Patent Description:
Transporting objects, e.g., in a logistics network, presents unique challenges. For example, organizing, routing, and tracking a large number of objects (e.g., parcels with contents intended for a specific destination) can require significant resources. Without these resources, and/or without greater efficiency, the capacity to handle objects can be limited. Therefore, improvements in the automated or semi-automated handling and manipulation of objects are needed. <CIT> discloses a computer-implemented method for directing the shifting of objects. The method comprising: directing a shifting mechanism to move a first object-support structure of a plurality of object-support structures to a first location, the first location being located in a three-dimensional space in which an object-shifting apparatus operates; receiving, identifying data associated with an object positioned on the first object-support structure, determining a designated destination of the object based at least in part on the identifying data; directing the shifting mechanism to move a second object-support structure of the plurality of object-support structures to the first location based on the second object-support structure being associated with the designated destination of the object, the first location being located in the three-dimensional space in which the object-shifting apparatus operates; and directing the object-shifting apparatus to transfer the object from the first object-support structure to the second object-support structure. The document also discloses analogously a computer-readable media and a computer system with the previous features.

This summary is intended to introduce a selection of concepts in a simplified form that are further described below in the detailed description section of this disclosure. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in isolation to determine the scope of the claimed subject matter.

In brief, and at a high level, this disclosure describes, among other things, embodiments used for detecting, locating, identifying, engaging, and/or shifting objects in automated or semi-automated fashion. These embodiments may be implemented in stationary environments, and/or in moving environments, and may be used to transfer, route, and/or organize objects based on their designated destinations. These embodiments may also be utilized in a logistics network to increase the efficiency, capacity, and/or precision of object handling in a logistics network operation, among other benefits.

In one unclaimed example, an object-shifting system is provided. The object-shifting system may include at least one object-shifting apparatus. The object-shifting apparatus may be configured to detect, locate, identify, engage, and/or shift objects in automated or semi-automated fashion. The object-shifting apparatus may include numerous features and configurations that support this functionality. For example, the object-shifting apparatus may include object-detection components that detect, locate, and/or identify objects, e.g., in a three-dimensional space in which the object-shifting apparatus operates. This may include detecting, identifying, and/or locating the objects themselves or portions thereof, e.g., their edges, dimensions, and/or boundaries, among other characteristics. The object-shifting apparatus may include object-engaging components that are able to engage, hold, transfer, and/or release objects. These object-engaging components may further be adaptable, or dynamically adjustable, allowing them to engage and shift objects of different shapes and sizes, and/or objects positioned at different locations and/or at different orientations. The object-shifting apparatus may be configured to operate from a fixed position in a space, and/or may be movable, e.g., using a shifting mechanism, in different aspects. The objects that are shifted may be transported on object-support structures. The object-support structures may be movable, e.g., using a shifting mechanism, in order to enable relative positioning during an object shifting process, in one aspect. The systems and components used for shifting objects in automated or semi-automated fashion may be directed by one or more computing devices, which may be local, remote, and/or distributed, in different aspects.

In one unclaimed example, a system for shifting objects is provided. The system comprises a plurality of object-support structures; an object-shifting apparatus configured to locate and identify an object positioned on a first object-support structure of the plurality of object-support structures when the first object-support structure is positioned adjacent to the object-shifting apparatus, engage the object positioned on the first object-support structure, and transfer the object onto a second object-support structure of the plurality of object-support structures; a shifting mechanism operable to move the plurality of object-support structures to different locations; and a computing device configured to direct operation of the object-shifting apparatus, and the shifting mechanism.

In another unclaimed example, a method for shifting objects is provided. The method comprises moving, using a shifting mechanism, a first object-support structure to a first location in a space, wherein the first location is adjacent to an object-shifting apparatus; determining, using at least one object-detection component, an identity of an object positioned on the first object-support structure; determining, using the at least one object-detection component, a location of the object in a three-dimensional space in which the object-shifting apparatus operates; moving, using the shifting mechanism, a second object-support structure to a second location in the space, wherein the second location is adjacent to the object-shifting apparatus; engaging, using one or more object-engaging components of the object-shifting apparatus, the object positioned on the first object-support structure; shifting the object to the second object-support structure; and releasing the object onto the second object-support structure.

In another unclaimed example, a system for shifting objects during transit is provided. The system comprises a plurality of object-support structures; a shifting mechanism operable to move the plurality of object-support structures to different locations in a space; an object-shifting apparatus configured to locate and identify objects positioned on the plurality of object-support structures, and engage and shift the objects to different object-support structures; and a computing device configured to direct operation of the object-shifting apparatus and the shifting mechanism.

In another unclaimed example, an object-shifting apparatus is provided. The object-shifting apparatus comprises a base; a frame extending from the base; and an object-shifting mechanism, the object-shifting mechanism being movable to different positions along the frame, and the object-shifting mechanism comprising one or more object-engaging components useable for engaging and shifting objects having a range of different dimensions; and at least one object-detection component configured to determine a location of an object positioned in a three-dimensional space in which the object-shifting apparatus operates, and determine an identity of the object.

In another unclaimed example, an object-shifting system is provided. The object-shifting system comprises a guide track; a plurality of object-support structures each comprising a track-engaging structure adapted to be coupled to the guide track, thereby allowing the coupled object-support structure to move along the guide track; an object-shifting apparatus comprising a base, a frame extending from the base, and an object-shifting mechanism, wherein the object-shifting mechanism is movable to different positions along the frame, and wherein the object-shifting mechanism comprises one or more object-engaging components useable for engaging and shifting objects of a range of different dimensions, and at least one object-detection component configured to determine a location of an object positioned in a three-dimensional space in which the object-shifting apparatus operates, and determine an identity of the object.

In another unclaimed example, a method of shifting objects using an object-shifting apparatus comprising a base, a frame extending from the base, an object-shifting mechanism movable along the frame, and at least one object-detection component is provided. The method comprises moving the object-shifting mechanism to a position on the frame that is adjacent to an object; detecting the object using the at least one object-detection component; determining an identity of the object based on a unique identifier associated with the object; determining a location of the object in a three-dimensional space in which the object-shifting mechanism operates; engaging the identified and located object using the object-shifting mechanism; and shifting the object to a location associated with a designated destination of the object.

The invention provides in one embodiment a computer-implemented method for directing the shifting of objects. The method comprises directing a shifting mechanism to move a first object-support structure of a plurality of object-support structures to a first location in a space, the first location being located in a three-dimensional space in which an object-shifting apparatus operates; receiving, from the object-shifting apparatus, identifying data associated with an object positioned on the first object-support structure; determining a designated destination of the object based at least in part on the identifying data; directing the shifting mechanism to move a second object-support structure of the plurality of object-support structures to a second location in the space based on the second object-support structure being associated with the designated destination of the object, the second location being located in the three-dimensional space in which the object-shifting apparatus operates; and directing the object-shifting apparatus to transfer the object from the first object-support structure to the second object-support structure.

In another embodiment of the invention, one or more computer-readable media having computer-executable instructions stored thereon are provided. The computer-executable instructions, when executed by one or more processors in a system comprising an object-shifting apparatus, a plurality of object-support structures, and a shifting mechanism for shifting of objects, perform operations for directing the shifting of objects. The operations comprising: directing the shifting mechanism to move a first object-support structure of the plurality of object-support structures to a first location, the first location being located in a three-dimensional space in which the object-shifting apparatus operates; receiving, from the object-shifting apparatus, identifying data associated with an object positioned on the first object-support structure; determining a designated destination of the object based at least in part on the identifying data; directing the shifting mechanism to move a second object-support structure of the plurality of object-support structures to a second location based at least in part on the second object-support structure being associated with the designated destination of the object, the second location being located in the three-dimensional space in which the object-shifting apparatus operates; and directing the object-shifting apparatus to transfer the object from the first object-support structure to the second object-support structure.

In another embodiment of the invention a computer system is provided. The computer system comprises: at least one processor; at least one memory; and one or more computer-readable media having computer-executable instructions stored thereon that, when executed by at least one processor in a system comprising an object-shifting apparatus, a plurality of object-support structures, and a shifting mechanism for shifting of objects, execute operations for directing the shifting of objects. The operations comprising: directing the shifting mechanism to move a first object-support structure of the plurality of obj ect-support structures to a first location, the first location being located in a three-dimensional space in which an object-shifting apparatus operates; receiving, from the object-shifting apparatus, identifying data associated with an object positioned on the first object-support structure; determining a designated destination of the object based at least in part on the identifying data; directing the shifting mechanism to move a second object-support structure of the plurality of object-support structures to a second location based on the second object-support structure being associated with the designated destination of the object, the second location being located in the three-dimensional space in which the object-shifting apparatus operates; and directing the object-shifting apparatus to transfer the object from the first object-support structure to the second object-support structure.

The term "object," as used herein, should be interpreted broadly, to include any one, or combination, of items that may be transported from one location to another. For example, in one non-limiting aspect, an "object" may be a parcel with contents intended for a particular destination, e.g., in a logistics network. The phrase "logistics network," as used herein, should also be interpreted broadly, to include any one, or combination, of persons, equipment, locations, and/or mobile transports (e.g., vehicles, railway transports, ships, aircraft, and the like, including those that operate autonomously or semi-autonomously) that are used to transfer objects to different destinations.

Embodiments of the disclosure that are used for shifting objects in automated or semi-automated fashion are described in detail below with reference to the attached drawing figures, which are intended to illustrate non-limiting examples, wherein:.

This detailed description is provided in order to meet statutory requirements. However, this description is not intended to limit the scope of the invention. Rather, the claimed subject matter may be embodied in other ways, to include different steps, combinations of steps, different features, and/or different combinations of features, similar to those described in this disclosure, and in conjunction with other present or future technologies. Moreover, although the terms "step" and "block" may be used herein to identify different elements of methods employed, the terms should not be interpreted as implying any particular order among or between different elements except when the order is explicitly stated.

In general, this disclosure describes embodiments used for detecting, locating, identifying, engaging, and/or shifting objects in automated or semi-automated fashion. These embodiments may be implemented in stationary environments, and/or in moving environments, in different aspects, and may be used to organize, transfer, and/or route objects based on their designated destinations. The embodiments may further be implemented in a logistics network to increase the efficiency, capacity, and/or precision of an associated logistics network operation. Example aspects that achieve these benefits are described below with reference to <FIG>.

The subject matter described herein may be implemented as a method, a system, and/or a computer-program product, among other things. Accordingly, certain aspects may take the form of hardware, or software, or may be a combination of software and hardware. A computer-program that includes computer-useable instructions embodied on one or more computer-readable media may also be used. The subject matter may further be implemented as hard-coded into the mechanical design of computing components and/or may be built into a system, apparatus, and/or component used for detecting, identifying, locating, engaging, and/or shifting objects as described herein.

The computer-readable media described herein may include volatile media, non-volatile media, removable media, and non-removable media, and may also include media readable by a database, a switch, and/or various other network devices. Network switches, routers, and related components are conventional in nature, as are methods of communicating with the same, and thus, further elaboration is not provided here. By way of example, and not limitation, computer-readable media may comprise computer storage media and/or nontransitory communications media.

The computer storage media, or machine-readable media, described herein may include media implemented in any method or technology for storing information. Examples of stored information may include computer-useable instructions, data structures, program modules, and/or other data representations. Computer storage media may include, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile discs (DVD), holographic media or other optical disc storage, magnetic cassettes, magnetic tape, magnetic disk storage, and other storage devices. These memory components may store data momentarily, temporarily, and/or permanently, and are not limited to the examples provided in this section.

Referring now to <FIG>, a block diagram of an example computing device <NUM> suitable for supporting operations described herein is provided, in accordance with an embodiment hereof. It should be understood that, although some components depicted in <FIG> are shown in the singular, they may be plural, and the components may be connected in a different, e.g., local or distributed, configuration. For example, computing device <NUM> might include multiple processors and/or multiple radios. As shown in <FIG>, computing device <NUM> includes a bus <NUM> that may directly or indirectly connect different components together, including memory <NUM>, processor(s) <NUM>, presentation component(s) <NUM> (if applicable), radio(s) <NUM>, input/output (I/O) port(s) <NUM>, input/output (I/O) component(s) <NUM>, and power supply <NUM>.

Memory <NUM> may take the form of the memory components described herein. Thus, further elaboration will not be provided here, but memory <NUM> may include any type of tangible medium that is capable of storing information, such as a database. A database may include any collection of records, data, and/or other information. In one embodiment, memory <NUM> may include a set of computer-executable instructions that, when executed, perform different functions or steps described herein. These instructions will be referred to as "instructions" or an "application" for short. The processor <NUM> may actually be multiple processors that may receive instructions and process them accordingly. The presentation component <NUM> may include a display, a speaker, a screen, a portable digital device, and/or other components that may present information through visual, auditory, and/or other tactile cues (e.g., a display, a screen, a lamp, a light-emitting diode (LED), a graphical user interface (GUI), and/or a lighted keyboard).

The radio <NUM> may support communication with a network, and may additionally or alternatively facilitate different types of wireless communications, such as Wi-Fi, WiMAX, LTE, Bluetooth, and/or VoIP communications, among other communication protocols. In various aspects, the radio <NUM> may be configured to support multiple technologies, and/or multiple radios may be configured and utilized to support multiple technologies.

The input/output (I/O) ports <NUM> may take a variety of forms. Example I/O ports may include a USB jack, a stereo jack, an infrared port, a firewire port, and/or other proprietary communication ports. The input/output (I/O) components <NUM> may comprise one or more keyboards, microphones, speakers, touchscreens, and/or any other item useable to directly or indirectly input data into the computing device <NUM>. The power supply <NUM> may comprise batteries, generators, fuel cells, and/or any other component that may act as a power source to supply power to computing device <NUM> and to any other components described herein.

Referring now to <FIG>, a generically represented system <NUM> used for shifting objects in automated or semi-automated fashion is provided, in accordance with an embodiment hereof. The system <NUM> includes elements that are configured to detect, locate, identify, engage, shift, and/or release objects and/or their associated object-support structures. The system <NUM> is depicted in generic form for the purposes of clarity, simplicity, and explanation. However, it should be understood that in actual implementation, the system <NUM>, and components thereof, may be embodied in more detailed configurations. The system <NUM> shown in <FIG> is also intended to represent one of many possible configurations of such a system contemplated herein.

The system <NUM> includes an object-shifting apparatus <NUM>, a plurality of object-support structures <NUM>, and a shifting mechanism <NUM>, each depicted generically, and each located in a space <NUM>. The object-support structures <NUM> may be used to support and/or hold objects, e.g., those being transported to designated destinations, e.g., in a logistics network. The object-shifting apparatus <NUM> may be configured to detect, locate, identify, engage, and/or shift the objects, e.g., to and/or from the object-support structures <NUM>. The shifting mechanism <NUM> may be configured to relocate elements of the system <NUM> about the space <NUM>, e.g., the object-support structures <NUM>, and/or the object-shifting apparatus <NUM>, in different aspects. To accomplish this, the shifting mechanism <NUM> may utilize tracks, rails, guides, actuators, couplings, mechanisms, control systems, and/or other components to facilitate the shifting of different elements of the system <NUM>.

The system <NUM> includes an object-detection component <NUM>. The object-detection component <NUM> may be configured to detect, locate, and/or identify objects and/or obj ect-support structures located in the space <NUM>, in different aspects. The object-detection component <NUM> may, in actual implementation, be multiple components, which may be local, e.g., to the object-shifting apparatus <NUM>, and/or distributed, e.g., about the system <NUM>, in different aspects. The object-detection component <NUM> may utilize sensors, scanners, imaging components (e.g., cameras, image/video processors, and/or other vision-based components), light detection and ranging (LIDAR) components, wireless communication components, radio frequency identification (RFID) components, and/or other data-capturing and/or data-processing components in order to perform different detection processes in the space <NUM>.

The object-detection component <NUM> may be configured to locate objects in the space <NUM>. For example, the object-detection component <NUM> may be configured to identify a location of an object in a three-dimensional space, e.g., in which the object-shifting apparatus <NUM> operates. For example, the location may be identified as a geometric coordinate, or a set of geometric coordinates, in a three-dimensional geometric coordinate system The location of an object, once determined, may be used by other elements of the system <NUM>, e.g., the object-shifting apparatus <NUM>, the object-shifting mechanism <NUM>, and/or the shifting mechanism <NUM>, among others. The object-detection component <NUM> may also be configured to detect, and locate, the object-support structures <NUM> in the space <NUM>.

The object-detection component <NUM> may be configured to determine characteristics of objects located in the space <NUM>. These characteristics may include the shape, size, orientation, and/or physical features of the objects, among other characteristics. For example, dimensions such as the height, width, and/or depth of an object may be determined by the object-detection component <NUM>; physical attributes or boundaries of an object may be determined by the obj ect-detection component <NUM>; and/or the orientation of an object in a three-dimensional space may be determined by the object-detection component <NUM>. The object-detection component <NUM> may also be configured to identify known reference points located on an object, for use in engaging the object. The detected characteristics may be used by other elements of the system <NUM>, e.g., the object-shifting apparatus <NUM>. The object-detection component <NUM> may also be configured to determined such characteristics of the object-support structures <NUM> located in the space <NUM>, as well.

The object-detection component <NUM> may be configured to identify objects located in the space <NUM>. For example, the object-detection component <NUM> may be configured to detect, or recognize, a unique identifier associated with an object. This unique identifier may be a unique visual indicia, a unique machine-readable indicia, a unique RFID signal, and/or another unique indicia or signal. As a further example, the object-detection component <NUM> may be configured to recognize objects, e.g., boxes or packages, by detecting or identifying certain uniquely identifiable attributes, such as the location of certain materials, e.g., closing tape or other securing elements, or other unique physical aspects or defects of the objects. The object-detection component <NUM> may further include computing components that enable it to identify an object based on a unique identifier that is detected, and/or may include communication components that are able to transmit the identity of the object to another computing device, e.g., a central server in communication with multiple elements of the system <NUM>. The determined identity of an object may be stored in memory and/or used to update a database, e.g., a shipping manifest, in different aspects. The object-detection component <NUM> may also be used to identify the object-support structures <NUM> using a similar process.

To illustrate one example operation of the system <NUM>, the following non-limiting process is described. First, the shifting mechanism <NUM> shifts an object-support structure <NUM> to a location adjacent to the object-shifting apparatus <NUM>, as shown in <FIG>. The object-detection component <NUM> then detects, locates, and determines an identity of an object <NUM> that is initially positioned on the object-support structure <NUM>. This identity, once determined, is used to determine a designated destination of the object <NUM>, e.g., in a logistics network, in one contemplated aspect. Then, based on the designated destination, the shifting mechanism <NUM> shifts another object-support structure <NUM> associated with the designated destination to a location that is also adjacent to the object-shifting apparatus <NUM>, as shown in <FIG>. The object-shifting apparatus <NUM> then shifts the object <NUM> from the object-support structure <NUM> to the object-support structure <NUM>, as shown in <FIG>. This process may be repeated to allow for the transfer of other objects to different object-support structures <NUM>. This process may occur in automated or semi-automated fashion, and may be directed, for example, by a computing device that directs multiple elements of the system <NUM>, e.g., allowing them to operate in coordination. In additional embodiments, multiple object-shifting apparatuses may be used, which may be movable using the shifting mechanism <NUM>, for greater adaptability.

The system <NUM> and components thereof may be communicatively connected to, and/or controlled by, one or more computing devices. The computing devices may be local to the system <NUM> shown in <FIG>, remote from the system <NUM> shown in <FIG>, and/or may be distributed, e.g., provided at separate locations and connected over a network. The computing devices may update stored data, e.g., in memory and/or a database, based on objects being identified and/or shifted. For example, each time an object is identified and/or shifted, this information may be used to update a database, and/or an update on the routing status of the object may be communicated, e.g., to an intended recipient of the object.

The object-shifting apparatus <NUM> includes an object-shifting mechanism <NUM>, also depicted generically. The object-shifting mechanism <NUM> may include a selection of components that allow it to dynamically, or adaptively, engage, shift, and release objects, including those of different shapes and sizes. For example, the object-shifting mechanism <NUM> may include one or more object-engaging components that can be actuated to engage, hold, and transfer objects. These object-engaging components may, in different aspects, be configured to extend, retract, raise, lower, pivot, or otherwise translate and/or re-position and/or re-orient in order to engage (e.g., grasp, hold, and/or support) different objects. The object-shifting mechanism <NUM> may further include one or more sensors, e.g., contact or pressure sensors. The object-engaging components may use such sensors to determine when an object has been contacted, and/or when an object is sufficiently braced or held, to allow for appropriate shifting/transfer.

Referring now to <FIG>, a network diagram <NUM> showing a selection of components that may be used with a system for shifting objects is provided, in accordance with an embodiment hereof. The selection of components depicted in <FIG> is intended to represent one non-limiting example, and in other embodiments, more components, fewer components, and/or different components and/or different combinations of components may be used, instead of the selection depicted in <FIG>. The components shown in <FIG> are connected over a network <NUM>, and in different aspects may be local (e.g., integrated, at least in part, into a common structure), and/or may be distributed (e.g., physically separate, at least in part, but communicatively connected).

<FIG> depicts an object-shifting apparatus <NUM>, which is connected to the network <NUM>. The object-shifting apparatus <NUM>, as described with respect to <FIG>, may be used to detect, locate, identify, engage, support, shift, and/or release or re-position objects in a three-dimensional space. The object-shifting apparatus <NUM> may operate in automated fashion, or in semi-automated fashion, with some form of operator control and/or some form of computer control, in different aspects. The object-shifting apparatus <NUM> may operate in a stationary environment, and/or may operate in a moving environment, in different aspects. The object-shifting apparatus <NUM> may, like the other components of the system <NUM>, be utilized in a logistics network, and in such instance, may be used to shift or route objects towards their ultimate destinations in the logistics network. The object-shifting apparatus <NUM> may also be in communication with, and/or may be directed by, a computing device, such as computing device <NUM>.

<FIG> also depicts an object-shifting mechanism <NUM>, which is connected to the network <NUM>. The object-shifting mechanism <NUM> may be integrated, at least in part, with the object-shifting apparatus <NUM>, or may be at least partially distinct, in different aspects. The object-shifting mechanism <NUM> may include components that allow it to adaptively, or dynamically, engage, hold, and shift objects in a three-dimensional space. The object-shifting mechanism <NUM> may include object-engaging components that are adjustable/adaptable, in this sense. These components may be used to engage, hold, and/or transfer objects of different shapes, sizes, and dimensions, and/or objects positioned at different locations and/or orientations. The object-shifting mechanism <NUM> may also be in communication with, and/or may be directed by, a computing device, such as computing device <NUM>.

<FIG> also depicts a mobile transport <NUM>, which is connected to the network <NUM>. The mobile transport <NUM>, as described with respect to <FIG>, may be any vehicle, ship, aircraft, railway transport, or the like, including those that are autonomously or semi-autonomously operated, that is capable of transporting objects. The embodiments described herein that allow for shifting objects in automated or semi-automated fashion may, in different aspects, be integrated into storage spaces of such mobile transports. The mobile transport <NUM> may also be in communication with, and/or may be directed by, a computing device, such as computing device <NUM>.

<FIG> also depicts a computing device <NUM>, which is connected to the network <NUM>. The computing device <NUM> may represent a single computing device, or may represent multiple computing devices, either local or distributed, in different aspects. The computing device <NUM> may include one or more processors and/or one or more memories. The computing device <NUM> may direct operation of elements of the system <NUM>, e.g., supporting the automated or semi-automated operation of those elements. The computing device <NUM> may include, or may be connected to, a database. The database may store or maintain details of objects that are being transported. This information may include the status of an object's transit, the designated destination of the object, and, if the object is a parcel, the contents of the object, among other information.

<FIG> also depicts a shifting mechanism <NUM>, which is connected to the network <NUM>. The shifting mechanism <NUM>, as described with respect to <FIG>, may be coupled to different elements of the system <NUM>, thereby allowing those elements to be moved to different locations, e.g., in a space, to facilitate shifting and transfer of objects in automated or semi-automated fashion. For example, the shifting mechanism <NUM> may be coupled to a plurality of object-support structures <NUM> used to transport objects, and may be used to shift those object-support structures <NUM> to different locations in an object-sorting area, to facilitate shifting. The shifting mechanism <NUM> may also be coupled to the object-shifting apparatus <NUM> (of which there may be multiple) thereby allowing the object-shifting apparatus <NUM> to also be shifted. The shifting mechanism <NUM> may also be in communication with, and/or may be directed by, a computing device, such as computing device <NUM>.

<FIG> also depicts a computer-vision system <NUM>, which is connected to the network <NUM>. The computer-vision system <NUM> may be associated with the object-shifting apparatus <NUM>, and/or with other elements of the system <NUM>. The computer-vision system <NUM> may represent a collection of components that are used to visually detect, locate, and/or identify objects in a three-dimensional space. For example, the computer-vision system <NUM> may use sensors, imaging components (e.g., cameras, LIDAR components, etc.), lighting elements, scanners, processors, and/or other detection, processing, and/or communication components that enable the detection and/or identification of objects located in a three-dimensional space. The computer-vision system <NUM> may also include, or operate in connection with, the object-detection component(s) <NUM>, described further below.

The computer-vision system <NUM> may be configured to identify objects located in a three-dimensional space. This identification may be based on the detection of unique identifiers associated with the objects, as described herein. For example, the computer-vision system <NUM> may be configured to detect a visual indicia present on an object (e.g., a barcode, identification number, digital watermark, or the like). In another aspect, the computer-vision system <NUM> may be configured to locate objects in a three-dimensional space, e.g., in which the object-shifting apparatus <NUM> operates. For example, the computer-vision system <NUM> may be configured to identify one or more geometric coordinates in a three-dimensional geometric coordinate system that are associated with the object. For example, these geometric coordinates may represent edges, boundaries, and/or surfaces of the detected objects, among other things. The locating process may further include determining depth values for different parts of an object in the three-dimensional geometric coordinate system. In another aspect, the computer-vision system <NUM> is configured to detect characteristics of an object. For example, this might include an object's shape, size, orientation, and/or its relative positioning compared to other objects/structures. The computer-vision system <NUM>, and/or the object-detection component <NUM>, may include any combination of the aforementioned capabilities. The computer-vision system <NUM> may also be in communication with, and/or may be directed by, a computing device, such as computing device <NUM>.

<FIG> also depicts an obj ect-detection component <NUM>, which is connected to the network <NUM>. The object-detection component <NUM>, as noted above, may be associated with, and/or may form part of, the computer-vision system <NUM>, in one aspect. The object-detection component <NUM> may be configured to detect, locate, and/or identify objects in a three-dimensional space, and may represent one component, or multiple components that operate in coordination, in different aspects. The object-detection component <NUM> may utilize, for detection purposes, vision-based components, e.g., cameras, image processors, lasermeasurement or laser-scanning components, or the like, and/or communication-based components, e.g., RFID, Bluetooth, or other wireless or near-field communication components and protocols. The object-detection component <NUM> may also be in communication with, and/or may be directed by, a computing device, such as computing device <NUM>.

<FIG> also depicts a plurality of objects <NUM>, which are connected to the network <NUM>. The objects <NUM> may represent objects that are transported using the embodiments described herein. In some aspects, the objects <NUM> may include components that allow the objects to be electronically detected, connected, identified, and/or tracked by other components of the system <NUM>. For example, the objects <NUM> may include electronic features (e.g., electronic ID tags, RFID tags, wireless communication components, micro-chips, and the like) that can be detected by, or linked with, other components of the system <NUM>, e.g., the object-detection component <NUM>, and/or the computing device <NUM>. This connectivity can facilitate identifying, routing, and tracking objects, in different aspects.

<FIG> also depicts a plurality of object-support structures <NUM>, which are connected to the network <NUM>. The object-support structures <NUM> may be coupled to the shifting mechanism <NUM>, and in addition, may be movable relative to the object-shifting apparatus <NUM> to facilitate transfer of objects to/from the object-support structures <NUM>. The object-support structures <NUM> may be adapted to receive, support, hold, and/or release objects, and/or may even be configured to shift objects. For example, in the latter aspect, the object-support structures <NUM> may include different components and/or mechanisms (e.g., conveyors, elevators, or other mechanisms) that are configured to translate or move objects stored thereon, to facilitate shifting and transferring the objects. The plurality of object-support structures <NUM> may be connected to, and/or directed by, a computing device.

<FIG> also depicts a user device <NUM>, which is connected to the network <NUM>. The user device <NUM> may be configured to receive inputs, display data, and provide feedback, and may be used, in one aspect, to direct operation of the system <NUM> and/or the components thereof. The user device <NUM> may also store or provide updates as objects are shifted, and display the associated updates (e.g., on a screen). For example, the user device <NUM> may include a graphical user interface ("GUI"), communication components, and/or a processor, memory, and/or an operating system that operates in connection with a system for shifting objects. The user device <NUM> may be portable, and may be integrated into a mobile transport, in different aspects.

Referring now to <FIG>, a mobile transport <NUM> is provided, in accordance with an embodiment hereof. The mobile transport <NUM> is depicted as a vehicle. However, in other embodiments, different types of mobile transports may be used along with a system for shifting objects in automated or semi-automated fashion, as described herein. For example, a tractor-trailer, railway transport, ship, or aircraft may also be used in other aspects.

Looking at <FIG>, the mobile transport <NUM> has an object-shifting system <NUM> integrated therein. The object-shifting system <NUM> may include any of the capabilities described in connection with <FIG>. The object-shifting system <NUM> in particular is located in a storage space <NUM> of the mobile transport <NUM>, and is configured to identify, engage, and/or shift objects in the storage space <NUM> in automated or semi-automated fashion, including while the mobile transport <NUM> is in transit between different locations.

The object-shifting system <NUM> includes a plurality of object-support structures <NUM> that are located in the storage space <NUM>. The object-support structures <NUM> are adapted to support and/or hold objects that are being transported. The object-support structures <NUM> are coupled to a shifting mechanism <NUM> that is also located in the storage space <NUM>. The shifting mechanism <NUM> is adapted to shift the object-support structures <NUM> to different locations in the storage space <NUM>. The object-shifting system <NUM> also includes an object-shifting apparatus <NUM> that is located in the storage space <NUM>. The object-shifting apparatus <NUM> may operate from a fixed position, or may be coupled to the shifting mechanism <NUM> and may be movable about the space <NUM>, in different aspects. The object-shifting apparatus <NUM> is configured to shift objects between the object-support structures <NUM>, including while the mobile transport <NUM> is in transit. This allows objects to be reorganized, or sorted, in the storage space <NUM>, in automated or semi-automated fashion, in accordance with the designated destinations of the objects, while the objects are in-transit from one location to another. The object-shifting system <NUM> may be directed, at least in part, by a computing device or system, which may be integrated with the mobile transport <NUM> and/or which may be remote from the mobile transport <NUM>, or local in-part and remote in-part. The mobile transport <NUM> further includes a loading mechanism <NUM> that may be used for loading the object-support structures <NUM> into the storage space <NUM>, and coupling the object-support structures <NUM> to the shifting mechanism <NUM>. The loading mechanism <NUM> may operate automatically or semi-automatically, in different aspects.

To illustrate one example operation of the system <NUM>, the following non-limiting process is described. Initially, the mobile transport <NUM> may travel to a first location. In one aspect, the first location is a location in a logistics network. The plurality of object-support structures <NUM>, with objects loaded thereon, may then be loaded into the mobile transport <NUM> at the first location. The object-support structures <NUM> may then be coupled to the shifting mechanism <NUM>, e.g., through operation of the loading mechanism <NUM>. The object-support structures <NUM> may then be shifted in the storage space <NUM> using the shifting mechanism <NUM>, e.g., at the direction of a computing device. The mobile transport <NUM> may then travel to a second location, e.g., in a logistics network. During transit, the shifting mechanism <NUM> may reposition the object-support structures <NUM> in the storage space <NUM>, so that a particular object-support structure is located adjacent to the object-shifting apparatus <NUM>. The object-shifting apparatus <NUM> may then use one or more object-detection components to detect, locate, and/or identify an object on the adjacent object-support structure. Next, the object-shifting system <NUM> may identify another object-support structure that is associated with the designated destination of the identified object. The shifting mechanism <NUM> may then shift the other identified object-support structure to a location adjacent to the object-shifting apparatus <NUM>, so that both object-support structures are located in a three-dimensional space in which the object-shifting apparatus <NUM> operates. Next, the object-shifting apparatus <NUM> may engage and transfer the object onto the object-support structure associated with the designated destination. This process may be repeated with different object-support structures <NUM>, thereby allowing the objects on the object-support structures <NUM> to be sorted, and re-organized, in automated or semi-automated fashion, while the mobile transport <NUM> is traveling. This may allow objects to be sorted with greater speed, and efficiency, in a period of time where the objects would traditionally not be sorted or organized.

Referring now to <FIG>, an object-support structure <NUM> is provided, in accordance with an embodiment hereof. The object-support structure <NUM> is intended to represent one non-limiting example of the object-support structures described herein, and accordingly, numerous other variations having different sizes, shapes, configurations, and/or features are contemplated. The object-support structure <NUM> shown in <FIG> is configured to support objects during transport to different destinations. The object-support structure <NUM> is also designed to be coupled to, and repositioned by, a shifting mechanism, as described with respect to <FIG>. The object-support structure <NUM> is also designed to be manipulated by an object-shifting apparatus, as described with respect to <FIG>.

The obj ect-support structure <NUM> includes a wheeled-base <NUM>, a frame <NUM>, a track-engaging structure <NUM>, a set of doors <NUM>, and a set of doors <NUM>. The wheeled-base <NUM> includes wheels that can roll along a surface. This allows a shifting mechanism coupled to the object-support structure <NUM>, e.g., at the track-engaging structure <NUM>, to impart movement to the object-support structure <NUM>, causing the wheeled-base <NUM> to roll along a surface. In another aspect, instead of, or in addition to, wheels, the base may include a coupling structure, e.g., similar to the track-engaging structure <NUM>, that allows the base to be coupled to, and movable along, a track or rail system that forms part of a shifting mechanism.

The object-support structure <NUM> includes, for example purposes, a shelf <NUM> that can be used to support objects. In other aspects, different object-supporting features, such as baskets, hooks, cages, and the like, may be used, in addition to, or in place of, the shelf <NUM>. The interior of the object-support structure <NUM> may be designed to support a plurality of such features, and may be reconfigurable, so that object-supporting and/or object-holding features used with the object-support structure <NUM> can be removed and/or replaced. These features may also be coupled to mechanisms that can re-position the features in the interior of the object-support structure <NUM>.

The doors <NUM> and/or doors <NUM> of the object-support structure <NUM> may be configured to be opened and closed in automated or semi-automated fashion using a door-engaging mechanism, e.g., one located on an object-shifting apparatus. The doors <NUM> and/or doors <NUM> may thus include features or structures that support this automated manipulation. For example, the doors <NUM> and/or doors <NUM> may include protrusions, recesses, couplings, mechanisms, and/or other features that can be engaged by a mechanical mechanism that opens and closes the doors <NUM> and/or doors <NUM>.

The track-engaging structure <NUM> located on the object-support structure <NUM> includes a protrusion <NUM>. The protrusion <NUM> may be sized, shaped, and located on the object-support structure <NUM> so that it can engage part of a shifting mechanism, e.g., a guide track/rail system, thereby allowing the shifting mechanism to guide, and impart movement to, the object-support structure <NUM> during a shifting process. In other aspects, different features may be implemented on the object-support structure <NUM> to allow it to be coupled to a shifting mechanism.

Referring now to <FIG>, the object-support structure <NUM> of <FIG>, shown in a configuration suitable for loading and/or unloading, is provided, in accordance with an embodiment hereof. <FIG> in particular shows the object-support structure <NUM> with the doors <NUM> and the doors <NUM> opened to provide access to the interior of the object-support structure <NUM>. The doors <NUM> and/or the doors <NUM>, as discussed above, may be configured for automated manipulation by a door-engaging mechanism, a non-limiting example of which is depicted in <FIG>. The doors <NUM> of the object-support structure <NUM> are pivotally coupled to the frame <NUM>, as shown in <FIG>. The doors <NUM> of the object-support structure <NUM> are slidably coupled to the frame <NUM>, as shown in <FIG>. In other embodiments, object-engaging structures may include different doors, or different combinations thereof. For example, two opposed sets of sliding doors may be used, two opposed sets of pivoting doors may be used, only one set of doors may be used, or no sets of doors may be used, and the object-support structure <NUM> may simply be open on one or more sides to allow access to the interior, in different aspects. Accordingly, numerous different configurations are possible without departing from the scope of the present disclosure.

Referring now to <FIG>, an object-shifting apparatus <NUM> and an object-support structure <NUM> are shown, in accordance with an embodiment hereof. The object-shifting apparatus <NUM> is configured to engage, and interact with, the object-support structure <NUM> in automated or semi-automated fashion. The object-shifting apparatus <NUM> is further configured to identify, locate, and engage objects positioned on the object-support structure <NUM>, and/or shift objects to/from the object-support structure <NUM> in automated or semi-automated fashion during this interaction. The object-shifting apparatus <NUM> includes multiple components that enable this functionality, as described in detail below.

The object-shifting apparatus <NUM> includes a base <NUM>, a frame <NUM>, and an object-shifting mechanism <NUM>, which is movable along the frame <NUM>. The object-shifting apparatus <NUM> also includes a track <NUM>. The track <NUM> extends between a first end <NUM> and a second end <NUM> of the frame <NUM>. The object-shifting mechanism <NUM> is coupled to, and movable along, the track <NUM>. This movement is enabled by shifting components <NUM> that are coupled to the object-shifting mechanism <NUM> and to the track <NUM>. The shifting components <NUM> may include actuators, guides, control elements, and the like, that operate to shift the object-shifting mechanism <NUM> along the track <NUM>. Accordingly, in different aspects, the shifting components <NUM> may be mechanical (e.g., a worm-drive or gear-based system), electrical (e.g., operated using solenoids), hydraulic, and/or pneumatic, or a combination of any of the aforementioned aspects. The shifting components <NUM>, like the object-shifting apparatus <NUM>, may also be directed by a computing device that is local and/or remote to the object-shifting apparatus <NUM>.

The object-shifting apparatus <NUM> also includes a door-engaging mechanism <NUM>. The door-engaging mechanism <NUM> is configured to engage, open, and close a set of doors <NUM> located on the object-support structure <NUM>. The door-engaging mechanism <NUM> may include different features that support this functionality. For example, the door-engaging mechanism <NUM> may include protrusions, recesses, coupling elements, mechanisms, actuators, aligning elements, computer-vision elements, and/or other elements, which may operate in coordination to engage, open, and close the doors <NUM> of the object-support structure <NUM> shown in <FIG>.

The object-shifting apparatus <NUM> also includes a track-engaging structure <NUM>. In one aspect, the track-engaging structure <NUM> may be coupled to a guide track of a shifting mechanism, e.g., as described in connection with <FIG>. Through this connection, the shifting mechanism can operate to shift the object-shifting apparatus <NUM> about a space to facilitate the shifting of objects. In a different aspect, the object-shifting apparatus <NUM> may not be coupled to a shifting mechanism, and may instead operate from a fixed position. In yet another aspect, the object-shifting apparatus <NUM> and other object-support structures used to transport objects may all be coupled to a shifting mechanism, allowing each of these structures to be shifted in a space, for maximum adaptability in relative positioning.

The object-shifting apparatus <NUM> includes an object-detection component <NUM>. The object-detection component <NUM> may in actuality be a combination of components that operate together to perform the detection processes described herein. In <FIG>, one element of the object-detection component <NUM>, i.e., a set of sensors <NUM>, is identified. However, the object-detection component <NUM> may include other elements, such as computing components, communication components, illumination components, and the like, which are not explicitly depicted in <FIG>. These other elements of the object-detection component <NUM> may be local to the object-shifting apparatus <NUM>, and/or may be remote to the object-shifting apparatus <NUM>, or both, in different aspects.

The object-detection component <NUM> may be used to identify an object (e.g., based on a unique identifier associated with the object), and/or locate an object (e.g., in a three-dimensional geometric coordinate system), and/or determine characteristics of an object (e.g., dimensions, orientation, physical features, and the like), as described herein. The object-detection component <NUM>, and/or elements thereof, may be coupled to the object-shifting mechanism <NUM>, thereby allowing it to shift with the object-shifting mechanism <NUM> on the frame <NUM>, allowing it to perform detection processes in areas adjacent to the object-shifting mechanism <NUM>. <FIG> shows also that the sensors <NUM> of the object-detection component <NUM> are coupled to a shutter <NUM>. The shutter <NUM> moves with the object-shifting mechanism <NUM> and the sensors <NUM>, and may be used to limit the field of view of the object-detection component <NUM>. This reduces interference from objects and structures not targeted for detection. The shutter <NUM> may also be used to limit or restrict other objects on the object-support structure <NUM> from interfering with the operation of the object-shifting apparatus <NUM>, e.g., by restricting or limiting objects from sliding or falling, and/or by restricting or limiting objects from being shifted off of the object-support structure <NUM>, e.g., by blocking them. The object-shifting mechanism <NUM> also includes a conveyor <NUM>, which may or may not be used in different aspects. The conveyor <NUM> supports the shifting of objects laterally across the object-shifting mechanism <NUM>, i.e., perpendicular to a length of the frame <NUM> extending between the first end <NUM> and the second end <NUM>.

Referring now to <FIG>, the object-shifting apparatus <NUM> and the object-support structure <NUM> are again shown from a different perspective, in accordance with an embodiment hereof. <FIG> depicts the object-support structure <NUM> having a plurality of support elements <NUM> on which a plurality of objects <NUM> are positioned. The doors <NUM> of the object-support structure <NUM> are also shown in an open configuration. In this respect, the doors <NUM> are movable, and in this example, slidable, between a closed configuration and an open configuration. The movement of the doors <NUM> is imparted by a door-engaging mechanism <NUM> located on the object-shifting apparatus <NUM>.

<FIG> shows how the object-shifting apparatus <NUM> is able to interact with the object-support structure <NUM> in automated or semi-automated fashion. To illustrate an example, the object-support structure <NUM> is first located, e.g., by a shifting mechanism, in a three-dimensional space in which the object-shifting apparatus <NUM> operates. The door-engaging mechanism <NUM> then engages, e.g., couples to, the doors <NUM>, and then actuates to open the doors <NUM>. The object-shifting mechanism <NUM> is then shifted to a location on the frame <NUM> that is adjacent to an object, e.g., the object <NUM>, located on the object-support structure <NUM>. The object-detection component <NUM> can then identify, locate, and/or determine characteristics of the object <NUM> located on the object-support structure <NUM>. For example, in one instance, the object-detection component <NUM> may identify the object <NUM> based on a unique identifier associated with the object <NUM>, as described herein. The unique identifier may be used to determine the object <NUM>'s origin, destination, contents, associated sender, associated recipient, size, weight, shape, routing schedule or history, and/or other information.

The object-detection component <NUM> may locate the object <NUM> in the three-dimensional space in which the object-shifting apparatus <NUM> and/or the object-shifting mechanism <NUM> operates. For example, the object-detection component <NUM> may identify one or more geometric coordinates in a three-dimensional geometric coordinate system that are associated with the object <NUM>. These geometric coordinates may be used to identify boundaries (e.g., edges, corners, surfaces) of the object <NUM>, and/or may be used to determine depth values of the object <NUM> relative to a reference system. This information may subsequently be used by the object-shifting mechanism <NUM> to dynamically locate, and engage, the object <NUM>. Therefore, even when objects are randomly positioned on the object-support structure <NUM>, with their locations unknown, the objects can still be located, engaged, and then shifted by the object-shifting apparatus <NUM> in automated or semi-automated fashion.

In another instance, the object-detection component <NUM> may be used to determine characteristics of the object <NUM> (e.g., dimensions, boundaries, orientations, reference points, etc.). For example, using the detection processes described herein, the object-detection component <NUM> may be able to determine dimensions of the object <NUM>, e.g., an object's height, width, and/or depth, an object's shape, e.g., square, round, rectangular, asymmetric, etc., or identifiable reference points on the object, e.g., points where the object-shifting mechanism <NUM> can engage and hold/brace the object. In addition, the object's orientation in a three-dimensional space may be determined and used. For example, a degree of rotation of the object <NUM> may be determined, e.g., in a three-dimensional geometric coordinate system, thereby allowing the object-shifting mechanism <NUM> to engage the object <NUM> at the correct orientation. In addition, in some instances, an identification process may be performed on the object <NUM>, e.g., when the object <NUM> is shifted in automated or semi-automated fashion in accordance with its determined identity and/or its determined destination. In other instances, an identification process may not be performed, and instead only locating and shifting of the object <NUM> may be performed in automated or semi-automated fashion, where determination of the identity is not needed or desired. In either case, the object <NUM>, once detected, located, and/or identified if applicable, is then engaged by components of the object-shifting mechanism <NUM>, and shifted, as described further with respect to <FIG>.

Referring now to <FIG>, the object-support structure <NUM> and part of the object-shifting apparatus <NUM> are shown, in accordance with an embodiment hereof. <FIG> shows the object-shifting apparatus <NUM> adjacent to, and engaged with, the object-support structure <NUM>. In particular, the door-engaging mechanism <NUM> of the object-shifting apparatus <NUM> is engaging, and holding open, the doors <NUM> of the object-support structure <NUM>, allowing access to the interior of the object-support structure <NUM>.

<FIG> also shows the object-shifting mechanism <NUM> in more detail, through omission of one side of the object-shifting apparatus <NUM>. The object-shifting mechanism <NUM>, as shown in <FIG>, is translatable in at least the z-direction, as referenced in <FIG>. However, in other embodiments, the object-shifting mechanism <NUM> and shifting components <NUM> may be configured so that the object-shifting mechanism <NUM> is shiftable in the x-direction, the y-direction, the z-direction, or any combination thereof. Having the ability to translate in the x, y, and/or z-direction may allow for greater flexibility when engaging objects supported on different parts of the object-support structure <NUM>. For example, translation in the x-direction may assist with detecting and engaging objects positioned across a width of the object-support structure <NUM>.

The object-shifting mechanism <NUM> includes a pair of movable object-engaging components <NUM>. The object-engaging components <NUM> are coupled to actuators <NUM> that are configured to translate the object-engaging components <NUM> into different positions and/or orientations. This allows them to engage (e.g., brace, grasp, support, etc.) and shift (e.g., push, pull, or otherwise translate) objects, e.g., in order to transfer them from one object-support structure onto the object-shifting mechanism <NUM> and/or onto another object-support structure. In different aspects, the object-engaging components <NUM> may be extendable, retractable, pivotal, translatable, and/or otherwise movable in different directions to allow them to adaptively, or dynamically, engage and shift objects having a range of different dimensions. The object-shifting mechanism <NUM> also includes the conveyor <NUM>, which may assist with shifting objects, e.g., as shown with the object <NUM>. As noted above, the conveyor <NUM> may or may not be used, in different aspects.

Referring now to <FIG>, the object-shifting mechanism <NUM> of <FIG>, enlarged to depict additional detail, is shown, in accordance with an embodiment hereof. <FIG> depicts the different components of the object-shifting mechanism <NUM>, including the shifting components <NUM>, the object-engaging components <NUM>, the actuators <NUM>, and the conveyor <NUM>, in addition to other features. The actuators <NUM> may be operable to extend and retract the respectively coupled object-engaging components <NUM>. The actuators <NUM> may be operable to rotate/pivot the respectively coupled object-engaging components <NUM>, thereby causing their respective object-engaging distal ends <NUM> to move into/out of position for engaging objects. The actuators <NUM> may be operable to translate, e.g., shift in one or more directions, the respectively coupled object-engaging components <NUM>, and/or their respective object-engaging distal ends <NUM>, to facilitate engaging an object. The object-engaging components <NUM>, and/or actuators <NUM> coupled thereto, may also include contact sensors and/or pressure sensors that are used to detect when the object-engaging components <NUM> are in contact with an object, and/or when the object-engaging components <NUM> have applied sufficient force against an object to hold it during transfer. The object-shifting mechanism <NUM> may also include a lighting element (e.g., light emitting diodes (LEDs), light bulbs, flash elements, etc.) that operates in conjunction with the object-detection component <NUM> to provide illumination of objects during detection.

<FIG> depict a door assembly <NUM> and a door-engaging mechanism <NUM>, in accordance with embodiments hereof. The door assembly <NUM> may form part of an object-support structure, such as the object-support structure <NUM> shown in <FIG>. The door assembly <NUM> includes a set of sliding doors <NUM>. The sliding doors <NUM> are coupled to a slider-mechanism <NUM>, which allows the doors <NUM> to slide between a closed configuration and an open configuration and any position in between that provides a gap. The door assembly <NUM> further includes engaging features <NUM> that correspond to engaging features <NUM> located on the door-engaging mechanism <NUM> shown in <FIG>. The engaging features <NUM>, <NUM> are represented, for example purposes, as male-female type engaging features (e.g., protrusions in one structure, and corresponding recesses in the other structure). However, in other aspects, hooks/loops, latches, mechanical couplings, and/or other structures or mechanisms suitable for coupling the elements together may be used in place of the engaging features <NUM>, <NUM> shown in <FIG>.

<FIG> depicts the door-engaging mechanism <NUM>. The door-engaging mechanism <NUM> is configured to engage, open, and/or close the doors <NUM> located on the corresponding door assembly <NUM>. To enable this, the door-engaging mechanism <NUM> includes a pair of door-actuators <NUM>, which are coupled to engaging features <NUM>. The door-actuators <NUM> are operable to translate the engaging features <NUM> towards or apart from each other, thereby allowing them, when engaged with the corresponding engaging features <NUM> on the door assembly <NUM>, to translate the doors <NUM> between a closed configuration and an open configuration. The engaging features <NUM> may be fixed, or may be extendable/retractable to assist with contacting the engaging features <NUM> located on the slider-mechanism <NUM>.

Referring now to <FIG>, a plurality of object-engaging components <NUM>, <NUM>, <NUM>, <NUM> are provided, in accordance with embodiments hereof. <FIG> depicts an object-engaging component <NUM>, which includes an actuator <NUM>, an actuator <NUM>, an object-engaging element <NUM>, and a distal end <NUM> used for contacting, and bracing against, an object that is being shifted. The actuator <NUM> allows the distal end <NUM> to translate in the x-direction, as represented in <FIG>. The actuator <NUM> allows the distal end <NUM> to translate in the y-direction, as represented in <FIG>. The distal end <NUM>, while depicted in one particular shape, may have different shapes in different aspects, and may include different features that support engaging and holding an object. For example, mechanical gripping elements, suction or vacuum elements, electro-static gripping elements, and/or adjustable support or holding elements are also contemplated for use with any of the embodiments shown in <FIG>.

<FIG> depicts another object-engaging component <NUM> that includes an actuator <NUM>, an actuator <NUM>, an object-engaging element <NUM>, and a distal end <NUM> used for contacting, and bracing against, an object that is being shifted. The actuator <NUM> and the actuator <NUM> allow the object-engaging element <NUM> to articulate in the x and y directions, as represented in <FIG>, thereby allowing the distal end <NUM> to contact, and brace against, an object. In different embodiments, the actuators <NUM>, <NUM> may allow the object-engaging element <NUM> to translate in the x-direction, the y-direction, and/or the z-direction, depending on the configuration of the components, and desired adaptability.

<FIG> depicts another object-engaging component <NUM> that includes an actuator <NUM>, an actuator <NUM>, an object-engaging element <NUM>, and a distal end <NUM>. The actuator <NUM> allows the object-engaging element <NUM> to translate (e.g., extend and retract) in the x-direction, as represented in <FIG>, and the actuator <NUM> allows the object-engaging element <NUM> to translate (e.g., extend and retract) in the y-direction, as represented in <FIG>. In another aspect, a further actuator may be provided that allows the object-engaging element <NUM> to translate in the z-direction, or a rotational actuator may be used to allow the object-engaging element <NUM> to pivot, among other possible configurations.

<FIG> depicts another object-engaging component <NUM> that includes an actuator <NUM>, an object-engaging element <NUM>, and a distal end <NUM>. The actuator <NUM> shown in <FIG> is configured to translate (e.g., extend and retract) the object-engaging element <NUM> in the x-direction, and is also configured to pivot or rotate the object-engaging element <NUM> and by association the distal end <NUM> about the x-axis, as represented in <FIG>. The pivoting of the distal end <NUM> allows the distal end <NUM> to be rotated into a position that allows the actuator <NUM> to translate, e.g., extend or retract, the object-engaging element <NUM> to thereby shift an object. The object-engaging components <NUM>, <NUM>, <NUM>, <NUM> allow for different types of actuation and translation, thereby allowing them to shift objects through automated or semi-automated operation, as described herein. It should be understood that any of the features shown in <FIG> may be used in any combination to provide the desired adaptability for engaging objects.

Referring now to <FIG>, a block diagram of an example method <NUM> for shifting objects is provided, in accordance with an embodiment hereof. The method <NUM> is represented by blocks <NUM>-<NUM> in <FIG>. In block <NUM>, the method includes moving, using a shifting mechanism, such as the shifting mechanism <NUM> provided in <FIG>, a first object-support structure, such as the object-support structure <NUM> shown in <FIG>, to a first location in a space, such as the space <NUM> shown in <FIG>, wherein the first location is adjacent to an object-shifting apparatus, such as the object-shifting apparatus <NUM> shown in <FIG>. In block <NUM>, the method includes determining, using at least one object-detection component, such as the object-detection component <NUM> shown in <FIG>, an identity of an object positioned on the first object-support structure. In block <NUM>, the method includes determining, using the at least one object-detection component, a location of the object in a three-dimensional space in which the object-shifting apparatus operates. In block <NUM>, the method includes moving, using the shifting mechanism, a second object-support structure to a second location in the space, wherein the second location is adjacent to the object-shifting apparatus. In block <NUM>, the method includes engaging, using one or more object-engaging components, such as the object-engaging components <NUM> shown in <FIG>, of the object-shifting apparatus, the object positioned on the first object-support structure. In block <NUM>, the method includes shifting the object to the second object-support structure. In block <NUM>, the method includes releasing the object onto the second object-support structure.

Referring now to <FIG>, a block diagram of an example method <NUM> of shifting objects is provided, in accordance with an embodiment hereof. The method <NUM> is represented by blocks <NUM>-<NUM>. In block <NUM>, the method includes moving an object-shifting mechanism, such as the object-shifting mechanism <NUM> shown in <FIG>, to a position on a frame, such as the frame <NUM> shown in <FIG>, that is adjacent to an object. In block <NUM>, the method includes detecting an object using at least one object-detection component, such as the object-detection component <NUM> shown in <FIG>. In block <NUM>, the method includes determining an identity of the object based on a unique identifier associated with the object. In block <NUM>, the method includes determining a location of the object in a three-dimensional space in which the object-shifting mechanism operates. In block <NUM>, the method includes engaging the identified and located object using the object-shifting mechanism. In block <NUM>, the method includes shifting the object to a location associated with a designated destination of the object.

Referring now to <FIG>, a block diagram of an example computer-implemented method <NUM> for directing the shifting of objects is provided, in accordance with an embodiment hereof. The method <NUM> is represented by blocks <NUM>-<NUM>. In block <NUM>, the method includes directing a shifting mechanism, such as the shifting mechanism <NUM> shown in <FIG>, to move a first obj ect-support structure, such as the obj ect-support structure <NUM> shown in <FIG>, of a plurality of object-support structures to a first location in a space, such as the space <NUM> shown in <FIG>, the first location being located in a three-dimensional space in which an object-shifting apparatus, such as the object-shifting apparatus <NUM> shown in <FIG>, operates. In block <NUM>, the method includes receiving, from the object-shifting apparatus, identifying data, such as, for example, data associated with a unique identifier, associated with an object positioned on the object-support structure. In block <NUM>, the method includes determining a designated destination of the object based at least in part on the identifying data. In block <NUM>, the method includes directing the shifting mechanism to move a second object-support structure of the plurality of obj ect-support structures to a second location in the space based on the second object-support structure being associated with the designated destination of the object, the second location being located in the three-dimensional space in which the object-shifting apparatus operates. In block <NUM>, the method includes directing the object-shifting apparatus to transfer the object from the first object-support structure to the second object-support structure.

In some embodiments, this disclosure may include the language, for example, "at least one of [element A] and [element B]. " This language may refer to one or more of the elements. For example, "at least one of A and B" may refer to "A," "B," or "A and B. " In other words, "at least one of A and B" may refer to "at least one of A and at least one of B," or "at least either of A or B. " In some embodiments, this disclosure may include the language, for example, "[element A], [element B], and/or [element C]. " This language may refer to either of the elements or any combination thereof. In other words, "A, B, and/or C" may refer to "A," "B," "C," "A and B," "A and C," "B and C," or "A, B, and C. " In addition, this disclosure may use the term "and/or" which may refer to any one or combination of the associated elements.

Claim 1:
A computer-implemented method for directing the shifting of objects (<NUM>, <NUM>, <NUM>), the method comprising: directing a shifting mechanism (<NUM>) to move a first object-support structure (<NUM>) of a plurality of object-support structures (<NUM>) to a first location, the first location being located in a three-dimensional space (<NUM>) in which an object-shifting apparatus (<NUM>) operates; receiving, from the object-shifting apparatus (<NUM>), identifying data associated with an object (<NUM>, <NUM>, <NUM>) positioned on the first object-support structure (<NUM>); determining a designated destination of the object(<NUM>, <NUM>, <NUM>) based at least in part on the identifying data; directing the shifting mechanism (<NUM>) to move a second object-support structure (<NUM>) of the plurality of object-support structures (<NUM>) to a second location based at least in part on the second object-support structure (<NUM>) being associated with the designated destination of the object (<NUM>, <NUM>, <NUM>), the second location being located in the three-dimensional space (<NUM>) in which the object-shifting apparatus (<NUM>) operates; and directing the object-shifting apparatus (<NUM>) to transfer the object from the first object-support structure (<NUM>) to the second object-support structure (<NUM>).