FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENT RULES, 2003
COMPLETE SPECIFICATION (See Section 10 and Rule 13)
Title of invention:
APPARATUS AND METHOD FOR AUTONOMOUS CONVEYING AND
STACKING OBJECTS
Applicant
Tata Consultancy Services Limited A company Incorporated in India under the Companies Act, 1956
Having address:
Nirmal Building, 9th floor,
Nariman point, Mumbai 400021,
Maharashtra, India
Preamble to the description:
The following specification particularly describes the invention and the manner in which it is to be performed.

CROSS-REFERENCE TO RELATED APPLICATIONS AND PRIORITY
[001] The present application claims priority from Indian provisional application no. 202021010658, filed on March 12, 2020. The entire contents of the aforementioned application are incorporated herein by reference.
TECHNICAL FIELD [002] The disclosure herein generally relates to objects conveying and stacking techniques, and, more particularly, to apparatus and method for autonomous conveying and stacking objects in constrained volumes.
BACKGROUND
[003] The unrelenting need for increased productivity during a short span of time and delivery of end products with uniform quantity and unwavering quality, has led industries towards automation. Several material handling system requirements include the need for a device to create a storage pile of product. This can be accomplished with something as simple as a fixed stakeout conveyor, or as complex as a luffing / slewing powered radial stacking conveyor. A wagon loading system is devised for fast and efficient loading of the material into the waiting wagons.
[004] Traditionally, in chemical plant’s loading packaged material (bags of 50 kg weight) into a closed container is carried out manually wherein the packaged material moves on an overhead conveyor at a constant rate. Further the bags slide through the gravity chute which are collected by the personnel manually and stacked on the peripheral yard. The manual process of loading packaged material into a closed container continues till the required number of bags to be filled into a railway rake containing several wagons are stacked on the platform. Once the rake arrives, manual loading will take place in a particular pattern and the complete wagon is filled manually by personnel.
[005] However, manual process of loading packaged material/objects into a closed container has many challenges which include, issues of reliability and availability of labor, inconsistency in loading and storing, wrong data entry leading

to errors in supply and transport of the packaged material, higher labor charges, higher material loading times leading to higher demurrages, difficulty handling higher volumes in future, scalability issues, occupational health hazards for personnel, wastage of real estate due to storing of material prior to loading and so on. These issues demand the plant move towards automation.
SUMMARY [006] 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. For example, in one aspect, there is provided an object conveying and stacking apparatus for handling a plurality of objects in a constrained volume. The apparatus comprises: a conveyor/ stacker platform; a first conveyor, mounted on a conveyor/ stacker platform, wherein the first conveyor comprises a first end and a second end; a second conveyor and a third conveyor, wherein each of the second conveyor and the third conveyor comprises a first end and a second end, wherein the first end of the second conveyor is aligned with the first end of the first conveyor and the first end of the third conveyor is aligned with the second end of the first conveyor; a first stacking carrier and a second stacking carrier, wherein the first stacking carrier is aligned to the second end of the second conveyor and the second stacking carrier is aligned to the second end of the third conveyor, especially during the receipt of objects; and a first stacking carrier driver and a second stacking carrier driver on which the first stacking carrier and the second stacking carrier move throughout the length of the first stacking carrier driver and the second stacking carrier driver respectively, at commanded displacements and speeds, respectively, wherein the first conveyor is configured to (i) continually receive the plurality of objects at a predefined time interval and (ii) pass the continually received one or more objects from the plurality of objects to at least one of the second conveyor and the third conveyor, wherein during the receipt of the one or more objects from the first conveyor, at least one of the second conveyor and the third conveyor are configured to change from an associated initial position to a desired position, wherein at least one of the first

stacking carrier and the second stacking carrier are configured to receive an object from the one or more objects from the second conveyor and the third conveyor respectively at a first time instance, wherein the first stacking carrier driver and the second stacking carrier driver are configured to drive the first stacking carrier and the second stacking carrier (i) from an initial position to a desired position to place the object from the one or more objects in the constrained volume, and (ii) back to the initial position such that the at least one of the first stacking carrier and the second stacking carrier are configured to receive a subsequent object from the one or more objects from the second conveyor and the third conveyor respectively at a second time instance, wherein the first stacking carrier driver and the second stacking carrier driver are configured to drive the first stacking carrier and the second stacking carrier (i) from an initial position to a subsequent desired position to place the subsequent object from the one or more objects in the constrained volume, and (ii) back to the initial position, wherein during placement of the one or more objects, a plurality of layers of objects is formed from the bottom in the constraint volume by placing and stacking the plurality of objects in one or more predefined stacked patterns.
[007] In an embodiment, the first stacking carrier driver and the second stacking carrier driver are configured to drive the first stacking carrier and the second stacking carrier in a plurality of directions for navigation (i) from the initial position to the desired position to place the object from the one or more objects in the constrained volume and (ii) back to the initial position.
[008] In an embodiment, the one or more directions comprise a forward direction, a backward direction, an upward direction, and a downward direction.
[009] In an embodiment, the first conveyor is a fixed bi-directional conveyor.
[010] In an embodiment, each of the first stacking carrier and the second stacking carrier comprises a plurality of plates, and wherein the plurality of plates is configured to accommodate one or more objects being received at different time intervals.

[011] In an embodiment, the object conveying and stacking apparatus further comprises one or more plate operators. In an embodiment, the one or more plate operators are configured to enable (i) opening of each plate from the plurality of plates to drop/place the one or more objects being received at different time intervals to the desired position and (ii) closing of each plate from the plurality of plates upon the one or more objects being placed to the desired position.
[012] In an embodiment, the second conveyor and the third conveyor are one of a gravity roller plate conveyor (GRPC) or a dancing belt counter-weighted conveyor.
[013] In an embodiment, the object conveying and stacking apparatus further comprises a first balancing support and a second balancing support, wherein each of the first balancing support and the second balancing support comprises a first end and a second end, wherein the first end of each of the first balancing support and the second balancing support is hung to a counter weight, which moves up and down (dancing) in a slot provided in a L frame, wherein the L frame is mounted on the conveyor/stacker base/platform, and wherein the second end of each of the first balancing support and the second balancing support is connected to a corresponding bracketed end of the first stacking carrier driver and the second stacking carrier driver respectively.
[014] In an embodiment, the associated initial position is a collapse position, and the desired position is an expanded position.
[015] In an embodiment, the one or more predefined stacking patterns comprises (i) each object in a layer is positioned and separated from another object by a predefined distance within the layer, and (ii) a first end of each object comprised in an even layer is placed on a portion of a first end of an object comprised in an odd layer and a second end of each object in the even layer is placed on a portion of a second end of another object placed in the odd layer, and (iii) a portion of at least one end of each object is positioned between a portion of at least one end of two objects.
[016] In another aspect, there is provided a method for handling a plurality of objects in a constrained volume using an object conveying and stacking

apparatus comprising a conveyor/ stacker platform; a first conveyor mounted within the conveyor/ stacker platform, wherein the first conveyor comprises a first end and a second end; a second conveyor and a third conveyor, wherein each of the second conveyor and the third conveyor comprises a first end and a second end, wherein the first end of the second conveyor is aligned with the first end of the first conveyor and the first end of the third conveyor is aligned with the second end of the first conveyor; a first stacking carrier and a second stacking carrier, wherein the first stacking carrier is aligned to the second end of the second conveyor and the second stacking carrier is aligned to the second end of the third conveyor, during the receipt of objects; and the first stacking carrier driver and the second stacking carrier driver on which the first stacking carrier and the second stacking carrier move throughout the length first stacking carrier driver and the second stacking carrier driver, at commanded displacements and speeds, respectively.
[017] The method comprises continually receiving, by the first conveyor, the plurality of objects at a predefined time interval and passing the continually received one or more objects from the plurality of objects to at least one of the second conveyor and the third conveyor, during the receipt of the one or more objects from the first conveyor, configuring the at least one of the second conveyor and the third conveyor from an associated initial position to a desired position; receiving, by at least one of the first stacking carrier and the second stacking carrier receive an object from the one or more objects from the second conveyor and the third conveyor respectively at a first time instance; driving, via the first stacking carrier driver and the second stacking carrier driver, the first stacking carrier and the second stacking carrier (i) from an initial position to a desired position to place the object from the one or more objects in the constrained volume, and (ii) back to the initial position such that the at least one of the first stacking carrier and the second stacking carrier are configured to receive a subsequent object from the one or more objects from the second conveyor and the third conveyor respectively at a second time instance, and driving, via the first stacking carrier driver and the second stacking carrier driver, the first stacking carrier and the second stacking carrier (i) from the initial position to a subsequent desired position to place the subsequent

object from the one or more objects in the constrained volume, and (ii) back to the initial position.
[018] In an embodiment, the first stacking carrier and the second stacking carrier are driven for placing the one or more objects in the constrained volume until a last object is being received, and wherein during placement of the one or more objects, a plurality of layers of objects is formed from the bottom in the constraint volume by placing and stacking the plurality or objects in one or more predefined stacked patterns.
[019] In an embodiment, the first stacking carrier driver and the second stacking carrier driver are configured to drive the first stacking carrier and the second stacking carrier in a plurality of directions for navigation (i) from the initial position to the desired position to place the object from the one or more objects in the constrained volume and (ii) back to the initial position.
[020] In an embodiment, the plurality of directions comprises a forward direction, a backward direction, an upward direction, and a downward direction.
[021] In an embodiment, each of the first stacking carrier and the second stacking carrier comprises a plurality of plates. In an embodiment, the plurality of plates is configured to accommodate one or more objects being received at different time intervals, wherein one or more plate operators are configured to enable (i) opening of each plate from the plurality of plates to drop/place the one or more objects being received at different time intervals to the desired position and (ii) closing of each plate from the plurality of plates upon the one or more objects being placed to the desired position.
[022] In an embodiment, the associated initial position is a collapse position, and the desired position is an expanded position.
[023] In an embodiment, the one or more predefined stacking patterns comprise (i) each object in a layer is positioned and separated from another object by a predefined distance within the layer, and (ii) a first end of each object comprised in an even layer is placed on a portion of a first end of an object comprised in an odd layer and a second end of each object in the even layer is placed on a portion of a second end of another object placed in the odd layer, and (iii) a

portion of at least one end of each object is positioned between a portion of at least one end of two objects.
[024] 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.
BRIEF DESCRIPTION OF THE DRAWINGS
[025] 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:
[026] FIG. 1A and FIG. 1B illustrate an object conveying and stacking apparatus (OCSA) 100 for handling a plurality of objects in a constrained volume, in accordance with an embodiment of the present disclosure.
[027] FIG. 2A depicts a gravity roller plate conveyor (GRPC) serving as a second conveyor and a third conveyor 108, in accordance with an embodiment of the present disclosure.
[028] FIG. 2B depicts a dancing belt counter-weighted conveyor (DBCWC) serving as the second conveyor and the third conveyor, in accordance with an embodiment of the present disclosure.
[029] FIG. 3A depicts the object conveying and stacking apparatus (OCSA) of FIG. 1 with the gravity roller plate conveyor (GRPC) serving as the second conveyor and the third conveyor, in accordance with an embodiment of the present disclosure.
[030] FIG. 3B depicts the object conveying and stacking apparatus (OCSA) of FIG. 1 with the dancing belt counter-weighted conveyor (DBCWC) serving as the second conveyor and the third conveyor, in accordance with an embodiment of the present disclosure.
[031] FIG. 4A depicts a stacking carrier (which can traverse in ±X direction) comprising a plurality of plates, in accordance with an embodiment of the present disclosure.

[032] FIG. 4B depicts another electromagnetic stacking carrier (ESC) (which can traverse in ±X direction) according to embodiments of the present disclosure.
[033] FIG. 5A depicts a stacking carrier driver (SCD) according to embodiments of the present disclosure.
[034] FIG. 5B illustrates depicts a stacking carrier motor driver (SCMD) according to embodiments of the present disclosure.
[035] FIG. 6A illustrates a primary scissors mechanism (PSM) for object conveying (motion in ±Z direction) according to embodiments of the present disclosure.
[036] FIG. 6B and FIG. 6C illustrates a primary vertical scissors mechanism (PVSM) for supporting the DBCWC (motion in ±Z direction) according to embodiments of the present disclosure.
[037] FIG. 7A illustrates a vertical scissors balancing support according to embodiments of the present disclosure.
[038] FIG. 7B illustrates a wire-rope counter-weighted support (WRCS) with counterweights in both LH and RH wings, according to embodiments of the present disclosure.
[039] FIGS. 8A-8B illustrate a collapsed and an elevated configuration (motion in ±Y direction) of a stacker platform of the OCSA of FIG. 1 according to embodiments of the present disclosure.
[040] FIG. 9 illustrates a schematic of vision and sensor based closed loop control system for the OCSA of FIG. 1 according to embodiments of the present disclosure.
[041] FIGS. 10A-10B illustrate the OCSA of FIG. 1 which is deployed inside the constrained volume for handling the plurality of objects according to embodiments of the present disclosure.
[042] FIGS. 11A-11B illustrate a patterned filling of objects in the constrained volume according to embodiments of present disclosure.
[043] FIG. 12, with reference to FIGS. 1 through 11B, depict a flow diagram illustrating a method for handling a plurality of objects in a constrained

volume using the OCSA of FIG. 1, in accordance with an embodiment of the present disclosure.
DETAILED DESCRIPTION OF EMBODIMENTS [044] 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 scope of the disclosed embodiments.
[045] The embodiments herein provide an object conveying and stacking apparatus, which is designed to automate the entire loading process in a constrained volume. The present disclosure also eliminates the need for stacking the material/object in a storage area such as, the peripheral yard. Further, all the packaged material/object can be loaded automatically into the constrained volume, wherein manual operation is needed only for setting up of the machine and the present cycle time requirement of 20 packages/min is met. Further, the object conveying and stacking apparatus can load the required number of packaged material/objects inside the constrained volume, in any pattern. Due to continuous loading, stacking of the material or wastage of real estate is avoided and the same object conveying and stacking apparatus can be used for different constrained volumes (e.g., BCN and BCNHL railway wagon types –B: Bogie wagon, C: Covered wagon (boxcar), N: Air-braked, HL: Heavy Load). It is to be understood by a person having ordinary skill in the art or the person skilled in the art that though the examples of deploying the object conveying and stacking apparatus are provided for railway wagon types, such examples shall not be construed as limiting the scope of the present disclosure and the object conveying and stacking apparatus can be implemented in any environment where the objects are to be placed and stacked in a specified location (e.g., constrained volume).

[046] Referring now to the drawings, and more particularly to FIGS. 1 through 12, where similar reference characters denote corresponding features consistently throughout the figures, there are shown preferred embodiments and these embodiments are described in the context of the following exemplary system and/or method.
[047] Reference numerals of one or more components of the autonomous payload handling apparatus as depicted in the FIGS. 1A through 12 are provided in Table 1 below for ease of description:
Table 1

Sl. No Component Numeral reference
1 Object conveying and stacking apparatus 100
2 Conveyor/ stacker platform 102
3 A first conveyor (bi-directional) 104
4 A second conveyor 106
5 A second conveyor 108
6 A first stacking carrier and a second stacking carrier 110A-B
7 A first stacking carrier driver and a second stacking carrier driver 112A-B
8 a first end and a second end of the first conveyor 114A-B
9 a first end and a second end of the second conveyor 116A-B
10 a first end and a second end of the third conveyor 118A-B
11 A plurality of plates 120
12 First linear actuator 122
13 A second linear actuator 124
14 Electromagnets 126
15 Main link 128

16 Long auxiliary link 130
17 Short auxiliary link 134
18 Connecting rods 132-136
19 LH Wing forward and aft scissors pairs 138-140
20 RH Wing forward and aft scissors pairs 142 and 144
21 Programmable motors (LH wing
programmable motor and RH wing programmable motor) 146-148
22 L-frames (2 quantity in each LH and RH wings) 150
23 Weight(s) 152
24 Bracketed end 154
[048] FIG. 1A and FIG. 1B illustrate an object conveying and stacking apparatus (OCSA) 100 for handling a plurality of objects in a constrained volume, in accordance with an embodiment of the present disclosure. In an embodiment, the object conveying and stacking apparatus (OCSA) 100 is also referred as ‘stacking apparatus’, ‘object handling apparatus’, ‘autonomous object handling apparatus’, ‘autonomous object conveying and stacking apparatus’, and may be interchangeably used herein. The expression ‘object’ herein refers to any material or package material such as cartons, gunny bags, grains sacks, cement bags, salt bags, and the like. It is to be understood by a person having ordinary skill in the art or person skilled in the art that such examples shall not be construed as limiting the scope of the present disclosure. The OCSA 100 comprises a conveyor/ stacker platform 102, a first conveyor, which is bi-directional, 104 mounted on the conveyor/ stacker platform 102, a second conveyor 106, a third conveyor 108, a first stacking carrier 110A, a second stacking carrier 110B, a first stacking carrier driver 112A, and a second stacking carrier driver 112B. The first conveyor 104 comprises a first end 114A and a second end 114B. Similarly, the second conveyor 106 comprises a first end 116A and a second end 116B and the third conveyor 108 comprises a first end 118A and a second end 118B. The first end 116A of the second

conveyor 106 and the first end 118A of the third conveyor 108 are aligned with the first end 114A and second end 114B, respectively, of the first conveyor 104. The second end 116B of the second conveyor 106 is connected to the first stacking carrier 112A, through supports fixed to the farther end of LH primary scissors mechanism or the farther end of LH Wing forward and aft scissors pairs as the case may be. The second end 118B of the third conveyor 108 is connected to the second stacking carrier 112B, through supports fixed to the farther end of RH primary scissors mechanism or the farther end of RH Wing forward and aft scissors pairs as the case may be. In other words, the second end 116B of the second conveyor 106 is coupled to the first stacking carrier 110A and the second end 118B of the third conveyor 108 is coupled to the second stacking carrier 110B. The first stacking carrier (110A) and the second stacking carrier (110B) are mounted on the first stacking carrier driver (112A) and the second stacking carrier driver (112B), respectively. The first stacking carrier driver 112A moves the first stacking carrier 110A and the second stacking carrier driver 112B moves the second stacking carrier 110B to any desired position along its drive length. In one embodiment, the first stacking carrier driver (112A) and the second stacking carrier driver (112B) may comprise a slider which slides through the length of the respective drivers thus enabling movement of the first stacking carrier (110A) and the second stacking carrier (110B) from one position to the desired position. In another embodiment, first stacking carrier driver (112A) and the second stacking carrier driver (112B) may comprise one or more rollers which slide through the length of the respective drivers thus enabling movement of the first stacking carrier (110A) and the second stacking carrier (110B) from one position to the desired position. In one embodiment, the first stacking carrier driver (112A) and the second stacking carrier driver (112B) have in-built operating mechanism (e.g., motor, belt, and the like) for driving the first stacking carrier (110A) and the second stacking carrier (110B) from one position to the desired position. The first stacking carrier 110A is aligned to the second end 116B of the second conveyor 106 especially during the receipt of object(s); and the second stacking carrier 110B is aligned to the second end 118B of the third conveyor 108 especially during the receipt of object(s). Each of the first

stacking carrier 110A and the second stacking carrier 110B comprise a plurality of plates 120. The plurality of plates 120 are operated by one or more plate operators (not shown in FIG). In an embodiment, the one or more plate operators comprise one or more actuators (e.g., linear electromechanical actuators) or more than one electromagnet.
[049] During the entry of the OCSA 100 into the constrained volume, the stacker platform 102 (or also referred as vertical lift mechanism) of the OCSA 100 is in collapsed condition/position. Other adjustments and/or configurations may comprise, setting up of the OCSA 100 by adjusting one or more base supports (e.g., say 4 base supports). Upon adjustments, vertical lift mechanism of the OCSA 100 is raised to any desired height (+Y direction). In an embodiment, the first conveyor 104 which is designed as the part of the apparatus 100 measures about 630 mm wide x 900 mm long and is capable of conveying objects in both the +Z and –Z directions, in one example embodiment. The second conveyor 106 and the third conveyor 108 which are an alternate design as the part of the apparatus 100 measure about 700 mm wide x 3200 mm long when expanded and 700 mm wide x 450 mm long when collapsed, in one example embodiment.
[050] During the operation of the OCSA 100, the first conveyor 104 continually receives the plurality of objects at a predefined time interval and passes the continually received one or more objects from the plurality of objects to at least one of the second conveyor 106 and the third conveyor 108. The first conveyor 104 is a fixed bi-directional conveyor and is configured to move and convey objects in both ±Z directions, in one example embodiment. In an embodiment, the predefined time interval is 3 seconds. In other words, the first conveyor 104 receives an object at every 3 seconds. It is to be understood by a person having ordinary skill in the art or person skilled in the art that the predefined time interval of 3 seconds is configurable depending upon the requirement and environment where the objects are manipulated and placed in a desired position and location, and such configuration of the predefined time interval shall not be construed as limiting the scope of the present disclosure. In other words, the predefined time interval can be either less than 3 seconds or more than 3 seconds. The second conveyor 106 and

the third conveyor 108 are one of a gravity roller plate conveyor (GRPC) or a dancing belt counter-weighted conveyor (DBCWC), in one example embodiment. The second conveyor 106 and the third conveyor 108 are also referred as ‘adjustable conveyor’, in another example embodiment. Examples of the GRPC and DBCWC are shown in FIGS. 2A and 2B. More specifically, FIG. 2A, with reference to FIG. 1, depicts a gravity roller plate conveyor (GRPC) serving as the second conveyor 106 and the third conveyor 108, in accordance with an embodiment of the present disclosure. FIG. 2B, with reference to FIGS. 1A-2A, depicts a dancing belt counter-weighted conveyor (DBCWC) serving as the second conveyor 106 and the third conveyor 108, in accordance with an embodiment of the present disclosure. FIG. 3A, with reference to FIGS. 1 through 2B, depicts the object conveying and stacking apparatus (OCSA) 100 of FIG. 1 with the gravity roller plate conveyor (GRPC) serving as the second conveyor 106 and the third conveyor 108, in accordance with an embodiment of the present disclosure. In an embodiment, the gravity roller plate conveyor (GRPC) consists of 7 roller plates, which are collapsible one inside the other wherein the ratio of collapsed overall length to the expanded length is around x:y (e.g., 1:6.66) and the packaged material can be conveyed in ±Z direction in both left hand (LH) and right hand (RH) wings. Further, the minimum plate width is designed to be greater than the width of the packaged material/object being conveyed wherein each plate consists of several gravity rollers (unpowered) each of ‘p’ mm outer diameter (e.g., 22 mm outer diameter). The gravity roller plate conveyor (GRPC) with the rollers when fully expanded form a gradient of ‘y’ degree (e.g., wherein y = 4.289°) and the prescribed conveying speed on the GRPC can be established experimentally. Further the gravity roller plate conveyor (GRPC) is designed to handle impact load of the packaged material/object.
[051] FIG. 3B, with reference to FIGS. 1 through 3A, depicts the object conveying and stacking apparatus (OCSA) 100 of FIG. 1 with the dancing belt counter-weighted conveyor (DBCWC) serving as the second conveyor 106 and the third conveyor 108, in accordance with an embodiment of the present disclosure. In an embodiment, the DBCWC consists of an endless belt, of ‘c’ m length (e.g., wherein c is 7 m length), xyz mm wide (e.g., 700 mm wide) having ‘a’ mm top and

‘b’ mm bottom cover thickness (e.g., a = 2.5 mm top and b = 2.5 mm bottom cover thickness), which is power driven through a ‘d’ mm diameter power roller (e.g., d=40 mm diameter power roller). A belt tensioner, of ‘q’ mm diameter shaft (e.g., q=40 mm diameter) creates adequate belt tension. The belt is passed over several mm diameter solid rollers (e.g., 20 mm diameter solid rollers), ‘n’ fixed rollers (e.g., wherein n = 5), wherein each roller of ‘s’ mm diameter (e.g., s=30), ‘m’ dancing rollers (e.g., m=5), of s (s=30 mm) mm diameter. A counterweight is attached to the dancing rollers, which partly balances the load carried therein. The belt moves with the same tension when the packaged material/object is conveyed over it from the collapsed to expanded configuration of a primary vertical scissors mechanism (PVSM) in ±Z direction in both left hand (LH) and right hand (RH) wings. The PVSM can collapse to 450 mm while it can expand up to 3200 mm, in one example embodiment of the present disclosure.
[052] Prior to receiving the one or more objects from the first conveyor 104, the at least one of the second conveyor 106 and the third conveyor 108 change their position from an associated initial position (e.g., refer FIG. 1A) to a desired position (e.g., refer FIGS. 3A-3B). For instance, the initial associated position may be a closed position and the desired position is a position at which the object is transferred from the respective second conveyor 106 and the third conveyor 108 to corresponding stacking carriers (e.g., the first stacking carrier 110A and the second stacking carrier 110B). In other words, the desired position can be referred to as a position to which the second conveyor 106 and the third conveyor 108 are adjusted with reference to their length such that the transfer of the objects from the second conveyor 106 and the third conveyor 108 to corresponding stacking carriers (e.g., the first stacking carrier 110A and the second stacking carrier 110B) happen without any challenges/handling issues. Since the second conveyor 106 and the third conveyor 108 are responsible for transfer of the objects, the at least one of the first stacking carrier 110A and the second stacking carrier 110B receive an object from the one or more objects from the second conveyor and the third conveyor respectively at a first time instance (e.g., say at ‘t’ instance). The first stacking

carrier 110A and the second stacking carrier 110B are depicted in FIGS. 4A and 4B, respectively.
[053] The first stacking carrier driver 112A and the second stacking carrier driver 112B drive the first stacking carrier 110A and the second stacking carrier 110B (i) from the initial position to a desired position to place the object from the one or more objects in the constrained volume, and (ii) back to the initial position such that the at least one of the first stacking carrier 110A and the second stacking carrier 110B receive a subsequent object from the one or more objects from the second conveyor and the third conveyor respectively at a second time instance (e.g., say ‘t+m’ instance). The first stacking carrier driver 112A and the second stacking carrier driver 112B are configured to drive the first stacking carrier 110A and the second stacking carrier 110B (i) from the initial position to a subsequent desired position to place the subsequent object (e.g., subsequent object) from the one or more objects in the constrained volume, and (ii) back to the initial position. In other words, say an object (e.g., object A) is transferred in +Z direction, from the first conveyor 104 at 10.30:00 AM which gets transferred to the first stacking carrier 110A say at 10.30:03 AM (e.g., the ‘t’ instance) through the second conveyor 106. While at 10.30:03 AM there is another object (e.g., object B) being received by the first conveyor 104 at 10.30:03 AM which gets transferred in –Z direction, to the second stacking carrier say at 10.30:06 AM (e.g., ‘t+m’ instance) through the third conveyor 108. Therefore, the first stacking carrier 110A is configured in such a way that the object received at 10.30:03 AM by the first stacking carrier 110A is transferred to a desired location and the second stacking carrier 110B is ready to receive the subsequent object (e.g., the object B). Object B is then placed to a subsequent desired position/location. The first stacking carrier 110A and the second stacking carrier 110B are driven by the first stacking carrier driver 112A and the second stacking carrier driver 112B respectively for placing the one or more objects in the constrained volume until a last object is being received by the first conveyor 104. Though, the above example describes operating the two conveyors (e.g., the second conveyor 106 and the third conveyor 108) simultaneously at a given point of time for conveying and stacking multiple objects in the constrained volume, such

example shall not be construed as limiting the scope of the present disclosure. In other words, the apparatus 100 is also capable of operating the first conveyor 104 and one of the second conveyor 106 or the third conveyor 108 at a given point of time for conveying and stacking objects. For instance, the first conveyor 104 receives sequence of objects at specific time intervals (e.g., say every 3 seconds) then the sequence of objects is passed onto the second conveyor 106 alone which then conveys each received object onto a corresponding stacking carrier (e.g., say the first stacking carrier) which then carries the object in a specific direction to place the object to a desired position. Similarly, objects can be received from the first conveyor to the second stacking carrier via the third conveyor at a given point of time which then carries in a specific direction to place the object to a desired position. So, at any given point of time a combination of (i) the first conveyor and the second conveyor or (ii) the first conveyor and third conveyor can be operated.
[054] FIG. 5A, with reference to FIGS. 1 through 4B, depicts a stacking carrier driver (SCD) according to embodiments of the present disclosure. In an embodiment, the first stacking carrier 110A and the second stacking carrier 110B are driven by a horizontal scissors mechanism which is in turn driven by a 2.9 m ball screw and nut arrangement called as a stacking carrier driver (SCD) wherein the ball screw is powered by a motor (not shown in FIGS.), which is sized for the required speed, acceleration, and deceleration characteristics. Further, the motor control can be done by any control logic as known in the art and there are provisions for feedback and other sensors. Further there are provision for sensors wherein each of the lead screws and ball screws are provided with encoders (not shown in FIGS.) to find the position and there are limit switches (not shown in FIGS.) and proximity sensors (not shown in FIGS.) for each of the lead screws and ball screws to avoid over travel.
[055] FIG. 5B, with reference to FIGS. 1A through 5B, illustrates depicts a stacking carrier motor driver (SCMD) according to embodiments of the present disclosure. In an embodiment, the electromagnetic stacking carrier (ESC) of FIG. 4B, is driven by stacking carrier motor driver of FIG. 5B, which is powered by a motor, sized for the required speed, acceleration, and deceleration characteristics.

Further, the motor control can be done by any control logic and there are provisions for feedback. Further there are provisions for sensors within the SCMD, such as encoders to find the position and built in protection for all abnormal conditions. The controller ensures high position accuracy of the ESC.
[056] Further, during the placement of the one or more plurality, a plurality of layers of objects is formed from the bottom in the constraint volume by placing and stacking the plurality or objects in one or more predefined stacked patterns. One of the predefined stacked patterns can be realized in FIGS. 11A-11B in the constrained volume. In the present disclosure, the expression ‘constrained volume’ refers to a location that is dedicated for placing and stacking objects. Such location can be an open area/space, or a dedicated location/space in a closed room/environment (e.g., say a container as depicted in FIGS. 11A-11B).
[057] A predefined pattern as described in the present disclosure refers to a pattern of placing and stacking objects wherein each object in a layer is positioned and separated from another object by a predefined distance within the layer, in one example embodiment. A predefined pattern as described in the present disclosure refers to a pattern wherein a first end of each object comprised in an even layer is placed on a portion of a first end of an object comprised in an odd layer and a second end of each object in the even layer is placed on a portion of a second end of another object placed in the odd layer, in another example embodiment. A predefined pattern as described in the present disclosure refers to a pattern wherein a portion of at least one end of each object is positioned between a portion of at least one end of two objects. It is to be understood by a person having ordinary skill in the art or person skilled in the art that the above examples of predefined stacking patterns are examples, and such examples shall not be construed as limiting the scope of the present disclosure.
[058] For placing and stacking the objects in the one or more predefined patterns, the first stacking carrier 110A and the second stacking carrier 110B are driven by the first stacking carrier driver 112A and the second stacking carrier 112B in a plurality of directions for navigation of the first stacking carrier 112A and the second stacking carrier 112B from the initial position to the desired position to place

the object from the one or more objects in the constrained volume and (ii) back to the initial position. The plurality of directions comprises a forward direction, a backward direction, an upward direction, and a downward direction, in one example embodiment.
[059] The plurality of plates 120 are configured to accommodate the one or more objects being received at different time intervals and prevent the one or more objects from fall. The plate operators enable (i) opening of each plate from the plurality of plates to drop/place the one or more objects being received at different time intervals to the desired position and (ii) closing of each plate from the plurality of plates upon the one or more objects being placed to the desired position. The above description on the plurality of plates 120 is better understood by way of the following example. FIG. 4A, with reference to FIGS. 1A through 3B, depicts a stacking carrier comprising a plurality of plates, in accordance with an embodiment of the present disclosure. The stacking carrier depicted in FIG. 4A comprises one or more components such as a first linear actuator 122, one or more spring loaded ball roller plates 120 and a second linear actuator 124. The stacking carrier (MSC) is attached to a last roller plate of the gravity roller plate conveyor (GRPC) and the stacking carrier (SC) has 6-bar mechanism. When the first linear actuator 122 extends, then the stacking carrier (SC) moves up vertically and this configuration is needed when the conveying operation is completed, and the stacking carrier (MSC) needs to be packaged out (or the object needs to be taken out). Further, at the start of object conveying operation, the first linear actuator 122 contracts and the SC plates 120 becomes horizontal wherein the first linear actuator 122 is powered on to give upward reaction throughout the conveying. The stacking carrier (SC) is programmed to be always positioned at the “null” position on both left hand (LH) and right hand (RH) wings to receive the packaged material/object. Further the packaged material/object is made to slide on to the 4 spring loaded ball roller plates 120 of the stacking carrier wherein each plate is certain mm wide (e.g., 100 mm wide) and can bear the weight of the packaged material/object. Further the stacking carrier (MSC) traverses to the prescribed location programmatically on a high speed rail wherein at the prescribed location the second linear actuator (e.g.,

linear actuator) 124 is actuated which presses the packaged material/object and forces all the 4 plates to open making the packaged material/object to fall vertically down and there is a provision for weight sensors. Once the material/object falls the second linear actuator 124 is retracted and the stacking carrier (MSC) is made to return to the “null” position programmatically. Further weight sensors are provided on the stacking carrier (SC), in one example embodiment. The components 122 through 124 enabling the opening and closing of the plates 120 are referred as plate operators and interchangeably used herein.
[060] FIG. 4B, with reference to FIGS. 1A through 4A, depicts another stacking carrier (SC) (motion in ±X direction) according to embodiments of the present disclosure. In FIG. 4B, the stacking carrier comprises one or more electromagnets (e.g., also referred as plate operators and interchangeably used herein). Stacking carrier as depicted in FIG. 4B may also be referred as electromagnetic object stacking carrier and interchangeably used herein. The object from the stacking carrier is driven by the stacking carrier driver wherein the object is traversed to the prescribed location programmatically on a stacking carrier motor driver (MSCMD) wherein at the prescribed location the electromagnets 126, are de-magnetized which forces all the 4 plates to open by the weight of the packaged material/object, making it fall vertically down and there is a provision for weight sensors. Once the packaged material/object falls, one or more springs comprised therein (not shown in FIGS.) retracts all the four plates to the horizontal home position with electromagnets energized to hold all the plates with additional force.
[061] FIG. 6A, with reference to FIGS. 1A through 5B, illustrates a primary scissors mechanism (PSM) for object conveying (motion in ±Z direction) according to embodiments of the present disclosure. In an embodiment, the primary scissors mechanism (PSM) is designed to perform motion in ±Z direction and this is a horizontal scissor mechanism with link length of 650 mm each, all but the first pair of links are hollow rectangular cross section 40x10x2 mm wherein the first pair of links are 650 mm rectangular hollow with a cross section of 40x20x4 mm. Further the primary scissors mechanism (PSM) as depicted in FIG. 6A supports the gravity roller plate conveyor (GRPC) of FIG. 2A, the stacking carrier (MSC) of

FIGS. 4A and 4B and all the overhang which is driven by a trapezoidal lead screw (not shown in FIGS.) and is programmable. Further the left hand (LH) and right hand (RH) are independently controllable wherein the primary scissors mechanism (PSM) is controllable to any length from the fully collapsed 0.460 m to an expanded length of 3.2 m. It is to be understood by a person having ordinary skill in the art or person skilled in the art that the above dimensions are examples of a specific design based on the requirement, and such dimensions shall not be construed as limiting to scope of the present disclosure.
[062] FIG. 6B and FIG. 6C illustrates a primary vertical scissors mechanism (PVSM) for supporting the DBCWC (motion in ±Z direction) according to embodiments of the present disclosure. In an embodiment, the primary vertical scissors mechanism (PVSM), is designed to perform motion in ±Z direction. This is a vertical scissor mechanism with 3 sets of links, the main link 128, with a length of 650 mm each, the long auxiliary link 130, with a length of 350 mm each and short auxiliary link 134, with a length of 160 mm each. The long auxiliary links are attached in the bottom half of the main links, whereas the short auxiliary links are attached in the upper half of the main links. All the links are solid rectangular cross section 20x10 mm. There are 7 such scissors pairs on forward side 138 and aft side 140 in LH wing, whereas in the RH wing, the forward side 142 and aft side 144 have 7 such scissors pairs. These links create a box structure, wherein, at both the LH and RH wings, the forward side and aft side short auxiliary links 132, are connected at the top with solid connecting rods 134, and the forward side and aft side long auxiliary links, are connected at the bottom with solid connecting rods 136. Each of the rods134 and 136 rods are 850 mm length and diameter 20 mm. Further, the LH Wing forward and aft scissors pairs 138 and 140 are each moved by trapezoidal lead screw and nut driven by a programmable motor 146, whereas the RH Wing forward and aft scissors pairs 142 and 144 are each moved by trapezoidal lead screw and nut driven by a programmable motor 148. Further the LH wing and RH wing of primary vertical scissors mechanism (PVSM) are independently controllable, wherein the primary vertical scissors mechanism (PVSM) is controllable to any length from the fully collapsed 0.460 m to an

expanded length of 3.2 m. It is to be understood by a person having ordinary skill in the art or person skilled in the art that the above dimensions are examples of a specific design based on the requirement, and such dimensions shall not be construed as limiting to scope of the present disclosure.
[063] The OCSA 100 further comprises a first balancing support and a second balancing support wherein each of the first balancing support and the second balancing support comprises a first end and a second end. The first end of each of the first balancing support and the second balancing support hung to a counter weight, which moves up and down (dancing) in a slot provided in a L frame, wherein the L frame is mounted on the conveyor/stacker platform 102, and wherein the second end of each of the first balancing support and the second balancing support is connected to a corresponding bracketed end of the first stacking carrier driver 114A and the second stacking carrier driver 114B respectively. The first balancing support and the second balancing support are one of a vertical scissors balancing support or a wire-rope counter-weighted support. FIG. 7A, with reference to FIGS. 1A through 6B, illustrates a vertical scissors balancing support according to embodiments of the present disclosure. In an embodiment, the vertical scissors support (VSS) is used as an additional support for the OCSA 100 wherein the vertical scissors support collapses and expands with the primary scissors mechanism (PSM) in ±Z direction and there is no power drive. Further one end of the vertical scissors support (VSS) is held in the central pillar and the other is held in the high-speed rail (HSR) or the stacking carrier driver. Further the stacking carrier (MSC) traverses on the high-speed rail (HSR) at high speeds and high-speed rail (HSR) is self-lubricated and can be used in corrosive/ dusty environment.
[064] FIG. 7B, with reference to FIGS. 1A through 7A, illustrates a wire-rope counter-weighted support (WRCS) with counterweights in both LH and RH wings, according to embodiments of the present disclosure. In an embodiment, a wire-rope counter-weighted support (WRCS) is used as an additional support for the overall automated material conveying and stacking system (AMCSS) wherein the wire-rope and the counterweights moves up and down when the primary vertical scissors mechanism (PVSM), expands and collapses respectively in ±Z direction,

wherein there is no power requirement for this. Further, one end of the wire-rope counter-weighted support (WRCS), is held in L-frames (2 quantity in each LH and RH wings) 150, with dancing roller counterweights (2 quantity in each LH and RH wings, each weight approximately 1/4th of the total weight on PVSM) 152. The other bracketed end 154, is held in the linear guide power drive system (LGPDS) (not shown in FIGS.). Further, the electromagnetic stacking carrier (ESC) traverses on the linear guide power drive system (LGPDS) at high speeds and is self-lubricated and can be used in corrosive/ dusty environment.
[065] FIGS. 8A-8B illustrate a collapsed and an elevated configuration (motion in ±Y direction) of a stacker platform 102 (also referred as vertical lift mechanism) of the OCSA 100 of FIG. 1 according to embodiments of the present disclosure. The expression ‘stacker platform’ and ‘vertical lift mechanism’ may be interchangeably used herein. In an embodiment, the stacker platform 102 (Vertical lift mechanism- (VLM)) as depicted in FIGS. 8A and 8B are configured to lift the OCSA of FIGS. 1A and 1B from the collapsed height of 1.6 m to the elevated height of up to 3.0 m (±Y direction). Further, the VLM has a pair of parallel scissors actuated by a trapezoidal screw nut arrangement wherein each link is of 2m length with a cross section of 100x20 mm and the Vertical lift mechanism is sized to lift more than 2,000 kg. It is to be understood by a person having ordinary skill in the art or person skilled in the art that the above dimensions are examples of a specific design based on the requirement, and such dimensions shall not be construed as limiting to scope of the present disclosure.
[066] FIG. 9, with reference to FIGS. 1A through 8B, illustrates a schematic of vision and sensor based closed loop control system for the OCSA 100 of FIG. 1 according to embodiments of the present disclosure. In an embodiment, the vision and sensor based closed loop control system includes a multi system control unit, a feeder system control unit, a control unit for controlling the OCSA, a CPU (Central Processing Unit) unit, an I/O unit, a Human-Machine Interface (HMI) unit, a vision system/feedback sensors unit, and a switch unit. In an embodiment, the multi system control is configured to control several OCSA for proper conveying and stacking of material into several or single closed container.

The feeder system control unit is configured to control the fixed and movable feeders to convey material from chute into OCSA equipment placed inside the closed container. The control unit is configured to control the flow of material/object in the LH (Left Hand and RH (Right Hand) wings of the container as well as patterned stacking of the material in various zones of the container. The CPU (Central Processing Unit) unit is configured to compute and process sensor signals and command the drives according to the programmed logic. The HMI (Human Machine Interface) unit is configured to aid in manual control of the OCSA. The vision system/feedback sensors unit includes cameras which can take images for further processing and aid in closed loop control and several sensors, like oneproximity sensors, limit switches, weight sensors, position sensors which give essential feedback for the closed loop control. The switch unit is configured to distribute the commands amongst the various motor drives for various actuations.
[067] Hence, the present disclosure provides the OCSA with X, Y and Z axis controls wherein the patterned material/object stacking is automatically done/carried out in constrained or un-constrained volume. In other words, the objects conveying and stacking in one or more predefined stacking patterns is achieved in an autonomous manner by the OCSA 100 by performing the method steps 202 through 212 of FIG. 2. Further, the present disclosure is portable and capable of handling multiple types of rail, road, ship, and air cargo wherein the OCSA 100 has the flexibility to handle different sizes of containers matching the industry standard material conveying time of 1.5 m/s – 2.5 m/s (5 – 8 feet/s). Further, the present disclosure is cost effective solution with high reliability and limited maintenance and has the capability of working in harsh and corrosive environment. The OCSA 100 is programmable by PLC, AI, cognitive or any other logic and there is provision for complete vision system and cognitive control for future application.
[068] Further as the safety provisions the OCSA 100 is provided with a mechanical steel cable lock to avoid over travel inside the container and there are safety bumpers on the OCSA and the feeder housing. Further there are mechanical hard stops for each of the lead screws and ball screws and when there is a failure of

any motor there is a provision for retracting all the mechanisms and also to move the OCSA 100 out of the constrained volume. Further a 1000 mm safety clearance from the equipment to the wagon when not in operation is provided by a 6-bar mechanism and when this mechanism opens, form the bridge rail with base support to allow the OCSA into and out of the constrained volume. Further when the operation is complete and the apparatus 100 can be moved in a close structure, wherein bridge rail is lifted up, thus creating a 1000 mm safety clearance.
[069] FIGS. 10A-10B illustrate the OCSA 100 of FIG. 1, being deployed inside the constrained volume for handling the plurality of objects according to embodiments of the present disclosure.
[070] FIGS. 11A-11B illustrate a patterned filling of objects in the constrained volume according to embodiments of present disclosure.
[071] FIG. 12, with reference to FIGS. 1 through 11B, depict a flow diagram illustrating a method for handling a plurality of objects in a constrained volume using the OCSA 100 of FIG. 1, in accordance with an embodiment of the present disclosure. At step 202 of the present disclosure, the plurality of objects is received by the first conveyor 104, which is bi-directional, at a predefined time interval and the continually received one or more objects from the plurality of objects are passed to at least one of the second conveyor 106 (+ Z direction) and the third conveyor 108 (-Z direction). At step 204 of the present disclosure, during the receipt of the one or more objects from the first conveyor 104, the at least one of the second conveyor 106 and the third conveyor 108 are configured from an associated initial position to a desired position. At step 206 of the present disclosure, the at least one of the first stacking carrier 110A and the second stacking carrier 110B receive an object from the one or more objects from the second conveyor 106 and the third conveyor 108 respectively at a first time instance. At step 208 of the present disclosure, the first stacking carrier driver 112A and the second stacking carrier driver 112B drive the first stacking carrier 110A and the second stacking carrier 110B (i) from an initial position to a desired position to place the object from the one or more objects in the constrained volume, and (ii) back to the initial position such that the at least one of the first stacking carrier 110A and the second

stacking carrier 110B are configured to receive a subsequent object from the one or more objects from the second conveyor 106 and the third conveyor respectively 108 at a second time instance. At step 210 of the present disclosure, the first stacking carrier driver 112A and the second stacking carrier driver 112B drive the first stacking carrier 110A and the second stacking carrier 110 (i) from the initial position to a subsequent desired position to place the subsequent object from the one or more objects in the constrained volume, and (ii) back to the initial position, wherein the first stacking carrier and the second stacking carrier are driven for placing the one or more objects in the constrained volume until a last object is being received. In an embodiment of the present disclosure, during placement of the one or more objects, a plurality of layers of objects is formed from the bottom in the constraint volume by placing and stacking the plurality or objects in one or more predefined stacked patterns.
[072] 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.
[073] 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.
[074] 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.
[075] 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.

[076] 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.
[077] It is intended that the disclosure and examples be considered as exemplary only, with a true scope of disclosed embodiments being indicated by the following claims.

We Claim:
1. An object conveying and stacking apparatus (100) for handling a plurality
of objects in a constrained volume, comprising:
a stacker platform (102);
a first conveyor (104) mounted on the stacker platform, wherein the first conveyor comprises a first end (114A) and a second end (114B);
a second conveyor (106) and a third conveyor (108), wherein the second conveyor (106) comprises a first end (116A) and a second end (116B), wherein the third conveyor (108) comprises a first end (118A) and a second end (118B), and wherein the first end (116A of the second conveyor (106) is aligned with the first end (114A) of the first conveyor (106) and the first end (118B) of the third conveyor (108) is aligned with the second end (114B) of the first conveyor (104);
a first stacking carrier (110A) and a second stacking carrier (110B), wherein the first stacking carrier (110A) is aligned to the second end (116B) of the second conveyor (106); and the second stacking carrier (110B) is aligned to the second end (118B) of the third conveyor (108); and
a first stacking carrier driver (112A) and a second stacking carrier driver (112B), wherein the first stacking carrier (110A) and the second stacking carrier (110B) are mounted on the first stacking carrier driver (112A) and a second stacking carrier driver (112B), respectively,
wherein the first conveyor (104) is configured to (i) continually receive the plurality of objects at a predefined time interval and (ii) pass the continually received one or more objects from the plurality of objects to at least one of the second conveyor (106) and the third conveyor (108),
wherein during the receipt of the one or more objects from the first conveyor (104), the at least one of the second conveyor (106) and the third conveyor (108) are configured to change from an associated initial position to a desired position,
wherein at least one of the first stacking carrier (110A) and the second stacking carrier (110B) are configured to receive an object from the one or more objects from the second conveyor (106) and the third conveyor (108) respectively at a first time instance,

wherein the first stacking carrier driver (112A) and the second stacking carrier driver (112B) are configured to drive the first stacking carrier (110A) and the second stacking carrier (110B) (i) from an initial position to a desired position to place the object from the one or more objects in the constrained volume, and (ii) back to the initial position such that the at least one of the first stacking carrier (110A) and the second stacking carrier (110B) are configured to receive a subsequent object from the one or more objects from the second conveyor (106) and the third conveyor (108) respectively at a second time instance,
wherein the first stacking carrier driver (112A) and the second stacking carrier driver (112B) are configured to drive the first stacking carrier (110A) and the second stacking carrier (110B) (i) from an initial position to a subsequent desired position to place the subsequent object from the one or more objects in the constrained volume, and (ii) back to the initial position,
wherein during placement of the one or more objects, a plurality of layers of objects is formed from the bottom in the constraint volume by placing and stacking the plurality or objects in one or more predefined stacked patterns.
2. The object conveying and stacking apparatus (100) of claim 1, wherein the first stacking carrier driver (112A) and the second stacking carrier driver (112B) are configured to drive the first stacking carrier (110A) and the second stacking carrier (110B) in a plurality of directions for navigation (i) from the initial position to the desired position to place the object from the one or more objects in the constrained volume and (ii) back to the initial position.
3. The object conveying and stacking apparatus (100) of claim 1, wherein the plurality of directions comprises a forward direction, a backward direction, an upward direction, and a downward direction.
4. The object conveying and stacking apparatus (100) of claim 1, wherein the first conveyor (104) is a fixed bi-directional conveyor.

5. The object conveying and stacking apparatus (100) of claim 1, wherein each of the first stacking carrier (110A) and the second stacking carrier (110B) comprises a plurality of plates (122), and wherein the plurality of plates (122) is configured to accommodate one or more objects being received at different time intervals.
6. The object conveying and stacking apparatus (100) of claim 5, further comprising one or more plate operators, wherein the one or more plate operators are configured to enable (i) opening of each plate from the plurality of plates (122) to place the one or more objects being received at different time intervals to the desired position and (ii) closing of each plate from the plurality of plates (122) upon the one or more objects being placed to the desired position.
7. The object conveying and stacking apparatus (100) of claim 1, wherein the second conveyor and the third conveyor are one of a gravity roller plate conveyor (GRPC) or a dancing belt counter-weighted conveyor.
8. The object conveying and stacking apparatus of claim 1, further comprising a first balancing support and a second balancing support, wherein each of the first balancing support and the second balancing support comprises a first end and a second end, wherein the first end of each of the first balancing support and the second balancing support hung to a counter weight, and further moves up and down in a slot provided in a L frame, wherein the L frame is mounted on the stacker platform (102), and wherein the second end of each of the first balancing support and the second balancing support is connected to a corresponding bracketed end of the first stacking carrier driver (114A) and the second stacking carrier driver (114B) respectively.
9. The object conveying and stacking apparatus of claim 1, wherein the associated initial position is a collapse position, and the desired position is an expanded position.

10. The object conveying and stacking apparatus of claim 1, wherein the one or more predefined stacking patterns comprises (i) each object in a layer is positioned and separated from another object by a predefined distance within the layer, and (ii) a first end of each object comprised in an even layer is placed on a portion of a first end of an object comprised in an odd layer and a second end of each object in the even layer is placed on a portion of a second end of another object placed in the odd layer, and (iii) a portion of at least one end of each object is positioned between a portion of at least one end of two objects.
11. A method for handling a plurality of objects in a constrained volume using an object conveying and stacking apparatus (100), the object conveying and stacking apparatus (100) comprising:
a stacker platform (102);
a first conveyor (104) mounted on the stacker platform, wherein the first conveyor comprises a first end (114A) and a second end (114B);
a second conveyor (106) and a third conveyor (108), wherein the second conveyor (106) comprises a first end (116A) and a second end (116B), wherein the third conveyor (108) comprises a first end (118A) and a second end (118B), and wherein the first end (116A of the second conveyor (106) is aligned with the first end (114A) of the first conveyor (106) and the first end (118B) of the third conveyor (108) is aligned with the second end (114A) of the first conveyor (104);
a first stacking carrier (110A) and a second stacking carrier (110A), wherein the first stacking carrier (110A) is coupled to the second end (116B) of the second conveyor (106) and the second stacking carrier (110B) is coupled to the second end (118B) of the third conveyor (108); and
a first stacking carrier driver (112A) and a second stacking carrier driver (112B), wherein the first stacking carrier (110A) and the second stacking carrier (110B) are mounted on the first stacking carrier driver (112A) and a second stacking carrier driver (112B), respectively, the method comprising:

continually receiving, by the first conveyor (104), the plurality of objects at a predefined time interval and passing the continually received one or more objects from the plurality of objects to at least one of the second conveyor and the third conveyor (202);
during the receipt of the one or more objects from the first conveyor (104), configuring the at least one of the second conveyor (106) and the third conveyor (108) from an associated initial position to a desired position (204);
receiving, by at least one of the first stacking carrier (110A) and the second stacking carrier (110B), an object from the one or more objects from the second conveyor (106) and the third conveyor (108) respectively at a first time instance (206);
driving, via the first stacking carrier driver (112A) and the second stacking carrier driver (112B), the first stacking carrier (110A) and the second stacking carrier (110B) (i) from an initial position to a desired position to place the object from the one or more objects in the constrained volume, and (ii) back to the initial position such that the at least one of the first stacking carrier (110A) and the second stacking carrier (110B) are configured to receive a subsequent object from the one or more objects from the second conveyor (106) and the third conveyor (108) respectively at a second time instance (208); and
driving, via the first stacking carrier driver (112A) and the second stacking carrier driver (112B), the first stacking carrier (110A) and the second stacking carrier (110B) (i) from the initial position to a subsequent desired position to place the subsequent object from the one or more objects in the constrained volume, and (ii) back to the initial position, wherein the first stacking carrier (110A) and the second stacking carrier (110B) are driven for placing the one or more objects in the constrained volume until a last object is being received (210), and
wherein during placement of the one or more objects, a plurality of layers of objects is formed from the bottom in the constraint volume by placing and stacking the plurality or objects in one or more predefined stacked patterns.

12. The method of claim 11, wherein the first stacking carrier driver and the second stacking carrier driver are configured to drive the first stacking carrier and the second stacking carrier in a plurality of directions for navigation (i) from the initial position to the desired position to place the object from the one or more objects in the constrained volume and (ii) back to the initial position, and wherein the plurality of directions comprises a forward direction, a backward direction, an upward direction, and a downward direction.
13. The method of claim 11, wherein each of the first stacking carrier and the second stacking carrier comprises a plurality of plates, and wherein the plurality of plates is configured to accommodate one or more objects being received at different time intervals, wherein one or more plate operators are configured to enable (i) opening of each plate from the plurality of plates to place the one or more objects being received at different time intervals to the desired position and (ii) closing of each plate from the plurality of plates upon the one or more objects being placed to the desired position.
14. The method of claim 1, wherein the associated initial position is a collapse position, and the desired position is an expanded position.
15. The method of claim 1, wherein the one or more predefined stacking patterns comprise (i) each object in a layer is positioned and separated from another object by a predefined distance within the layer, and (ii) a first end of each object comprised in an even layer is placed on a portion of a first end of an object comprised in an odd layer and a second end of each object in the even layer is placed on a portion of a second end of another object placed in the odd layer, and (iii) a portion of at least one end of each object is positioned between a portion of at least one end of two objects.