Patent Application
20220250886
This U.S. patent application claims priority under 35 U.S.C. § 119 to: India Application No. 202121005908, filed on Feb. 11, 2021. The entire contents of the aforementioned application are incorporated herein by reference.
The disclosure herein generally relates to payload handling apparatus, and, more particularly, to autonomous payload handling apparatus.
Pallet movements in any facilities such as warehouses, shopfloors, etc., are handled through manual fork jacks, forklift vehicles (manual driven, autonomous) and in some cases conveyors. In autonomous forklift vehicles there are various types such as counterbalance type, fork over type, etc. Fork over type robotic vehicles are more compact compared to counterbalance type of vehicles for various reasons. Some of the reasons include increase in footprint, turning radius, etc. Therefore, there is a need to address such reasons based on the facility layouts. Fork over autonomous robots are more in demand in the facilities/layouts where there is less room for any infrastructural change due to robotization. Due to this demand, there are lot of fork type autonomous guided vehicles (AGV)/or autonomous mobile robots (AMR) with different type of features available in market. However, the challenge remains in addressing multiple applications such as pallet movement, roller cage movements, custom pallet movements, etc. which can further address various payloads that need to be loaded onto or unloaded from a pallet from one location to another location.
Embodiments of the present disclosure present technological improvements as solutions to one or more of the above-mentioned technical problems recognized by the inventors in conventional systems. In one aspect, there is provided an autonomous payload handling apparatus (APHA). The APHA comprises a chassis assembly comprising one or more friction pads, wherein each of the one or more friction pads is attached to at least one side of the chassis assembly; two or more fork assemblies coupled to the chassis assembly, wherein each of the two or more fork assemblies comprises a first end and a second end, wherein the second end of the two or more fork assemblies is coupled to a bottom end of the chassis assembly, wherein each of the two or more fork assemblies comprises a corresponding vertical fork plate, wherein the corresponding vertical fork plate comprises a first surface and a second surface, and wherein each of the two or more fork assemblies comprises a top plate and a bottom plate; a first long double left-hand (LH) right-hand (RH) lead screw mechanism and a second long double LH RH lead screw mechanism, wherein the first long double LH RH lead screw mechanism is accommodated within a first fork assembly of the two or more fork assemblies, and wherein the second long double LH RH lead screw mechanism is accommodated within a second fork assembly of the two or more fork assemblies. The APHA further comprises a cross-slide assembly mounted within the chassis assembly. The cross-slide assembly comprises a first linear shaft and a second linear shaft, wherein each of the first linear shaft and the second linear shaft comprises a first linear bearing block and a second bearing block, wherein the corresponding vertical fork plate of the two or more fork assemblies is coupled to the first linear bearing block and the second bearing block respectively via one or more screw mechanisms; a lead screw shaft positioned between the first linear shaft and the second linear shaft, wherein a first end and a second end of each of the first linear shaft, the second linear shaft, and the lead screw shaft are coupled to a first end and a second end of each of a first support block and a second support block, respectively.
In an embodiment, the autonomous payload handling apparatus is operated to enable the first end of the two or more fork assemblies to slide through a corresponding fork assembly receiver of a pallet.
In an embodiment, when the first end of the two or more fork assemblies navigates through a first end and a second end of the corresponding fork assembly receiver of the pallet, the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism are operated to (i) lift the top plate and (ii) enable at least one surface of the top plate to contact a bottom surface of the pallet.
In an embodiment, upon positioning the pallet on the top plate of each of the two or more fork assemblies the autonomous payload handling apparatus navigates to a desired location based on sensory information obtained from one or more sensors attached to the autonomous payload handling apparatus.
In an embodiment, each of the two or more fork assemblies comprises a plurality of plummer blocks, wherein a first plummer block of the plurality of plummer blocks is operatively connected to a first end of the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism respectively, wherein a second plummer block of the plurality of plummer blocks is operatively connected to a second end of the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism respectively, and wherein a third plummer block of the plurality of plummer blocks is operatively connected in the middle of the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism respectively to prevent the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism from buckling.
In an embodiment, each of the plurality of plummer blocks comprises a bearing unit. The bearing unit comprises one or more axial load bearings and/or one or more radial load bearings. The bearing unit is configured to convert vertical payload placed on the pallet as a radial payload.
In an embodiment, each of the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism is configured to convert rotation of a fork motor comprised in the two or more fork assemblies into a linear translation of a plurality of threaded blocks comprised therein.
In an embodiment, when each of the one or more threaded blocks is engaged with one or more linear bearings comprised therein, each of the one or more linear bearings is configured to slide and enable anti-rotation and linear motion of the plurality of threaded blocks.
In an embodiment, each of the plurality of threaded blocks comprises a protrusion, wherein the protrusion is configured to accommodate a plain bearing, and wherein the plain bearing is configured to reduce friction between (i) the protrusion, and (ii) one or more corresponding links mounted on the protrusion, and wherein a corresponding central pin is connected on an upper end of a corresponding link of the one or more corresponding links.
In an embodiment, an inward motion of the plurality of threaded blocks enables the corresponding central pin connected to the upper end of the corresponding link to move in an upward direction, wherein movement of the corresponding central pin in the upward direction causes the top plate of the two or more fork assemblies to move in a desired direction.
In an embodiment, length of the one or more corresponding links enables (i) an angular tilt of the top plate along with a vertical lift of the pallet with respect to the bottom plate, or (ii) lifting of a payload in parallel with the bottom plate of the two or more fork assemblies.
In an embodiment, wherein length of the one or more corresponding links prevents a dead lock of the two or more fork assemblies and reduces slackness thereof based on a pre-defined angle of the one or more corresponding links.
In an embodiment, the fork motor comprises a sensor feedback for controlled movement of the one or more corresponding links to lift a payload placed on the pallet.
In an embodiment, the autonomous payload handling apparatus further comprises a plurality of limit switches. Each of the plurality of limit switches is configured to control position of the two or more fork assemblies.
In an embodiment, the autonomous payload handling apparatus further comprises a plurality of spring-loaded bumpers. Each of the plurality of spring-loaded bumpers is connected to a corresponding bumper switch. The corresponding bumper switch is configured to enable navigation and locate the pallet or one or more objects during the navigation.
In an embodiment, the chassis assembly further comprises: a pair of spring-loaded wheels, each spring-loaded wheel from the pair of spring-loaded wheels is configured to (i) slide in a first direction and a second direction based on a predefined preload; an adjustable screw that is configured to (i) adjust height of the pair of spring-loaded wheels and (ii) move the pair of spring-loaded wheels in a specific direction. In an embodiment, the first direction is an upward direction, and the second direction is a downward direction.
In an embodiment, moving of the pair of spring-loaded wheels in the specific direction causes lifting of the autonomous payload handling apparatus such that the autonomous payload handling apparatus rests on a plurality of wheels.
In an embodiment, a first pair of threaded blocks from the plurality of threaded blocks is positioned at a first end of each of the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism. In another embodiment, a second pair of threaded blocks from the plurality of threaded blocks is positioned at a second end of each of the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism.
In an embodiment, each of the first long double LH RH lead screw mechanism and the second long double LH RH lead screw mechanism comprises another lead screw shaft with a first thread, a second thread, a third thread, and a fourth thread.
In an embodiment, the first thread, and the fourth thread have an outer diameter that is less than an inner diameter of one or more threaded blocks mounted on the second thread and the third thread.
In an embodiment, the corresponding bumper switch is mounted at the first end of the two or more fork assemblies.
In an embodiment, when the two or more fork assemblies slide through the corresponding fork assembly receiver of the pallet, the corresponding bumper switch (138A-N) (i) determine whether is an offset between the two or more fork assemblies and the corresponding fork assembly receiver of the pallet, (ii) calculate a navigating angle based on the offset, and (iii) enable the autonomous payload handling apparatus to correct the offset based on the navigating angle and slide through the corresponding fork assembly receiver of the pallet and further reduce frictional contact between the two or more fork assemblies and the pallet.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles.
Exemplary embodiments are described with reference to the accompanying drawings. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. Wherever convenient, the same reference numbers are used throughout the drawings to refer to the same or like parts. While examples and features of disclosed principles are described herein, modifications, adaptations, and other implementations are possible without departing from the spirit and scope of the disclosed embodiments. It is intended that the following detailed description be considered as exemplary only, with the true scope and spirit being indicated by the following claims.
There is huge demand for automation in manufacturing, logistics, postal, distribution centers, ecommerce, retail, etc. Material handling of packed goods on pallets, roller cages within facilities is in huge volumes and consumes lot of operators' time and efforts (e.g., work in some cases 24/7 in multiple shifts). Embodiments of the present disclosure provide an autonomous payload handling apparatus (APHA) that addresses the above material handling process by automating with an intelligent modular robotic platform which can carry payloads and can be controlled via cloud/local fleet management system(s). In other words, the APHA 100 can be connected to a device such as an edge device or an edge computer or a cloud via communication interfaces (e.g., Wi-Fi interfaces through secured and encrypted techniques) for control and navigation. More specifically, embodiments of the present disclosure provide a modular platform such as the APHA which addresses wide variety of payloads like pallets, roll cages, etc. Typically, payloads vary in dimensions in various applications, and they may be placed on various objects/floor or on a raised platform. Embodiments of the present disclosure provide the APHA that is configured to handle multiple payload variants, for example, pallets for varying sizes such as Euro pallets, US pallets, and varying dimensions. Each such pallet may house varying size of payload(s). The APHA as described by the present disclosure includes fork assemblies that slides on the width side of the pallet to get better balance over the payload and also maintain the navigation smooth. The fork assemblies are further equipped with contact and vision sensors that enable the APHA to determine whether there is any offset or any contact between surfaces of the APHA and the pallet. With the help of vision sensors, the fork assemblies capture image data (or sensor data) of object(s) (e.g., surrounding object(s) during navigation, size of payload, and pallet, etc.). Such sensor data can be in the form of 2-dimensional (2D) sensor data and/or 3-dimensional (3D) sensor data that is captured from a distance. The captured sensor data enables the APHA to correct its offset and/or compute a mode of approach to handle the payload. The mode of approach, for instance, shall include, navigating angle, sliding through pallet/roller cages, and the like.
Referring now to the drawings, and more particularly to
Reference numerals of one or more components of the autonomous payload handling apparatus as depicted in the
The APHA 100 further comprise a first long double left-hand (LH) right-hand (RH) lead screw mechanism 116A and a second long double left-hand (LH) right-hand (RH) lead screw mechanism 116B. The expressions ‘first long double left-hand right-hand lead screw mechanism’ and ‘second long double left-hand right-hand lead screw mechanism 116B’ may also be referred as ‘first long double LH RH lead screw mechanism’ and ‘second long double LH RH lead screw mechanism’ and interchangeably used herein. The first long double LH RH lead screw mechanism 116A is accommodated/comprised within a first fork assembly 106A of the two or more fork assemblies 106A-B, and the second long double LH RH lead screw mechanism 116B is accommodated/comprised within a second fork assembly 106B of the two or more fork assemblies 106A-B.
Of the four threads, 2 threads closer to the first end of the first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 1168 form a first set and 2 threads closer to the second end of the first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 1168 form a second set. Such combination or formation of thread operate (or enable operation of) different set of links (e.g., 2 different set of links) to attain two different levels in the top plate 114A at two different points (e.g., refer
Other combinations include scenarios wherein bigger and smaller thread combinations are present such that one combination can be (i) bigger threads are left hand threads where smaller threads are right hand threads and (ii) bigger threads can be right hand threads where smaller threads are left hand threads. It is to be understood by a person having ordinary skill in the art or person skilled in the art that FIGS. depict one type of thread, and such unique combination of the four threads satisfying the above can be chosen to be either square thread, acme thread or any other standard thread type based on the axial force, pitch, and other requirements. Examples of such threading shall not be construed as limiting the scope of the present disclosure. Further, the four threads can be of same pitch or may vary based on the requirements. The four threads individually screwed with the plurality of the threaded blocks such that the fork motor rotation in one direction causes the plurality of threaded blocks to move linearly towards a corresponding thread relief step and the fork motor rotation in other direction causes the plurality of threaded blocks to move linearly towards and away from the thread relief step.
Each of the first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 116B is configured to convert rotation of a fork motor 126 comprised in the two or more fork assemblies 106A-B (or fork motor 126 comprised in each of the two or more fork assemblies 106A-B) into a linear translation of the plurality of threaded blocks 124A-N comprised therein. Each of the first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 116B further comprises one or more linear bearings 128A-N (also referred as linear bearings or collectively referred as linear bearing).
Each of the plurality of threaded blocks 124A-N comprises a protrusion (not shown in FIGS.). The protrusion (or corresponding protrusion) is configured to accommodate a plain bearing (not shown in FIGS.). One or more links 130A-N (refer FIG. 2B) are mounted on the protrusion. The one or more links are also referred as one or more corresponding links and interchangeably used herein. The plain bearing is configured to reduce friction between (i) the one or more corresponding links mounted on the protrusion and (ii) the protrusion. Each of the first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 116B further comprises a plurality of central pins 132A-N (e.g., collectively referred as central pin). Each corresponding central pin of the plurality of central pins 132A-N is connected on an upper end of a corresponding link of the one or more corresponding links 130A-N. For instance, the central pin say 132A is connected to an upper end of the link 130A. Each of the links 130A-N has an inner side and an outer side. The inner side of the links 130A-N face towards a direction of the first and the second long double LH RH lead screw mechanisms 116A-B, and the outer side of the links 130A-N face in an opposite direction of the first and the second long double LH RH lead screw mechanisms 116A-B.
An inward motion of each of the one or more threaded blocks 124A-N enables the corresponding central pin (e.g., say central pin 132A) connected to the upper end of the corresponding link (e.g., link 130A) to move in an upward direction. Such movement of the corresponding central pin in the upward direction causes the top plate 114A of the two or more fork assemblies 106A-B to move in a desired direction (e.g., upward direction). The length of the one or more corresponding links 130A-N enable (i) an angular tilt of the top plate 114A along with a vertical lift of the pallet with respect to the bottom plate 114B, or (ii) lifting of a payload in parallel with the bottom plate 114B of the two or more fork assemblies 106A-B. Further, the length of the one or more corresponding links 130A-N is such that the links 130A-N prevents a dead lock of the two or more fork assemblies 106A-B and reduce slackness thereof based on a pre-defined angle of the one or more corresponding links 130A-N. In an embodiment of the present disclosure, length of each of the links 130A-N make a starting minimum angle closer to 10 degree (e.g., the pre-defined angle) with horizontal which is ensured by a limit switch and as an extra safety by a lower limiter to reduce slackness thus ensuring there is no dead lock. The length of these links 130A-N can vary according to the design requirements. Such variation in the links length shall not be construed as limiting the scope of the present disclosure. For instance, in a first scenario, in the present disclosure, it was observed through experiments that length of four links at the first end of the first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 116B were chosen to be slightly smaller than the length of four links at the second end of first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 116B. Such arrangement caused the lift at the first end to be smaller than the vertical lift at second end which led to a small angular tilt of the top plate 114A along with the vertical lift for specific applications. In a second scenario of the present disclosure wherein length of all the links 130A-N was chosen to be equal. In such scenario, it was observed through experiments that lifting height at the first end and the second end of the first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 116B was the same thus causing the top plate 114A to lift parallel with the bottom plate 114B which may be version of product for another specific application(s). The APHA 100 was provisioned with a sensor feedback for controlled movement of the links. More specifically, in the present disclosure, the fork motor 126 received the sensor feedback (via one or more sensors mounted on (or internally connected to) the APHA 100 for controlled movement of the one or more corresponding links 130A-N to lift a payload placed on the pallet. A fork motor cover is mounted integral with the bottom side of the bottom plate 114B to protect the fork motor 126 from accidentally touching the ground surface or bumps in ground. Each of the two or more fork assemblies further comprises one or more limit switches 134A-N (or collectively referred as limit switch 134 and interchangeably used herein). The one or more limit switches 134A-N control position of the two or more fork assemblies 106A-B. The limits switches 134A-N are mounted on the APHA 100 to restrict extreme movements well within a limit and prevent from going to (i) a lower limit on a lower most position of the fork assemblies 106A-B and (ii) an upper limit to upper most position of the fork assemblies 106A-B. The limit switches 134A-N are enabled with help of a corresponding limit switch bracket mounted on respective threaded block(s). The limit switch bracket contacts with each of the limit switch depending on its two extreme positions. If the fork assemblies 106A-B need to be stopped at any other intermediate lifted positions depending on the height of the payload and its type, then such stopping of fork assemblies 106A-B is achieved by rotating the fork motor 126 to corresponding number of revolutions and this is controlled by rotary encoder (or sensor) feedback of the fork motor 126. The limit switches ensure safe operations to restrict at one of extreme collapsed or expanded conditions.
Though the position of the limit switch is depicted near the fork motor 126 as depicted in
The APHA 100 is operated to enable the first end 108A of the two or more fork assemblies 106A-B to slide through a corresponding fork assembly receiver of a pallet. The expression “fork assembly receiver” herein refers to one or more slots of the pallet (e.g., these slots are typically at the bottom surface of the pallet) that receive one or more fork assemblies of a payload handling apparatus (e.g., the APHA 100 or a conventional fork lifter). When the first end 108A of the two or more fork assemblies 106A-B navigates through a first end and a second end of the corresponding fork assembly receiver of the pallet, the first long double LH RH lead screw mechanism 116A and the second long double LH RH lead screw mechanism 116B operate to (i) lift the top plate 114A and (ii) enable at least one surface of the top plate 114A to contact a bottom surface of the pallet. Upon positioning the pallet on the top plate 114A of each of the two or more fork assemblies 106A-B the autonomous payload handling apparatus 100 navigates to a desired location based on sensory information obtained from one or more sensors attached to the autonomous payload handling apparatus 100.
The chassis assembly 102 further comprises a cross-slide assembly 140. More specifically, the cross-slide assembly 140 is mounted within the chassis assembly 102.
The linear bearing block 144A-B provide free motion of the fork assemblies 106A-B along the linear shafts 142A-B and serves as a supporting member for the vertical fork plates 110A-B. The cross-slide assembly 118 further comprise a lead screw shaft 146. The one more screw mechanism comprise, but are not limited to, a plurality of lead screw nuts that are mounted and coupled to the vertical fork plates 110A-B and the thread of the lead screw shaft such the thread of the lead screw nut engages with the thread in lead screw shaft. 146 (due to thread engagement between the shaft and nut, the rotation of the lead screw shaft 146 leads to the movement of the nut in the direction of the axis of the shaft. The lead screw shaft 146 is positioned between the first linear shaft 142A and the second linear shaft 142B. Each of the first linear shaft 142A, the second linear shaft 142B and the lead screw shaft 146 has a first end and a second end. The first end and the second end of the first linear shaft, the second linear shaft, and the lead screw shaft 146 are coupled to a first support block 148A and a second support block 148B, respectively. The first and the second linear shafts 142A-B take downward load and restricts the load being transmitted to the lead screw shaft 146 for ease of rotation). The support blocks 148A-B holding the first and the second end of the first linear shaft, the second linear shaft, and the lead screw shaft 146 increasing the strength of the APHA 100. A follower gear 150 is mounted on the mid-region (or middle area) of the lead screw shaft 146 with a key sandwiched between them.
The chassis assembly 102 further comprises a pair of spring-loaded wheels 152A-B (refer
The APHA 100 is further quipped with camera (or image capturing devices) and/or one or more vision sensors 160A-N at the first end of the two or more fork assemblies 106A-B. To accommodate such bumper switch(es) and/or vision sensors, design of the two or more fork assemblies 106A-B may or may not be modified. For instance,
The APHA 100 further comprises one or more cable path cover brackets that are mounted at the side surface of the bottom plate 114B to safely route the vision sensors and limit switch cables from the second end to the first end of the lead screw mechanisms and into the vertical fork plates without interfering with the fork-lifting mechanism or physical contact with the fork motor. In the present disclosure, the cable cover brackets are used as conduit for electrical wirings.
The APHA 100 may be operated based on instructions set comprised in a system (e.g., the system is either within the APHA 100 or externally connected to the APHA 100 via I/O communication interfaces). For executing the instructions set(s) as mentioned above, the APHA 100 may comprise (or comprises) the system (not shown in FIGS.) that includes a memory for storing instructions set(s), one or more input/output communication interfaces interface(s), one or more hardware processors. The one or more hardware processors are communicatively coupled to the memory via the one or more communication interfaces wherein the one or more hardware processors are configured by the instructions to execute and enable operation of each component of the APHA 100 as described herein. More specifically, the movement of the APHA 100, the fork assemblies 106A-B operation and the working of the other components comprised in the APHA 100 as described above may be based on instructions set being executed by the one or more hardware processors for handling payload (either placed on the pallet or to be placed on the pallet). Various components of the APHA 100 are configured by the instructions set to perform the method described herein for handling the payload. The system may be mounted on the APHA 100, in one example embodiment of the present disclosure. The system may be housed on the APHA 100, in another example embodiment of the present disclosure. The system may be comprised in the APHA 100, in yet another example embodiment of the present disclosure. The system may be communicatively coupled to the apparatus 100 via one or more communication interfaces as applicable and known in the art, in yet further example embodiment of the present disclosure. In such scenarios where it is communicatively coupled to the APHA 100, the APHA 100 may be provisioned with options and configured with suitable arrangement such that the apparatus can be operated via the connected/communicatively coupled system.
The written description describes the subject matter herein to enable any person skilled in the art to make and use the embodiments. The scope of the subject matter embodiments is defined by the claims and may include other modifications that occur to those skilled in the art. Such other modifications are intended to be within the scope of the claims if they have similar elements that do not differ from the literal language of the claims or if they include equivalent elements with insubstantial differences from the literal language of the claims.
It is to be understood that the scope of the protection is extended to such a program and in addition to a computer-readable means having a message therein; such computer-readable storage means contain program-code means for implementation of one or more steps of the method, when the program runs on a server or mobile device or any suitable programmable device. The hardware device can be any kind of device which can be programmed including e.g. any kind of computer like a server or a personal computer, or the like, or any combination thereof. The device may also include means which could be e.g. hardware means like e.g. an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination of hardware and software means, e.g. an ASIC and an FPGA, or at least one microprocessor and at least one memory with software processing components located therein. Thus, the means can include both hardware means and software means. The method embodiments described herein could be implemented in hardware and software. The device may also include software means. Alternatively, the embodiments may be implemented on different hardware devices, e.g. using a plurality of CPUs.
The embodiments herein can comprise hardware and software elements. The embodiments that are implemented in software include but are not limited to, firmware, resident software, microcode, etc. The functions performed by various components described herein may be implemented in other components or combinations of other components. For the purposes of this description, a computer-usable or computer readable medium can be any apparatus that can comprise, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
The illustrated steps are set out to explain the exemplary embodiments shown, and it should be anticipated that ongoing technological development will change the manner in which particular functions are performed. These examples are presented herein for purposes of illustration, and not limitation. Further, the boundaries of the functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternative boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed. Alternatives (including equivalents, extensions, variations, deviations, etc., of those described herein) will be apparent to persons skilled in the relevant art(s) based on the teachings contained herein. Such alternatives fall within the scope of the disclosed embodiments. Also, the words “comprising,” “having,” “containing,” and “including,” and other similar forms are intended to be equivalent in meaning and be open ended in that an item or items following any one of these words is not meant to be an exhaustive listing of such item or items, or meant to be limited to only the listed item or items. It must also be noted that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise.
Furthermore, one or more computer-readable storage media may be utilized in implementing embodiments consistent with the present disclosure. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the embodiments described herein. The term “computer-readable medium” should be understood to include tangible items and exclude carrier waves and transient signals, i.e., be non-transitory. Examples include random access memory (RAM), read-only memory (ROM), volatile memory, nonvolatile memory, hard drives, CD ROMs, DVDs, flash drives, disks, and any other known physical storage media.
It is intended that the disclosure and examples be considered as exemplary only, with a true scope and spirit of disclosed embodiments being indicated by the following claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202121005908 | Feb 2021 | IN | national |
