Automated Inventory Management And Delivery System For Climate-Controlled Environments

An Inventory Management and Delivery System (IMDS system) manages product items within a climate-controlled enclosure (e.g., beverage case) in an automated manner using a product loading (ingestion) subsystem to convey product items into the enclosure's climate-controlled environment and utilizes two gantry robots and an articulated robot to perform all backstocking/storage and delivery/restocking operations. Product items are ingested on standardized crates to simplify backstocking/retrieval of various product types from an array of storage locations using the first (backstocking) gantry robot. During restocking operations, the required crates are retrieved from storage and individual items are extracted and by the articulated robot and transferred to the second (delivery) gantry robot. The second gantry robot utilizes a simplified channel-type delivery mechanism to deliver each product item to its associated display shelf location. An inventory control subsystem monitors the number of each product item type disposed within the climate-controlled enclosure to prevent lost sales.

FIELD OF THE INVENTION

This invention relates to automated vending systems, and more particularly to robotic systems and methods directed to managing product items in climate-controlled environments.

BACKGROUND OF THE INVENTION

A beverage case represents one type of climate-controlled environment (refrigeration system) that is often used in retail businesses (e.g., convenience stores and grocery markets) to display cold beverages (e.g., soft drinks or juice in cans and bottles) for purchase by the business' retail customers. Such beverage cases often include multiple chute-type display shelves arranged in rows and columns, with each chute-type display shelf including beverages that are slidably disposed and gravity-fed toward a display (front) wall of the case. To improve sales, the various beverage brands and types are typically arranged according to a computer-generated planogram such that more popular beverages are presented on display shelves located at an average customer's eye level, and less popular beverages are disposed on lower or higher display shelves. The forward-most beverages disposed in the multiple chute-type display shelves are arranged in a vertical plane located immediately behind multiple glass access doors that collectively form a front wall of the beverage case. This arrangement minimizes power consumption by allowing a customer to identify a selected beverage while all access doors are closed, then remove the selected beverage from the beverage case by manually opening only the glass access door located in front of the selected beverage. This arrangement also automatically re-faces the beverage display because, when a beverage is removed from its associated display shelf, an identical beverage disposed immediately behind the selected/removed beverage slides forward on the chute-type display shelf, thereby maintaining a fully faced beverage display for subsequent customers.

To prevent lost sales due to empty display shelves, beverage cases must be managed such that resupply (replacement) beverages are added to the display shelves at a rate that keeps pace with customer purchases. Beverage case management generally involves determining an average rate of sale of each beverage type and using this average rate data to prevent depletion (running out) of on-hand inventory between periodic resupply deliveries from distributors or other sources. In the case of more popular beverages, it is sometimes necessary to order more beverage units than the total number that can be loaded onto the assigned display shelves. For example, if each display shelf holds ten beverage units, a given planogram assigns one display shelf for a particular beverage, and the average rate of sale between periodic deliveries of the particular beverage is twenty units, then twenty units may be ordered for each delivery, with the extra beverage units (i.e., those not loaded on the assigned display shelf) being store as backstock inventory disposed behind the display shelves in the beverage case. This arrangement requires periodic restocking of the display shelves, which typically involves manually moving beverage containers from a backstock locations onto assigned display shelves. This manual restocking process is typically performed by delivery personnel (e.g., a beverage distributor) and/or by the retail business owner/employees.

Current beverage case management approaches present several inefficiencies and other problems that result in increased operating costs and/or lost sales. First, the reliance on employees (human service personnel) to perform manually restocking tasks the beverage case results in relatively high energy costs due to the loss of cold air caused by employees entering/exiting and working within the beverage case, and also can result in stocking beverage containers on incorrect display shelves (i.e., in violation of an established planogram). Second, due to ever increasing cost of training and maintaining large work forces, retail business owners are looking for ways to automate repetitive tasks (such as restocking beverage cases) to allow a smaller number of employees to focus on more profitable tasks, such as customer support. Third, the reliance on employees to perform inventory tasks inevitably produces human-error-related issues, such as a failure to notice the increased popularity of a particular beverage type that results in empty display shelves and lost sales.

What is needed is an automated management system for climate-controlled environments (e.g., beverage cases) that avoids the problems and inefficiencies produced by conventional management approaches.

SUMMARY OF THE INVENTION

The present invention is directed to an Inventory Management and Delivery System (IMDS system) that manages product (e.g., beverage) items within a climate-controlled enclosure (e.g., a beverage case) in an automated manner that addresses the problems associated with conventional manual approaches using some or all of the various subsystems described herein. For example, in some embodiments the IMDS system utilizes a product loading subsystem configured to automatically ingest (receive deliver of) product items into the enclosure's climate-controlled environment by way of a relatively small loading port, thereby reducing energy costs over conventional (manual) restocking approaches. Second, in some embodiments the IMDS system utilizes a coordinated series of robot-based subsystems disposed within the climate-controlled environment to automatically perform backstock (storage) and display (restocking) operations by moving each product item type from its designated storage location to a specific display shelf location according to a preset planogram, thereby further reducing energy costs and also reducing labor costs over conventional manual approaches. Third, the IMDS system utilizes an inventory control subsystem that is configured to keep track of the number of each product item type disposed within the climate-controlled enclosure in a way that reduces the occurrence of empty display shelves and associated lost sales over human-based inventory methods. When all of these subsystems are utilized, the IMDS system is capable of managing product items within a climate-controlled enclosure in an automated manner that addresses the above-mentioned problems associated with conventional manual approaches.

In an exemplary embodiment, the IMDS system is utilized to manage cold beverage-type product items (e.g., cans and/or bottles containing soda or other consumable fluids) within a beverage case (climate-controlled enclosure) disposed in a retail establishment (e.g., a convenience store). Like most standard beverage cases, the beverage case associated with IMDS system includes a peripheral insulated wall surrounding an enclosed climate-controlled environment (cold storage region) and utilizes a refrigeration unit to maintain the cold storage region at a desired temperature. In some embodiments, a front (display) wall section of the peripheral wall faces into a customer accessible region of the retail establishment and includes transparent product access doors that allow customers to view and remove beverage items from planogram-assigned chute-like display shelf locations located just inside the product access doors. Backstocked beverage items are arranged in backstock storage locations disposed along a back wall section (i.e., opposite to the front wall section) such that a service access region (gap) is provided between the backstock storage and display shelves to facilitate manual display shelf restocking operations. The beverage case differs from at least some standard beverage cases in that it includes a relatively small loading port configured to facilitate the ingestion of newly delivered beverage items (i.e., beverage items delivered to the retail establishment, for example, by a product distributor/supplier, to replenish beverage items removed from the beverage case by customers). In some embodiments the IMDS system may be retrofitted to the beverage case, and in other embodiments the beverage case may be integrated into (i.e., a part of) the IMDS system.

In presently preferred embodiments, beverage items are ingested into the beverage case in batches by way of crates (totes). Each crate is an opened-top box-like storage unit having an array of storage spaces that are configured to collectively contain/carry an associated batch of beverage items (i.e., with one beverage item disposed in each storage space). In some embodiments, the beverage items are also packaged, transported and delivered to the retail establishment in associated crates. In an embodiment, the crates are configured such that one crate (i.e., one batch of beverage items) is passed through the loading port into beverage case during each ingestion operation. As explained in additional detail below, each batch of beverage items remains in its associated crate during backstocking (storage) operations (i.e., each crate is disposed in a computer-assigned backstock storage locations) and is removed from its associated crate during delivery (display shelf restocking) operations, thereby greatly simplifying the automated ingestion, backstocking (storage) and transfer operations performed by the IMDS system. In one embodiment, the crates utilized in accordance with the IMDS system have a standardized footprint (e.g., all crates have the same exterior wall dimensions), but the interior divider configuration may be varied to efficiently accommodate a range of beverage item container types and sizes (e.g., single- or multi-serving bottles, various can sizes, etc.). The use of crates having one or more standardized footprints further simplifies the storage and transfer operations (described below) by facilitating the use of relatively simple and reliable extraction mechanisms to deposit and retrieve stored beverage items, thereby reducing operating costs. Although the use of crates/totes greatly simplifies the ingestion, loading and transfer operations, similar operations may be performed using other containment devices (e.g., bags) to collectively move batches of product items.

In some embodiments a product loading subsystem is configured to automatically convey batches of beverage (product) items disposed on corresponding crates from a loading position located outside the climate-controlled environment to a receiving position located inside the climate-controlled environment. In an embodiment, the product loading subsystem includes a conveying mechanism that extends through a loading port (opening) in the rear or one of the side peripheral walls of the beverage case, an insulated product loading gate is operably disposed adjacent to the loading port and movable (e.g., by way of an appropriate actuator) between a closed state and an opened state, and an ingestion controller that is configured to coordinate operations of the conveying mechanism and the product loading gate during each product ingestion operation. In an exemplary embodiment, when one or more crates containing product items are placed on the conveying mechanism in the loading position, the ingestion controller transmits first control signals that actuate the product loading gate (i.e., such that the product loading gate moves from the closed state to the opened state), then transmits second control signals that actuate the conveying mechanism such that the product items are conveyed through the loading port to the receiving position, and then transmits third control signals that cause the product loading gate to move from the opened state to the closed state. In some embodiments, the product loading subsystem includes a user interface device through which loaded product SKU data is entered for all product items ingested into the beverage case. In alternative embodiments, the interface device may be a keyboard/keypad through which the SKU data is manually entered or may be a scanner or other automated input device that senses (reads) identifying information (e.g., barcode information printed on the ingested product items). In any case, the user interface device facilitates accurate management of the product items ingested into the beverage case by transmitting the loaded product SKU data to the inventory control subsystem, which utilizes the SKU data as described below. In some embodiments a safety device (e.g., a light curtain) is operably configured to delay all ingestion operations until the safety device verifies that a human arm (or other body part) is located over the loading position. In some embodiments, the IMDS system may utilize a manual insertion process in which crates are manually passed through the loading port to the receiving position.

In some embodiments the IMDS utilizes a backstock management subsystem to perform backstocking operations, where each backstocking operation involves transferring a newly delivered crate/batch from the receiving location to an assigned storage (backstock) location. The backstock management subsystem utilizes a first robotic system to perform the backstocking operations, where the robotic system is configured to remove a crate from the receiving position, move the crate to the assigned storage location on the backstock shelving, and place the crate on the assigned storage location. In a preferred embodiment, the first robotic system is a vertically oriented gantry robot system (aka, cartesian robot or linear robot) having a positioning mechanism configured to position an end effector in a vertical working plane in front of a vertically oriented array of backstock shelf locations, where the end effector includes an extraction mechanism capable of extracting (pulling) a selected crate from the receiving position onto a support structure/platform at the beginning of each backstocking operation, and capable of repositioning (pushing) the selected crate from the support structure/platform onto the assigned storage location during each backstocking operation. By utilizing the backstock management system to perform automated backstocking operations in this manner, the IMDS system avoids the need for deliver or store personnel to enter the beverage case, thereby significantly reducing operating (energy) costs by minimizing the escape of cold air from the beverage case. As set forth below, the backstock management subsystem also utilizes the first robotic system to retrieve a selected crate/batch from its assigned backstock location and move the selected crate/batch to a first transfer location at the beginning of each delivery (display shelf restocking) operation. That is, the IMDS system utilizes the backstocking management subsystem to perform both backstocking operations (i.e., after each new product ingestion operation), and to perform a first portion of each delivery operation during time periods in which ingestion operations are not being performed, thereby minimizing the number and complexity of the mechanisms required to automatically perform the two operations, thus minimizing overall system operating costs.

In an embodiment, the IMDS system utilizes a coordinated series of robot-based subsystems (i.e., the backstock management subsystem, a product handling subsystem and a display management subsystem that are coordinated by a central controller) to perform automated delivery (display shelf stocking/restocking) operations in accordance with user-supplied planogram data. The user-supplied planogram data specifies an arrangement of the beverage items on display shelfs in the beverage case such that each beverage type is positioned/displayed at a corresponding display location of display shelf, where the corresponding display location for each beverage item type is designated (assigned) by the planogram data. In addition to having access to the planogram data, the controller has access to inventory data including the number of beverage units and assigned backstock (storage) location for each beverage type. At the beginning of each delivery (display shelf stocking) operation, the controller transmits appropriate control signals to the backstock management subsystem that identify a selected type of beverage units to be retrieved (by way of their crate) from their assigned backstock (storage) location. As mentioned above, the backstock management subsystem utilizes a first robotic system to retrieve the selected crate/batch from its assigned backstock location and to move the selected crate/batch to a first transfer location. During a second portion of each delivery operation, the controller transmits appropriate control signals to the product handling subsystem, which utilizes a second robotic system to sequentially transfer the selected beverage items from the selected crate/batch, which is positioned at the first transfer location, to a second transfer location. During a second portion of each delivery operation, the controller also transmits appropriate control signals to the display management subsystem such that the display management subsystem is operably configured to receive the transferred beverage items at the second transfer location During a third portion of each delivery operation, the display management subsystem utilizes a third robotic system to move the transferred product items to a designated display shelf location.

In one embodiment, the IMDS system utilizes a first gantry robot mechanism to implement operations performed by the backstock management subsystem, an articulated robot mechanism to implement operations performed by the product handling subsystem, and a second gantry robot mechanism to implement operations performed by the display management subsystem. For example, the two gantry robot mechanisms and the articulated robot mechanism perform the delivery (display shelf stocking) operations, where the first gantry robot mechanism is utilized to remove a selected crate from its storage location and to move the first crate to the first transfer location, the articulated robot mechanism is utilized to sequentially remove product items from the selected crate and to move the product items to a second transfer location, and the second gantry robot mechanism is utilized to receive the product items from the articulated robot mechanism at the second transfer location, to move the product items from the second transfer location to a designated display location, and to sequentially place the product items on the designated display location. An advantage provided by this arrangement is that the two gantry robot mechanisms can be entirely disposed above the beverage case floor (e.g., fixedly attached to the shelf support frames that support the storage and display shelving units), which is desirable for safety and beverage case cleaning purposes. Another advantage provided by this arrangement is that the articulated robot mechanism can be positioned against a distal wall of the beverage case (i.e., opposite to the beverage case's service access door), thereby providing an unimpeded service access region between the storage shelves and the display shelves that can be used by store personnel to perform manual restocking operations, for example, when one or more of the robot-based subsystems is deactivated for maintenance or repair.

In a presently preferred embodiment, a method for automatically restocking a display shelf (i.e., moving a product item from its backstock storage location to a designated display (shelf) location within a climate-controlled enclosure includes: utilizing a first gantry robot mechanism to remove (retrieve) a crate containing the product item from the storage location and to move the first crate to a first transfer location, utilizing an articulated robot mechanism to remove the product item from the crate and to move the product item to a second transfer location, and utilizing a second gantry robot mechanism to receive the product item from the articulated robot mechanism at the second transfer location, to move the product item from the second transfer location to the designated display location, and to place the product item on the first display location. Utilizing two gantry robot mechanisms to perform the crate retrieval and product delivery operations facilitates easy modification and adaptation to a wide variety of storage shelf and display location settings, thereby significantly increasing system reliability and decreasing operating costs. Moreover, utilizing an articulated robot to transfer product items between the two gantry robots greatly simplifies the required end effector operations of the two gantry robots.

In some embodiments, an IMDS system utilizes one or more image-based or sensor-based displayed-product monitoring systems to identify and/or monitor the number of each product item type disposed on their designated display locations in order to detect the incremental removal of each product item from the climate-controlled environment. In some embodiments the displayed-product monitoring system is configured to communicate with the central controller by way of wired or wireless digital communications to facilitate updated inventory information regarding the number of displayed product items, and the central controller initiates restocking operations when the number of product items at a given display locations falls below a predetermined minimum value.

DETAILED DESCRIPTION OF THE DRAWINGS

The present invention relates to an improvement in methods and apparatus/systems for managing product items stored in climate-controlled environments. The following description is presented to enable one of ordinary skill in the art to make and use the invention as provided in the context of a particular application and its requirements. As used herein, directional terms such as “front”, “rear”, “back”, “vertical” and “horizontal” are intended to provide relative directions and positions for purposes of description and are not intended to designate an absolute frame of reference. Various modifications to the preferred embodiment will be apparent to those with skill in the art, and the general principles defined herein may be applied to other embodiments. Therefore, the present invention is not intended to be limited to the particular embodiments shown and described but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

FIG.1shows an exemplary automated Inventory Management and Delivery System (IMDS system)100that is configured to automatically manage beverage items (product items) P1to P4within a beverage case (climate-controlled environment)90in accordance with user-supplied planogram data PGD. Reference numbers P1to P4are utilized to identify four different beverage types (e.g., where beverage items P1are cola-flavored soda, beverage items P2are root beer soda, etc.). Beverage items P1-P4are depicted as bottled beverages of a single size for brevity and clarity. Although the management operations performed by IMDS system100are described below with reference to a relatively small number of beverage items (i.e., beverage items P1to P4) that are dispensed in a single bottle type/size, those skilled in the art will recognize that the described operations may be extended to manage a much larger number of beverage types and container types/sizes. The user-supplied planogram data PGD, which may be received electronically from a planogram update interface190(e.g., a personal computer or other device), specifies the arrangement of beverage items P1to P4on a display shelf94disposed inside beverage case90(e.g., beverage items P1are to be arranged at designated (assigned) display location94L1on display shelf94, beverage items P2are to be arranged at designated display location94L2, beverage items P3are to be arranged at designated display location94L3, and beverage items P4are to be arranged at designated display location94L4).

Beverage case90includes a peripheral insulated wall91surrounding an enclosed climate-controlled environment (cold storage region)93and utilizes a standard walk-in (e.g., self-contained, remote condensing, or multiplex condensing) refrigeration unit92that is configured to generate and supply cold air C (e.g., 40° F.) into the cold storage region93. In the exemplary embodiment, peripheral wall91forms a four-sided structure including a front (first) wall section91F, an opposing rear (second) wall section91R, and opposing side-wall sections91S1and91S2that extend between front wall section91F and rear wall section91R such that peripheral wall91surrounds a refrigerated region (climate-controlled environment)93. Display shelf94and backstock shelf97are contained within refrigerated region93, with display shelf94including multiple chute-type display shelf locations94L1to94L4arranged along a front wall section91F, and with backstock shelf97including multiple storage (backstock shelf) locations97L1to97L4arranged along rear wall section91R. Front wall section91F faces into a retail space (customer accessible region) of the retail establishment, and rear wall section91R and at least a portion of the two side wall sections91S1and92S2are disposed in a service space (i.e., a region typically not intended for customer access). One or more product access doors96F (e.g., glass or another light transparent material surrounded by a hinged metal frame) are mounted over a relatively large front opening95F defined in front wall section91F. With this arrangement, customers visiting the retail space are able to view the various beverage item types P1to P4through product access doors96F, then manually open product access doors96F and manually remove selected beverage items (e.g., beverage item P1) from their designated display shelf locations94L1to94L4. Each display shelf location94L1to94L4is configured to align beverage items perpendicular to front wall section111F and have a chute-type configuration (described below, for example, with reference toFIGS.6A to6D) that gravity-feeds the beverage items P1to P4toward product access door96F, whereby removal of the front-most beverage item from each display shelf location causes any remaining beverage items to slide forward (toward the access door96F). Display shelf94and backstock shelf97are sufficiently spaced such that they are separated by a service access region93S of sufficient width to allow a human to perform manual restocking operations while standing in service access region93S. In alternative embodiments (e.g., such as that shown inFIG.10), the beverage case may include more than four wall sections, provided that a suitable gap exists between the display and backstock shelving.

Referring to the lower left portion ofFIG.1, in the exemplary embodiment batches of beverage items P1to P4are delivered, ingested and stored inside beverage case90using associated crates (totes) C1to C4in order to simplify the ingestion and storage operations. Each crate C1to C4is a box-like storage unit having a bottom wall (not shown) and a peripheral side wall that surrounds an array of storage spaces separated by intervening interior dividers (e.g., wall sections). In the simplified example shown inFIG.1, each crate C1to C4is configured to accommodate four bottle-type beverage items, where crate C1is configured with four storage spaces and used to transport a batch of four beverage items of type P1(cola). Similarly, crate C2is configured to contain a batch of four beverage items of type P2(e.g., root beer), crate C3contains a batch of four beverage items of type P3(e.g., lemon-lime soda), and crate C4contains a batch of four beverage items of type P4(e.g., orange soda). As indicated by crate C1, a single beverage item P1is placed in each of the four storage spaces such that a lower portion of each of the four beverage items P1is supported by the bottom wall (not shown) of crate C1and the upper portions of beverage items P1are exposed (i.e., such that each beverage item P1can be removed from crate C1by way of grasping its upper portion and pulling/lifting away from crate C1). In one embodiment, all crates ingested and stored by system100have the same or similar footprint (i.e., each of crates C1to C4has the same exterior wall dimensions X1and Y1that are indicated on crate C1). As indicated in plan view inside beverage case90, in one embodiment the uniform footprint of crates C1to C4is optimized to facilitate efficient storage within and removal from backstock storage locations97L1to97L4, respectively. In some embodiments (not shown), the interior divider configuration of some crates may differ from that depicted inFIG.1to efficiently accommodate a range of beverage item container types and sizes. That is, although each of crates C1to C4is indicated as having four storage spaces to accommodate beverage items of the same size, other crates may include only one storage space (e.g., to accommodate a large multi-serving bottle, can or other container type), or may include a larger number of storage spaces (e.g., nine, sixteen, etc.) to accommodate smaller bottles or can sizes). In some embodiments, crates C1to C4may be designed in a reconfigurable manner to be adjusted to different container dimensions. In some embodiments, empty crates are moved outside of climate-controlled environment (e.g., backward through loading port95R) for reuse in order to accommodate a more efficient distribution and delivery to various endpoints.

In the exemplary embodiment, IMDS system100includes a product loading system110, a backstock managing subsystem120, a product handling subsystem130, a display management subsystem140, and a central IMDS inventory control subsystem (central controller)150.

Referring to the lower left portion of beverage case90(FIG.1), product loading subsystem110includes a conveying mechanism111that extends through loading port (opening)95R in the rear or one of the side peripheral walls91of the beverage case90, an insulated product loading gate117that is operably disposed adjacent to the loading port95R, and an ingestion controller118that is configured to coordinate operations of the conveying mechanism111and the product loading gate117during each product ingestion operation. As described below with reference toFIGS.2A to2C, product loading ingestion subsystem110is configured such that, during each product ingestion operation, product loading gate117is automatically opened, a batch (e.g., one of crates C1to C4) of product items that has been placed on conveying mechanism111at a loading position112-1(e.g., an upper conveyor belt section located outside beverage case90) is automatically conveyed through loading port95R to a receiving position112-2located inside climate-controlled environment93, and then product loading gate117is automatically closed.

In some embodiments, product loading subsystem110includes a user interface device119through which loaded product SKU data is entered for all product items ingested into beverage case90. In one embodiment, user interface device119may be a keyboard or keypad that may be connected to ingestion controller118and used by delivery or store personnel to manually enter SKU data identifying each batch of beverage items ingested during a given ingestion operation. For example, after a delivery person places crate C1onto conveying mechanism111at loading position112-1, the delivery person is tasked to enter a code or other information that operably identifies the batch of four beverage items of type P1that are mounted on crate C1. In an alternative embodiment, user interface device119may include an infrared scanner or other input device that reads identifying information from crate C1or from beverage items P1before or during each associated ingestion operation. In another embodiment the beverage items ingested into beverage case90pass under an auto SKU recognition device (not shown) that scans each item and generates corresponding identification information. In any case, the entered/generated information is utilized to generate loaded product SKU data LSPD, which is transmitted as corresponding to central controller150(as indicated by the dashed-line arrow). As described in additional detail below, central controller150adjusts product database152to reflect the batch information provided with loaded product SKU data LSPD. In some embodiments, ingestion operations performed by product loading subsystem110are at least partially controlled by central controller150(e.g., by way of loading control signals LCS), for example, to prevent initiating a product ingestion operation until a previously ingested batch has been moved into an assigned backstock storage location.

Referring to the right of storage shelf97inFIG.1, backstock management subsystem120includes a first robotic system (represented inFIG.1by a horizontal rail122and an end effector125for brevity) that is controlled by an associated controller128to perform storage operations and a first portion of each deliver (display shelf stocking) operation. An exemplary storage operation is described in additional detail below with reference toFIGS.3A to3D, whereby, after a crate is ingested by product loading subsystem110, end effector125is moved to a location adjacent to receiving position112-2, then actuated to procure (grasp and move) the crate, then moved (with the crate) to an assigned storage location, and then actuated to deposit (push) the crate into the assigned storage location. The first portion of exemplary delivery operation is described in additional detail below with reference toFIG.3E, whereby end effector125is moved to a location adjacent to a selected crate's storage location, then actuated to procure (grasp and withdraw) the selected crate from the storage location, then moved (with the selected crate) to a designated transfer location TL1.

As described in additional detail below, central controller150controls the operations performed by backstock management subsystem120by way of backstock product data BPD (as indicated by the dashed-line arrow). In one embodiment, after each ingestion operation central controller150assigns a backstock shelf location (B-LOC) to the ingested crate and then transmits control signals (by way of backstock product data BPD) that cause backstock management subsystem120to move the ingested crate to its assigned storage location (i.e., to perform an associated storage operation). Similarly, when the number of beverage items at a given display location reach a predetermined minimum number, central controller150identifies a crate/location containing the relevant beverage items, then transmits control signals (by way of backstock product data BPD) that cause backstock management subsystem120to retrieve the relevant crate from its assigned storage location and position the crate at transfer location TL1(i.e., to perform the first portion of an associated delivery operation).

Referring to the central region ofFIG.1, product handling subsystem130includes a second robotic system that is configured (e.g., by way of an arm mechanism133and an appropriate end effector/gripper135) to sequentially transfer product items from a crate to a second transfer location TL2during a second portion of each delivery (display shelf stocking) operation (i.e., while the crate is maintained at first transfer location TL1by backstock management subsystem120). Product handling subsystem130also includes a controller138that communicates with central controller150by way of restock request/delivered data RRDD.

Referring to the left side of display shelf94inFIG.1, display management subsystem140includes a third robotic system (represented inFIG.1by a horizontal rail142and an end effector145for brevity) that is controlled by an associated controller148to perform a third portion of each delivery (display shelf stocking) operation. An exemplary delivery operation is described in additional detail below with reference toFIGS.4B,5A and6A to6D, whereby end effector145is moved to second transfer location TL2receive beverage items transferred from product handling subsystem130, then moves the transferred beverage items to an assigned display location, and then actuated to sequentially deposit (push) the beverage items onto the assigned display location. Display management subsystem140is controlled by central controller150by way of restock request/delivered data RRDD.

Referring to the upper portion ofFIG.1, central controller150includes an electronic computing device151(e.g., a processor and associated digital memory) that is configured (e.g., by way of software algorithms) to control automatic loading/delivery operations performed within beverage case90and perform designated automated inventory operations to assure that a predetermined minimum number of each beverage type (e.g., beverage items P1) are disposed at assigned display locations (e.g., display location94L1) in accordance with user-supplied planogram data PGD. In one embodiment, planogram data PGD is entered into central controller150by way of a suitable update interface190(e.g., from an external computer terminal over a network or internet link). In one embodiment central controller150is configured to coordinate various product data received from various subsystems and outside sources to generate and maintain/update a product database152. In the exemplary embodiment, central controller150manages product database152using one or more of loaded product SKU data LSPC received from product loading subsystem110, backstock product data BPD received from backstock management subsystem120, and restock request/delivered data RRDD from product handling subsystem130and/or display management subsystem140. In one embodiment the different beverage types P1-P4are arranged (presented for sale) in the beverage case90according to planogram data PGD In general, planograms are predominantly used in retail businesses and define the location and quantity of products to be placed on display, often with detailed specifications on the number of product facings and spacing; shelf layout, height, width, slant and depth and necessary or recommended chiller conditions. With respect to the present invention, planogram data PGD determines which beverage type P1to P4is disposed/displayed in each display location94L1to94L4. For clarity and brevity, it is assumed that planogram data PGD specifies that beverage items P1are assigned to display location94L1, beverage items P2are assigned to display location94L2, beverage items P3are assigned to display location94L3and beverage items P4are assigned to display location94L4. The rules and theories for creating planograms are set under the terms of merchandising that are not important to the present invention.

Central controller150optionally receives periodically updated planogram data PGD by way of planogram update interface190. In one embodiment, central controller150processes and organizes this received data to generate product database152. In one embodiment, central controller150utilizes the product database152to control backstock management subsystem120, product handling subsystem130and display management subsystem140(e.g., by way of transmitting appropriate control signals) to automatically perform deliver (display shelf restock) operations during which backstocked beverage items are moved from backstock shelf97to display shelf94as described below.

In some embodiments, central controller150also utilizes product database152to coordinate automated ordering of resupply beverages such that display shelf94remains stocked with beverage items in accordance with user-defined planogram data PGD. In some embodiments, IMDS system100includes artificial intelligence (AI) or other forecasting model software155and a purchasing information technology (IT) software159to perform automated ordering of resupply beverages from outside product distributors/suppliers. In some embodiments, forecasting model software155and purchasing IT software159are implemented on central controller150. In other embodiments, one or more of forecasting model software155and purchasing IT software159are implemented on external systems (i.e., maintained and operated by the store owner), and central controller150is configured to communicate (interface) with the external system(s). For example, a store owner may implement retail management software (e.g., Symphony Retail) that communicates with central controller150.

FIGS.2A,2B and2Crespectively depict product loading subsystem110(shown inFIG.1) at three sequential times (i.e., t1, t2and t3) during an exemplary product ingestion operation. Each ofFIGS.2A to2Cdepicts a relevant portion of rear wall section91R from a perspective located outside of beverage case90(shown inFIG.1).

Referring toFIG.2A, at time t1four product items P1disposed in crate C1are collectively placed by a delivery person (not shown) on an upper belt surface of conveying mechanism111at loading position112-1. Note that, at time t1, product loading gate117is in its default closed state (i.e., such that product loading gate117entirely covers loading port95R to prevent the escape of cold air from the beverage case). In one embodiment, the delivery person then enters loaded product SKU data (or other information identifying crate C1and product items P1) by way of user interface device119. In some embodiments product loading subsystem110includes a safety device (e.g., a light curtain, not shown) that is configured to verify the delivery person is positioned safely away from loading position112-1before actuating any mechanisms.

Referring toFIG.2B, at subsequent time t2the ingestion controller (shown inFIG.1) transmits a first set of control signals to a drive motor or other actuator (not shown) that controls the opened/closed state of product loading gate117, thereby causing the actuator to move product loading gate117from the closed state (shown inFIG.1) to an opened state (e.g., product loading gate117is slid upward in the Z-axis direction, thereby uncovering loading port95R). The ingestion controller (shown inFIG.1) also transmits second control signals to a drive motor (not shown) that controls conveyor mechanism111such that, when product loading gate117is in the opened state, the drive motor causes the upper belt surface of conveyor mechanism111to move toward rear wall section91R (i.e., in the direction of dashed-line arrow A1), thereby causing crate C1and product items P1to pass through loading port95R into the beverage case. In one embodiment the ingestion controller terminates the second control signals conveyor mechanism111moves crate C1into receiving position112-2(shown inFIG.1andFIG.3A).

Referring toFIG.2C, at subsequent time t3(e.g., after crate C1has been moved into the receiving position), the ingestion controller (shown inFIG.1) transmits a third set of control signals to the product loading gate actuator (not shown), thereby causing product loading gate117to move from the opened state (shown inFIG.2B) back into the closed state over loading port95R.

FIGS.3A to3Edepict an inside surface of rear wall section91R (i.e., from a perspective inside beverage case90, shown inFIG.1), storage shelf97, a portion of conveying mechanism111including receiving position112-2, and a portion of backstock management subsystem120.

Referring toFIG.3A, storage shelf97includes three vertically oriented storage shelves97-1,97-2and97-3that are mounted on and supported by a first shelf support frame98-1. In this example, each storage shelf includes four storage locations (i.e., storage shelf97-1includes storage locations97L11to97L14, storage shelf97-2includes locations storage97L21to97L24and storage shelf97-3includes storage locations97L31to97L34). With this arrangement storage (backstock) locations97L11to97L34are arranged in a vertical plane (i.e., parallel to the Y-Z plane and rear wall91R).

In the exemplary embodiment, the first robot mechanism of backstock management subsystem120is implemented by a (first) vertically oriented gantry robot mechanism121. Gantry robot mechanism121generally includes a horizontal rail122fixedly mounted onto shelf support frame98-1, two vertical rails123that are movably connected to and supported by horizontal rail122, and an end effector125that is movably connected to and supported between vertical rails123. Gantry robot mechanism121is configured such that end effector125can be positioned in front of (adjacent to) any of receiving position112-2and storage (backstock) locations97L11to97L34by way of a positioning mechanism formed by horizontal rail122, one or more horizontal actuator124H, vertical rails123and one or more vertical actuators124V. That is, end effector125(along with vertical rails123) can be moved horizontally (in the Y-axis direction) along horizontal rail122by way of horizontal actuator124H, and end effector125can be moved vertically (in the Z-axis direction) along vertical rails123by way of vertical actuator124V. In one embodiment, end effector125includes a crate support structure126and an extraction mechanism formed by a crate gripper127and a storage actuator124S. As depicted inFIGS.3A and3E, crate gripper127and a storage actuator124S are configured to extract (remove) a selected crate from any of receiving position112-2and storage (backstock) locations97L11to94L-34such that the extracted crate is disposed on and entirely supported by crate support structure126. Crate support structure126is a shelf-like structure that is sized and constructed to receive and entirely support at least one extracted crate. As described below with reference toFIG.3B, crate gripper127and a storage actuator124S are also configured to insert (push) a crate from crate support structure126into any of storage (backstock) locations97L11to94L-34. In one embodiment, actuators124H,124V and124S are implemented using one or more of a piston, a motorized chain actuator, a linear motor or any other mechanism that facilitates linear actuation.

FIGS.3A to3Ddepict an exemplary series of storage operations performed by backstock management subsystem120according to an embodiment.

FIG.3Ashows backstock management subsystem120at an initial time t4during a first storage operation. Note that time t4occurs after an ingested crate C1(including a batch of beverage items P1) has been positioned by conveying mechanism111at receiving position112-2and product loading gate117has been actuated to close loading port95R. In addition, at time t4gantry robot mechanism121has already positioned end effector125in front of receiving location112-2and crate gripper127has been manipulated to grasp crate C1(i.e., after storage actuator124S has operably moved crate gripper127in the direction indicated by arrow A2). Subsequent to time t4, storage actuator124S retracts crate gripper127(i.e., in the direction indicated by arrow A3) such that crate C1is pulled from receiving position112-2onto crate support structure126.

FIG.3Bshows backstock management subsystem120at a time t5(subsequent to time t4) after horizontal actuator124H and vertical actuator124V have been utilized to reposition end effector125(by way of horizontal rail122and vertical rails123) from receiving position112-2to a position in front of an assigned storage location97L11. Subsequent to time t5, storage actuator124S pushes crate gripper127(i.e., in the direction indicated by arrow A4) such that crate C1is pushed from crate support structure126and inserted into assigned storage location97L11).

FIG.3Cshows backstock management subsystem120at a subsequent time t6after the first storage operation has been completed (i.e., after crate C1has been inserted into assigned storage location97L11on storage shelf97-1) and end effector125has been repositioned in front of receiving position112-2to perform a second storage operation involving a second ingested crate C2containing beverage items P2. Subsequent to time t6backstock management subsystem120procures and moves second ingested crate C2to its assigned storage location (e.g., storage location97L12on storage shelf97-1).

FIG.3Dshows backstock management subsystem120at a subsequent time t7after multiple storage operations have been completed (i.e., after two more crates C1have been inserted into assigned storage locations below storage location97L11on storage shelves97-2and97-3, two crates C2have been inserted into assigned storage locations below storage location97L12on storage shelves97-2and97-3, three crates C3have been inserted into vertically aligned storage locations including storage location97L13, and three crates C4have been inserted into vertically aligned storage locations including storage location97L14). At time t7end effector125has been repositioned in front of receiving position112-2to perform a final storage operation involving the transfer of a final ingested crate C2to assigned storage location97L32on storage shelf97-3). At the completion of this final storage operation the beverage case has a maximum backstock inventory (i.e., all available storage locations have been occupied by crates C1to C4).

Exemplary delivery (display shelf stocking) operations are described below with reference toFIGS.3E to6D, where a first portion of each delivery operation is described with reference toFIGS.3E and4A, a second portion of each delivery operation is described with reference toFIGS.4A and4B, and a third portion of each delivery operation is described with reference toFIGS.5A and6A to6D.

FIG.3Eshows backstock management subsystem120at a subsequent time t7during an extraction operation performed at the beginning of a first delivery (display shelf stocking) operation. At this point the positioning mechanism of is controlled to position end effector125for the extraction of crate C1(including a batch of beverage items P1) from storage location97L11. The extraction operation involves utilizing the extraction mechanism of gantry robot mechanism121(i.e., actuator124S and gripper127) to pull crate C1(i.e., in the direction of arrow A5) from storage location97L11onto support structure127.

FIGS.4A and4Bdepict a product transfer operation performed by product handling subsystem130according to an embodiment. Product handling subsystem130includes an articulated robot131(second robot system) that is disposed between first transfer location TL1and second transfer location TL2and is configured (by way of an arm mechanism133and an appropriate end effector135) to sequentially remove product items P1from crates C1and move the removed product items P1to second transfer location TL2.FIG.4Ashows portion of backstock management subsystem120and product handling subsystem130at a subsequent time t81after the positioning mechanism of gantry robot mechanism121has positioned end effector125in first transfer location TL1, and after arm133of articulated robot131has manipulated end effector135to extract (remove) a beverage item P1from crate C1(as indicated by dashed-line arrow A61).FIG.4Bshows product handling subsystem130and a portion of display management subsystem140at a subsequent time t82after a positioning mechanism of the second robot system of display management subsystem140has positioned an end effector145in second transfer location TL2, and dashed-line arrow A62indicates how arm133of articulated robot131is subsequently manipulates effector135to place extracted beverage item P1into end effector145(while end effector145is maintained at second transfer location TL2). By repeating the transfer operation depicted inFIGS.4A and4B, articulated robot131is able to transfer the entire batch of beverage items P1from crate C1at first transfer location TL1to end effector145and second transfer location TL2. In some embodiments (not shown), the end effector of articulated robot131is configured to simultaneously carry two or more extracted beverage items between transfer locations TL1and TL2. In one embodiment, articulated robot131is a 4-axis robot.

FIGS.5A and5Bdepict an inside surface of front wall section91F (including front opening95F and access doors96F), display shelf94and a portion of display management subsystem140.

Referring toFIG.5A, display shelf94includes three vertically oriented display shelves94-1,94-2and94-3that are mounted on and supported by a second shelf support frame98-2. In this example, each display shelf includes four chute-type display locations (i.e., display shelf94-1includes display locations94L11to94L14, display shelf94-2includes locations display94L21to94L24and display shelf94-3includes display locations94L31to94L34). With this arrangement display locations94L11to94L34are arranged in a vertical plane (i.e., parallel to the Y-Z plane and front wall91F).

In the exemplary embodiment, the third robot mechanism of display management subsystem130is implemented by a (second) vertically oriented gantry robot mechanism141. Gantry robot mechanism141generally includes a horizontal rail142fixedly mounted onto shelf support frame98-2, a vertical rail143that is movably connected to and supported by horizontal rail142, and an end effector145that is movably connected to and supported by vertical rail143. Gantry robot mechanism141is configured such that end effector145can be positioned in front of (adjacent to) any of second transfer location TL2and display locations94L11to94L34by way of a positioning mechanism formed by horizontal rail142, one or more horizontal actuator144H, vertical rail143and one or more vertical actuators144V. That is, end effector145(along with vertical rail143) can be moved horizontally (in the Y-axis direction) along horizontal rail142by way of horizontal actuator144H, and end effector145can be moved vertically (in the Z-axis direction) along vertical rail143by way of vertical actuator144V. In one embodiment, end effector145includes a beverage item delivery mechanism formed by a transfer channel146configured to receive beverage items P1from product handling subsystem130(as described above with reference toFIG.4B), a delivery channel147configured to sequentially feed beverage items P1from transfer channel146into the back end of a designated display location94L21, and one or more actuators144D and144T that are configured to bias beverage items P1along transfer channel146toward delivery channel147, and to sequentially push beverage items P1from delivery channel147onto designated display location94L21.

FIGS.6A to6Ddepict the delivery of a batch of beverage items P1by end effector145onto designated display location94L21according to an embodiment. As indicated inFIG.6A, display shelf location94L21has a chute-type configuration having a front end94L21F adjacent access door96F and an opposing back end94L21B that is open (grooved) to facilitate the delivery of beverage items P1. In this example, end effector145is moved by way of the second positioning mechanism to point behind display location94L21(e.g., such that delivery channel146is aligned with back end94L21B of display location94L21. In this position, transfer channel146is aligned perpendicular to chute-type display location94L21, and transfer actuator144T (shown inFIG.5A) biases beverage items P1toward delivery channel146(i.e., in the negative-Y-axis direction indicated inFIG.5A). As indicated inFIG.6B, delivery actuator144D applies a pushing force to a first beverage item P1(1) (indicated by dashed-line arrow A71), whereby beverage item P1(1) is pushed along delivery channel146and through back end94L21B onto display location94L21. The ejection of beverage item P1(1) allows a next-sequential beverage item P1(2) to enter delivery channel146. As indicated inFIG.6Cby dashed-line arrow A8, chute-type display location94L21is inclined such that beverage item P1(1) slides (due to gravity) toward front end94L21F and is then stopped by a bumper/barrier (not shown) such that it is positioned for viewing through access door96F. At approximately the same time, delivery actuator144D pushed beverage item P1(2) into display location94L21(indicated by dashed-line arrow A72) in the manner described above. As indicated inFIG.6D, the delivery ejection of beverage items P1then continues until the entire batch of beverage items P1has been delivered to display location P4L21. At this point, end effector145is empty and may be conveyed back to second transfer location TL2to receive a next sequential batch of beverage items.

FIG.5Bshows display management subsystem140at a time t10after beverage items P1to P4have been delivered from storage shelves97-1to97-3(shown inFIG.3E) to display shelves94-1to94-3, for example, in accordance with user-supplied planogram data.

FIG.7shows a portion of a IMDS system100A according to an embodiment in which IMDS system100A further includes a displayed-product monitoring system160A, which is utilized to monitor the number of beverage items P1to P4respectively disposed on display shelves94L1A to94L4A and to report any reductions in the number of displayed beverage items to central controller150A. Note that display shelves94L1A to94L4A are arranged in a vertical direction for purposes of describing displayed-product monitoring system160A, and that displayed-product monitoring system160A may be modified using known techniques to monitor any display shelf configuration. Other than the specific features described below with reference toFIG.7, IMDS100A is understood to include a beverage case (climate-controlled environment) that includes a product loading subsystem, a backstock management subsystem, a product handling subsystem and a display management subsystem that are configured and operate as described above with reference toFIGS.1to6E.

Displayed-product monitoring system160A is at least partially disposed inside the beverage case90(e.g., adjacent front wall section91F and access doors96F) and is configured to detect the incremental removal of beverage items P1to P4from display shelf locations94L1A to94L4A, respectively. In one embodiment monitoring system160A generally includes at least one camera161and an image processing module (IPM)162. In one embodiment camera161is a commercially available digital video camera that is operably mounted and otherwise configured to capture current image data CID from display shelves94L1A to94L4A and to transmit the current image data CID to the image processing module162. In one embodiment the image processing module162is a stand-alone electronic device that is configured using hardware and/or software techniques (e.g., known image processing techniques such as background subtraction, object segmentation, and identification) to identify the incremental removal of beverages from the display shelves94L1A to94L4A by comparing the current image data CID with stored image data that reflects the number of beverages on display shelves94L1A to94L4A at a prior time. That is, the stored image data operably visually describes the number of each beverage type on their assigned display shelves94L1A to94L4A at a selected time, and the current image data CID operably visually describes the number of each beverage type on their assigned display shelves at a current time (i.e., after the selected time). The image processing module162identifies the incremental removal of beverages from the display shelves94L1A to94L4A by identifying relevant differences between the current image data CID and the stored image data, where the relevant differences arise from the removal of one or more beverage items from the beverage case (e.g., by a customer). When the removal of one or more beverage items from the beverage case is detected, image processing module162generates and transmits corresponding on-shelf count data OSCD to central controller150A, which then uses the data to update the appropriate on-shelf count value in product database152A to reflect the reduced number of displayed beverage items. Automatically monitoring the removal of beverage items from the beverage case in this manner reduces personnel and operating costs by relieving store personnel from the task of perform manual inspection of displayed inventory.

FIG.8shows a partial IMDS system100B including a backstock management subsystem120B according to an alternative embodiment. As in the previous embodiment, backstock management subsystem120B includes a gantry robot mechanism121B having a positioning mechanism formed by horizontal rail122, two vertical rails123, horizontal actuator124H and vertical actuator124V, all of which function and operate as described above to position end effector125B in front of any storage location. In this embodiment, end effector125B includes two side-by-side extraction mechanisms, where a first extraction mechanism is formed by a first crate gripper127-1that is actuated (operated) by way of a first storage actuator124S-1, and a second extraction mechanism is formed by a second crate gripper127-2that is actuated (operated) by way of a second storage actuator124S-2. End effector125B also includes a crate support platform126B that is constructed and operates in a manner similar to that described above but differs from the earlier described embodiment in that it is modified to simultaneously accommodate two crates (as described below with reference toFIGS.9A to9E).

FIGS.9A to9Edepict operations performed by backstock management subsystem120B that illustrate the advantages of modified end effector125B.FIG.9Ashows backstock management subsystem120B at a time t11during which controller128B operably positions end effector125B and controls the first extraction mechanism (i.e., gripper127-1and actuator124S-1) to access and operably grasp crate C1, which is stored in storage location97L1. Note that crate C1includes two beverage items P1, and that two storage sections of crate C1are empty.FIG.9Bshows backstock management subsystem120B at a time t12after controller128B controls the first extraction mechanism to pull crate C1from storage location97L1onto a first portion of support structure126B and has repositioned end effector125B and controlled the second extraction mechanism (i.e., gripper127-2and actuator124S-2) to access and operably grasp crate C2, which is stored in storage location97L2. Note that crate C2includes two beverage items P2, and that two storage sections of crate C1are empty.FIG.9Cshows backstock management subsystem120B at a time t13after controller128B controls the second extraction mechanism to pull crate C2from storage location97L2onto a second portion of support structure126B.FIG.9Dshows backstock management subsystem120B and a portion of a product handling system130B at a time t13, where product handling system130B forms a part of IMDS system100B and operations substantially as described above with reference to IMDS system100. As depicted inFIG.9D, an advantage provided by modified end effector125B is that, when controller128B causes the positioning mechanism to position end effector125B at first transfer location TL1, product handling subsystem130B can be utilized to perform a consolidating function, for example, by moving the two beverage items P1from crate C1into the empty storage sections of crate C2. Subsequently, at time t15indicated inFIG.9E, controller128B controls the second extraction mechanism to push crate C2from support structure126B back into storage location97L2. Note that the backstock inventory is also updated to reflect the new location of backstocked beverage items P1in storage location97L2, and that storage location97L1is now available to receive a full crate. In one embodiment, empty crate C1is passed out of the beverage case, for example, by way of the product loading subsystem.

FIG.10illustrates how an IMDS system100C of the present invention may be modified to accommodate a nonlinear display shelf arrangement. As in previous embodiments, IMDS system100C includes a product loading subsystem110C, a backstock management subsystem including a first gantry robot mechanism121C, a product handling subsystem implemented by an articulated robot mechanism131C, and a display management subsystem including a second gantry robot mechanism141C, all of which being disposed inside a beverage case (e.g., the area indicated by floor region99C1). Product loading subsystem110C and articulated robot mechanism131C are constructed and operate as described above with reference to IMDS system100(FIGS.1-4B). First gantry robot mechanism121C includes a linear horizontal rail122C that facilitates positioning a first end effector125C adjacent any of the multiple storage locations provided by display shelving97C and is otherwise constructed and operates as described above with reference toFIGS.8and9A-9E. Second gantry robot mechanism141C similarly includes a second end effector145C that is supported on a single vertical rail142C suspended from a horizontal rail142C, whereby gantry robot mechanism141C operates in a manner similar to that described above with reference toFIGS.1,5and6A-6D.

For various reasons some beverage cases are configured with nonlinear display shelf arrangements, such as that depicted inFIG.10. In this case, three offset display shelf banks94C-1,94C-2and94C-3are arranged such that a first set of display locations94L-1C provided by (disposed on) display shelf bank94C-1are arranged in a vertical plane P1(i.e., in the X-Z plane of the depicted coordinate reference), a second set of display locations94L-2C disposed on display shelf bank94C-2are arranged in a vertical plane P2that intersects the X-Z plane at an acute angle81, and a third set of display locations94L-3C disposed on display shelf bank94C-3are arranged in a vertical plane P3that intersects the X-Z plane at an obtuse angle82, where both angles81and82are not parallel to the X-Z plane. With this arrangement, a customer standing in sales floor section99C2is able to easily view beverage items presented for display in any of display shelf banks94C-1to94C-3.

IMDS system100C (FIG.10) illustrates an advantage provided by the delivery mechanism configuration utilized by second gantry robot mechanism141C. Specifically, gantry robot mechanism141C can be easily modified/adapted to accommodate nonparallel display shelf configurations (such as that shown inFIG.10) by way of modifying horizontal rail142C such that it extends between display shelf banks94C-1to94C-3(i.e., such that end effector145C is able to access the back end of any of the display locations disposed on all three of display shelf banks94C-1to94C-3). In the example depicted inFIG.10, horizontal rail142C is modified to include three linear sections connected by two curved sections, where a first linear section143C-1is fixedly connected to display shelf bank94C-1and extends in a direction parallel to vertical plane P1, a second linear section143C-2is fixedly connected to display shelf bank94C-2and extends in a direction parallel to plane P2, a third linear section143C-3is fixedly connected to display shelf bank94C-3and extends in a direction parallel to plane P3, a first curved section142C-12links linear sections142C-1and142C-2, and a second curved section142C-13links linear sections142C-1and142C-3. With this arrangement, second gantry robot mechanism141C is able to receive a batch of beverage items (not shown) by way of a transfer operation (i.e., from first gantry robot mechanism121C by way of articulated robot mechanism131C in the manner described above), where the transfer operation is performed while end effector145C is positioned at a designated transfer location TL2(e.g., behind display shelf bank94C-2). Once the transfer operation is completed, second gantry robot mechanism141C is able to deliver the received batch of beverage items (i.e., by way of moving end effector145along horizontal rail142C to any display location provided by any of display shelf banks94C-1to94C-3).

Although the present invention has been described with respect to certain specific embodiments, it will be clear to those skilled in the art that the inventive features of the present invention are applicable to other embodiments as well, all of which are intended to fall within the scope of the present invention. For example, although the present invention is described above with specific reference to the management of cold drinks (e.g., canned/bottled beverage items) that are sold from a beverage case located, for example, in a convenience store, where customers access and manually remove selected beverage items by way of opening/closing glass access doors (e.g., doors96F,FIG.1), the IMDS system may be beneficially utilized in other settings while remaining within the spirit and scope of the invention. For example, the IMDS system may be utilized to manage hot or cold food/beverage items offered for sale in a vending-machine-type arrangement (i.e., wherein a selected product item is automatically dispensed by way of a gravity-fed hopper or other exit port). Note that the removal of selected product items from display shelves in such vending-machine-type arrangements is performed automatically using known techniques, whereby the reductions in the number of each product item type may be determined by actuation of the automatic dispensing mechanism, thereby obviating the need for a vision-based or sensor-based displayed-product monitoring arrangement.