US 12,251,829 B2
Systems and methods for processing objects, including automated re-circulating processing stations
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Victoria Hinchey, Winchester, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (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 Sep. 18, 2023, as Appl. No. 18/369,477.
Application 18/369,477 is a continuation of application No. 17/065,042, filed on Oct. 7, 2020, granted, now 11,813,744, issued on Nov. 14, 2023.
Application 17/065,042 is a continuation of application No. 16/001,630, filed on Jun. 6, 2018, granted, now 10,843,333, issued on Nov. 24, 2020.
Claims priority of provisional application 62/638,724, filed on Mar. 5, 2018.
Prior Publication US 2024/0001536 A1, Jan. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); B65D 5/42 (2006.01); B65G 1/137 (2006.01); G05B 19/418 (2006.01); G06Q 10/08 (2024.01); G06Q 10/087 (2023.01); B65D 5/00 (2006.01)
CPC B25J 9/0093 (2013.01) [B25J 9/16 (2013.01); B25J 9/1669 (2013.01); B65D 5/4212 (2013.01); B65G 1/137 (2013.01); B65G 1/1376 (2013.01); B65G 1/1378 (2013.01); G05B 19/4182 (2013.01); G06Q 10/08 (2013.01); G06Q 10/087 (2013.01); B65D 5/001 (2013.01); B65G 2201/025 (2013.01); B65G 2201/0258 (2013.01); B65G 2203/0216 (2013.01); B65G 2203/041 (2013.01); B65G 2203/044 (2013.01); G05B 2219/31078 (2013.01); G05B 2219/39102 (2013.01); G05B 2219/39106 (2013.01); G05B 2219/40554 (2013.01)] 39 Claims
OG exemplary drawing
 
1. A processing system comprising:
an in-feed conveyor providing a plurality of source containers to a plurality of processing stations; and
an output conveyor providing a plurality of processing containers from the plurality of processing stations;
each of the plurality of processing stations being in communication with the in-feed conveyor and the output conveyor, and including:
a programmable motion device including an end effector;
at least one first inner conveyor in communication with the in-feed conveyor and providing a first subset of the plurality of source containers to be accessible by the programmable motion device when the first subset of the plurality of source containers is on the first inner conveyor, said first subset of the plurality of source containers including at least two source containers; and
at least one second inner conveyor in communication with the output conveyor and providing a second subset of the plurality of processing containers to be accessible by the programmable motion device when the second subset of the plurality of processing containers is on the second inner conveyor, said second subset of the plurality of processing containers including at least two processing containers,
said processing station being adapted to receive the first subset of the plurality of source containers at the first inner conveyor and return the first subset of the plurality of source containers to the in-feed conveyor, and being adapted to receive the second subset of the plurality of processing containers at the second inner conveyor and return the second subset of the plurality of processing containers to the output conveyor, such that the first subset of the plurality of source containers on the first inner conveyor may all be accessed by the programmable motion device for moving objects therein to any of the second subset of the plurality of processing containers on the second inner conveyor.
 
14. A method of processing objects comprising:
moving a plurality of source containers on an in-feed conveyor;
moving a plurality of processing containers on an output conveyor;
providing a plurality of processing stations in communication with the in-feed conveyor and the output conveyor, each of the processing stations including a programmable motion device including an end-effector, a first inner conveyor and a second inner conveyor, and at each processing station, the method further including:
moving a first subset of the plurality of source containers from the in-feed conveyor to the first inner conveyor proximate the programmable motion device, said first subset of the plurality of source containers including at least two source containers; and
moving a second subset of the plurality of processing containers from the output conveyor to the second inner conveyor proximate the programmable motion device, said second subset of the plurality of processing containers including at least two processing containers;
transferring using the programmable motion device a plurality of objects from among the first subset of the plurality of source containers at the first inner conveyor to the second subset of the plurality of processing containers on the second inner conveyor; and
moving the first subset of the plurality of source containers from the first inner conveyor to the in-feed conveyor.
 
27. A method of processing objects comprising:
moving a plurality of source containers on an in-feed conveyor;
moving a plurality of processing containers on an output conveyor;
providing a plurality of processing stations in communication with the in-feed conveyor and the output conveyor, each of the processing stations including a programmable motion device including an end-effector, a first inner conveyor and a second inner conveyor, and at each processing station, the method further including:
moving a first subset of the plurality of source containers from the in-feed conveyor to the first inner conveyor proximate the programmable motion device, said first subset of the plurality of source containers including at least two source containers;
moving a second subset of the plurality of processing containers from the output conveyor to the second inner conveyor proximate the programmable motion device, said second subset of the plurality of processing containers including at least two processing containers;
transferring using the programmable motion device a plurality of objects from among the first subset of the plurality of source containers at the first inner conveyor to the second subset of the plurality of processing containers on the second inner conveyor; and
moving the second subset of the plurality of processing containers from the second inner conveyor to the output conveyor.