Dispensable unit retrieval mechanism
A system enables management of dispensable units by supporting functions such as retrieval, scheduled distribution, analysis, and notifications. To this end, a dispensable retrieval mechanism may be programmed to carry out blind retrievals of dispensable units using a retrieval strategy with a predetermined sequence of retrieval attempts (e.g., fixed or varying two-dimensional retrieval patterns), which may be open loop or closed loop. Techniques may also include the identification of dispensable units through optical sensors and weight measurement devices that can detect, e.g., a texture, a shape, and a size of dispensable units. Such identification can be used to program retrieval attempts by a retrieval robot and in the formulation of the retrieval pattern. Additionally, networked notification systems for dispensable units can be used for updating rules or schedules related to the dispensable units, or alerting users and remote resources of any potential misuse or hazards of the dispensable units.
1. A device comprising:
a container;
a retrieval arm including a tube and a nib, the tube defining a hollow core, and the nib defining an opening in fluid communication with the hollow core;
a cleaning surface adjacent to the container, the nib deformable on the cleaning surface;
a vacuum source in fluid communication with the opening of the nib via the hollow core;
a positioner coupled to the retrieval arm and actuatable to move the retrieval arm relative to the container and the cleaning surface adjacent to the container; and
a controller in communication with the positioner, the controller configured to actuate the positioner to move the retrieval arm within the container according to a sequence of retrieval attempts of objects in the container and to actuate the positioner to move the nib into contact with the cleaning surface adjacent to the container to deform the nib on the cleaning surface to remove contaminants from the nib.
2. The device of claim 1 , wherein the container is movable independently of movement of the retrieval arm.
3. The device of claim 2 , wherein the container is rotatable into a position within a range of motion of the retrieval arm.
4. The device of claim 1 , wherein the cleaning surface includes a horizontal lip.
5. The device of claim 1 , wherein the cleaning surface is oriented relative to the container to direct the contaminants from the nib into the container.
6. The device of claim 1 , wherein the cleaning surface is at a predetermined height relative to the container.
7. The device of claim 1 , wherein at least a portion of the nib is flexible such that a plane of the opening of the nib is adjustable to a range of planar orientations of objects within the container.
8. The device of claim 1 , wherein the nib includes a pliable material flexible in response to contact with the cleaning surface.
9. The device of claim 8 , wherein the nib is compressible in contact with the cleaning surface, and the controller is configured to actuate the positioner to compress the nib on the cleaning surface.
10. The device of claim 8 , wherein the nib includes a bellows formed of a substantially pleated layer of material.
11. The device of claim 8 , wherein the controller is configured to actuate the positioner to wipe the nib along the cleaning surface.
12. The device of claim 1 , wherein the controller is in communication with the vacuum source, and the controller is further configured to reverse the vacuum source to blow air through the opening of the nib.
13. The device of claim 1 , wherein the controller is configured to wipe the nib on the cleaning surface adjacent to the container.
14. A non-transitory computer storage media having stored thereon instructions that, when executed by one or more computing devices, cause the one or more computing devices to perform operations comprising:
moving a container to a position within a range of motion of a retrieval arm including a tube and a nib, the tube defining a hollow core and the nib defining an opening in fluid communication with the hollow core;
actuating a positioner to move the retrieval arm within the container according to a sequence of retrieval attempts of dispensable units within the container; and
actuating the positioner to deform the nib on a cleaning surface adjacent to the container to remove contaminants from the nib.
15. The non-transitory computer storage media of claim 14 , wherein moving the container to the position within the range of motion of the retrieval arm includes actuating rotation of a carousel carrying the container.
16. The non-transitory computer storage media of claim 14 , wherein actuating the positioner to move the retrieval arm within the container according to the sequence of retrieval attempts includes actuating the positioner to move the retrieval arm by at least a predetermined distance within a horizontal plane through the container.
17. The non-transitory computer storage media of claim 14 , wherein actuating the positioner to move the nib into contact with the cleaning surface includes actuating the positioner to wipe the nib along the cleaning surface.
18. The non-transitory computer storage media of claim 14 , wherein actuating the positioner to move the nib into contact with the cleaning surface includes actuating the positioner to compress the nib on the cleaning surface.
19. The non-transitory computer storage media of claim 14 , wherein the instructions, when executed by the one or more computing devices, further cause the one or more computing devices to reverse a vacuum source in fluid communication with the opening of the nib via the hollow core, the reversal of the vacuum source blowing air through the opening of the nib.
20. The non-transitory computer storage media of claim 14 , wherein actuating the positioner to deform the nib on the cleaning surface includes wiping the nib on the cleaning surface.