FIELD

[0001] The present utility model relates generally to inventory robots for monitoring inventory of various items in warehouses.

BACKGROUND

[0002] Inventory robots are widely used for a more effective monitoring of inventory of various items stored in a warehouse, including, for example, finished products, units of raw materials, and the like. More specifically, such robots typically include (i) a movable platform enabling a given inventory robot to move along and between aisles of the warehouse; (ii) a mast extending from the movable platform; and (iii) a scanning sensor attached to the mast and configured to capture image data of a respective portion of a surrounding space of the given inventory robot.

[0003] Thus, by adjusting the position of the scanning sensor on the mast of the given inventory robot relative to the position of the warehouse racks on which the items are stored, it may be possible for the given inventory robot to capture the image data of these items as the given inventory robot moves along and between the warehouse racks. The captured image data can further be analyzed by a processor communicatively coupled to the scanning sensor for further use in determining a current inventory of the items in the warehouse.

[0004] However, as the warehouse racks are typically disposed in rows defining aisles in the warehouse and can include shelves disposed on different height levels, it may be challenging for such an inventory robot to capture the image data of items disposed on at least one of (i) different sides of a given aisle; and (ii) different height levels, in a timely manner. To do so, the given inventory robot may need to be configured to pass along the given aisle at least twice to capture the image data of the respective portions of the surrounding space thereof defined on different sides relative to the movement direction of the given inventory robot, which may affect the efficiency of the item inventory monitoring in the warehouse. Further, the items may be stored on different height levels, which would require adjusting the current position of the scanning sensor on the mast, relative to the movable platform, to capture the image data of the items stored on these height levels, while the given inventory robot is stopped in a corresponding location.

[0005] Certain prior art approaches have been proposed to tackle the above-identified technical problem.

[0006] United States Patent Application Publication No.: 2021/0221,612-Al, published on July 22, 2021, assigned to Deutsche Post AG, and entitled “AUTONOMOUS ROBOT VEHICLE FOR CHECKING AND COUNTING STOCK IN A WAREHOUSE”, discloses a vehicle chassis for checking and/or counting stock in a warehouse and configured for attaching to an autonomous indoor vehicle, with an extendable mast comprising a first end mounted onto the chassis and an opposite second end arrangeable at different distances above the chassis, and at least one scanner arranged at the second end and configured for checking and/or counting stock in a shelve of the warehouse lateral to the vehicle . This technology further discloses an autonomous robot vehicle comprising the vehicle chassis and the autonomous indoor vehicle, whereby the chassis is mounted onto the autonomous indoor vehicle such that the autonomous indoor vehicle and the chassis are configured for autonomously moving the vehicle in the warehouse.

[0007] Korean Patent Application Publication No.: 2017/0094, 103- A, published on August 17, 2017, assigned to Rho In Chui, an entitled “3D CARGO INVENTORY SURVEY METHOD USING AUTONOMOUS MOBILE ROBOT AND 3D LASER SCANNER”, discloses a method for automatically checking an inventory of a cargo in a pallet rack of a warehouse by using an autonomous robot and a three-dimensional (3D) laser scanner, wherein the autonomous robot automatically moves a predetermined route, is accurately positioned at a predetermined position of each rack for an accurate inventory, stops to recognize a bar code by using an image photographed by a camera, and measures the shape, width, length, and height of the cargo remaining on each rack by using a 3D laser scanner to calculate volume of the cargo so as to automatically calculate the inventory of the cargo remaining on each rack. To this end, according to the present invention, the autonomous robot moves along the predetermined route, and is equipped with a height-adjustable pillar for performing an inventory at a predetermined rack. Also, the camera and the 3D laser scanner are mounted thereon to allow the camera to recognize the bar code of each rack where the cargo is loaded so as to obtain information on a category of the cargo, the quantity of cargo boxes at the time of initial loading, and a warehousing date. Furthermore, the 3D laser scanner calculates the volume, width, length, and height of the remaining cargo to recognize the quantity of delivered cargo boxes so as to automatically calculate the inventory of cargo boxes remaining on each rack.

[0008] United States Patent No.: 9,120,622-Bl, issued on September 01,2015, assigned to Invia Robotics LLC, and entitled “AUTONOMOUS ORDER FULFILLMENT AND INVENTORY CONTROL ROBOTS”, discloses a system for fully autonomous order fulfillment and inventory management within a distribution site or warehouse. The system operates by autonomous robots directly pulling customer order items from distribution site shelves or pulling individual bins from distribution site shelves and dispensing appropriate quantities of items from the bins until all items of a customer order are retrieved without human involvement. The system further involves the robots autonomously monitoring item quantities within the distribution site, identifying and autonomously responding to shortages, and organizing the items within the distribution site for most efficient order fulfillment.

[0009] United States Patent Application Publication No.: 2018/0057,283-Al, published on Marc 01, 2018, assigned to Callisto Integration Ltd, and entitled “AUTONOMOUS ROBOT AND METHODS FOR LIFTING AND STACKING PACKAGES”, discloses an autonomous robot and methods for lifting and stacking packages, such as on a shelf in a warehouse. The robot comprises a base, an elevator assembly that raises and lowers an elevator platform, an engagement mechanism for attaching the robot to a shelf, and steerable drive mechanisms for driving the robot in any direction (e.g. both forward and laterally) on a warehouse floor. The robot is navigated to a storage location of a package. The robot is driven laterally towards the shelf without rotating the robot or elevator platform, and is then clamped to the shelf. The elevator platform is then raised to the height of the package. The package is moved from the storage location to the elevator platform with a gantry.

SUMMARY

[0010] It is an object of the present utility model to ameliorate at least some of the inconveniences of the prior art.

[0011] Non-limiting embodiments of the present utility model are directed to an inventory robot including a frame projecting outwardly from the movable platform of the inventory robot including two masts disposed transversely relative to a movement direction of the inventory robot. Further, in at least some non-limiting embodiments of the present utility model, the inventory robot includes two pluralities of sensors, each of which includes sensors, positioned along a respective mast of the frame at a respective distance from the movable platform, and directed at a respective direction relative to the movement direction of the inventory robot.

[0012] Thus, such a configuration of the inventory robot may allow capturing the image data of the items disposed in various portions of the surrounding space of the inventory robot simultaneously. Also, according to at least some non-limiting embodiments of the present utility model, the frame can be implemented with a capability of selectively extending and retracting relative to the movable platform, which allows for even greater coverage of the surrounding space of the inventory robot with the sensors.

[0013] Accordingly, the inventory robot, in accordance with certain non-limiting embodiments of the present utility model, allows for better coverage of the surrounding space thereof with the sensors as the inventory robot moves through the aisles in the warehouse, which may further allow for (i) a more efficient inventory monitoring of items in the warehouse, (ii) and a more effective use of the warehouse space.

[0014] More specifically, in accordance with a broad aspect of the present technology, there is provided an inventory robot comprising: a movable platform; a selectively-extendable frame projecting outwardly from the movable platform, the selectively-extendable frame including at least two vertically sliding sections, a given vertically sliding section of the at least two vertically sliding sections being defined by: a first mast and a second mast positioned transversely relative to a movement direction of the inventory robot; and a transverse connecting section interjoining the first mast and the second mast; the at least two vertically sliding sections being selectively extendable and retractable relative to each other; a frame actuator configured to cause the at least two vertically sliding sections to selectively extend and retract relative to each other, thereby defining a desired height of the selectively-extendable frame; a first plurality of scanning sensors arranged along the first mast, each one of the first plurality of scanning sensors being directed at a first direction relative to the movement direction of the inventory robot; and a second plurality of scanning sensors arranged along the second mast, each one of the second plurality of scanning sensors being directed at a second direction relative to the movement direction of the inventory robot, the second direction being different from the first direction. Each one of the first and second pluralities of scanning sensors is positioned along a respective one of the first and second masts so as to: capture image data of a respective associated portion of a surrounding space around the inventory robot along the movement direction thereof in the first and second predetermined directions, respectively. And the inventory robot further comprises a processor communicatively coupled to each one of the first and second pluralities of scanning sensors. The processor is configured to cause each one of the first and second pluralities of scanning sensors to capture the image data of the respective predetermined portion.

[0015] In some implementations of the inventory robot, the second direction is opposite to the first direction.

[0016] In some implementations of the inventory robot, the first direction is perpendicular to the movement direction of the inventory robot.

[0017] In some implementations of the inventory robot, each one of the first and second pluralities of scanning sensors is positioned along a respective one of the first and second masts at a respective predetermined distance from the movable platform.

[0018] In some implementations of the inventory robot, a horizontal projection of a center of gravity of the selectively-extendable frame is within a perimeter of the movable platform.

[0019] In some implementations of the inventory robot, the inventory robot further comprises cables configured to attach the selectively-extendable frame to the movable platform.

[0020] In some implementations of the inventory robot, the cables are configured to attach the selectively-extendable frame to the movable platform by being stretched taut therebetween.

[0021] In some implementations of the inventory robot, the processor is configured to cause at least one of the first plurality of scanning sensors and at least one of the second plurality of scanning sensors to capture the image data of respective associated portions simultaneously.

[0022] In some implementations of the inventory robot, the transverse connecting section comprises cross-bars disposed between the first and second masts of the given vertically sliding section at a predetermined angle with respect to a given one of the first and second masts.

[0023] In some implementations of the inventory robot, the frame actuator comprises a servomotor.

[0024] In the context of the present specification, "electronic device" denotes any computer hardware that is capable of running software appropriate to the relevant task at hand. In the context of the present specification, the term "electronic device" implies that a device can function as a server for other electronic devices and client devices, however it is not required to be the case with respect to the present utility model. Thus, some (non-limiting) examples of electronic devices include personal computers (desktops, laptops, netbooks, etc.), smart phones, and tablets, as well as network equipment such as routers, switches, and gateways. It should be understood that in the present context the fact that the device functions as an electronic device does not mean that it cannot function as a server for other electronic devices. The use of the expression "an electronic device" does not preclude multiple client devices being used in receiving/sending, carrying out or causing to be carried out any task or request, or the consequences of any task or request, or steps of any method described herein.

[0025] For purposes of this application, terms related to spatial orientation such as forwardly, rearwardly, upwardly, downwardly, left, and right, are as they would normally be understood by a user or operator of the camera device. Terms related to spatial orientation when describing or referring to components or sub-assemblies of the device, separately from the device should be understood as they would be understood when these components or sub-assemblies are mounted to the device.

[0026] Implementations of the present utility model each have at least one of the above- mentioned aspects, but do not necessarily have all of them. It should be understood that some aspects of the present utility model that have resulted from attempting to attain the above- mentioned object may not satisfy this object and/or may satisfy other objects not specifically recited herein.

[0027] Additional and/or alternative features, aspects, and advantages of implementations of the present utility model will become apparent from the following description, the accompanying drawings, and the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

[0028] For a better understanding of the present utility model, as well as other aspects and further features thereof, reference is made to the following description which is to be used in conjunction with the accompanying drawings, where:

[0029] Figure 1 depicts a perspective view of an inventory robot, in accordance with certain non-limiting embodiments of the present utility model; and

[0030] Figure 2 depicts a front side elevation view of the inventory robot of Figure 1 moving along warehouse racks, in accordance with certain non-limiting embodiments of the present utility model; DETAILED DESCRIPTION

[0031] With initial reference to Figures 1, there is depicted a perspective view of an inventory robot 100, in accordance with certain non-limiting embodiments of the present utility model.

[0032] According to certain non-limiting embodiments of the present utility model, as will be described in greater detail below, the inventory robot 100 can be used for monitoring inventory of various items stored in a warehouse. Such items can include, without limitation, food products, industrial articles, raw materials used for producing various products and articles, and the like. Broadly speaking, for storing such items, warehouse racks including multiple levels of shelves (as depicted in Figure 2, for example) can be installed in the warehouse. The items can be stored on the shelves of the warehouse racks either individually or in containers of certain dimensions, such as pallets. Thus, as will become apparent from the description provided hereinbelow, the inventory robot 100 can be configured to move along the warehouse racks (that generally form aisles in the warehouse) and scan, using scanning sensors, the items stored on the shelves of the warehouse racks. Further, the inventory robot 100 can be configured to store and/or transmit data of the scanned items to a remote electronic device or a server, for example, for further determining a current inventory of the items in the warehouse.

[0033] As can be appreciated from Figure 1, the inventory robot 100 comprises a movable platform 102 and a selectively extendable frame 104 projecting outwardly from the movable platform 102.

[0034] According to certain non-limiting embodiments of the present utility model, as depicted in Figure 1, the movable platform 102 can have a top surface (not separately numbered) extending substantially parallelly to a support surface, on which the inventory robot 100 is to travel, such as a floor in the warehouse. A shape of the top surface of the movable platform 102 is not limited, and can be, in various non-limiting embodiments of the present utility model, round, rectangular, square, oval, and others. Thus, as depicted in Figure 1, in some non-limiting embodiments of the present utility model, the movable platform 102 can have a form of a parallelepiped, each face of which can be a separate rectangle. A material of the movable platform 102 is not limited and can include, for example, various plastics or metals, such as galvanized or stainless steel.

[0035] Further, in the non-limiting embodiments of the present utility model, the movable platform 102 can include wheels (not separately numbered) attached to a bottom surface (not depicted) of the movable platform 102 that enable the movable platform 102 to move along the support surface. In some non-limiting embodiments of the present utility model, a given wheel of the movable platform 102 can be configured to rotate only about a horizontal axis of the given wheel (when the given wheel is attached to the bottom surface of the movable platform 102), extending through a center thereof, thereby enabling the movable platform 102 to perform a linear movement along the support surface. Accordingly, a counterclockwise rotation of the wheels enables the movable platform 102 and hence the inventory robot 100 to move forward, which for the purposes of clarity is referred to herein a movement direction 110, as marked in Figure 1. By contrast, a clockwise rotation of the wheels enables for a backward movement of the movable platform 102 and hence that of the inventory robot 100.

[0036] Also, in some non-limiting embodiments of the present utility model, at least front wheels of the movable platform 102 can be configured to spin around vertical axes thereof, a given vertical axis extending perpendicularly to the bottom surface of the movable platform 102 and through a center of a respective front wheel of the movable platform 102. This may enable the movable platform 102 to turn right and left while moving in the movement direction 110. In additional non-limiting embodiments of the present utility model, each of the wheels of movable platform can be configured to spin about their respective axes by 90 degrees, thereby enabling the movable platform 102 to move transversely to the movement direction 110.

[0037] It should be expressly understood that various configurations of the wheels of the movable platform 102 are envisioned. For example, the wheels can be implemented as caster wheels of any suitable size, such as from 1 to 10 cm in diameter, and/or for a suitable weight range of a weight to be borne on the wheels, including that of the movable platform 102, the selectively extendable frame 104, and additional equipment installed within the inventory robot 100, such as under 250 kg, from 250 kg to 1000 kg, and from over 1000 kg, as an example. Also, the material of the wheels of the movable platform 102 is not limited, and in specific non-limiting embodiments of the present utility model, can include: ductile steel, phenolic nylon, and polyurethane, as an example. However, embodiments where the wheels of the movable platform 102 are installed on continuous tracks are also envisioned without departing from the scope of the present utility model.

[0038] Further, to actuate the wheels to cause the movement of the movable platform 102, according to non-limiting embodiments of the present utility model, the inventory robot 100 can further comprise a platform actuator (not separately numbered), which can, for example, be a rotation actuator, an actuator shaft of which is coupled to wheel axles each of front and rear wheels so as to provide a torque thereto causing the rotation of the wheels and hence the movement of the movable platform 102. For example, the actuator shaft of the platform actuator can be coupled to the wheel axles of the wheels via a drivetrain of the movable platform 102, which is configured to transfer the torque from the actuator shaft to each of the wheels.

[0039] In certain non-limiting embodiments of the present utility model, the drivetrain of the movable platform 102 can be configured to transfer the torque from the platform actuator to each of the wheels independently. In other words, in these embodiments, the drivetrain of the movable platform 102 can be configured to provide thereto an all-wheel drive.

[0040] It is not limited how the rotation actuator causing the movement of the wheels of the movable platform 102 can be implemented. In some non-limiting embodiments of the present utility model, the rotation actuator can be implemented as an electric motor. In specific nonlimiting example, the electric motor can be one of the servomotors MicroFlex el 90 available from ABB Ltd of Affoltemstrasse 44, 8050 Zurich, Switzerland. However, it should be noted that the electric motor can be implemented using any other suitable equipment, also including, for example brushless and stepper motors, as an example.

[0041] Also, it should be noted that other types of motors can be used for implementation of the platform actuator without departing from the scope of the present utility model, including, for example, pneumatic and hydraulic motors. For example, the platform actuator can be installed within the movable platform 102, in a compartment defined by surfaces thereof.

[0042] Further, for controlling operation of the platform actuator as well as that of other electrical and electronic components of the inventory robot 100, as will become apparent from the description provided hereinbelow, according to certain non-limiting embodiments of the present utility model, the inventory robot 100 can further comprise a controller (not depicted).

[0043] In some non -limiting embodiments of the present utility model, the controller comprises a processor. In some embodiments of the present utility model, the processor may comprise one or more processors and/or one or more microcontrollers configured to execute instructions and to carry out operations associated with the operation of the inventory robot 100. In various non-limiting embodiments of the present utility model, the processor may be implemented as a single-chip, multiple chips and/or other electrical components including one or more integrated circuits and printed circuit boards. The processor may optionally contain a cache memory unit for temporary local storage of instructions, data, or additional computer information. By way of example, the processor may include one or more processors or one or more controllers dedicated for certain processing tasks of the inventory robot 100 or a single multi-functional processor or controller.

[0044] Moreover, explicit use of the term “processor” or “controller” should not be construed to refer exclusively to hardware capable of executing software, and may implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read-only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage.

[0045] Further, according to some non-limiting embodiments of the present utility model, the controller may include a communication module (not depicted). Such a communication module may be configured for implementing one of communication protocols (both wireless and wired) enabling the processor to be connected with other electronic devices or remote servers. Various examples of how the communication module may be implemented include, without being limited to, a Bluetooth™ communication module, a UART™ communication module, a Wi-Fi™ communication module, an LTE™ communication module, and the like.

[0046] According to the non-limiting embodiments of the present utility model, communication between the controller and other electrical and electronic components of the inventory robot 100, as will become apparent from the description provided below, such as the platform actuator (not depicted) may be implemented by one or more internal and/or external buses (e.g. a PCI bus, universal serial bus, IEEE 1394 “Firewire” bus, SCSI bus, Serial-ATA bus, etc.), with which each one of these electrical and electronic components is compatible. For example, the controller can also be received in the compartment defined by the surfaces of the movable platform 102.

[0047] Thus, according to certain non-limiting embodiments of the present utility model, the processor of the controller can be configured, by executing respective control instructions, to control the operation of the platform actuator, thereby controlling the movement of the movable platform 102, which includes, without limitation: (i) starting and stopping the movement of the movable platform 102; (ii) selecting the movement direction 110 of the movable platform 102, (iii) controlling the movement parameters of the movable platform 102 in the movement direction 110, such as a current speed and a current acceleration values; (iv) maneuvering the movable platform 102; and the like. In some non-limiting embodiments of the present utility model, the respective control instructions can be provided to the processor, via a corresponding communication link as described above, from the remote electronic device or the server in real time, thereby enabling real time control of the movement of the inventory robot 100. However, in other non-limiting embodiments of the present utility model, the respective control instructions can be pre-uploaded to the storage coupled with of the processor causing the inventory robot 100 to move in certain patterns, as an example. In these embodiments, the respective control instructions can be updated from time to time.

[0048] Further, according to certain non-limiting embodiments of the present utility model, the selectively extendable frame 104 comprises at least two vertically sliding sections, that is, a first vertically sliding section 106 and a second vertically sliding section 108. A given one of the first and second vertically sliding sections 106, 108, for example, the first vertically sliding section 106 comprises a first mast 105 and a second mast 107 interconnected by a transverse connecting section 109. As it can be appreciated from Figure 1, the first and second masts 105, 107 of the first vertically sliding section 106 are attached to the movable platform 102, whereas masts of the second vertically sliding section 108 are retained on the first and second masts 105, 107 of the first vertically sliding section 106 at a given level relative thereto, thereby defining a desired length value of the selectively extendable frame 104.

[0049] According to various non-limiting embodiments of the present utility model, it is not limited how the first and second masts 105, 107 of the first vertically sliding section 106 are attached to the movable platform 102. In some non-limiting embodiments of the present utility model, the first and second masts 105, 107 can be welded to the movable platform 102. In other non-limiting embodiments of the present utility model, the first and second masts 105, 107 can be attached to the movable platform 102 via a bolt connection, for example.

[0050] In some non-limiting embodiments of the present utility model, the first and second masts 105, 107 can be attached to the movable platform 102 such that the first vertically sliding section 106, and hence the selectively extendable frame 104, is substantially perpendicular to the movable platform 102. However, in other non-limiting embodiments of the present utility model, the first and second masts 105, 107 can be attached to the movable platform 102 such that the first vertically sliding section 106 forms an angle with the movable platform 102 which is different from 90 degrees. In other words, in these embodiments, the selectively extendable frame 104 can either be bent forward or tilted back relative to the movable platform 102. The angle between the first vertically sliding section 106 and the movable platform 102 is not limited and, in some non-limiting embodiments of the present utility model, can be selected based on a condition that a horizontal projection of a center of gravity of the selectively extendable frame 104 is within a perimeter of the movable platform 102.

[0051] In additional non-limiting embodiments of the present utility model, the selectively extendable frame 104 can be additionally attached to the movable platform 102 via cables (not depicted in Figure 1) that are stretched taut between a top vertically sliding section of the selectively extendable frame 104, that is, the second vertically sliding section 108, in the embodiments depicted in Figure 1, and the movable platform 102. A certain number of the cables, such as two, for example, can be attached to each side of the second vertically sliding section 108, relative to the movement direction 110 of the inventory robot 100. In some nonlimiting embodiments of the present utility model, a given cable can be implemented as a braded steel wire cable, a cross-section of which is determined based on a weight of the selectively extendable frame 104, for example.

[0052] According to certain non-limiting embodiments of the present utility model, the masts of each one of the first and second vertically sliding sections 106, 108, such as the first and second masts 105, 107 of the first vertically sliding section 106, are positioned transversely with respect to the movement direction 110 of the inventory robot 100. Also, in some nonlimiting embodiments of the present utility model, as depicted in Figure 1, the first and second masts 105, 107 can extend substantially parallelly to each other. However, in other non-limiting embodiments of the present utility model, the first and second masts 105, 107 can extend at a given angle to each other. For example, the first and second masts 105, 107 can form respective arms of the given angle.

[0053] It is not limited how each one of the first and second masts 105, 107 is implemented. In various non-limiting embodiments of the present utility model, a cross-section of a given mast of the first and second masts 105, 107 can be, without limitation, triangular, square, rectangular, polyhedral, or circular. In some non-limiting embodiments of the present utility model, the given mast of the first and second masts 105, 107 can be hollow; in other nonlimiting embodiments of the present utility model, the given mast can be solid. A material of each one of the first and second masts 105, 107 is also not limited and, in various non-limiting embodiments of the present utility model, can include, without limitation, a metal (such as steel or aluminium), plastic, wood, and others. A thickness of the material of the each one of the first and second masts 105, 107 is also not limited and can be selected, for example, based on a trade-off between a desired weight of the given mast and a bearing capacity thereof.

[0054] Further, according to certain non-limiting embodiments of the present utility model, the transverse connecting section 109 can include a plurality of cross-bars disposed between the first and second masts 105, 107 and attached thereto, such as by welding. In other non-limiting embodiments of the present utility model, the first and second masts 105, 107 and the transverse connecting section 109 can be wholly cast. In some non-limiting embodiments of the present utility model, a configuration and material of each one of the plurality of cross-bars making up the transverse connecting section 109 can be the same as those of the first and second masts 105, 107. However, in other non-limiting embodiments of the present utility model, the configuration and material of each one of the plurality of cross-bars of the transverse connecting section 109 can be the different from those of the first and second masts 105, 107. For example, while in some embodiments each one of the first and second masts 105, 107 can be hollow, each one of the plurality of cross-bars of the transverse connecting section 109 can be solid. In another example, while in some embodiments, the cross-section of the given mast of the first and second masts 105, 107 can be circular, a cross-section of a given cross-bar of the plurality of cross-bars of the transverse connecting section 109 can be rectangular. In yet other example, while in some embodiments the material of the given mast of the fist and second mast 105, 107 can be steel, the material of the given cross-bar of the transverse connecting section can be aluminium.

[0055] Further, in accordance with certain non-limiting embodiments of the present utility model, each one of the plurality cross-bars can be distributed between evenly between the first and second masts 105, 107 of the first vertically sliding section 106, such as with a predetermined step, which can be 20, 30 or 50 cm, as an example. However, in other nonlimiting embodiments of the present utility model, the cross-bars can be disposed only within certain portions of a space between the first and second masts 105, 107, such as at ends thereof and at a medium level, as an example.

[0056] Further, in some non-limiting embodiments of the present utility model, each one of the plurality of cross-bars of the transverse connecting section 109 can be disposed in parallel to each other. In these embodiments, if the first and second masts 105, 107 are also parallel to each other, each one of the plurality of cross-bars pf the transverse connecting section 109 would be perpendicular to the first and second masts 105, 107. However, in other non-limiting embodiments of the present utility model, at least some of the plurality of cross-bars can be disposed at a predetermined angle to the given mast of the first and second masts 105, 107. For example, the predetermined angle can be selected, without limitation, to be 30 degrees, 45 degrees, and the like.

[0057] In some non-limiting embodiments of the present utility model, some of the plurality of cross-bars of the transverse connecting section 109 can be disposed at a first predetermined angle to the given mast of the first and second masts 105, 107, and some of the plurality of cross-bars can be disposed at a second predetermined angle to the given mast. For example, while the first predetermined angle can be selected 60 degrees, the second predetermined angle can be selected to be 120 degrees. In another example, the first and second predetermined angles of the given cross-bar of the plurality of cross-bars to the given mast can be selected to be 45 and 135 degrees, respectively. It should be expressly understood that cross-bars of the plurality of cross-bars of the transverse connecting section 109 can be disposed between the first and second masts 105, 107 at more than two predetermined angles to the given mast; and in various non-limiting embodiments of the present utility model, the given cross-bar of the plurality of cross-bars can be disposed between the first and second masts 105, 107 at a respective one of a plurality of predetermined angles, including, for example, 3, 4, 5, or even 10, different predetermined angles to the given mast of the first and second masts 105, 107 for disposing the cross-bars therebetween.

[0058] Further, it should be expressly understood that various arrangements of the plurality of cross-bars are envisioned. For example, in some non-limiting embodiments of the present utility model, the plurality of cross-bars of the transverse connecting section 109 disposed at different predetermined angles to the given mast of the first and second masts 105, 107 can define various periodically recurring patterns. For example, a given periodically recurring pattern can include a sequence of (i) a first cross-bar disposed at the first predetermined angle; (ii) a second cross-bar disposed perpendicularly; and (iii) a third cross-bar disposed at the second predetermined angle to the given mast of the first and second masts 105, 107 of the first vertically sliding section 106, as depicted in Figure 1. Other predetermined periodically recurring patterns defining respective arrangements of the plurality of cross-bars in the transverse connecting section 109 are also envisioned without departing from the scope of the present technology.

[0059] As it can be appreciated, in some non-limiting embodiments of the present utility model, the second vertically sliding section 108 can be implemented similarly to the first vertically sliding section 106.

[0060] Further, in some non-limiting embodiments of the present utility model, to enable movement of the second vertically sliding section 108 against the first vertically sliding section 106, each one of the first and second masts 105, 107 of the first vertically sliding section 106 can include guides (not separately numbered) defined along each one of the first and second masts 105, 107; and each one of the masts (not separately numbered) of the second vertically sliding section 108 can include protrusions (not separately depicted) defined along each of the masts. The guides can be configured to receive or otherwise engage with protrusions, thereby enabling the second vertically sliding section 108 to slide against the first vertically sliding section 106. In other non-limiting embodiments of the present utility model, the guides of the first and second masts 105, 107 of the first vertically sliding section 106 can be configured to receive masts of the second vertically sliding section 108. Thus, such configuration of the first and second vertically sliding sections 106, 108 allows for selective extension and retraction of the selectively extendable frame 104 to the desired length value.

[0061] A respective length of each of the first and second vertically sliding sections 106, 108 is not limited and depends generally on the desired maximum length value of the selectively extendable frame 104 - that is, when it is fully extended. For example, in the desired maximum length of the selectively extendable frame 104 is four (4) meters, each one of the first and second vertically sliding sections 106, 108 can be around two-meter long. However, embodiments where each one of the first and second vertically sliding sections 106, 108 can have different respective length values, such as one and three meters, respectively, in the above example, are also envisioned. Also, it should be noted that for reaching the desired maximum length, the selectively extendable frame 104 can comprise more than two vertically sliding sections, such as three or five, for example, each given one of which can be configured to slide against a preceding one as described above with respect to the first and second vertically sliding sections 106, 108.

[0062] Further, to cause the second vertically extendable frame 108 to slide against the first vertically sliding section 106, thereby enabling the selectively extendable frame 104 to selectively extend or retract, according to certain non-limiting embodiments of the present utility model, the inventory robot 100 can further comprise a frame actuator (not depicted), an actuator shaft of which is attached to the second vertically sliding section 108. Broadly speaking, the frame actuator can be configured to (i) cause the masts of the second vertically sliding section 108 to slide within the guides of the first vertically sliding section 106, thereby enabling the selective extension and retraction of the first and second vertically sliding sections 106, 108 relative to each other; (ii) and retain the second vertically sliding section 108 at the given level relative to the first vertically sliding section 106, thereby defining the desired length value of the selectively extendable frame 104.

[0063] In some non-limiting embodiments of the present utility model, the frame actuator can be a rotation actuator configured to cause a linear movement of the second vertically sliding section 108 in the guides of the first vertically sliding section 106. In these embodiments, the frame actuator can be implemented similarly to the platform actuator described above.

[0064] However, in other non-limiting embodiments of the present utility model, the frame actuator can be a linear actuator. Akin to the rotation actuator described above, in various nonlimiting embodiments of the present utility model, the linear actuator can be any type of actuator, including electric, pneumatic, and hydraulic, for example. In specific non-limiting example, the linear actuator can be one of the SGLF Series of servo linear electric actuators available from YASKAWA ELECTRIC CORPORATION of 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan. However, it should be noted that the servo linear electric actuator can be implemented using any other suitable equipment.

[0065] According to certain non-limiting embodiments of the present utility model, akin to the platform actuator, the frame actuator can be communicatively coupled to the processor of the controller of the inventory robot 100; and the processor can be configured, based on respective control instructions, to cause the frame actuator to move the second vertically sliding section 108 relative to the first vertically sliding section 106, either upwards or downwards (in the orientation of Figure 1), thereby causing the selectively extendable frame 104 to either extend or retract, respectively, to the desired length value.

[0066] It should be noted that in those embodiments where the selectively extendable frame 104 includes more than two vertically sliding sections, each one thereof, except for the first vertically sliding section 106, can be actuated by a separate frame actuator implemented similarly to the frame actuator described above.

[0067] However, it should be noted that manual actuation of the second vertically sliding section 108 relative to the first vertically sliding section 106 and retaining the former at the given level relative to the latter, for example, with pins receivable in respective holes defined in the masts of each one of the first and second vertically sliding sections 106, 108, is also envisioned without departing from the scope of the present technology.

[0068] Further, for monitoring the inventory of the items stored in the warehouse, according to certain non-limiting embodiments of the present utility model, the inventory robot 100 further comprises a plurality of scanning sensors arranged along the masts of at least one of the first and second vertically sliding sections 106, 108.

[0069] With reference to Figure 2, there is depicted a front side elevated view of the inventory robot 100 moving between and along the warehouse racks (not separately numbered), in accordance with certain non-limiting embodiments of the present utility model.

[0070] As it can be appreciated from Figure 2, according to certain non-limiting embodiments of the present utility model, each mast of the given one of the first and second vertically sliding sections 106, 108 of the selectively extendable frame 104, such as the first and second masts 105, 107 of the first vertically sliding section 106 can accommodate a respective plurality of scanning sensors communicatively coupled with the processor of the controller of the inventory robot 100. More specifically, the first mast 105 of the first vertically sliding section 106 can be configured to accommodate a first plurality of scanning sensors 202; and the second mast 107 of the first vertically sliding section 106 can accommodate a second plurality of scanning sensors 204.

[0071] Generally speaking, a given scanning sensor 205 of the first plurality of scanning sensors 202, for example, can be configured, by the processor, to generate image data by converting an incoming flow of light into electrical signals. Non-limiting examples of implementing the given scanning sensor 205 may include, for example, a charge-couple device (CCD) image sensor and a complementary metal-oxide-semiconductor (CMOS) image sensor.

[0072] In some non-limiting embodiments of the present technology, the given scanning sensor 205 may be configured to generate the image data in a form of an image sequence taken with a predetermined time interval. In these embodiments, a frequency of capturing the image data (expressed, for example, in a number of frame per second, FPS) can be constant at all times, such as 5, 10, or 25 FPS. In other non-limiting embodiments of the present utility model, the frequency of capturing the image data can be variable, depending, for example, on previously captured image data. In these embodiments, for example, in response to the previously captured image data being indicative of an absence of objects of interest (such as the items stored in the warehouse) in a field of view 206 of the given scanning sensor 205, the current frequency of capturing the image data can be reduced, such as by 1, 5, or 10 FPS. By contrast, in response to the previously captured image data being indicative of a presence of the objects of interest in the field of view 206 of the given scanning sensor 205, the current frequency of capturing the image data can be increased.

[0073] Also, in some non-limiting embodiments of the present technology, the image data may comprise video image data continuously recorded by the given scanning sensor 205 during a predetermined period.

[0074] In a specific non-limiting example, the given scanning sensor 205 can be implemented as a CMOS image sensor of a type available from SONY SEMICONDUCTOR SOLUTIONS CORPORATION of 4-14-1 Asahi-cho, Atsugi-shi, Kanagawa, 243-0014, Japan.

[0075] In another specific non-limiting example, he given scanning sensor 205 can be implemented as a CMOS image sensor of a ME2P type available from DAHENG IMAGING of 12F Daheng Science & Technology Tower, No.3 Suzhou Str., Haidian District, Beijing China. It should be expressly understood that the CMOS image sensor can be implemented in any other suitable equipment.

[0076] Also, in some non-limiting embodiments of the present utility model, the given scanning sensor can include an array or a matrix of similarly implemented image sensors.

[0077] Further, in some non-limiting embodiments of the present utility model, the given scanning sensor 205 can include an optical assembly configured for receiving and focusing, on a sensitive plate of the given scanning sensor 205, the incoming flow of light reflected off a respective portion of a surrounding space of the inventory robot 100. A particular configuration of the optical assembly of the given scanning sensor 205, such as types of lenses, their curvatures, and dimensions, defines the field of view 206 (both horizontal and vertical) of the given scanning sensor 205. In some non-limiting embodiments of the present utility model, the configuration of the optical assembly can be determined to define the field of view 206 of the given scanning sensor 205 of a predetermined size. The predetermined size of the field of view 206 can be selected based, for example, on dimensions of objects image data of which is to be captured by the given scanning sensor 205. In a particular example, the predetermined size of the field of view 206 of the given scanning sensor 205 can be selected based at least on a height of a space between shelves of the racks of the warehouse where the inventory robot 100 is to be used, and can be, in each direction, from 55 to 80 degrees, as an example.

[0078] However, in those non-limiting embodiments of the present utility model where the given scanning sensor 205 comprises an array and/or a matrix of image sensos, the filed of view 206 can be modulated by modulating, such as increasing, sizes and density of the image sensors in the array and/or the matrix of image sensors making up the given scanning sensor

205. Also, it should be noted that in some non-limiting embodiments of the present utility model, the given scanning sensor 205 can be configured for selectively changing the field of view 206 thereof. More specifically, in these embodiments, the processor of the inventory robot 100 can be configured, by executing the respective instructions, to modulate the field of view

206, such as a horizontal component thereof, for example, of the given scanning sensor 205, by activating certain areas of the matrix of the image sensors thereof and disabling others.

[0079] However, in other non-limiting embodiments of the present utility model, the given scanning sensor 205 can comprise a barcode scanner, configured to read and recognize barcodes of the items. In a specific non-limiting example, the given scanning sensor 205 can be implemented as a fixed mount barcode scanners of a HF811 type available from HONEYWELL INTERNATIONAL INC. of 300 South Tryon Street Charlotte, NC, United States. It should be expressly understood that the barcode scanner can be implemented in any other suitable equipment.

[0080] It should be noted that embodiments where the first plurality of scanning sensors 202 includes different types of sensors are also envisioned. For example, the first one of the first plurality of scanning sensors 202 can be implemented as a CMOS image sensor; a second one of the first plurality of scanning sensors 202 can be implemented as a CCD image sensor; and a third one of the first plurality of scanning sensors 202 can be implemented as a barcode scanner.

[0081] Thus, as the inventory robot 100 moves along the warehouse racks of the warehouse, the processor of the controller of the inventory robot 100 can be configured to cause the given scanning sensor 205 to capture image data of the respective portion of the surrounding space of the inventory robot 100 along the movement direction 110 thereof. As it can be appreciated, the respective portion of the surrounding space of the inventory robot 100 captured by the given scanning sensor 205 can be defined by at least one of: (i) the field of view 206 of the given scanning sensor 205; and (ii) a respective position of the given scanning sensor 205 along the first mast 105.

[0082] In some non-limiting embodiments of the present utility model, the respective position of the given scanning sensor 205 along the first mast 105 can be defined by at least one of: (i) a respective scanning direction of the given scanning sensor 205, when it is attached to the first mast 105, relative to the movement direction 110; and (ii) a respective desired distance value 208 of the given scanning sensor 205 from the movable platform 102.

[0083] According to certain non-limiting embodiments of the present utility model, the respective scanning direction of each one of the first plurality of scanning sensors 202, including the given scanning sensor 205, when they are attached to the first mast 105, can be towards items, image data of which the given scanning sensor is to be capture. Thus, in some non-limiting embodiments of the present utility model, the respective scanning direction of each one of the first plurality of scanning sensors 202 can be towards a closest respective warehouse rack to the first mast 105, while the inventory robot 100 is to be moving in the movement direction 110 along the warehouse racks for monitoring the inventory of the items stored thereon.

[0084] For example, in some non-limiting embodiments of the present utility model, where the movement direction 110 of the inventory robot 100 is parallel to the closest respective warehouse rack to the first mast 105, as depicted in Figure 2, the respective scanning direction of each one of the first plurality of scanning sensors 202, can be a first scanning direction 210, perpendicular to the movement direction 110 of the inventory robot 100.

[0085] Further, according to certain non-limiting embodiments of the present utility model, the respective scanning direction of each one of the second plurality of scanning sensors 204, when they are attached to the second mast 107 of the first vertically sliding section 106, can also be towards the closest respective warehouse rack to the second mast 107, while the inventory robot 100 is to be moving along the warehouse racks for monitoring the inventory of the items stored thereon. For example, in those embodiments where the closest respective warehouse rack to the second mast 107 is parallel to the closest respective warehouse rack to the first mast 105, as depicted in Figure 2, the respective scanning direction of each one of the second plurality of scanning sensors 204 can be a second scanning direction 212, which is opposite to the first scanning direction 210.

[0086] Further, in some non-limiting embodiments of the present utility model, the respective desired distance value 208 of the given scanning sensor 205 from the movable platform 102 can be fixed. In these embodiments, the given scanning sensor 205 is fixedly attached to the first mast 105 of the first vertically sliding section 106 at the respective desired distance value 208 from the movable platform 102. It is not limited how the given scanning sensor 205 can be fixedly attached to the first mast 105, and may include, for example, a screw connection, an adhesive tape connection, a glue connection, and the like.

[0087] However, in other non-limiting embodiments of the present utility model, the respective position of the given scanning sensor 205 along the first mast 105 can be modulated. In these embodiments, the given scanning sensor 205 can be fixedly attached to a mechanical transmission (not depicted), which is installed along the first mast 105 of the first vertically sliding section 106. The mechanical transmission, upon actuation thereof, can be configured to modulate the respective desired distance value 208 of the given scanning sensor 205 relative to the movable platform 102.

[0088] How the mechanical transmission in these embodiments is implemented is also not limited. In some non-limiting embodiments of the present utility model, the mechanical transmission can comprise a belt transmission including: (i) a belt, to which the given scanning sensor 205 is fixedly attached; and (ii) a pair of rotatable shafts (or otherwise pulleys) attached to the first mast 105 at edges thereof. The belt is looped over the pair of rotatable shafts along the first mast 105, and the pair of shafts are configured, when rotated, to transmit motion to the belt, thereby modulating the respective desired distance value 208 of the given scanning sensor 205 relative to the movable platform 102. In other non-limiting embodiments of the present utility model, the mechanical transmission can comprise a chain transmission including: (i) a chain, to which the given scanning sensor 205 is fixedly attached; and (ii) a pair of gears attached to the first mast 105 at edges thereof that are configured to engage with the chain. Similarly, the chain is looped over the pair of gears along the first mast 105 and the pair of gears are configured, when rotated, to transmit motion to the chain, thereby modulating the respective desired distance value 208 of the given scanning sensor 205 relative to the movable platform 102. In yet other non-limiting embodiments of the present utility model, the mechanical transmission can comprise a rack and pinion transmission including: (i) a rack gear extending along the first mast 105, and to which the given scanning sensor 205 is fixedly attached; and (ii) a pinion configured to engage with the rack gear. When the pinion is rotated, it is thus configured to transmit motion to the rack gear, thereby modulating the respective desired distance value 208 of the given scanning sensor 205 relative to the movable platform 102.

[0089] It is not limited how each of the above example types of the mechanical transmission are actuated; and in some non-limiting embodiments of the present utility model, the actuation of the mechanical transmission can comprise using a rotation actuator (not depicted), which can be implemented similarly to the platform actuator of the movable platform 102 described above. The rotation actuator of the mechanical transmission can be communicatively coupled to the processor of the controller of the inventory robot 100; and the processor, upon executing respective instructions, can be configured to actuate the rotation actuator, thereby modulating the respective desired distance value 208 of the given scanning sensor 205 along the first mast

105, relative to the movable platform 102.

[0090] Further, in some non-limiting embodiments of the present utility model, only a single scanning sensor of the first plurality of scanning sensors 202, that is, the given scanning sensor 205, for example, can be attached to the mechanical transmission described above, which enables modulating the respective desired distance value of only this scanning sensor along the first mast 105. However, in other non-limiting embodiments of the present utility model, all of the first plurality of scanning sensors 202 can be attached to the mechanical transmission, which enables to modulate the respective desired distance values of each one of the first plurality of scanning sensors 202 along the first mast 105 in concert, simultaneously.

[0091] As it can be appreciated, configuration and positioning of each one of the second plurality of scanning sensors 204, arranged along the second mast 107 of the first vertically sliding section 106, can be similar to those of the given scanning sensor 205 of the first plurality of scanning sensors 202 arranged along the first mast 105 of the first vertically sliding section

106.

[0092] Further, according to certain non-limiting embodiments of the present utility model, the respective desired distance value for each one of the first and second plurality of scanning sensors 202, 204, relative to the movable platform 102, can be different. In these embodiments, the processor of the inventory robot 100 can be configured to cause each one of the first and second plurality of scanning sensors 202, 204 to capture the image data of different respective portions of the surrounding space of the inventory robot 100 in the first and second scanning directions 210, 212, respectively, along the movement direction of the inventory robot 100.

[0093] In some non-limiting embodiments of the present utility model, the processor of the inventory robot 100 can be configured to cause at least some of a given one of the given one of the first and second plurality of scanning sensors 202, 204 to capture the image data of the respective associated portions of the surrounding space of the inventory robot 100 simultaneously. In other words, the processor of the inventory robot 100 can be configured to cause simultaneous capturing of the image data of the different respective portions of the surrounding space of the inventory robot 100 in a given one of the first and second scanning direction 210, 212 along the movement direction 110 of the inventory robot 100.

[0094] In some non-limiting embodiments of the present utility model, the processor of the inventory robot 100 can be configured to cause at least one of the first plurality of scanning sensors 202 and at least one of the second plurality of scanning sensors 204 to capture the image data of the respective associated portions of the surrounding space of the inventory robot 100 simultaneously. In other words, the processor of the inventory robot 100 can be configured to cause simultaneous capturing of the image data of the different respective portions of the surrounding space of the inventory robot 100 defined in each one of the first and second scanning direction 210, 212 along the movement direction 110 of the inventory robot 100.

[0095] Further, it is not limited how the respective desired distance value 208 of the given scanning sensor 205 can be determined, and can generally depend on objects expected in the respective portion of the surrounding space of the inventory robot 100 defined by the respective desired distance value 208. For example, in some non-limiting embodiments of the present utility model, the respective desired distance value 208 can be predetermined such that the respective portion of the surrounding space of the inventory robot 100 to be captured by the given scanning sensor 205 would include a respective shelf of a respective warehouse rack extending along the movement direction 110 of the inventory robot 100, in the first scanning direction 210. Thus, in these embodiments, each one of the first plurality of scanning sensors 202 would be configured to capture the image data of the items stored on the respective one of a plurality of shelves of the respective warehouse rack extending along the movement direction 110 of the inventory robot 100, in the first scanning direction 210.

[0096] Also, in some non-limiting embodiments of the present utility model, the respective desired distance value for each one of the second plurality of scanning sensors 204 can be predetermined in a similar manner. In these embodiments, each one of the second plurality of scanning sensors 204 would be configured to capture the image data of the items stored on a respective one of an other plurality of shelves of the respective warehouse rack extending along the movement direction 110 of the inventory robot 100, in the second scanning direction 212.

[0097] Thus, in certain non-limiting embodiments of the present utility model, the processor of the inventory robot 100, while the inventory robot 100 is moving in the movement direction 110, can be configured to simultaneously cause: (i) at least one of the first plurality of scanning sensors 202 to capture the image data of the items stored on the respective shelves of the respective warehouse rack positioned in the first scanning direction 210; and (ii) at least one of the second plurality of scanning sensors 204 to capture the image data of the items stored on the respective shelves of the respective warehouse rack positioned in the second scanning direction 212.

[0098] Needless to say that in the embodiments where it is required to capture the image data of the respective portions of the surrounding space of the inventory robot 100 defined at distance values that are greater that the respective desired distance value associated with a top scanning sensor of either one of the first and second plurality of scanning sensors 202, 204, additional pluralities of scanning sensors (not separately numbered in Figure 2) can be arranged along the masts of one of upper vertically sliding sections of the selectively extendable frame 104, such as those of the second vertically sliding section 108, in a similar manner as described above with respect to the first and second pluralities of scanning sensors 202, 204.

[0099] However, in addition to what has been described above with respect to the modulation of the respective desired distance value 208 of the given scanning sensor 205 relative to the movable platform 102, in these embodiments, the processor can be configured to modulate the respective desired distance values of the scanning sensors arranged along the masts of the second vertically sliding section 108 by causing the frame actuator to selectively extend or retract the selectively extendable frame 104, as described above.

[00100] Further, according to certain non-limiting embodiments of the present utility model, the processor can be configured to (i) receive the captured image data of the items stored on the warehouse racks; and (ii) analyze the captured image data to identify, based thereon, the current inventory of the items in the warehouse. More specifically, in those embodiments where the given scanning sensor 205 is a CMOS image sensor, for example, and the image data includes images representative of the items stored on the warehouse racks, the processor of the inventory robot 100 can be configured to identify a given item based on a respective image(s) thereof. To that end, the processor can be configured to apply, for example, a trained machinelearning algorithm (MLA) that has been trained to classify various items based on image features of images representative thereof. Such features, for example, can include, without limitation a color, a light intensity, and the like, in a given point, such as a pixel, of a given image representative of a respective item.

[00101] However, in those embodiments where the given scanning sensor 205 is a barcode scanner, the processor can be configured to read the barcodes of the items to identify respective identification numbers associated therewith. Further, to identify the given items, for example, the processor can be configured to search for a respective identification number associated with the given item in an item database of the items stored in the warehouse. The item database could be preliminarily populated by data of the items including the respective identification numbers associated therewith.

[00102] In other non-limiting embodiments of the present utility model, as mentioned above, the processor of the inventory robot 100 can be configured to receive, from the given scanning sensor 205, the captured image data and further transmit it, via a corresponding communication link, to the remote electronic device or server for the analyzing the captured image data as described above.

[00103] Thus, certain non-limiting embodiments of the present utility model may allow for a more effective inventory monitoring of the items in the warehouse enabling the processor of the inventory robot 100 to capture the image data of more items in a given run along the warehouse racks. In other words, the inventory robot 100, according to at least some nonlimiting embodiments of the present utility model, can be configured to capture the image data of the items that are stored (i) on both sides from the movement direction 110 of the inventory robot 100 and (ii) on higher shelves of the warehouse racks. Consequently, such an approach to the warehouse inventory monitoring allows for a more optimal use of the warehouse space, that is, using higher shelves of the warehouse racks for storing items thereon. [00104] Modifications and improvements to the above-described implementations of the present utility model may become apparent to those skilled in the art. The foregoing description is intended to be exemplary rather than limiting. The scope of the present utility model is therefore intended to be limited solely by the scope of the appended claims.