# US 2011/0264259 A1 · Control system for and method of controlling product delivery systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2011/0264259 A1 - Document ID: US20110264259A1 - Status: Published application - Kind: A1 - Application number: 12/954,823 - Filed: 2010-11-26 - Published: 2011-10-27 - Earliest claimed: 2009-11-25 - Assignees: Fastcorp 3, LLC - Inventors: Jeff Boyer; Joseph Todd Piatnik; Fernando A. Ubidia; Aaron M. Stein; John F. Lewis - Web page: https://patentgrep.com/patent/US20110264259A1 ## CPC - B25J 9/16: Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) - G07F 11/1657: {the picking arrangements using suction} - B25J 9/042: {comprising an articulated arm} - B25J 9/044: {with forearm providing vertical linear movement} - B25J 9/1692: {Calibration of manipulator} - B25J 15/0616: {with vacuum} - B65G 1/04: mechanical - G07F 9/026: {for alarm, monitoring and auditing in vending machines or means for indication, e.g. when empty} - G07F 11/10: two or more magazines having a common delivery chute - G07F 11/165: {using xyz-picker or multi-dimensional article picking arrangements} - G07F 11/24: Rotary or oscillatory members - G05B 2219/39048: Closed loop kinematic self calibration, grip part of robot with hand - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G07F: COIN-FREED OR LIKE APPARATUS (coin sorting G07D3/00; coin testing G07D5/00; {handling coins or paper currencies apart from payment activated apparatus G07D; payment architectures, schemes or protocols G06Q20/00}) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A control system for and methods of controlling a product delivery system are provided. ## Claims ### Claim 1 A product delivery system for delivering product from a storage area to a dispensing area, the product delivery system comprising: a product holding device for selective coupling with the product; a robotic arm positioning structure coupled to the product holding device for moving the product holding device; and a control system for controlling the product holding device and the positioning structure; wherein the control system monitors whether the product holding device has coupled to a product and when a product has been released; wherein the control system comprises a closed loop feedback monitoring feature for rotational orientation of the positioning structure to provide precise rotational orientation positioning of the positioning structure; and wherein the control system includes a data log for recording the precise rotational orientation positioning of the positioning structure when a product is unintentionally released. ### Claim 2 (depends on 1) The product delivery system as claimed in claim 1 wherein said product holding device includes a self-contained motor driven rotary vacuum generating assembly, and wherein said product holding device is elongated and compact for precise selective picking up of the product from within a bin in which the product is located. ### Claim 3 (depends on 2) The product delivery system as claimed in claim 2 wherein said control system monitors an electrical current draw of the vacuum generating assembly to determine when the product holding device has coupled to a product and when a product has been released. ### Claim 4 (depends on 1) The product delivery system as claimed in claim 1 wherein the control system increases or decreases the power delivered to a drive system of each of multiple arm segments and/or a motor driven reel of said robotic arm positioning structure in a coordinated manner and in conjunction with monitoring of the rotational motion of each arm segment to reduce vend cycle time and maximize vend success. ### Claim 5 (depends on 1) The product delivery system as claimed in claim 1 wherein the control system utilizes the monitoring of current draw of the product holding device and/or the monitoring of the rotational motion of each of multiple arm segments of the said robotic arm positioning structure to aid in calibrating, programming and/or re-programming the control system. ### Claim 6 (depends on 5) The product delivery system as claimed in claim 5 wherein said programming includes programming of custom product pick up locations. ### Claim 7 A method of delivering a product from a storage area to a dispensing area comprising: providing a product holding device, the product holding device being elongated and compact for precise selective picking of the product; providing a self-contained motor driven rotary vacuum generator carried by the product holding device; utilizing the product holding device on a robotic arm positioning system to transport the product; and recording in a data log the precise rotational orientation positioning of the positioning structure when a product is unintentionally released. ### Claim 8 A vending machine for dispensing a product to a consumer, the vending machine having a storage area and a dispensing area, the vending machine comprising: a product holding device for coupling with the product to move the product from the storage area to the dispensing area, the product holding device having a self-contained motor driven rotary vacuum generating assembly attached thereto, and the product holding device being elongated and compact for precise selective picking of the product; a robotic arm positioning structure coupled to the product holding device for moving the product holding device; and a control system that includes a data log for recording the precise rotational orientation positioning of the positioning structure when a product is unintentionally released. ### Claim 9 A product delivery system for delivering product from a storage area to a dispensing area, the product delivery system comprising: a product holding device for selective coupling with the product; a robotic arm positioning structure coupled to the product holding device for moving the product holding device; and a control system for controlling the product holding device and the positioning structure; wherein the control system utilizes monitoring of current draw of the product holding device and/or the monitoring of the rotational motion of each of multiple arm segments of the said robotic arm positioning structure to aid in calibrating, programming and/or re-programming the control system. ### Claim 10 (depends on 9) The product delivery system as claimed in claim 9 wherein said programming includes programming of custom product pick up locations. ### Claim 11 (depends on 9) The product delivery system as claimed in claim 9 wherein said control system is calibrated by positioning the robotic arm positioning structure at a calibration point and recording the numerical data for each encoder associated with components of said robotic arm positioning structure at that location and assigning those numerical values as zero values in a storage location accessible by the control system for later usage by the control system. ### Claim 12 A product delivery system for delivering product from a storage area to a dispensing area, the product delivery system comprising: a product holding device for selective coupling with the product; a robotic arm positioning structure coupled to the product holding device for moving the product holding device; a control system for controlling the product holding device and the positioning structure; and a sensor for retro-reflective energy attached to said product holding device. ### Claim 13 (depends on 12) The product delivery system as claimed in claim 12 wherein said control system moves the product holding device directly above each of multiple pre-programmed bin locations at a predetermined height above such locations and activates said retro-reflective sensor to measure a height of product in each bin.