Abstract:
A suspended automation system includes a rail array secured to a ceiling. A gantry moves in an X-Y plane defined by the rail array with a drive mechanism. A controller with a human user interface allows for selective movement of the gantry to transport, and in some instances store or manipulate articles. A motorized rotating platform and one or more of a robotic arm, a camera, or a counter-balance are added to the platform to facilitate storage and manipulation, as well as actions in the area below the ceiling. A rail array in some embodiments is equipped with storage modules located above the rail array, the storage modules can take a variety of shapes and sizes for storage of an article. A related process of article movement and actions can be accomplished by the suspended automation system. Still another related process is overhead storage and selectively delivery of an article.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims priority benefit of U.S. Provisional Application Ser. No. 62/083,176 filed 22 Nov. 2014; and priority benefit of U.S. Provisional Application Ser. No. 62/102,453 filed 12 Jan. 2015; and priority benefit of U.S. Provisional Application Ser. No. 62/127,141 filed 2 Mar. 2015; the contents of which are hereby incorporated by reference. 
     
    
     FIELD OF THE INVENTION 
       [0002]    The present invention in general relates to an automated system and in particular for a ceiling mounted interior space automated construction, maintenance, storage, logistics, or production system configured with robotic arms. 
       BACKGROUND OF THE INVENTION 
       [0003]    Moving typical wheeled, tracked or legged robots around the interior of buildings and from room to room in order to perform household tasks such as setting tables, clearing dishes, washing dishes, putting away dishes, dusting, vacuuming, collecting clothing, washing clothing, cooking, painting, sanding, general maintenance, etc. requires that the robots to be capable of moving around on the floor which may have many obstacles such as thresholds, carpets, steps, stairs, toys, rugs, people, pets, tables, chairs, furniture, etc. that could interfere with the robot&#39;s ability to navigate the space. There is also a problem with current robotic systems of not being able to reach above, over and around lamps, furniture, etc. as well as accessing the ceiling. In addition, there is no method for robots to easily transport bins, trays, vacuum systems, washing systems, etc. from room to room in a building while simultaneously performing the aforementioned tasks. There is no current means to provide power to home robotic systems without the use of on-board batteries or cords/tethers. There is currently no solution for ceiling mounted automation systems to move robots from room to room due to the header above doorways. 
         [0004]    Additionally, as population densities increase globally, living spaces are expects to shrink. Much of the required space in a living setting is devoted to storage of articles. The ability to access articles and appliances without having devoted floor space for such storage would greatly facilitate shrinking personal living space. 
         [0005]    Thus, there exists a need for an improved robotic automation systems for covered and interior spaces. There also exists a need for such a system to store, retrieve and manipulate articles in the interior space without devoted floor space usage. 
       SUMMARY OF THE INVENTION 
       [0006]    A suspended automation system includes a rail array secured to a ceiling. A gantry moves in an X-Y plane defined by the rail array with a drive mechanism. A controller with a human user interface allows for selective movement of the gantry to transport, and in some instances store or manipulate articles. A human user interface can be a display, touch screen tablet, auditory, smart phone, or a joystick. 
         [0007]    A motorized rotating platform and one or more multiple degree of freedom robotic arms, one or more cameras, or one or more motorized counter-balances are added to the platform to facilitate storage and manipulation, as well as actions with the area below the ceiling. A rail array in some embodiments is equipped with storage modules located above the rail array, the storage modules can take a variety of shapes and sizes for storage of an article. The article is lowered and transported from by the storage module by the gantry to the platform. 
         [0008]    A related process is also provided that includes actions and article transport. Construction of walls or objects under the ceiling, painting, cleaning, and food preparation are some of the tasks that can be accomplished by the suspended automation system. Still another related process is overhead storage and selectively delivery of an article. The article is amenable to manipulation in transit to a user selected delivery point through the actions of one or robotic arms, equipped with variable tools. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0009]    The present invention is further detailed with respect to the following figures that depict various aspects of the present invention. 
           [0010]      FIG. 1  illustrates a wire supported X-Y-Z gantry system in accordance with embodiments of the invention; 
           [0011]      FIG. 2  illustrate the wire supported X-Y-Z gantry system of  FIG. 1  mounted in a room or a walled enclosure in accordance with embodiments of the invention; 
           [0012]      FIGS. 3A-3C  illustrate a series of perspective views of motorized robotic modules for use with the X-Y-Z gantry system of  FIG. 1  in accordance with embodiments of the invention; 
           [0013]      FIG. 4A  illustrates a perspective view of the wire supported X-Y-Z gantry system of  FIG. 1  outfitted with a motorized robotic module in accordance with embodiments of the invention; 
           [0014]      FIG. 4B  illustrates a perspective view of the wire supported X-Y-Z gantry system of  FIG. 1  outfitted with a motorized robotic module with additional platforms suspended from the motorized robotic module from the auxiliary rails in accordance with embodiments of the invention; 
           [0015]      FIG. 5  illustrates the wire supported X-Y-Z gantry system configured with the additional platforms of  FIG. 4B  mounted in a room or a walled enclosure in accordance with embodiments of the invention; 
           [0016]      FIG. 6  illustrates adjoining rooms or enclosures with separate X-Y-Z gantry systems in accordance with embodiments of the invention; 
           [0017]      FIG. 7  illustrates the transfer between the adjoined rooms of  FIG. 6  with the alignment of the extension rails in accordance with embodiments of the invention; 
           [0018]      FIG. 8  is a perspective view of the supported platforms and the alignment of the extension rails for transfer of the motorized robotic module in accordance with embodiments of the invention; 
           [0019]      FIGS. 9A-9C  illustrate the progress of the transferring of the motorized robotic module between wire supported X-Y-Z gantry systems of adjoining rooms or enclosures in accordance with embodiments of the invention; 
           [0020]      FIGS. 10A and 10B  illustrate a ceiling mounted X-Y rail systems in a room or enclosure in accordance with embodiments of the invention, with a magnified view thereof illustrated in  FIG. 10B ; 
           [0021]      FIGS. 11A and 11B  are sequential side views of a gantry engaged in the X-Y rail system in accordance with embodiments of the invention in translating in the plane of the page 
           [0022]    ( FIG. 11A ) and orthogonal to the plane of the page after one rail of in-plane translation ( FIG. 11B ); 
           [0023]      FIG. 12  is a perspective view of platforms A, B, and C with the four drive wheel modules and four lift bars shown on the upper surface of a gantry in accordance with embodiments of the invention; 
           [0024]      FIG. 13  is a side cut away view of a gantry showing the actuator motor for turning the drive wheel modules and the motorized winches that drive the cables up and down in accordance with embodiments of the invention; 
           [0025]      FIGS. 14A-14C  are a detail views of the actuator motor and gear train for turning the drive wheel modules in accordance with embodiments of the invention; 
           [0026]      FIG. 15  is a perspective view of the lift bar show the gears, cam and rollers that drive the up and down and turning action of the lift bars in accordance with embodiments of the invention; 
           [0027]      FIGS. 16A-16I  are a series of sequential side views showing the X-Y rail and the actions of the lift bar and drive wheel module in accordance with embodiments of the invention; 
           [0028]      FIGS. 17A and 17B  illustrate a ceiling mounted X-Y rail systems in a room or enclosure in accordance with embodiments of the invention, with the magnified view of  FIG. 17B  showing platform C supporting one or more multiple degree of freedom (DOF) robotic arms, one or more cameras, and counter balance in accordance with embodiments of the invention; 
           [0029]      FIG. 18  is a perspective of a round version of a gantry with drive wheel modules and lift bars balance in accordance with embodiments of the invention; 
           [0030]      FIGS. 19A and 19B  are sequential side views of a gantry of  FIG. 18  engaged in the X-Y rail system in accordance with embodiments of the invention in translating in the plane of the page ( FIG. 19A ) and orthogonal to the plane of the page after one rail of in-plane translation ( FIG. 19B ); 
           [0031]      FIGS. 20A and 20B  are perspective views of a platform showing the camera, counter-balance arm extended and tools with the arms shown retracted and extended, respectively in accordance with embodiments of the invention; 
           [0032]      FIG. 21  is a perspective view of a ceiling storage modules; 
           [0033]      FIGS. 22A and 22B  are perspective views of a platform of  FIG. 20A  suspended below the ceiling units of  FIG. 21  with a storage module insert resting on the platform to provide access to the storage unit volume,  FIG. 22B  is a magnified view of platform drive wheels relative to the rail defining a storage module of  FIG. 22A ; 
           [0034]      FIGS. 23A-23E  are views of a storage unit as shown in  FIG. 21  as a perspective view ( FIG. 23A ), a side view ( FIG. 23B ), a perspective view of the unit frame ( FIG. 23C ), a side view of the unit frame ( FIG. 23D ) and a bottom view of the unit frame ( FIG. 23E ); 
           [0035]      FIGS. 24A and 24B  are a side view of the wheels of a platform relative to a storage unit ( FIG. 24A ) and a front view of the wheels of a platform relative to a storage unit ( FIG. 24B ); 
           [0036]      FIG. 25  is a wide front view of the of the wheels of a platform relative to a storage unit with portions of the platform extended below the storage unit; 
           [0037]      FIGS. 26A-26C  are a series of sequential views of the wheel module of a platform below cosmetic panel/storage platform/module ( FIG. 26A ), the platform raised by cables to contact the cosmetic panel/storage platform/module ( FIG. 26B ), and in lift bar lift bar rotated to unlatch Latch ( FIG. 26C ); 
           [0038]      FIG. 27  is a side view of ceiling storage module with platforms B/C suspended from the cables; 
           [0039]      FIGS. 28A and 28B  are perspective views of the system of storage modules and platforms shown in  FIG. 27  ( FIG. 28A ) and a magnified view of the platform and wheel module ( FIG. 28B ); 
           [0040]      FIG. 29  is a perspective views of the system of storage modules and platforms shown in  FIG. 27  with arms, cameras, and counterbalances associated with the platform; 
           [0041]      FIGS. 30A-30C  are a perspective view of a cosmetic panel with an opening to accommodate module C ( FIG. 30A ), a perspective view of module C with a bottom opening to accommodate internal elevation ( FIG. 30B ) and a bottom view of module C with a bottom opening ( FIG. 30C ). 
       
    
    
     DESCRIPTION OF THE INVENTION 
       [0042]    The present invention has utility as a ceiling mounted automated construction, maintenance, storage, warehousing logistics, or production system for a covered or interior space configured with robotic arms. The ceiling defining a portion of an interior room or a trellis that is either indoors or outdoors. Through resort to innovative support systems including an overhead gantry system, cables, or an X-Y rail grid, a suspended platform is traversed throughout the system area. 
         [0043]    Referring now to the figures, in a first inventive embodiment, an over-head X-Y-Z gantry system  10  is shown in  FIG. 1  as a wire  12  supported gantry  14 . The wires  12  are attached on opposing sides to slides  16  that ride on side rails  18 . As indicated by the bidirectional arrows, the gantry cars  14  move from side to side along the support wires  12 , and back and forth from front to back via the slides  16 , thereby providing a full set of movement in the x-y plane. Power may be supplied to the gantry cars  14  through the support wire  12 . Gantry  14  may be used to support almost any electronic equipment; illustratively including lights, stereo components, speakers, smoke detectors, security systems, laser systems, modems, routers, computers, and combinations thereof. 
         [0044]      FIG. 2  illustrates a room or enclosure  22  outfitted with the X-Y-Z gantry system  10  that carries a rotating platform capable to reach most any point in the volume of the room—wall to wall and floor to ceiling where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawing. Extension rails  20  on the gantry cars  14  extend out to mate with corresponding rails on other gantry  14  in other rooms. The extension rails  20  are mounted to a swivel plate  19  that provides for a complete rotation of the extension rails  20  and anything attached to the extension rails  20 . A controller  21  includes a computer system provides a human user interface  23  that is a display, touch screen tablet, auditory, smart phone, or a joystick receives user input as to the desired articles from storage, the location of delivery and the scheduling of delivery. The controller  21  then instructs the movement of the gantry system  10  to retrieve or store articles. The controller  21  also provides manipulation instructions to the robotic module  24  as to desired actions. Exemplary actions include room construction, painting, sweeping the floor, and cleaning the room. Each robotic arm contains an interface at the distal end for a variety of interchangeable motorized tools (graspers, hands, drills, suction cups, etc.). Each arm supplies electrical power to the various tools. Sensors are routinely associated with a robotic arm, as is conventional to the art, to provide telemetry, grasp strength, and article manipulation feedback data to a controller  21  or a human user of the controller  21  via the human interface  23 . 
         [0045]      FIGS. 3A-3C  illustrate motorized robotic modules  24  that ride and travel on the extension rails  20  from one room to the other (after corresponding gantry cars have been aligned with extension rails extended). The robotic module  24  are equipped with inline wheels  26  that ride on the extension rails  20 , as well as one or more manipulating arms  28  with terminations  30  designed to accommodate various grabbing attachments and tools. The manipulating arms  28  typically have a shoulder, elbow, and wrist to provide a wide range of motion with interchangeable hands, grippers, and tools. The robotic module  24  folds to minimize volume, and is capable of being remotely controlled by human or computer based operators. In specific embodiments the robotic module  24  may be configured with an auxiliary set of rails  32  to support a second robotic module or platform below the first robotic module (extendable to other platforms or modules). Robotic modules  24  may additionally contain; one or more cameras, vacuum cleaner systems, dishwashing systems, floor washing systems, carpet cleaning systems, toilet cleaning systems, dusting systems, painting systems, maintenance systems, construction systems, tool kits, baskets, trays, bins, etc. Embodiments of the robotic modules  24  configured with a vacuum cleaning system may include related tools and equipment illustratively including filters, collection bins, one or more retractable hoses, attachments (nozzles, motorized brushes, etc.). Embodiments of the robotic modules  24  configured with dish cleaning capabilities may include features such as a water collector from faucet (supply), a water heater, a water pressurizer and sensor, an air compressor, a retractable hose (one or more), tools (brushes, nozzles, etc.), and a wet vacuum. Embodiments of the robotic modules  24  configured with wet cleaning system (for floors, bathrooms, carpets, etc.) may include a water collector from faucet (supply), a water heater, a water pressurizer and sensor, an air compressor, a retractable hose (one or more), tools (brushes, nozzles, etc.), and a wet vacuum. Embodiments of the robotic modules  24  configured with a painting system may include a paint supply, airbrush, airless delivery, paint rollers, and paint related tools. Embodiments of the robotic modules  24  configured with a maintenance system may include hand tools, as well as, motorized tools that illustratively include drills sanders, and caulking guns. The robotic modules  24  may include a collection/delivery bin or tray that illustratively includes uses for dishes, toys, laundry, etc. 
         [0046]    Construction applications of the robotic modules  24  may include floor laying and tile installation grouting, concrete laying, etc. 
         [0047]    The aforementioned modular embodiments may transfer from room to room by moving along the rails (to be described in greater detail below). Modules  24  may also move from room to room by moving along the rail sets located on other modules  24 . Multiple modules  24  may hang from each other under the lower platform portion of the gantry car  14 , and module  24  may be transported from room to room by association with the module directly supported by the gantry car. 
         [0048]    Translation drive options to move the gantry cars  14  and robotic modules  24  include the use of cables, linear motors, rack and pinion, screw drives, and drive wheels 
         [0049]      FIG. 4A  illustrates a perspective view of the wire supported X-Y-Z gantry system  10  of  FIG. 1  outfitted with a motorized robotic module  24  where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings.  FIG. 4B  illustrates a perspective view of the wire supported X-Y-Z gantry system  10  outfitted with a motorized robotic module  24  with additional platforms  34  suspended from the motorized robotic module  24  from the auxiliary rails  32  where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings.  FIG. 5  illustrates the wire supported X-Y-Z gantry system  10  configured with the additional platforms  34  of  FIG. 4B  mounted in a room or a walled enclosure  22  where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings. 
         [0050]      FIG. 6  illustrates adjoining rooms or enclosures ( 22 A,  22 B) with separate X-Y-Z gantry systems ( 10 A,  10 B) where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings.  FIG. 7  illustrates the transfer of motorized robotic module  24  between the adjoined rooms ( 22 A,  22 B) of  FIG. 6  with the alignment of the extension rails  20  where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings.  FIG. 8  is a perspective view of the gantry cars ( 14 A,  14 B) and the alignment of the extension rails  20  for transfer of the motorized robotic module  24  where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings.  FIGS. 9A-9C  illustrate the progress of the transferring of the motorized robotic module  24  between wire supported X-Y-Z gantry systems ( 10 A,  10 B) of adjoining rooms or enclosures ( 22 A,  22 B) via the alignment of the extension rails  20  of gantry cars ( 14 A,  14 B) where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings. It is noted that in a specific inventive embodiment, instead of the rails  20  extending to enable robotic modules  24  to pass from one gantry system to the next, the robotic modules  24  could be capable of bridging the gap themselves. 
         [0051]      FIGS. 10A, 10B, 11A, 11B, and 12  illustrate a ceiling mounted X-Y rail system  40  in a room or enclosure  22  is provided which support a motorized gantry  42  which translates on the X-Y rails  40  where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings. The X-Y rails  40  supply electrical power to gantry  42 . Gantry  42  contains three or more motorized lifts  46  (see  FIG. 13 ) that drive cables  44  which support, raise, lower and tilt a platform B  48 . It is appreciated that differential winch operation causes a suspended platform to tilt, an orientation that can promote loading and unloading thereof. Gantry  42  also contains four drive wheel modules  50  and four lifts  52  which work in concert to move gantry in X-Y directions on the X-Y rails  40 . Gantry  42  supplies electrical power to platform B  48 . Platform B  48  supports a motorized rotating platform C  54 . Platform B  48  supplies electrical power to platform C  54 . Platform C  54  supports one or more multiple degree of freedom (DOF) robotic arms  56  (see  FIGS. 17B and 20B ), one or more cameras  58 , and may support one or more motorized counter-balance systems  60 . Platform C  54  supplies electrical power to the arms  56 , cameras  58 , and counter-balance system  60 . Each arm  56  contains an interface  62  at the distal end for interchangeable motorized tools (graspers, hands, drills, suction cups, etc.). Each arm supplies electrical power to the various tools. The arms, cameras and/or counter-balances may be attachable and detachable (automatically or manually) from a platform. A docking system between the arms, cameras and/or counter-balances; and platform enables manual or automatic mechanical attachment, and electrical. In a preferred embodiment, standard electrical/mechanical interfaces therebetween are provided so that various components from various manufacturers can be installed and function in the present invention. 
         [0052]    In order to reduce the weight and volume of platform C  54 , the counter-balance system(s)  60  may have various sized detachable weights which may be stored in a location separate from the rail system  40  or other platforms. Different weights may be used for different tasks. The weights have a common interface to the counter-balance system  60  for automatic change. 
         [0053]    The cameras  58  may be mounted on motorized pan-tilt mechanisms with zoom capability. The arms  56  fold up for compact storage and can be tele-operated. Any of the platforms A, B, or C may contain batteries. The volume above and between the X-Y Rails may be used to contain other components: storage modules  69 , lights, cameras, speakers, audio and video components, displays, smoke detectors, sensors, electronic equipment, dishwashers, vacuum cleaners, air purifying systems, air heating and cooling systems, charging stations, or a combination thereof. 
         [0054]      FIG. 11A  is a side view of the rail system positioned as shown in  FIG. 10B . With a linear translation in the plane of the page by one rail and a right angle rotation of the wheel modules  50 , the gantry  42  is positioned to translate orthogonal to the plane of the page in  FIG. 11B . The gantry  42  is shown for clarity detached from the rail grid  40  in  FIG. 12 . 
         [0055]      FIGS. 13, 14A-14C, 15, and 16A-16I  illustrate the lifting and drive mechanisms for translating the four drive wheel modules  50 , and lifting-rotating the modules  50  to affect navigation throughout the X-Y rails  40  where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings. The four drive wheel modules  50  are powered by an electric motor  66  providing drive power through a gear train  68 . The electric motors are energized through line power, battery supplied electricity, or a renewable energy source in electrical communication therewith. The lift shown generally at  46  has rotational, lateral translational and vertical translational degrees of freedom imparted by gearing shown generally at  67  including worm gears, screw gears. It is appreciated that mechanical couplings to impart such motions beyond these are well known to the art and illustratively include stepper motors, hydraulics, pneumatics, and a combination thereof. The sequence of steps associated with the change of direction of a gantry  42  with respect to X-Y rails  40  are shown in  FIGS. 16A-16I . From the position of the wheel module  50  and lift  52  in  FIG. 16A , the lift  52  is elevated into the rail  40  ( FIG. 16B ) and rotated  90  degrees, while a second lift  52 A position behind the wheel module  50  is rotated out of phase with lift  52  ( FIG. 16C ). The lifts  52  and  52 A are then lowered along with the platform  42  ( FIG. 16D ), the platform  42  is then raised to disengage the wheel module  50  from contact with the rail  40  ( FIG. 16E ) and the wheel module  50  is rotated  90  degrees ( FIG. 16F ) and lowered to re-engage with the rail  40  ( FIG. 16G ), lifts  52  and  52 A are rotated back to original positions as they are no longer be load bearing ( FIG. 16H ), and the platform is returned to the original position of  FIG. 16A  save for a  90  degree rotation of the wheel module  50 . It should be appreciated that only one wheel module  50  is shown for visual clarity and that all four such modules and interspersed lifts are operated in concert to affect a direction change for the gantry  42  relative to the X-Y rails  40 . 
         [0056]    Automating the storing and retrieving of items in a building requires a location to store the items and a system to automatically retrieve and replace the items. Most buildings do not have storage space that is conveniently located for access by automated systems (robots, automation, etc.). The storage spaces that are available (drawers, cupboards, cabinets, closets, shelves, etc.) are usually a cluttered mess and not organized for automation. If people have access to these storage areas, they may become unusable for automatic retrieval because the items will be moved around without the knowledge of the automated system. 
         [0057]      FIGS. 21, 22A, 22B, 23A, 23B, 23C, 23D, 23E, 24A, 24B, 25, 26A, 26B, and 26C  illustrate another embodiment of the present invention with storage modules present above the X-Y rails  40  where like numeral have the meaning ascribed to thereto with respect to the aforementioned drawings. An array of storage modules  69  are provided that are ceiling mounted. This is depicted with interspersed ceiling joists in  FIG. 21 . This is accomplished by mounted to, for example, sheet-rock, ceiling joists, or drop ceiling systems) X-Y rails  40  in each room  22  which support a motorized gantry  42  which can translate orthogonally on the X-Y rails  40 . The X-Y rails  40  supply electrical power to gantry  42 . 
         [0058]    A gantry  42  contains three or more (4×) motor driven winches  46  that extend and retract cables  44  which support, raise, lower and tilt a platform B  48 . Gantry also contains drive wheel modules (4×)  50  and lifts (4×)  52  which work in concert to move carriage A in orthogonal directions on the X-Y rails. Gantry  42  supplies electrical power to platform B  48 . 
         [0059]    In a specific inventive embodiment, gantry  42  contains motorized winches  46  that extend and retract cables  44  which support, raise, lower, tilt and now rotate platform B  48 . Gantry  42  supplies electrical power to platform B  48  which in turn supplies power to platform  54 . 
         [0060]    A latch  72  provides selective access to the storage modules  69 . A mechanical/electrical interface  74  is provided between the storage module  69  and a cosmetic panel  75 , as best illustrated in  FIGS. 23A-23E  A cosmetic panel  75  and a bottom surface of a storage module  69  or lower portion  69 A thereof are amenable to surface treatment such as painting or texturing for aesthetic reasons to create a ceiling having a desired appearance. Cosmetic panels  75  can be acoustic tiles, 3-D sculptures, video displays, foam, glass, wood, metal, plastic, lights, IR heaters, or a combination thereof.  FIGS. 30A-30C  illustrate a lower portion  69 A with a circular central door omitted for visual clarity or a cosmetic panel  75  with such an opening. 
         [0061]    As a result, the volume above, between and below the X-Y rails  40 , as well as the space between the ceiling joists is used to store modules  69  in a controlled storage location for automated retrieval and replacement, said modules illustrative have within them storage units, storage bins, storage shelves, tables, robots, games, displays, refrigerators, freezers, ovens, microwaves, humidors, fire extinguishers, wine racks, lights, cameras, speakers, audio and video components, displays, smoke detectors/alarms, sensors, electronic equipment, dishwashers, vacuum cleaners, air purifying systems, air heating and cooling systems, charging stations, or a combination thereof. It is appreciated that the rails can form a variety of shapes and sizes to accommodate storage modules  69  that are of a variety of shapes and sizes such as cuboidal or hemispherical volumes. The storage modules  69  can be accessed robotically via the robotic arms  56  or manually. A storage module  69  as depicted has an inserted and inverted inner portion  69 A with a top opening that is complementary to module  69  to form a closed unit. It is appreciated that the inner portion  69 A is a removable floor, a tray, or having sidewalls that extend to an extreme of contacting an upper surface of the module  69 . It is appreciated that the entire contents of a module  69  are delivered to a user or an article is accessed, the storage module  69  closed, and only the desired article delivered. A pencil box and a refrigerated items being exemplary of the former and the latter, respectively. 
         [0062]    A controller  21  provides a human user interface  23  that is a display, touch screen, auditory, or a joystick receives user input as to the desired articles from storage, the location of delivery and the scheduling of delivery. The controller  21  has access to a database inventory of articles stored in the storage modules  69 , or to be stored in the modules. The controller then instructs the movement of the gantry  42  to retrieve or store articles and any desired manipulation of the robotic arms  56 . 
         [0063]    A sequence of latch  72  manipulations to access a storage module  69  and secure the same in the context of the present invention are illustrated in  FIGS. 24A, 24B, 25, 26A, 26B, and 26C . The various latch positions and access to the volume of a storage module  69  are shown. 
         [0064]      FIGS. 27, 28A, 28B, and 29  illustrate an embodiment of the present invention in which a module  77  is present on platform  48 . A door/opening in the storage portion  69 A and/or cosmetic panel  75  enable a sub-platform to be lowered into contact and optionally electrical communication with module  77 . As a result the contents of a given storage module  69  can be manipulated in all three dimensions as defined by the extent of a rail system  40 , and accessed manually or robotically. With module  77  containing additionally functionality such as an electric power source to operate an article such as an appliance, a scale to weigh contents of a storage module  69 , or other such functionality a variety of manual operations are amenable to automation. By way of example if storage modules are laboratory animal cages or terrariums, the occupants of each module  69  are monitored and supplied by way of an inventive system in an automated way by a local or remote user. In still another example, food stuffs are retrieved from storage, prepared, served, then used utensils are cleaned and removed by an inventive system. 
         [0065]    It is appreciated that a variety of sensors, video displays, speakers and microphones on the X-Y rails, translation platforms, storage platforms, cosmetic panels or a combination thereof. As a result, a tele-presence is created that allows for more complex control and operational feedback. It is also appreciated that any platform or module detailed herein may contain batteries to serve as a main or backup power source for an inventive system or stored article. 
         [0066]    The foregoing description is illustrative of particular embodiments of the invention, but is not meant to be a limitation upon the practice thereof. The following claims, including all equivalents thereof, are intended to define the scope of the invention.