US 12,282,321 B2
Systems and methods for processing objects, including automated mobile matrix carriers
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 Sep. 22, 2022, as Appl. No. 17/950,786.
Application 17/950,786 is a continuation of application No. 16/789,917, filed on Feb. 13, 2020, granted, now 11,493,910.
Application 16/789,917 is a continuation of application No. 15/934,462, filed on Mar. 23, 2018, granted, now 10,611,021, issued on Apr. 7, 2020.
Claims priority of provisional application 62/475,444, filed on Mar. 23, 2017.
Prior Publication US 2023/0012957 A1, Jan. 19, 2023
Int. Cl. B65G 1/04 (2006.01); B07C 3/00 (2006.01); B07C 5/36 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B65G 1/06 (2006.01); B65G 1/137 (2006.01); B65G 47/82 (2006.01); B65G 47/90 (2006.01); B66F 9/06 (2006.01); G05B 19/418 (2006.01); G06Q 10/087 (2023.01)
CPC G05B 19/41895 (2013.01) [B07C 3/003 (2013.01); B07C 5/36 (2013.01); B25J 9/0093 (2013.01); B25J 9/1615 (2013.01); B65G 1/0464 (2013.01); B65G 1/0478 (2013.01); B65G 1/065 (2013.01); B65G 1/1371 (2013.01); B65G 1/1376 (2013.01); B65G 1/1378 (2013.01); B65G 47/82 (2013.01); B65G 47/905 (2013.01); B66F 9/063 (2013.01); G06Q 10/087 (2013.01); B65G 2201/0258 (2013.01)] 24 Claims
OG exemplary drawing
 
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.
 
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.
 
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.