US 12,269,682 B2
Systems and methods for providing order fulfillment using a recirculating routing system
Prasanna Velagapudi, Pittsburgh, PA (US); Joseph Romano, Arlington, MA (US); Christopher Geyer, Arlington, MA (US); Guoming Alex Long, Wexford, PA (US); Thomas Allen, Reading, MA (US); and Christopher Buck, Stow, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Mar. 5, 2021, as Appl. No. 17/193,384.
Claims priority of provisional application 62/986,414, filed on Mar. 6, 2020.
Prior Publication US 2021/0276799 A1, Sep. 9, 2021
Int. Cl. B65G 1/04 (2006.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); H04N 7/18 (2006.01)
CPC B65G 1/0485 (2013.01) [B65G 1/0407 (2013.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); H04N 7/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising:
a plurality of bins including objects to be distributed, said plurality of bins being provided on an input conveyance system;
a programmable motion device that includes an end effector for grasping and moving any of the objects within at least one of the plurality of bins in an input area of the input conveyance system;
an object perception unit for providing perception data regarding a selected object that is presented to the object perception unit by the programmable motion device, the object perception unit including at least one camera; and
a routing conveyance system including a first track-mounted shuttle for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a destination container provided among a plurality of destination containers in a vertically stacked array responsive to the perception data,
wherein the first track-mounted shuttle includes a first conveyor mounted on a first frame that is vertically movable on a first elevator rod, the first elevator rod extending upward from a first shuttle base that is horizontally movable along a first track circuit adjacent the vertically stacked array.