US 12,280,948 B2
Systems and methods for providing order fulfillment using a spiral tower 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. 17/193,380.
Claims priority of provisional application 62/986,399, filed on Mar. 6, 2020.
Prior Publication US 2021/0276798 A1, Sep. 9, 2021
Int. Cl. B65G 1/04 (2006.01); B65G 1/137 (2006.01); B65G 21/18 (2006.01); B65G 41/00 (2006.01); B65G 47/57 (2006.01); B65G 47/64 (2006.01)
CPC B65G 1/0485 (2013.01) [B65G 1/1371 (2013.01); B65G 21/18 (2013.01); B65G 41/005 (2013.01); B65G 47/57 (2013.01); B65G 47/64 (2013.01); B65G 2203/0208 (2013.01); B65G 2203/04 (2013.01)] 28 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 from within at least one of the plurality of bins at an input area of the input conveyance system;
a perception system that includes a plurality of cameras for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device; and
a routing conveyance system including a routing conveyor unit mounted on a guide pole, wherein the routing conveyor unit receives the selected object and moves the selected object in each of vertical and rotational directions along the guide pole toward a destination container provided on a helical destination location conveyor responsive to the perception data.