US 12,337,353 B2
Systems and methods for dynamic sortation of objects
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); 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 Oct. 6, 2023, as Appl. No. 18/377,417.
Application 18/377,417 is a continuation of application No. 17/828,314, filed on May 31, 2022, granted, now 11,839,902.
Application 17/828,314 is a continuation of application No. 16/902,351, filed on Jun. 16, 2020, granted, now 11,400,491, issued on Aug. 2, 2022.
Application 16/902,351 is a continuation of application No. 15/241,779, filed on Aug. 19, 2016, granted, now 10,730,078, issued on Aug. 4, 2020.
Claims priority of provisional application 62/265,181, filed on Dec. 9, 2015.
Claims priority of provisional application 62/263,050, filed on Dec. 4, 2015.
Prior Publication US 2024/0033780 A1, Feb. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B07C 5/36 (2006.01); B07C 3/00 (2006.01); B07C 3/02 (2006.01); B07C 3/08 (2006.01); B07C 3/14 (2006.01); B07C 5/34 (2006.01); B65G 47/96 (2006.01); G05B 19/418 (2006.01); G06Q 10/087 (2023.01)
CPC B07C 5/36 (2013.01) [B07C 3/008 (2013.01); B07C 3/02 (2013.01); B07C 3/082 (2013.01); B07C 3/14 (2013.01); B07C 5/3412 (2013.01); B65G 47/962 (2013.01); G05B 19/4189 (2013.01); G06Q 10/087 (2013.01); B07C 2501/0063 (2013.01); G05B 2219/32328 (2013.01); G05B 2219/40078 (2013.01); G05B 2219/45056 (2013.01); Y02P 90/02 (2015.11)] 22 Claims
OG exemplary drawing
 
1. A method of processing objects, said method comprising:
receiving a plurality of objects to be processed at an input area;
grasping a selected object of the plurality of objects with an end-effector of a programmable motion device;
moving the selected object with the end-effector of the programmable motion device to a load bed of a carriage at a loading location of a processing area, said load bed for receiving the selected object;
driving the carriage at a carriage elevation on a track system in a first route to move from the loading location of the processing area to a selected destination location of a plurality of destination locations within the processing area, wherein the plurality of destination locations is provided below the track system;
dropping the selected object from the carriage into a selected container at the selected destination location by tipping the carriage;
driving the carriage in a second route that is different than the first route to move along the track system from the selected destination location back toward the loading location to receive a next object from the programmable motion device; and
removing the selected container from the selected destination location, said selected container being provided on a pull-out drawer.