Patent Publication Number: US-2019199110-A1

Title: Transportation device storage and charging

Description:
BACKGROUND 
     With growing population and a shift toward more urbanization, urban population is increasing. Users increasingly ride public transportation systems and walk from public transport stations to final destinations. Moreover, many suburban residents now park their cars in parking structures in city centers and walk to their final destination to avoid traffic congestion of city centers. An improved transportation device and improved infrastructure for such improved transportation devices could support those trends. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of an example transportation device. 
         FIG. 2  is perspective top view of the device of  FIG. 1 . 
         FIG. 3  is perspective bottom view of the device of  FIG. 1 . 
         FIG. 4  is a perspective view of an example transportation device with a suspension component. 
         FIG. 5A  is a side view of the device of  FIG. 4 . 
         FIG. 5B  is a side view of the device of  FIG. 4  moving over a small object. 
         FIG. 6A  is a side view of the device of  FIG. 1  moving forward and transporting a user. 
         FIG. 6B  is a side view of the device of  FIG. 1  moving backward and transporting a user. 
         FIG. 6C  is a rear view of the device of  FIG. 1  turning left and transporting a user. 
         FIG. 7  is a perspective view of the device of  FIG. 1  carrying a load and following a user. 
         FIG. 8  is a perspective view of the device of  FIG. 1  illustrating each of a mounted display and a projected display. 
         FIG. 9  is a perspective view of the device of  FIG. 1  stored in a trunk of a vehicle. 
         FIG. 10  is a block diagram showing electrical components of the device and a mobile computing device. 
         FIG. 11  is a flowchart of a method for a follow mode for the device of  FIG. 1 . 
         FIG. 12  is a perspective view of a storage system for the device of  FIG. 1 . 
         FIG. 13  is a detail perspective view of the storage system of  FIG. 12 . 
         FIG. 14  is a perspective view of a portion of the storage system of  FIG. 12 . 
         FIG. 15  is a block diagrams showing electrical components of the storage system of  FIG. 12 . 
         FIG. 16  is a flowchart of a method for the storage system of  FIG. 12 . 
     
    
    
     DETAILED DESCRIPTION 
     With reference to the Figures, wherein like numerals indicate like parts throughout the several views, with reference to  FIGS. 1-11 , an example device  10  includes a platform member  12  with a top  14  and a bottom  16 , a plurality of wheels  18 ,  20 ,  22 ,  24  each of the wheels rotatably mounted to the bottom  16  of the platform member  12 , and a motor  26 ,  28  mounted to the bottom  16  of the platform member  12 , and a drive shaft  30 ,  32  extending from the motor and drivably coupled to at least one of the wheels  18 ,  20 ,  22 ,  24 . 
     The device  10  may be used by a user as a mobility device. The device  10  may carry the user while the user stands on the top  14  of the device  10 . The device  10  accordingly may provide a convenience for the user, for example, when the user needs to travel a long distance in a crowded urban area that the user would otherwise walk. Additionally, the device  10  may be useful to carry a load  34 , e.g. a shopping bag or other cargo. The device  10  could carry the load  34  and follow the user as the user walks. 
     A right wheel  18 , a left wheel  20 , and a front wheel  22  rotatably mounted to the bottom  16  of the device  10  are shown in  FIGS. 1 and 2 . The device  10  may move on the ground surface while the wheels  18 ,  20 ,  22 ,  24  rotate. A force to move the device  10  may be provided by the motor drivably coupled to one or more of the wheels. The device  10  typically is able to move in different directions, e.g., forward and backward. 
     The front wheel  22  may be pivotable about an axis A 1  transverse to the platform member  12 , as shown in  FIG. 6B , or the front wheel  22  may be an omnidirectional, i.e., “Omni” wheel able to slide laterally, as shown in  FIG. 4 . Omni wheels, as are known, can advantageously provide lateral sliding movements when, e.g., the device  10  turns or negotiates a curve. Omni wheels are for example built as wheels with small discs mounted around the wheel circumference while rotational axes of these small discs are transverse to the rotational axis of the Omni wheel. Omni wheels can, therefore, provide movements in a forward or in a backward direction, but can also slide laterally with ease, i.e., through rotation of the small discs. Alternatively, Omni wheels can be built in any other suitable way to provide sliding movements in lateral direction. Additionally or alternatively, one or more of the wheels  18 ,  20 ,  22 ,  24  may be pivotable wheels, Omni wheels, or pivotable Omni wheels. 
     As another example shown in  FIGS. 3 and 6B , the device  10  has a rear wheel  24  rotatably mounted to the bottom  16  of the platform member  12 . Additionally, the rear wheel  24  may be a wheel pivotable about an axis A 2 , an Omni wheel, or an Omni wheel pivotable about the axis A 2 . 
     As shown in the Figures, the platform member  12  has a substantially circular shape. Alternatively, the platform member  12  may have any other suitable shape. The platform member  12  may include a chassis  13 , as shown in  FIG. 4 . The chassis  13  may include beams, sheets, etc. that are fixed together, e.g., welded. The chassis  13  may be formed of metal, hard plastic, or any other suitable material. The top  14  can be attached to the chassis  13 , e.g., with screws. 
     The device  10  may include one or more suspension component(s)  45  mounted to the platform member  12 , e.g., chassis  13 , as shown in  FIGS. 4 and 5 , to, e.g., smooth a ride over rough surfaces or objects. The suspension components  45  may have a first end  46  mounted to the chassis  13  and a second end  46  mounted to a wheel  18 ,  20 ,  22 ,  24 , e.g., via a wheel attachment member  47 . When, e.g., the ground surface is flat, the suspension component  45  may be in a steady state, as shown in  FIG. 5A , i.e., the wheel  22 ,  24  is not moved relative to the chassis  13 . Whereas, when, e.g., the device rides over an object or a rough surface, the suspension component  45  can allow a movement of the suspension component  45  second end  46  relative to the first end  46  along an axis transverse to the chassis  13 , as shown in  FIG. 5B . The suspension component  45  may be a leaf spring, e.g., formed of a flexible steel, which can bend as shown in  FIG. 5B . 
     The motor  26 ,  28  may be an electric motor. Electrical energy required to operate the electric motor may come from a plurality of batteries  36  mounted to the platform member  12 , as shown in  FIG. 3 . As an example, in order to optimally use the space, four batteries  36  can be mounted at the bottom  16  of the device  10 . Additionally, the device  10  may include a second electric motor  28  and a second shaft  32  extending therefrom, the second electric motor  28  mounted to the bottom  16  of the platform member  12  wherein the drive shaft  30  driveably coupled to the right wheel  18 , and the second shaft  32  is driveably coupled to the left wheel  20 . 
     As shown in  FIG. 3 , the device  10  may have an electronic controller  38  mounted to the bottom  16  of the platform member  12  or elsewhere having a processor  40  and a memory, the memory storing instructions executable by the processor  40  to control a steering, speed, acceleration, and/or deceleration of the device  10 . Moreover, the device  10  may have one or more batteries  36  mounted to the bottom  16  of the platform member  12  providing electrical energy for the electric motors  26 ,  28 . 
     The electronic controller  38  may include a motor drive circuitry  42  as shown in  FIG. 11  to control the speed of the electrical motors  26 ,  28 , e.g., a pulse width modulation circuitry. The motor drive circuitry  42  may actuate the motors  26 ,  28  to accelerate, decelerate, or steer the device  10 . 
     The device  10  may include an input element  84 , e.g., a push button or a toggle switch, mounted to, e.g., the platform member  12 , to select a mode of operation for the device  10 , as shown in  FIGS. 1 and 10 . The modes of operation can, for example, include a normal mode and an economy mode. The operation of the device  10  in the economy mode may reduce an energy consumption of the electric motors  26 ,  28  compared to the normal mode. For example, to reduce the energy consumption, in the economy mode a maximum speed of the device  10  may be less than a maximum speed of the device  10  in the normal mode. As an example, the processor  40  may be programmed to receive a signal from the input element  84  and select a mode of operation according to the received signal, e.g., by adjusting a maximum speed threshold according to the selected mode of operation. The processor  40  can be further programmed to actuate the motor to drive with a speed that does not exceed a maximum speed determined according to the mode of operation. Alternatively or additionally, the processor  40  may receive a signal from the mobile computing device  52  or any other device and select the mode of operation according to the received signal. Additionally, the device  10  may include any other modes of operations selectable through the input element  84 . Alternatively, the input element  84  can be mounted to any other suitable part of the device  10 . 
     As shown in Figures, the device  10  may include one or more load measuring sensors  44  mounted to, e.g., the top  14 , of the platform member  12 . The load measuring sensors  44  may be load cells, e.g. strain gauge load cells. A user may stand on the top  14  of the platform member  12  during a ride, i.e. applying weight on the load measuring sensors  44 . The load measuring sensors  44  may be used to enable the user to request acceleration, deceleration, steer right, steer left while riding on the ground surface. As an example, controlling the device  10  using load measuring sensors  44  can be done based on a load distribution on the top  14  of the platform member  12 . For example, the load measuring sensors  44  may include a front right zone, a front left zone, a rear right zone, and a rear left zone. Alternatively, the load measuring sensors  44  may be an array of load cells, as shown in  FIGS. 1 and 2 , wherein the load distribution can be calculated based on the force data measured at each of load cell elements in the array of load cells compared to a location of the load cell element compared to a reference point on the top  14  of platform member  12 . 
     Referring to  FIGS. 6A-6C , a user may lean forward or backward in order to accelerate or decelerate, and may lean left or right in order to steer to a left or a right direction. The processor  40  may be programmed to receive data from the load measuring sensors  44  indicating a force detected at one or more of the zones, and actuate the motor  26 ,  28  to move to a direction based on the received force data. For example, when the device  10  with the load measuring sensors  44  with different zones, measures a greater force F front  in the front zones than the force F rear  in the rear zones, it may indicate a request for accelerate in a direction D forward  as shown in  FIG. 6 a   , or the greater force F left  on the left zones than the force F right  in the right zones of the load measuring sensors  44  may indicate the request to steer to the left direction of T left  as shown in  FIG. 6 c   . Alternatively, the user may ride the device  10  as a skate (not shown), i.e., user may stand toward a right or a left direction on the top  14  of the device. In other words, the user may face to a direction extending between the right wheel  18  and the left wheel  20 . In this example, the device  10  may be accelerated, decelerated, or steered in a similar way, as described with respect to  FIGS. 6A-6C . 
     Referring to the example shown in  FIG. 3 , the device  10  may steer using the driveably connected wheels  18 ,  20 , for example, the right wheel  18  and the left wheel  20  are driveably connected to the electric motor  26  and the second electric motor  28  respectively. The processor  40  may be programmed to actuate the motor drive circuitry  42  to apply different speed and/or different direction of rotation in the electric motors  26  versus the second electric motor  28  in order to steer the device  10 . As another example, when the right wheel  18  and the left wheel  20  are both driveably connected to the electric motor  26 , the device  10  may include a right clutch adjusting a torque transferred from the electric motor to the right wheel  18  and a left clutch adjusting the torque transferred from the electric motor to the left wheel  20 . The processor  40  may be programmed to actuate the right clutch and the left clutch to transfer different amounts of torque to the right wheel  18  versus the left wheel  20 , which may cause the device  10  to change the direction of the movement. Additionally or alternatively, swiveling of wheels  22 ,  24  about the axis A 1  or A 2  transverse to the platform member  12  controlled by the processor  40  may cause the device  10  to steer. 
     As an example, in a device  10  with Omni wheels  22 ,  24 , a turn in a right or left direction may cause the Omni wheels slide laterally. This may advantageously provide a smoother turn for the device  10 . Alternatively or additionally, the front wheel  22  and/or the rear wheel  24  may pivot about axes A 1 , A 2  transverse to the platform member  12 . 
     An electrical harness including a plurality of wires may interconnect the batteries  36 , the electric motors  26 ,  28 , the electronic controller  38 , and the load measuring sensors  44 . Additionally, the device  10  may include a charging plug  48  electrically connected to the electrical harness. The charging plug  48  can allow charging the batteries  36  of the device  10 . The batteries  36  of the device  10  may be rechargeable and the electronic controller  38  may include a battery charging circuitry  50  to control the flow of electrical energy required for charging the battery  36 . Alternatively, the batteries  36  may be charged wirelessly by using a charging coupler instead of the wired charging plug  48 , configuring the battery charging circuitry  50  to support inductive charging, and having an inductive charge port connected to a power source, e.g. a vehicle battery. Charging the batteries  36  wirelessly may provide a convenience for the user. The processor  40  of the electronic controller  38  may be programmed to control a charging of the battery  36  when the device  10  is connected through the charging plug  48  to a power source, for example while stored in a spare tire place holder in a trunk of a vehicle as shown in  FIG. 9 . Alternatively or additionally, the device  10  may be charged in dedicated charging stations around urban areas, at a home, or any other suitable place. Additionally, the device may include a display mounted to the platform member  12 , to display a charging level of the batteries  36 , for example a segmented ring shape display  82  with four segments may be mounted to the perimeter of the platform member  12 . Each of the four segments may be turned on and off to illustrate the charging level of the batteries  36  in five distinct levels of 0%, 25%, 50%, 75%, and 100% charged by illuminating zero, one, two, three or all segments respectively. 
     In order to avoid a collision of the device  10  with an object on the road having a possibility of rapid deceleration is advantageous. The electronic controller  38  may be programmed to operate the electric motors in a generator mode when the user requests a rapid deceleration, for example when the weight of the user is primarily applied on the rear zones of the load measuring sensors  44 . The electric motors in the generator mode resist against the rotation of rotors of the electric motors and thereby may decelerate the device  10 . This has the additional benefit that batteries  36  may be charged during a deceleration, if the battery charging circuitry  50  and the electronic controller program support a flow of energy back to the batteries  36 , a so called recuperation mode of operation known from hybrid vehicles. Additionally or alternatively, the device  10  may include one or more brakes  80 . For example, the brakes  80  may be actuated by the processor  40  when the request of the user to decelerate exceeds a certain deceleration threshold. 
     As another example of using the device  10  in a “follow” mode as shown in  FIG. 7 , the user may put a load  34 , e.g. a shopping bag on the platform member  12 , and the device  10  may move on the ground surface next to, in front of, or behind the user, without the user riding the device  10 . As shown in  FIG. 10 , a device  10  may have a first location sensor  54 , e.g. a global positioning sensor or a location sensor determining a coordinate of the device  10  and a wireless communication circuitry  58 , and a mobile computing device  52  may be carried by the user with a second location sensor  56 , e.g., a global positioning sensor determining a global coordinate of the mobile computing device  52 , with a second wireless communication circuitry  60 , e.g., Bluetooth, and the processor  40  programmed to execute a following process as shown in  FIG. 11 . In short, the mobile computing device  52  of the user device  10  can communicate with the device electronic controller  38  to actuate the device  10  motors  26 ,  28  to cause the device  10  to move next to, behind, or in front of, the user. 
     Referring to  FIG. 11 , the following process includes steps to detect whether the device  10  is in the follow mode, receive a first position (e.g., geo-location using latitude and longitude coordinates as in known) of the device  10 , establish a wireless data link  62  to the mobile computing device  52 , receive a second position of the mobile computing device  52 , calculate a path from the first position to the second position, and move the device  10  along the path from the first position to the second position. To control the movement of the device  10  along the path, the electronic controller  38  may implement various control methods, e.g., proportional integral derivative control, cascade control, fuzzy control, or any other suitable control method. In order to move the device  10  along the path, the electronic controller  38  may need to actuate the device  10  to steer as described above to cause the device  10  to follow a user&#39;s walking path. 
     The user may prefer that the device  10  in the follow mode moves in front of or next to the user. In this case the processor  40  may be programmed to receive navigation information from the mobile computing device  52  and receive commands from the mobile computing device  52  to accelerate, decelerate and steer toward a predetermined destination. Additionally or alternatively, the device may move on a navigation path in an autonomous mode, without the necessity of the user being on the device  10  or in a proximity of the device  10 . In this case the acceleration, deceleration and steering of the device  10  is controlled by the processor  40  and/or by the mobile computing device  52  or a cloud server. This may be useful to create a fleet of devices  10  moving on predetermined routes in urban areas creating a so-called hop on hop off transportation mechanism for users. Additionally, a user may use the mobile computing device  52  to send the device  10  autonomously to a certain destination. 
     The device  10  in the follow mode moving behind the user may additionally or alternatively include a sensor  64 ,  66 , e.g., a camera, for detecting, e.g., objects, in proximity of the device  10 , mounted to the perimeter of the device  10  connected through the electrical harness with the electronic controller  38 . The sensor  64 ,  66  has a horizontal field of view FOV H  and a vertical field of view FOV V  covering at least a portion of a surrounding of the device  10 . Alternatively or additionally, the sensor  64 ,  66  may include a radar, LIDAR, or ultrasound sensors for detecting the objects in proximity of the device  10 . Either a second processor in the sensor  64 ,  66  or the processor  40  in the electronic controller  38  may be programmed to detect the user and calculate the position, e.g., geo-coordinates, of the device  10  relative to the user. The detection of the user may be done using a specific graphical pattern like a QR code on a clothing or accessories of the user or any other feature which enables a camera sensor  64 ,  66  to distinguish the user from other people around the device  10 . 
     A method for the follow mode as shown in  FIG. 11  includes detecting whether the device  10  is in a follow position as shown in block  120 , locating the first position of the device  10  as shown in block  122 , establishing the wireless data link  62  to the mobile computing device  52  as shown in block  124 , receiving the second position of the mobile computing device  52  as shown in block  126 , calculating the path from the first position toward the second position as shown in block  128 , and moving the device  10  along the path from the first position toward the second position as shown in block  130 . 
     The processor  40  of the electronic controller  38  may be programmed to detect an object in the field of view of the sensor  64 ,  66 , actuate the electric motors  26 ,  28  to move the device  10  in the direction toward the object or away from the object. The object detected by the device  10  may be a pattern in the field of view of the sensor  64 ,  66 . 
     As another example, to avoid a collision between the device  10  and the user, while following the user, the processor  40  may send a request to stop when the device  10  reaches a predetermined minimum proximity, i.e., distance, threshold. The device  10  may move again after the user walks forward and the distance between the device  10  and the user exceeds the predetermined minimum distance. As shown in  FIG. 11 , the method may include calculating an intermediate position on the path as shown in block  132 . the intermediate position having a distance to the second position at least equal to the minimum proximity threshold, and stopping the device  10  at the second position as shown in block  134 . 
     As shown in  FIG. 8 , the device  10  may include one or more display elements  68  mounted to the platform member  12 . The display elements  68  may provide information to the user, e.g. when the device  10  moves in the autonomous mode and the user stands on the device  10 , the displays may indicate a next change in the direction of movement to the user. Alternatively or additionally, the device  10  may include a projector  70  having a projection axis extending from the platform member  12  which projects information in visual form  72  on a surface, e.g. on the ground surface as shown in  FIG. 6 . 
     For better visibility, the device  10  may include a plurality of light elements mounted to the perimeter of the device  10 , e.g. a front light  74  and/or a tail light  76 . 
     As shown in  FIG. 8 , the device  10  may have a hole  78  on the top  14  of the platform member  12  to provide a possibility of supporting an umbrella or the like of the user. This may give an improved feeling of stability to the user. This can be used also for holding a stick used by the user as a walking assistance. Additionally or alternatively, a pole may be mounted to the top  14  or the chassis  13  of the platform member  12  which can be held by the user for better stability. 
     In order to store and/or charge the device  10 , e.g., in a crowded downtown area, a storage system with charging capability can be provided. With reference to  FIGS. 12-16 , a system  85  that can store multiple devices  10  includes a storage apparatus  86  that includes a charging port  88 , a handling device  92 , and a processor  110 . The processor  110  is programmed to output a signal to the handling device  92  to select the storage apparatus  86  for a transportation device  10 , place the transportation device  10  in the storage apparatus  86 , and then activate the charging port  88  to charge the transportation device  10 . 
     The storage and charging system  85  is described herein according to examples in which one or more example transportation devices  10 , described above, may be stored and/or connected for charging. However, it is to be understood that the storage and charging system  85  could include principles and/or structures suitable for storing and/or charging other transportation devices. 
     In one example shown in  FIG. 12 , the storage system  85  can receive a device  10  from the user for storage and/or charging, output a status of one or more stored devices  10 , and/or return a stored device  10  to the user. The storage system  85  may further include a cover  114 , e.g., a plastic, glass, or metal cover, a user interface  112 , e.g., a touch screen, and an opening  116 . The device  10  may enter or exit the storage system  85  through the opening  116 . The user may communicate with the storage system  85  via the user interface  112 . Alternatively or additionally, the storage system  85  may include a wireless communication interface  118  to communicate with, e.g., a mobile computing device  52  of the user. Such storage systems  85  may be placed on a road side, inside a shopping mall, etc. 
     In order to store multiple devices  10 , the storage system  85  may include multiple storage apparatuses  86 . A device  10  can be stored in each storage apparatus  85 . Storage apparatuses may be shelves arranged in a vertical stack, e.g., to save space in a crowded city downtown. 
     As shown in  FIG. 13 , the storage apparatuses  86  include charging ports  88 . The charging ports  88  may be electrically and mechanically connectable to the devices  10 , e.g., via a socket, to charge batteries  36 . Alternatively, a charging port  88  may include a wireless charging component such as an inductive coil to charge the devices  10  batteries  36  via magnetic induction. An area inside the storage apparatus  86  where a wired or wireless connection between the storage apparatus  86  charging port  88  is provided, e.g., in induction range of the inductive coil, is referred to as the charging position. 
     The handling device  92  may include a base  94 , a guide  90  supported by the base  94 , a lifting apparatus  96  slideably mounted to the guide  90 , and a holder device  100  mounted to the lifting apparatus  96 . 
     The base  94  may include metal sheets, metal beams, etc. connected together, e.g., welded. The base  94  may be shaped such that the devices  10  entering/exiting the storage system  85  through the opening  116  can move on the base to an area accessible to the handling device  92 , e.g., the holder device  100 . 
     The guide  90  may include tracks or other mechanisms allowing the lifting apparatus  96  to slide along the guide  90  while mechanically engaged with the guide  90 . When the storage apparatuses  86  are stacked vertically, the guide  90  may be parallel to the vertical stack of the storage apparatuses  86 . 
     As shown in  FIG. 13 , the guide  90  may be mounted to the base  94 . Alternatively, the guide  90  may movable relative to the base  94 . For example, the storage apparatuses  86  may be stacked in multiple vertical stacks or stacked horizontally. Thus, the guide  90  may be mounted to a horizontal moving actuator movably engaged with the base  94 , e.g., via a second guide. Such horizontal moving actuator may receive a signal from the processor  110  to move the guide  90  relative to the base. 
     The lifting apparatus  96  may be a solid rectangle engaged with the guide  90  via sleeves, linear bearings, etc. The lifting apparatus  96  may be formed of metal or other hard materials. Alternatively, the lifting apparatus  96  can have other shapes or structures supported by the base  94  and suited for lifting the devices  10 . 
     The handling device  92  may include a lifting actuator  98  mechanically coupled to the lifting apparatus  96 , e.g., an electrical or pneumatic drive, engaged with the guide  90 . The storage system  85  processor  110  may output a signal to the lifting actuator  98  to slide the lifting apparatus  96  along the guide  90 . The lifting actuator  98  may move the lifting apparatus  96  in accordance with the received signal. For example, the storage apparatuses  86  may be numbered  1  to  20 , and the received signal may indicate a fifth storage apparatus  86 . The lifting apparatus  96  may move to a position in front of the fifth storage apparatus  86  based on the received signal. Alternatively, the received signal may indicate a move to a pickup or deposit location, e.g., to pick up a device  10  inserted through the opening  116  and resting on the base  94 . 
     As shown in  FIGS. 13-14 , the holder device  100  can include an attachment  104  mounted to the lifting apparatus  96 , and a carrier  106  moveably mounted to the attachment  104 . 
     The carrier  106  may be shaped so as to pick up, carry, and release the devices  10 , e.g., the carrier  106  may have a shape of a fork. A distance between the fork shaped carrier  106  tines  108  may be less than a diameter of the transportation device. That is, the device  10  bottom  16  may be supported by the tines  108  while the device is carried by the carrier  106 . 
     The carrier  106  can be supported by the lifting apparatus  96 , e.g., via the attachment  104 . In order to place/remove the device  10  in/from the storage apparatus  86 , the carrier  106  may be movable relative to the attachment  104 , e.g., via a slide. Additionally, the holder device  100  may include a holder actuator  102 , e.g., an electrical linear actuator, to move the carrier  106  relative to the attachment  104 . The holder actuator  102  may couple the carrier  106  to the attachment  104 . The carrier  106  may be in a retracted position when the carrier  106  is adjacent the attachment  104 , e.g., the carrier  106  touching the attachment  104  or closest to the attachment  104 . The carrier  106  may be in an extended position when the carrier  106  is spaced away from the attachment  104 , e.g., an end position of the linear holder actuator  102 , e.g., actuator  102  fully extended, or a charging position in the storage apparatus  86  allowing the device  10  supported by the carrier  106  being connectable to the storage apparatus  86  charging port  88 . 
     The storage system  85  processor  110  may be further programmed to control the holder actuator  102  to move the carrier  106  between the retracted position and the extended position. For example, while the carrier  106  is in the retracted position, the lifting actuator  98  vertically moves the carrier  106  in front of the storage apparatus  86  based on a signal from the processor  110 . Then, the processor  110  may output a signal to the holder actuator  102  to move the carrier  106  to the extended position to place the device  10  in the storage apparatus  86 . Additionally or alternatively, the processor  110  may be programmed to place the device  10  at a charging position of the storage apparatus  86 . 
     As shown in the block diagram of  FIG. 15 , the processor  110  may electrically communicate, e.g., via Ethernet or Process Field Bus (PROFIBUS), with the user interface  112 , the lifting actuator  98 , the holder actuator  102 , the wireless communication interface  118 , and the charging ports  88 . 
     The process  1600  of  FIG. 16  begins in a block  1605 , in which the processor  110  receives a request from, e.g., the user interface  112  or a mobile computing device  52 . 
     Next, at a decision block  1610 , the processor  110  determines, based on the received request, whether the received request is a storage request, i.e., a request to store a device  10  in the storage system  85 . If so, a block  1615  is executed next; otherwise, the process  1600  proceeds to a block  1630 . 
     In the block  1615 , the processor  110  may select an empty storage apparatus  86  based on the received data, e.g., based on size of the device  10  provided in the received request. 
     Next, in a block  1620 , the processor outputs signals to the lifting actuator  98  to lift the device  10  from the base  94  and place in the storage apparatus  86  selected at block  1615 . For example, the processor  110  may be programmed to output a signal to the lifting actuator  98  to move the lifting apparatus  86  to the base  94 , e.g., a directional speed value such as −10 m/s for downward movement of the lifting apparatus  96 . The processor may further be programmed to then output a signal to the holder actuator  102 , e.g., 1, to unretract the carrier  106  to the extended position, e.g., the tines  108  placed under the device  10 , and then output a signal, e.g., −1, to the holder actuator  102  to move the carrier  106  carrying the device  10  to the retracted position, to then output a signal, e.g., 10 m/s, to the lifting actuator  98  to move the lifting apparatus  86  upward in front of the storage apparatus  86  selected at block  1615 , and further to then output a signal, e.g., 1, to the holder actuator  98  to move the carrier  106  to the extended position to place the device in the selected storage apparatus. Additionally, the processor  110  may be programmed to couple the device  10  with a respective charging port  88  of the selected storage apparatus  86 , e.g., by placing the device  10  at a charging area in the storage apparatus  86 . For example, the charging area may be a specific location of the storage apparatus  86  may provide best induction for an induction charging. The processor  110  may receive data from sensors such as cameras mounted in the storage system  85  to place the device  10  in the expected charging area. 
     Next, in a block  1625 , the processor  110  may activate the charging port of the selected storage apparatus  86 , e.g., turning on a relay providing power to the charging port  88 . 
     In the decision block  1630 , which may follow the block  1610 , the processor  110  determines whether the received request is a pickup request, i.e., a stored device  10  is requested to be picked up. If yes, a block  1635  is executed next. Otherwise, the process  1600  proceeds to a block  1650 . 
     In the block  1635 , the processor  110  selects a storage apparatus  86  holding a device  10  to be given to the user. The processor  110  may select the storage apparatus  86  based on the received request data, e.g., identification of a specific device  10 . 
     Next, in a block  1640 , the processor  110  may deactivate the charging port  88  of the selected storage apparatus  86 , e.g., turning off a relay providing power to the charging port  88 . 
     Next, in a block  1645 , the processor  110  may remove the device  10  from the selected storage apparatus  86  and place the device  10  on the base  94 , i.e., as described above with respect to the block  1620 . 
     In the block  1650 , which may follow the block  1630 , the processor  110  identifies a status of charging of a device  10  based on the received request data. For example, the request data may include the identification of a device  10  stored. The processor  110  may identify the storage apparatus  86  holding the specific device  10 , e.g., a memory of the processor  110  may contain history information about allocation of stored devices  10  to the storage apparatuses  86 . 
     At block  1655 , the processor  110  may output the status identified at block  1650 . The output status may be displayed on the user interface  112  or a mobile computing device  52 . 
     Following blocks  1625 ,  1645 , or  1655 , the process  1600  ends. 
     The disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.