MLchartDataset catalogue

Patent · US12282321B2 · B2 · US

Systems and methods for processing objects, including automated mobile matrix carriers

(11) Publication number
US12282321B2
(21) Application number
17/950,786
(22) Filing date
2022-09-22
(30) Priority date
2017-03-23
(43) Publication date
2025-04-22
(45) Date of grant
2025-04-22
(51) IPC
B07C 3/00; B07C 5/36; B25J 9/00; B25J 9/16; B65G 1/04; B65G 1/06; B65G 1/137; B65G 47/82; B65G 47/90; B66F 9/06; G05B 19/418; G06Q 10/087
(52) CPC
  • G05B Control or regulating systems in general; functional elements of such systems; monitoring or testing arrangements for such systems or elements: 19/41895
  • B07C Postal sorting; sorting individual articles, or bulk material fit to be sorted piece-meal, e.g. by picking: 3/003, 5/36
  • B25J Manipulators; chambers provided with manipulation devices: 9/0093, 9/1615
  • B65G Transport or storage devices, e.g. conveyors for loading or tipping, shop conveyor systems or pneumatic tube conveyors: 1/0464, 1/0478, 1/0492, 1/065, 1/1371, 1/1376, 1/1378, 2201/0258, 47/82, 47/905
  • B66F Hoisting, lifting, hauling or pushing, not otherwise provided for, e.g. devices which apply a lifting or pushing force directly to the surface of a load: 9/063
  • G06Q Information and communication technology [ICT] specially adapted for administrative, commercial, financial, managerial or supervisory purposes; systems or methods specially adapted for administrative, commercial, financial, managerial or supervisory purposes, not otherwise provided for: 10/087
(73) Assignee
BERKSHIRE GREY OPERATING COMPANY INC
(72) Inventors
WAGNER THOMAS; AHEARN KEVIN; AMEND JR JOHN RICHARD; COHEN BENJAMIN; DAWSON-HAGGERTY Michael; FORT WILLIAM HARTMAN; GEYER Christopher; KING JENNIFER EILEEN; KOLETSCHKA THOMAS; KOVAL MICHAEL CAP; MARONEY Kyle; MASON MATTHEW T; McMahan William Chu-Hyon; PRICE GENE TEMPLE; ROMANO JOSEPH; SMITH DANIEL; SRINIVASA Siddhartha; VELAGAPUDI PRASANNA; ALLEN THOMAS
(54) Title
Systems and methods for processing objects, including automated mobile matrix carriers
(57) Abstract

A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a perception unit for perceiving identifying indicia representative of an identity of a plurality of objects received from an input conveyance system, and an acquisition system for acquiring an object from the plurality of objects at an input area using an end effector of the programmable motion device. The programmable motion device is adapted for assisting in the delivery of the object to an identified processing location. The identified processing location is associated with the identifying indicia and the identified processing location is provided as one of a plurality of processing locations. The system also includes a delivery system for receiving the object in a carrier and for delivering the object toward the identified processing location.

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Claims (24)

  1. A processing system for processing objects, said processing system comprising: a perception unit for perceiving identifying indicia representative of an identity of an object of a plurality of objects received at an input station; an articulated arm having an end effector configured to acquire an object from the plurality of objects at the input station; and an automated carrier that receives the object from the end effector of the articulated arm and moves over a plurality of track sections that are disposed above a plurality of boxes or packages arranged in an array, wherein the automated carrier includes a door defined in a floor of the automated carrier that opens to drop the object through an opening defined at one of the plurality of track sections into one of the plurality of boxes or packages below prior to returning to the input station.
  2. The processing system as claimed in claim 1, wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.
  3. The processing system as claimed in claim 1, wherein the automated carrier is movable in at least two dimensions over the plurality of track sections.
  4. The processing system as claimed in claim 1, wherein a subset of the plurality of boxes or packages is provided on a pull-out drawer.
  5. The processing system as claimed in claim 1, wherein the processing system further includes an output conveyor onto which the box or package is placed after receiving the object dropped from the automated carrier.
  6. The processing system as claimed in claim 1, wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below.
  7. The processing system as claimed in claim 1, wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.
  8. The processing system as claimed in claim 7, wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the primary conveyor.
  9. A processing system for processing objects, said processing system comprising: a perception unit for perceiving identifying indicia representative of an identity of an object of a plurality of objects received at an input station; an articulated arm having an end effector configured to acquire an object from the plurality of objects at the input station; and an automated carrier that receives the object from the end effector of the articulated arm and moves over a plurality of track sections that are disposed above a plurality of boxes or packages arranged on a plurality of pull-out drawers, wherein the automated carrier includes a door defined in a floor of the automated carrier that opens to drop the object through an opening defined at one of the plurality of track sections into one of the plurality of boxes or packages arranged on one of the plurality of pull-out drawers prior to returning to the input station.
  10. The processing system as claimed in claim 9, wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.
  11. The processing system as claimed in claim 9, wherein the automated carrier is movable in at least two dimensions over the plurality of track sections.
  12. The processing system as claimed in claim 9, wherein the plurality of boxes or packages are provided in an array on the plurality of pull-out drawers.
  13. The processing system as claimed in claim 9, wherein the processing system further includes an output conveyor onto which the box or package is placed after receiving the object dropped from the automated carrier.
  14. The processing system as claimed in claim 9, wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below.
  15. The processing system as claimed in claim 9, wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.
  16. The processing system as claimed in claim 15, wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the primary conveyor.
  17. A method of processing objects, said method comprising: receiving a plurality of objects at an input station; perceiving identifying indicia representative of an identity of a plurality of objects using at least one perception unit at the input station; acquiring an object from among the plurality of objects at the input station using an end effector of an articulated arm; dropping the object from the end effector of the articulated arm into an automated carrier; moving the automated carrier with the object in the automated carrier over a plurality of track sections that are disposed above a plurality of boxes or package arranged in an array; stopping the automated carrier over one of the plurality of track sections that defines an opening to one of the plurality of boxes or packages below; dropping the object from the automated carrier into the box or package below the track section by opening a door defined in a floor of the automated carrier; and returning the automated carrier to the input station.
  18. The method as claimed in claim 17, wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.
  19. The method as claimed in claim 17, wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.
  20. The method as claimed in claim 17, wherein acquiring the object includes planning a grasp location for the object.
  21. The method as claimed in claim 17, wherein the automated carrier is movable over the plurality of track sections in at least two dimensions.
  22. The method as claimed in claim 17, wherein moving the automated carrier with the object over the plurality of track sections includes moving the automated carrier with the object over the plurality of track sections in each of two mutually orthogonal directions.
  23. The method as claimed in claim 17, wherein a subset of the plurality of boxes or packages are provided on a pull-out drawer.
  24. The processing system as claimed in claim 17, wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below.

Description

The present application is a continuation of U.S. patent application Ser. No. 16/789,917, filed Feb. 13, 2020, now U.S. Pat. No. 11,493,910, issued Nov. 8, 2022; which is a continuation of U.S. patent application Ser. No. 15/934,462, filed Mar. 23, 2018, now U.S. Pat. No. 10,611,021, issued Apr. 7, 2020, which claims priority to U.S. Provisional Patent Application Ser. No. 62/475,444, filed Mar. 23, 2017, the disclosures of which are hereby incorporated by reference in their entireties.

The invention generally relates to automated programmable motion control systems, e.g., robotic, sortation and other processing systems, and relates in particular to programmable motion control systems intended for use in environments requiring that a variety of objects (e.g., articles, packages, consumer products etc.) be processed and moved to a number of processing destinations. Many object distribution systems, for example, receive objects in a disorganized stream or bulk transfer that may be provided as individual objects or objects aggregated in groups such as in bags, arriving on any of several different conveyances, commonly a conveyor, a truck, a pallet a Gaylord, or a bin etc. Each object must then be distributed to the correct destination location (e.g., a container) as determined by identification information associated with the object, which is commonly determined by a label printed on the object. The destination location may take many forms, such as a bag, a shelf, a container, or a bin.

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Record as JSON 
{
  "publication_number": "US12282321B2",
  "country": "US",
  "kind": "B2",
  "title": "Systems and methods for processing objects, including automated mobile matrix carriers",
  "abstract": "A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a perception unit for perceiving identifying indicia representative of an identity of a plurality of objects received from an input conveyance system, and an acquisition system for acquiring an object from the plurality of objects at an input area using an end effector of the programmable motion device. The programmable motion device is adapted for assisting in the delivery of the object to an identified processing location. The identified processing location is associated with the identifying indicia and the identified processing location is provided as one of a plurality of processing locations. The system also includes a delivery system for receiving the object in a carrier and for delivering the object toward the identified processing location.",
  "claims": [
    "1. A processing system for processing objects, said processing system comprising: a perception unit for perceiving identifying indicia representative of an identity of an object of a plurality of objects received at an input station; an articulated arm having an end effector configured to acquire an object from the plurality of objects at the input station; and an automated carrier that receives the object from the end effector of the articulated arm and moves over a plurality of track sections that are disposed above a plurality of boxes or packages arranged in an array, wherein the automated carrier includes a door defined in a floor of the automated carrier that opens to drop the object through an opening defined at one of the plurality of track sections into one of the plurality of boxes or packages below prior to returning to the input station.",
    "2. The processing system as claimed in claim 1, wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.",
    "3. The processing system as claimed in claim 1, wherein the automated carrier is movable in at least two dimensions over the plurality of track sections.",
    "4. The processing system as claimed in claim 1, wherein a subset of the plurality of boxes or packages is provided on a pull-out drawer.",
    "5. The processing system as claimed in claim 1, wherein the processing system further includes an output conveyor onto which the box or package is placed after receiving the object dropped from the automated carrier.",
    "6. The processing system as claimed in claim 1, wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below.",
    "7. The processing system as claimed in claim 1, wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.",
    "8. The processing system as claimed in claim 7, wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the primary conveyor.",
    "9. A processing system for processing objects, said processing system comprising: a perception unit for perceiving identifying indicia representative of an identity of an object of a plurality of objects received at an input station; an articulated arm having an end effector configured to acquire an object from the plurality of objects at the input station; and an automated carrier that receives the object from the end effector of the articulated arm and moves over a plurality of track sections that are disposed above a plurality of boxes or packages arranged on a plurality of pull-out drawers, wherein the automated carrier includes a door defined in a floor of the automated carrier that opens to drop the object through an opening defined at one of the plurality of track sections into one of the plurality of boxes or packages arranged on one of the plurality of pull-out drawers prior to returning to the input station.",
    "10. The processing system as claimed in claim 9, wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.",
    "11. The processing system as claimed in claim 9, wherein the automated carrier is movable in at least two dimensions over the plurality of track sections.",
    "12. The processing system as claimed in claim 9, wherein the plurality of boxes or packages are provided in an array on the plurality of pull-out drawers.",
    "13. The processing system as claimed in claim 9, wherein the processing system further includes an output conveyor onto which the box or package is placed after receiving the object dropped from the automated carrier.",
    "14. The processing system as claimed in claim 9, wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below.",
    "15. The processing system as claimed in claim 9, wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.",
    "16. The processing system as claimed in claim 15, wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the primary conveyor.",
    "17. A method of processing objects, said method comprising: receiving a plurality of objects at an input station; perceiving identifying indicia representative of an identity of a plurality of objects using at least one perception unit at the input station; acquiring an object from among the plurality of objects at the input station using an end effector of an articulated arm; dropping the object from the end effector of the articulated arm into an automated carrier; moving the automated carrier with the object in the automated carrier over a plurality of track sections that are disposed above a plurality of boxes or package arranged in an array; stopping the automated carrier over one of the plurality of track sections that defines an opening to one of the plurality of boxes or packages below; dropping the object from the automated carrier into the box or package below the track section by opening a door defined in a floor of the automated carrier; and returning the automated carrier to the input station.",
    "18. The method as claimed in claim 17, wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.",
    "19. The method as claimed in claim 17, wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.",
    "20. The method as claimed in claim 17, wherein acquiring the object includes planning a grasp location for the object.",
    "21. The method as claimed in claim 17, wherein the automated carrier is movable over the plurality of track sections in at least two dimensions.",
    "22. The method as claimed in claim 17, wherein moving the automated carrier with the object over the plurality of track sections includes moving the automated carrier with the object over the plurality of track sections in each of two mutually orthogonal directions.",
    "23. The method as claimed in claim 17, wherein a subset of the plurality of boxes or packages are provided on a pull-out drawer.",
    "24. The processing system as claimed in claim 17, wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below."
  ],
  "description_excerpt": "The present application is a continuation of U.S. patent application Ser. No. 16/789,917, filed Feb. 13, 2020, now U.S. Pat. No. 11,493,910, issued Nov. 8, 2022; which is a continuation of U.S. patent application Ser. No. 15/934,462, filed Mar. 23, 2018, now U.S. Pat. No. 10,611,021, issued Apr. 7, 2020, which claims priority to U.S. Provisional Patent Application Ser. No. 62/475,444, filed Mar. 23, 2017, the disclosures of which are hereby incorporated by reference in their entireties.\n\nThe invention generally relates to automated programmable motion control systems, e.g., robotic, sortation and other processing systems, and relates in particular to programmable motion control systems intended for use in environments requiring that a variety of objects (e.g., articles, packages, consumer products etc.) be processed and moved to a number of processing destinations. Many object distribution systems, for example, receive objects in a disorganized stream or bulk transfer that may be provided as individual objects or objects aggregated in groups such as in bags, arriving on any of several different conveyances, commonly a conveyor, a truck, a pallet a Gaylord, or a bin etc. Each object must then be distributed to the correct destination location (e.g., a container) as determined by identification information associated with the object, which is commonly determined by a label printed on the object. The destination location may take many forms, such as a bag, a shelf, a container, or a bin.",
  "cpc": [
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  "assignees": [
    "BERKSHIRE GREY OPERATING COMPANY INC"
  ],
  "inventors": [
    "WAGNER THOMAS",
    "AHEARN KEVIN",
    "AMEND JR JOHN RICHARD",
    "COHEN BENJAMIN",
    "DAWSON-HAGGERTY Michael",
    "FORT WILLIAM HARTMAN",
    "GEYER Christopher",
    "KING JENNIFER EILEEN",
    "KOLETSCHKA THOMAS",
    "KOVAL MICHAEL CAP",
    "MARONEY Kyle",
    "MASON MATTHEW T",
    "McMahan William Chu-Hyon",
    "PRICE GENE TEMPLE",
    "ROMANO JOSEPH",
    "SMITH DANIEL",
    "SRINIVASA Siddhartha",
    "VELAGAPUDI PRASANNA",
    "ALLEN THOMAS"
  ],
  "filing_date": "2022-09-22",
  "publication_date": "2025-04-22",
  "grant_date": "2025-04-22",
  "priority_date": "2017-03-23",
  "application_number": "US-202217950786-A",
  "family_id": "61972596",
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}

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