Method of and system for dispensing

Abstract

Disclosed is a method of dispensing including defining a fill line relative to a substance segment, determining a distance between the fill line and a level and, if the distance less than or equal to an amount, then terminating introducing a substance into a container, else initiating or maintaining introducing the substance and determining the distance between the fill line and the level. A system configured for performing the method also is disclosed.

Description

METHOD OF AND SYSTEM FOR DISPENSINGCROSS REFERENCE TO RELATED APPLICATION(S)

[0001] None.RESERVATION OF COPYRIGHTS

[0002] Portions of the disclosure of this document contain material that is subject to copyright protection. The copyright owner does not object to any reproduction of the document or disclosure as it appears in official records, but reserves all remaining rights under copyright.BACKGROUND

[0003] The present disclosure relates to dispensing, and more specifically to ensuring that a container is not overfilled.SUMMARY OF THE INVENTION

[0004] An embodiment of a method of dispensing configured according to principles of the invention includes defining a fill line relative to a substance segment, determining a distance between the fill line and a level and, if the distance less than or equal to an amount, then terminating introducing a substance into a container, else initiating or maintaining introducing the substance and determining the distance between the fill line and the level.

[0005] An embodiment of a system for dispensing configured according to principles of the invention includes a base having a center and a number of orthogonal slots, and a like number of fingers, each of the fingers being received in one of the slots, wherein each of the slots defines a path that does not correspond with a radial direction from the center, and the fingers are movable relative to the slots for cooperatively grasping an object.

[0006] The invention provides improved elements and arrangements thereof, for the purposes described, which are inexpensive, dependable and effective in accomplishing intended purposes of the invention.

[0007] Other features and advantages of the invention will become apparent from the following description of the embodiments, which refers to the accompanying drawings.AB693 1 / 14BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The invention is described in detail below with reference to the following figures, throughout which similar reference characters denote corresponding features consistently, wherein:

[0009] Figs. 1-6 are images of an embodiment of a system for dispensing configured according to principles of the invention.DETAILED DESCRIPTION OF THE EMBODIMENTS

[0010] The examples shown in drawings are presented to demonstrate examples of the disclosure. The drawings are illustrative and non-limiting. In the drawings, for illustrative purposes, the size of some of the elements may be exaggerated and not drawn to a particular scale. Additionally, elements shown within the drawings that have the same numbers may be identical elements or may be similar elements, depending on the context.

[0011] Where the term "comprising" is used in the present description and claims, it does not exclude other elements or steps. Where an indefinite or definite article is used when referring to a singular noun, e.g., "a", "an", or "the", this includes a plural of that noun unless something otherwise is specifically stated. Hence, the term "comprising" should not be interpreted as being restricted to the items listed thereafter; it does not exclude other elements or steps, and so the scope of the expression "a device comprising items A and B" should not be limited to devices consisting only of components A and B. Furthermore, to the extent that the terms “includes”, “has”, “possesses”, and the like are used in the present description and claims, such terms are intended to be inclusive in a manner similar to the term “comprising,” as “comprising” is interpreted when employed as a transitional word in a claim.

[0012] Furthermore, the terms "first", "second", "third", and the like, whether used in the description or in the claims, are provided to distinguish between similar elements and not necessarily to describe a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances (unless clearly disclosed otherwise) and that the aspects of the disclosure described herein are capable of operation in other sequences and / or arrangements than are described or illustrated herein.

[0013] In the following description, numerous specific details are set forth to provide a thorough understanding of various aspects and arrangements. It will be recognized, however, that the techniques described herein can be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well known structures,AB693 2 / 14materials, or operations may not be shown or described in detail to avoid obscuring certain aspects.

[0014] Reference throughout this specification to “an aspect,” “an arrangement,” “a configuration,” or “an example” indicates that a particular feature, structure, or characteristic is described. Thus, appearances of phrases such as “in one aspect,” “in one arrangement,” “in a configuration,” “in some examples,” or the like in various places throughout this specification do not necessarily each refer to the same aspect, feature, configuration, example, or arrangement. Furthermore, the particular features, structures, and / or characteristics described may be combined in any suitable manner.

[0015] To the extent used in the present disclosure and claims, the terms “component,” “system,” “platform,” “layer,” “selector,” “interface,” and the like are intended to refer to a computer-related entity or an entity related to an operational apparatus with one or more specific functionalities, wherein the entity may be either hardware, a combination of hardware and software, software, or software in execution. As an example, a component may be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and / or a computer. By way of illustration and not limitation, both an application running on a server and the server itself can be a component. One or more components may reside within a process and / or thread of execution and a component may be localized on one computer and / or distributed between two or more computers. In addition, components may execute from various computer-readable media, device-readable storage devices, or machine-readable media having various data structures stored thereon. The components may communicate via local and / or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, a distributed system, and / or across a network such as the Internet with other systems via the signal). As another example, a component can be an apparatus with specific functionality provided by mechanical parts operated by electric or electronic circuitry, which may be operated by a software or firmware application executed by a processor, wherein the processor can be internal or external to the apparatus and executes at least a part of the software or firmware application. As yet another example, a component can be an apparatus that provides specific functionality through electronic components without mechanical parts; the electronic components can include a processor therein to execute software or firmware that confers at least in part the functionality of the electronic components.

[0016] To the extent used in the subject specification, terms such as “store,” “storage,” “data store,” data storage,” “database,” and the like refer to memory components, entities embodied inAB693 3 / 14a memory, or components comprising a memory. It will be appreciated that the memory components described herein can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.

[0017] In addition, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless specified otherwise, or clear from context, “X employs A or B” is intended to mean any of the natural inclusive permutations. That is, if X employs A, X employs B, or X employs both A and B, then “X employs A or B” is satisfied under any of the foregoing instances. Moreover, articles “a” and “an” as used in the subject disclosure and claims should generally be construed to mean “one or more” unless specified otherwise or clear from context to be directed to a singular form.

[0018] The words “exemplary” and / or “demonstrative,” to the extent used herein, mean serving as an example, instance, or illustration. For the avoidance of doubt, the subject matter disclosed herein is not limited by disclosed examples. In addition, any aspect or design described herein as “exemplary” and / or “demonstrative” is not necessarily to be construed as preferred or advantageous over other aspects or designs, nor is it meant to preclude equivalent exemplary structures and techniques. Furthermore, to the extent that the terms “includes,” “has,” “contains,” and other similar words are used in either the detailed description or the claims, such terms are intended to be inclusive, in a manner similar to the term “comprising” as an open transition word, without precluding any additional or other elements.

[0019] As used herein, the term “infer” or “inference” refers generally to the process of reasoning about, or inferring states of, the system, environment, user, and / or intent from a set of observations as captured via events and / or data. Captured data and events can include user data, device data, environment data, data from sensors, application data, implicit data, explicit data, etc. Inference can be employed to identify a specific context or action or can generate a probability distribution over states of interest based on a consideration of data and events, for example.

[0020] The disclosed subject matter can be implemented as a method, apparatus, or article of manufacture using standard programming and / or engineering techniques to produce software, firmware, hardware, or any combination thereof to control a computer to implement the disclosed subject matter. The term "article of manufacture," to the extent used herein, is intended to encompass a computer program accessible from any computer-readable device, machine-readable device, computer-readable carrier, computer-readable media, or machine- readable media. For example, computer-readable media can include, but are not limited to, a magnetic storage device, e.g., hard disk; floppy disk; magnetic strip(s); an optical disk (e.g.,AB693 4 / 14compact disk (CD), digital video disc (DVD), Blu-ray Disc (BD)); a smart card; a flash memory device (e g., card, stick, key drive); a virtual device that emulates a storage device; and / or any combination of the above computer-readable media.

[0021] Generally, program modules include routines, programs, components, data structures, etc., that perform particular tasks or implement particular abstract data types. The illustrated aspects of the subject disclosure may be practiced in distributed computing environments where certain tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in both local and remote memory storage devices.

[0022] Computing devices can include at least computer-readable storage media, machine- readable storage media, and / or communications media. Computer-readable storage media or machine-readable storage media can be any available storage media that can be accessed by the computer and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer-readable storage media or machine- readable storage media can be implemented in connection with any method or technology for storage of information such as computer-readable or machine-readable instructions, program modules, structured data, or unstructured data.

[0023] Computer-readable storage media can include, but are not limited to, random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disk read only memory (CD ROM), digital versatile disk (DVD), Blu-ray disc (BD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, solid state drives or other solid state storage devices, or other tangible and / or non-transitory media that can be used to store desired information. In this regard, the terms “tangible” or “non- transitory” herein as applied to storage, memory, or computer-readable media, are to be understood to exclude only propagating transitory signals per se as modifiers, and do not exclude any standard storage, memory, or computer-readable media that are not only propagating transitory signals per se.

[0024] Computer-readable storage media can be accessed by one or more local or remote computing devices, e.g., via access requests, queries, or other data retrieval protocols, for a variety of operations with respect to the information stored by the medium.

[0025] A system bus, as may be used herein, can be any of several types of bus structure that can further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and a local bus using any of a variety of commercially available bus architectures. AAB693 5 / 14database, as may be used herein, can include basic input / output system (BIOS) that can be stored in a non-volatile memory such as ROM, EPROM, or EEPROM, with BIOS containing the basic routines that help to transfer information between elements within a computer, such as during startup. RAM can also include a high-speed RAM such as static RAM for caching data.

[0026] As used herein, a computer can operate in a networked environment using logical connections via wired and / or wireless communications to one or more remote computers. The remote computer(s) can be a workstation, server, router, personal computer, portable computer, microprocessor-based entertainment appliance, peer device, or other common network node. Logical connections depicted herein may include wired / wireless connectivity to a local area network (LAN) and / or larger networks, e.g., a wide area network (WAN). Such LAN and WAN networking environments are commonplace in offices and companies, and facilitate enterprisewide computer networks, such as intranets, any of which can connect to a global communications network, e.g., the Internet.

[0027] When used in a LAN networking environment, a computer can be connected to the LAN through a wired and / or wireless communication network interface or adapter. The adapter can facilitate wired or wireless communication to the LAN, which can also include a wireless access point (AP) disposed thereon for communicating with the adapter in a wireless mode.

[0028] When used in a WAN networking environment, a computer can include a modem or can be connected to a communications server on the WAN via other means for establishing communications over the WAN, such as by way of the Internet. The modem, which can be internal or external, and a wired or wireless device, can be connected to a system bus via an input device interface. In a networked environment, program modules depicted herein relative to a computer or portions thereof can be stored in a remote memory / storage device.

[0029] When used in either a LAN or WAN networking environment, a computer can access cloud storage systems or other network-based storage systems in addition to, or in place of, external storage devices. Generally, a connection between a computer and a cloud storage system can be established over a LAN or a WAN, e.g., via an adapter or a modem, respectively. Upon connecting a computer to an associated cloud storage system, an external storage interface can, with the aid of the adapter and / or modem, manage storage provided by the cloud storage system as it would other types of external storage. For instance, the external storage interface can be configured to provide access to cloud storage sources as if those sources were physically connected to the computer.

[0030] As employed in the subject specification, the term “processor” can refer to substantially any computing processing unit or device comprising, but not limited to comprising, single-coreAB693 6 / 14processors; single-core processors with software multithread execution capability; multi-core processors; multi-core processors with software multithread execution capability; multi-core processors with hardware multithread technology; vector processors; pipeline processors; parallel platforms; and parallel platforms with distributed shared memory. Additionally, a processor can refer to an integrated circuit, an application specific integrated circuit (ASIC), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic controller (PLC), a complex programmable logic device (CPLD), a state machine, a discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. Processors can exploit nano-scale architectures such as, but not limited to, molecular and quantum-dot based transistors, switches, and gates, in order to optimize space usage or enhance performance of user equipment. A processor may also be implemented as a combination of computing processing units. For example, a processor may be implemented as one or more processors together, tightly coupled, loosely coupled, or remotely located from each other. Multiple processing chips or multiple devices may share the performance of one or more functions described herein, and similarly, storage may be effected across a plurality of devices. A processor may be implemented to reside in a cloud-based network such as, e.g., the Internet.

[0031] The actions of a method or algorithm described in connection with the arrangements disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other known form of storage medium. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in functional equipment such as, e.g., a computer, a robot, a user terminal, a mobile telephone or tablet, a car, or an IP camera. In the alternative, the processor and the storage medium may reside as discrete components in such functional equipment. Additionally or alternatively, at least one of the processor and / or the storage medium may reside in a cloudbased network such as, e.g., the Internet.

[0032] Configurations of the present teachings are directed to computer systems for accomplishing the methods discussed in the description herein, and to computer readable media containing programs for accomplishing these methods. The raw data and results can be stored for future retrieval and processing, printed, displayed, transferred to another computer,AB693 7 / 14and / or transferred elsewhere. Communications links can be wired or wireless, for example, using cellular communication systems, military communications systems, and satellite communications systems. Parts of the system can operate on a computer having a variable number of CPUs. Other alternative computer platforms can be used.

[0033] The present configuration is also directed to software / firmware / hardware for accomplishing the methods discussed herein, and computer readable media storing software for accomplishing these methods. The various modules described herein can be accomplished on the same CPU, or can be accomplished on different CPUs. In compliance with the statute, the present configuration has been described in language more or less specific as to structural and methodical features. It is to be understood, however, that the present configuration is not limited to the specific features shown and described, since the means herein disclosed comprise nonexclusive forms of putting the present configuration into effect.

[0034] Methods can be, in whole or in part, implemented electronically. Signals representing actions taken by elements of the system and other disclosed configurations can travel over at least one live communications network. Control and data information can be electronically executed and stored on at least one computer-readable medium. The system can be implemented to execute on at least one computer node in at least one live communications network. Common forms of at least one computer-readable medium can include, for example, but not be limited to, a floppy disk, a flexible disk, a hard disk, magnetic tape, or any other magnetic medium, a compact disk read only memory or any other optical medium, punched cards, paper tape, or any other physical medium with patterns of holes, a random access memory, a programmable read only memory, and erasable programmable read only memory (EPROM), a Flash EPROM, or any other memory chip or cartridge, or any other medium from which a computer can read. Further, the at least one computer readable medium can contain graphs in any form, subject to appropriate licenses where necessary, including, but not limited to, Graphic Interchange Format (GIF), Joint Photographic Experts Group (JPEG), Portable Network Graphics (PNG), Scalable Vector Graphics (SVG), and Tagged Image File Format (TIFF).

[0035] Various arrangements are described herein. For simplicity of explanation, the methods or algorithms are depicted and described as a series of steps or actions. It is to be understood and appreciated that the various arrangements are not limited by the actions illustrated and / or by the order of actions. For example, actions can occur in various orders and / or concurrently, and with other actions not presented or described herein. Furthermore, not all illustrated actions may be required to implement the methods. In addition, the methods could alternatively beAB693 8 / 14represented as a series of interrelated states via a state diagram or events. Additionally, the methods described hereafter are capable of being stored on an article of manufacture, as defined herein, to facilitate transporting and transferring such methodologies to computers.

[0036] The invention is a method of and system for dispensing that employs machine learning for assessing an amount of substance being introduced into a container and preventing overfilling. While the invention is described in terms of dispensing beer into a pint glass, the invention may be employed with any type of substance, not limited to powers and solids, and container, not limited to medicine bottles and IV bags.

[0037] Referring to Fig. 1, an embodiment of a system configured according to principles of the invention includes a dispenser 50 that is fixed relative to a base 55. Dispenser 50 is configured to dispense any form of substance, not limited to a liquid.

[0038] An arm 30 is rotatably mounted relative to base 55 about an axis 45. A drive 60 is fixed to one end 65 of arm 30. Drive 60 drives or rotates a beveled pinion or worm gear 70 that engages and drives a beveled crown gear 75 that is integral with or fixed relative to base 55. In operation, driving gear 70 causes arm 30 to rotate relative to axis 45 and describe an arc 80.

[0039] A holder 5 is fixed relative to arm 30. Holder 5 is constructed of a base 10 having a center (not shown) through which an axis 35 passes, and a plurality of slots 15 arranged around the center. Slots 15 receive and permit movement of generally parallel fingers 20. An embodiment of slots 15 includes an orientation of each that is not aligned with a radius or circle defined relative to the center. The orientation enables articulating fingers 20 through slots 15 so that they gradually approach the center for effecting a grip on an intended container, not limited to a glass G. Fingers 20 have grippers 25 constructed of a material, not limited to rubber, suited for gripping the container.

[0040] Referring to Fig. 2, alternatively, the articulating may be achieved by rotating a first plate 17 on which fingers 20 are mounted, each with a radially-oriented degree of freedom, relative to a second plate 16 containing slots 15 whereby surfaces in each slot 15 contact and urge fingers 20 inwardly to grip the container or outwardly to release the container. To this end, plate 17 may be mounted on or integral with a crown gear 19 driven by a pinion 21.

[0041] Alternatively, the articulating may be achieved by rotating second plate 16 relative to first plate 17.

[0042] A camera (not shown) takes images and / or video feed of the dispensing operation.

[0043] An embodiment of system 100 employs an infrared sensor (not shown) as a failsafe to make sure that container G is not overfilled should method 200, described below, fail. TheAB693 9 / 14infrared sensor may be disposed above container for detecting the level of substance S in container G as it is filled.

[0044] An embodiment of a method 200 configured according to principles of the invention includes a step 202 of recognizing that a container is positioned for filling. Once container G is placed, method 200 continues to a step 204 of taking an image of container G. An embodiment of method 200 includes a step 206 of defining a bounding box (not shown) relative to container G as an input to prompt and / or facilitate more ready segmentation by a segmenting package, not limited to SAM2 by Meta.

[0045] Method 200 then iteratively executes a step 208 of segmenting the image and / or bounding box and defining segments not limited to a container segment 210 (royal-colored line), a foam segment 212 (lime-colored line) for the foam that often forms upon dispensing carbonated beverages, and a liquid segment 214 (purple-colored line).

[0046] Referring to Figs. 2 and 3, method 200 includes a step 212 of tipping or orienting container G so that dispensed substance is disposed on a side of container G.

[0047] Method 200 then proceeds to a step 215 of dispensing a substance S into container G. Once dispensing has commenced, an embodiment of method 200 includes a step 216 of defining a fill level 218 based on foam segment 212. In this embodiment, although container G obviously is not full, the dispensing mechanics of step 215 disposes substance, hence defines foam segment 212, near the top of container G. Since this is not accurate, method 200 incorporates evaluating the scene in a way that is more realistic and more closely represents the fill state of container G.

[0048] To this end, the invention is based on the assumptions that gravity should pull all fluid to the base of container G and that substance S should assume the shape of container G. Accordingly, method 200 implements an algorithm that trims downwardly relative to gravity the top-line row-by-row until reaching a point where the substance S occupies, e.g. 60% of the container along the horizon or orthogonal plane relative to gravity. Practice has shown that the point is when container G is approximately 10% full.

[0049] Referring to Fig. 4, method 200 includes a step 220 of defining liquid segment 214 based on fill level 218. Fill line 218 rises, toward the top of Fig. 4 as shown, as substance S is dispensed in container G.

[0050] Referring to Figs. 5 and 6, method 200 includes a step 222 of righting or re-orienting container G toward a normal relative to gravity. An embodiment of method 200 performs step 222 during step 215, optionally after fill line 218 defines a “full” level. An embodiment of method 200 defines the full level as 90% of the capacity of container G. An embodiment of method 200AB693 10 / 14calculates and conditions terminating dispensing based on a distance between fill line 218 and the full level, which is positive while fill line is below the full level, zero when equal to the full level, and negative should the fill line exceed the full level, such as could happen if the foam continues to grow after dispensing terminates.

[0051] Because segmenting objects within a scene with minimal color differentiation, such as the pale yellow liquid and the slightly less pale yellow foam of some beers, an embodiment of method 200 includes a step 224 of converting the RGB image data obtained in step 204 into HSV data. An embodiment of method 200 includes adjusting or convolving the HSV data to better distinguish liquid and foam as detectable features.

[0052] While the principles of the invention have been described herein, the foregoing description is only an example and not a limitation on the scope of the invention. Other embodiments are contemplated within the scope of the present invention in addition to the exemplary embodiments shown and described herein. Modifications and substitutions by one of ordinary skill in the art are within the scope of the present invention. The invention is not limited to the particular embodiments described and depicted herein, rather only to the following claims.AB693 11 / 14

Claims

CLAIMSWE CLAIM:

1. Method of dispensing comprising: defining a fill line relative to a substance segment; determining a distance between the fill line and a level; if the distance less than or equal to an amount, then terminating introducing a substance into a container; else: initiating or maintaining said introducing; and returning to said determining.

2. Method of claim 1 further comprising defining the level relative to a container segment.

3. Method of claim 1 wherein the amount is 90% of a capacity of the container.

4. Method of claim 1 wherein said defining comprises determining where the substance segment occupies a second amount along a horizon within a container segment.

5. Method of claim 4 wherein the second amount is 60%.

6. Method of claim 1 wherein said defining comprises converting RGB data into HSV data and defining an input for said segmenting.

7. Method of claim 1 further comprising second determining a distance between the fill line and the level.

8. Method of claim 7 wherein said second determining comprises infrared detecting.

9. System for dispensing comprising a processor configured for executing the method of claim 1.AB693 12 / 1410. Apparatus for dispensing comprising a non-transient computer readable medium configured for storing instructions configured for executing the method of claim 1.

11. Apparatus for grasping an object comprising: a base having a center and a number of orthogonal slots; and a like number of fingers, each of said fingers being received in one of the slots; wherein: each of the slots defines a path that does not correspond with a radial direction from the center; and said fingers are movable relative to the slots for cooperatively grasping the object.

12. Apparatus of claim 11 wherein said fingers are mounted on a second base that is rotatable relative to said base.AB693 13 / 14

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