Dispensable unit retrieval mechanism

• US 10,106,283 B2
• Filed: 08/05/2015
• Issued: 10/23/2018
• Est. Priority Date: 08/05/2014
• Status: Active Grant

• Current Assignee: Hero Health, Inc. (Hero Health IP LLC)
• Original Assignee: Hero Health, Inc. (Hero Health IP LLC)
• Inventors: Akdogan, Kutadgu, Von Heifner, Christian, Kelley, Maya, Hagopian, Greggory Paul, Vepuri, Kalyan C.
• Primary Examiner(s): Rodriguez, Saul
• Assistant Examiner(s): Berry, Jr., Willie
• Application Number:
  US14/819,054
• Publication Number:
  US 20160039621A1
• Time in Patent Office: 1,175 Days
• Field of Search: 414627, 4147521, 700253, 700258, 700242
• CPC Class Codes: A61J 7/02 Pill counting devices
• CPC Class Codes: A61J 7/0481 working on a schedule basis
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 15/0683 Details of suction cup structure, e.g. grooves or ridges
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/026 Gantry-type
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B65B 35/06 Separating single articles from loose masses of articles
• CPC Class Codes: B65B 35/18 by suction-operated grippers
• CPC Class Codes: B65B 35/34 by agitators or vibrators
• CPC Class Codes: B65B 5/08 Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
• CPC Class Codes: B65B 57/14 and operating to control, or stop, the feed of articles or material to be packaged
• CPC Class Codes: B65B 57/20 Applications of counting devices for controlling the feed of articles other applications B65B65/08
• CPC Class Codes: B65G 2201/047 Articles manipulated as bulk
• CPC Class Codes: B65G 47/912 provided with drive systems with rectilinear movements only
• CPC Class Codes: B65G 65/36 Devices for emptying from the top
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G07F 11/165 using xyz-picker or multi-dimensional article picking arrangements
• CPC Class Codes: G07F 11/1657 the picking arrangements using suction
• CPC Class Codes: G07F 17/0092 for assembling and dispensing of pharmaceutical articles medical dispensers for private use, A61J7/00
• CPC Class Codes: G16H 20/13 : delivered from dispensers
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

A system enables management of dispensable units by supporting functions such as retrieval, scheduled distribution, analysis, and notifications. To this end, a dispensable retrieval mechanism may be programmed to carry out blind retrievals of dispensable units using a retrieval strategy with a predetermined sequence of retrieval attempts (e.g., fixed or varying two-dimensional retrieval patterns), which may be open loop or closed loop. Techniques may also include the identification of dispensable units through optical sensors and weight measurement devices that can detect, e.g., a texture, a shape, and a size of dispensable units. Such identification can be used to program retrieval attempts by a retrieval robot and in the formulation of the retrieval pattern. Additionally, networked notification systems for dispensable units can be used for updating rules or schedules related to the dispensable units, or alerting users and remote resources of any potential misuse or hazards of the dispensable units.

Claims

1. A device comprising:

a container;

a tube having a first end and a second end coupled in fluid communication by a hollow core;

a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions;

a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container;

a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container; and

an agitator engaged with the first end of the tube that converts an axial force created by a vertical movement of the tube into a horizontal force parallel to the first horizontal plane for agitation of dispensable units.

2. The device of claim 1 further comprising a valve disposed between the nib and the vacuum device, the valve operable to controllably apply the vacuum force from the vacuum source through the hollow core to the nib.

3. The device of claim 2 wherein the controller is coupled in a communicating relationship with the valve for adjusting the vacuum force at the nib.

4. The device of claim 1 wherein the agitator includes an angled surface configured to displace dispensable units when the nib attempts the blind retrieval.

5. The device of claim 1 wherein a target position of the nib in the first horizontal plane for a retrieval attempt is selected by the controller based on one or more of:

a number of retrieval attempts in the two-dimensional retrieval pattern, an order of retrieval attempts, a separation distance between retrieval attempts, a time between retrieval attempts, a speed of axial movement of the nib, a trajectory of movement of the nib, a retreat margin of the nib, a speed of retreating of the nib, a speed of approaching dispensable units from a predetermined distance, an acceleration while positioning the nib, a speed of horizontal movement of the nib, power supplied to the positioner, power supplied to the vacuum device, a pulse width modulation (PWM) frequency and duty cycle for a powered component, a property or state of a valve, a rigidity of the tube, a gear ratio of the positioner, a shape of the tube or a component thereof, and a retrieval angle of the nib.

6. The device of claim 1 wherein the two-dimensional retrieval pattern is determined based on one or more of:

a rate of successful retrieval of dispensable units, a time to retrieve one dispensable unit, a time to retrieve a predetermined number of dispensable units, a noise level, a rate of unsuccessful retrievals, a vibration, manual user feedback, and a pattern category.

7. The device of claim 1 wherein the container includes a contoured bottom surface including at least one sloped portion.

8. A device comprising:

a container;

a tube having a first end and a second end coupled in fluid communication by a hollow core;

a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions;

a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; and

a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container, wherein the nib includes a plurality of bellows that permit the seal of the nib to move relative to the tube as the positioner moves the tube vertically into the container, thereby maintaining a predetermined range of contact forces as the seal of the perimeter contacts contents of the container.

9. A device comprising:

a container;

a tube having a first end and a second end coupled in fluid communication by a hollow core;

a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions;

a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container;

a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container; and

a biasing element movably coupling an indicating element to the tube and biasing the indicating element in a direction with a predetermined biasing force, the indicating element engaged with the nib such that the indicating element moves relative to the tube when a contact force applied to the nib is greater than the predetermined biasing force on the indicating element, wherein the controller is configured to infer contact of the nib with contents of the container upon detecting a movement of the indicating element relative to the tube.

10. The device of claim 9 further comprising a sensor configured to detect movement of the indicating element relative to the tube and to send a signal to the controller when the movement is detected.

11. The device of claim 10 wherein the sensor includes an optical-interrupter sensor.

12. The device of claim 10 wherein the controller is configured to halt or reverse axial movement of the nib within the container when the signal is received.

13. The device of claim 9 further comprising a memory for storing an axial position of the nib where the movement of the indicating element relative to the tube is detected, wherein the controller is configured to position the nib for a retrieval attempt in the two-dimensional retrieval pattern at a predetermined height relative to this axial position.

14. A device comprising:

a container;

a tube having a first end and a second end coupled in fluid communication by a hollow core;

a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions;

a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; and

a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container, wherein the two-dimensional retrieval pattern is determined based on feedback including information related to a previous retrieval attempt.

15. A device comprising:

a container;

a tube having a first end and a second end coupled in fluid communication by a hollow core;

a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions;

a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container; and

a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container,

wherein the two-dimensional retrieval pattern includes offsetting a position of the nib within the first horizontal plane by a distance greater than half of a cross-sectional width of the nib.

16. A device comprising:

a container;

a tube having a first end and a second end coupled in fluid communication by a hollow core;

a nib disposed on the first end of the tube, the nib including an opening with a perimeter and a seal around the perimeter formed of a pliable material shaped and sized to engage and form a vacuum seal with an object having a predetermined range of dimensions;

a vacuum device having a vacuum source connected in fluid communication with the second end of the tube, the vacuum source configured to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and configured to move the nib with at least two degrees of translational freedom within the container;

a controller coupled in a communicating relationship with the positioner, the controller configured to operate the nib to attempt a blind retrieval of a number of dispensable units within the container using a sequence of retrieval attempts each applying a different two-dimensional retrieval pattern within a first horizontal plane through the container; and

a carousel with a plurality of containers including the container, the carousel rotatable to position one of the plurality of containers for engagement with the nib.

17. The device of claim 16 wherein rotation of the carousel provides a third degree of freedom for positioning the nib relative to the container.