scanning device.

16. The system of claim 1, wherein the dispensing station further comprises a set of area scanners that define an outer boundary of the dispensing station and is communicatively connected to a dispensing station controller of the dispensing station.

17. The system of claim 1, wherein the threshold distance is defined based on a reach of the robotic picking device.

18. A dispensing station comprising: a dispenser mechanism; a robotic picking device; a labeling mechanism; and a first scanning device and a second scanning device positioned adjacent to the dispenser mechanism and the labeling mechanism, respectively.

19. The dispensing station of claim 18, wherein the first scanning device comprises a first barcode scanner and the second scanning device comprises a second barcode scanner.

20. The dispensing station of claim 18, wherein the dispensing station comprises a nested dispensing location that is configured to receive a physical object dispensed from the dispenser mechanism and the first scanning device is positioned within a scanning distance to the nested dispensing location and is configured to scan the physical object.

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