US 12,297,046 B2
Systems and methods for processing objects, including automated linear 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); Victoria Hinchey, Winchester, 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. 25, 2023, as Appl. No. 18/372,239.
Application 18/372,239 is a continuation of application No. 17/150,684, filed on Jan. 15, 2021, granted, now 11,827,453.
Application 17/150,684 is a continuation of application No. 15/934,396, filed on Mar. 23, 2018, granted, now 10,941,000, issued on Mar. 9, 2021.
Claims priority of provisional application 62/475,421, filed on Mar. 23, 2017.
Prior Publication US 2024/0010433 A1, Jan. 11, 2024
Int. Cl. B65G 1/137 (2006.01); B25J 9/00 (2006.01); B25J 9/02 (2006.01); B25J 9/16 (2006.01); B65G 47/82 (2006.01); B65G 47/90 (2006.01); G06Q 10/087 (2023.01)
CPC B65G 1/1376 (2013.01) [B25J 9/0093 (2013.01); B25J 9/026 (2013.01); B25J 9/1612 (2013.01); B25J 9/1615 (2013.01); B65G 1/1371 (2013.01); B65G 1/1378 (2013.01); B65G 47/82 (2013.01); B65G 47/905 (2013.01); G06Q 10/087 (2013.01); B65G 2201/0258 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A processing system for processing objects, said processing system comprising:
an in-feed conveyor for providing a plurality of objects to an input area along a first direction;
a processing station including a perception unit for perceiving identifying indicia representative of identities of each of the plurality of objects, the processing station further including an articulated arm that is movable along a processing location distance in a second direction that is generally parallel with the first direction, and the processing location distance being associated with the input area along the first direction on which the plurality of objects are provided;
a container processing area, the container processing area providing a plurality of containers for receiving any of the plurality of objects from the input area using the articulated arm, and the container processing area being provided along a third direction that is generally parallel with the first direction, the articulated arm being engageable for moving objects from the input area to any of the plurality of containers provided in the container processing area;
an output conveyor for receiving a plurality of completed containers from the container processing area at an output area along a fourth direction that is generally parallel with the first direction, the output area being associated with the processing location distance; and
a container kicker that is movable along a fifth direction that is generally parallel with the first direction and includes a contact portion for urging a completed container of the plurality of completed containers from the container processing area to the output area of the output conveyor.
 
12. A processing system for processing objects, said processing system comprising:
an in-feed conveyor for providing a plurality of objects to an input area along a first direction, said input area providing for a plurality of input containers to be presented therein;
a processing station proximate the input area, said processing station including a perception unit for perceiving identifying indicia representative of identities of each of the plurality of objects, the processing station further including an articulated arm that is movable along a processing location area that extends in a second direction that is generally parallel with the first direction;
a container processing area associated with the input area of the in-feed conveyor, the container processing area providing a plurality of containers for receiving any of the plurality of objects from the input area using the articulated arm, and the container processing area being provided along a third direction that is generally parallel with the first direction, wherein the articulated arm is engageable for moving objects from the input area to any of the plurality of containers provided in the container processing area, and wherein the articulated arm is engageable for moving an empty container from an empty container area to the container processing area; and
an output conveyor for receiving a plurality of completed containers from the container processing area at an output area along a fourth direction that is generally parallel with the first direction.
 
21. A method of processing objects comprising:
providing a plurality of objects by an in-feed conveyor to an input area along a first direction;
perceiving identifying indicia representative of identities of each of the plurality of objects by a perception unit;
providing a container processing area associated with the input area of the in-feed conveyor, the container processing area providing a plurality of containers for receiving any of the plurality of objects from the input area using an articulated arm that is movable along a processing location area extending in a second direction that is generally parallel with the first direction, wherein the processing location area is associated with the input area along the first direction on which the plurality of objects are provided, and wherein the container processing area is provided along a third direction that is generally parallel with the first direction;
receiving a plurality of completed containers from the container processing area at an output area of an output conveyor along a fourth direction that is generally parallel with the first direction, the output area being associated with the processing location area;
moving objects from the input area to any of the plurality of containers provided in the container processing area using the articulated arm;
moving any of the plurality of completed containers from the container processing area to the output area of the output conveyor using a container kicker, the output area extending in a sixth direction that is generally parallel with the first direction; and
moving an empty container from an empty container area to the container processing area using the articulated arm.