# US 9,333,646 B2 · 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 9,333,646 B2 - Document ID: US9333646B2 - Status: Granted - Kind: B2 - Application number: 14/474,854 - Filed: 2014-09-02 - Published: 2015-05-14 - Granted: 2016-05-10 - Earliest claimed: 2009-11-25 - Assignees: Fastcorp 3, LLC - Applicants: Fastcorp 3, LLC - Inventors: Jeff Boyer; Joseph Todd Piatnik; Fernando A. Ubidia; Aaron M. Stein; John F. Lewis - Web page: https://patentgrep.com/patent/US9333646B2 ## 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; wherein the product holding device includes a vacuum picker head assembly; 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 wherein the sensor is operable to detect a height position of the product in the storage area. ### Claim 10 (depends on 9) The product delivery system as claimed in claim 9 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.