Dispensable unit retrieval mechanism

• US 10,633,135 B2
• Filed: 09/20/2018
• Issued: 04/28/2020
• 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:
  US16/137,265
• Publication Number:
  US 20190023438A1
• Time in Patent Office: 586 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 portion and a second end portion coupled in fluid communication by a hollow core;

a nib disposed on the first end portion of the tube, the nib defining an opening in fluid communication with the hollow core;

a carousel including the container, the carousel rotatable to position the container for engagement with the nib;

a vacuum source in fluid communication with the tube, the vacuum source controllable to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and movable within the container to move the nib; and

a controller in communication with the positioner, the controller configured to move the positioner within the container according to a sequence of retrieval attempts, each retrieval attempt offsetting a position of the nib within a horizontal plane by a distance greater than half of a cross-sectional width of the nib.

2. The device of claim 1, wherein the nib includes a perimeter formed of a pliable material.

3. The device of claim 1, wherein the positioner is movable with at least two degrees of translational freedom within the container to move the nib.

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

5. The device of claim 4, wherein the controller is coupled in a communicating relationship with the valve for adjusting the vacuum force at the nib.

6. The device of claim 1, wherein the nib includes a plurality of bellows flexible to permit the opening defined by the nib to move relative to the tube as the positioner moves the tube vertically into the container.

7. The device of claim 1, wherein a respective target position of the nib in the horizontal plane for at least one retrieval attempt in the sequence of retrieval attempts is selected by the controller based on one or more of:

a number of retrieval attempts, 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 source, 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, or a retrieval angle of the nib.

8. The device of claim 1, wherein each retrieval attempt is associated with a two-dimensional retrieval pattern 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.

9. The device of claim 1, wherein rotation of the carousel provides a third degree of freedom for positioning the nib relative to the container.

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

11. A device comprising:

a container;

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

a nib disposed on the first end portion of the tube, the nib defining an opening in fluid communication with the hollow core;

a vacuum source in fluid communication with the tube, the vacuum source controllable to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and movable within the container to move the nib;

a controller in communication with the positioner, the controller configured to move the positioner within the container according to a sequence of retrieval attempts, each retrieval attempt offsetting a position of the nib within a horizontal plane by a distance greater than half of a cross-sectional width of the nib; and

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

12. The device of claim 11, wherein the agitator includes an angled surface positionable to displace dispensable units in the container when the nib is moved within the container.

13. A device comprising:

a container;

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

a nib disposed on the first end portion of the tube, the nib defining an opening in fluid communication with the hollow core;

a vacuum source in fluid communication with the tube, the vacuum source controllable to apply a vacuum force through the hollow core to the nib;

a positioner coupled to the tube and movable within the container to move the nib; and

a controller in communication with the positioner, the controller configured to move the positioner within the container according to a sequence of retrieval attempts, each retrieval attempt offsetting a position of the nib within a horizontal plane by a distance greater than half of a cross-sectional width of the nib, wherein each retrieval attempt is associated with a two-dimensional retrieval pattern based on feedback including information related to a previous retrieval attempt.

14. A method comprising:

selectively applying a vacuum force to a hollow core defined by a tube, the hollow core in fluid communication with an opening defined by a nib disposed along an end portion of the tube and within a container of dispensable units;

moving the opening within the container according to a sequence of retrieval attempts of the dispensable units, each retrieval attempt associated with a different two-dimensional pattern within a horizontal plane through the container; and

for each retrieval attempt, offsetting a position of the opening within the horizontal plane by a distance greater than half of a cross-sectional width of the opening.

15. The method of claim 14, wherein selectively applying the vacuum force to the hollow core includes selectively activating a valve disposed between a vacuum source and the hollow core.

16. The method of claim 14, wherein moving the opening within the container includes rotating the container relative to the opening.

17. The method of claim 14, wherein the opening is moved within the container along at least two degrees of translational freedom.

18. The method of claim 14, wherein a respective target position of the opening in the horizontal plane for at least one retrieval attempt in the sequence of retrieval attempts is based on a retreat margin of the nib.

19. The method of claim 14, wherein a respective target position of the opening in the horizontal plane for at least one retrieval attempt in the sequence of retrieval attempts is based on one or more of:

a number of retrieval attempts, 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 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, 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 shape of the tube or a component thereof, or a retrieval angle of the nib.