US 11,718,479 B2
Systems and methods for processing objects, including automated radial processing stations
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); John Richard Amend, Jr., Belmont, MA (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); William Hartman Fort, Stratham, NH (US); Christopher Geyer, Arlington, MA (US); Jennifer Eileen King, Oakmont, PA (US); Thomas Koletschka, Cambridge, MA (US); Michael Cap Koval, Mountain View, CA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); William Chu-Hyon McMahan, Cambridge, MA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Prasanna Velagapudi, Pittsburgh, PA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Dec. 17, 2020, as Appl. No. 17/124,925.
Application 17/124,925 is a continuation of application No. 15/928,556, filed on Mar. 22, 2018, granted, now 10,906,740.
Claims priority of provisional application 62/474,797, filed on Mar. 22, 2017.
Prior Publication US 2021/0101749 A1, Apr. 8, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 1/137 (2006.01); B07C 3/00 (2006.01); B07C 5/34 (2006.01); G06K 7/10 (2006.01); G06Q 10/08 (2023.01); G06Q 10/087 (2023.01); B25J 9/00 (2006.01)
CPC B65G 1/1376 (2013.01) [B07C 3/008 (2013.01); B07C 5/3412 (2013.01); B25J 9/0093 (2013.01); B65G 1/1371 (2013.01); G06K 7/10861 (2013.01); G06Q 10/087 (2013.01); B65G 1/1373 (2013.01)] 33 Claims
OG exemplary drawing
 
1. A processing system for processing objects using a programmable motion device, said processing system comprising:
a perception unit for perceiving identifying indicia representative of an identity of each of a plurality of objects;
a routing conveyance system for directing the plurality of objects toward an input area from at least one input conveyance system, the input area including an input station accessible by the programmable motion device;
a plurality of processing bins provided in a plurality of semicircular rows that curve toward the input station, the plurality of semicircular rows of processing bins increasing in radial elevation as a respective distance of each row increases from a stationary base of the programmable motion device; and
an acquisition system for acquiring an object from the plurality of objects at the input station using an end effector of the programmable motion device, the programmable motion device being located between the input station and the plurality of semicircular rows of processing bins and controllable to move the acquired object from the input station toward an identified processing bin, said identified processing bin being associated with the identifying indicia and said identified processing bin being provided as one of the plurality of processing bins.
 
12. A processing system for processing objects using a programmable motion device, said processing system comprising:
a perception unit for perceiving identifying indicia representative of at least one object;
a routing conveyance system for directing the at least one object toward an input area including an input station accessible by the programmable motion device;
a plurality of processing bins provided in a plurality of semicircular rows that curve toward the input station, the plurality of semicircular rows of processing bins increasing in radial distance from a stationary base of the programmable motion device; and
an acquisition system for acquiring an object from the plurality of objects at the input station using an end effector of the programmable motion device, the programmable motion device being located between the input station and the plurality of semicircular rows of processing bins and controllable to move the acquired object from the input station toward an identified processing bin, said identified processing bin being associated with the identifying indicia and said identified processing bin being provided as one of the plurality of processing bins.
 
23. A processing system for processing objects using a programmable motion device, said processing system comprising:
a perception unit for perceiving identifying indicia representative of at least one object;
a routing conveyance system for directing the at least one object toward an input area including an input station accessible by the programmable motion device;
a plurality of processing bins provided in a plurality of semicircular rows that curve toward the input station, the plurality of semicircular rows of processing bins increasing in radial elevation as a respective distance of each row increases from a stationary base of the programmable motion device; and
an acquisition system for acquiring an object from the plurality of objects at the input station using an end effector of the programmable motion device, the programmable motion device being located between the input station and the plurality of semicircular rows of processing bins and controllable to move the acquired object from the input station toward an identified processing bin, said identified processing bin being associated with the identifying indicia and said identified processing bin being provided as one of the plurality of processing bins.