US 12,032,367 B2
Systems and methods for processing objects, including automated mobile matrix bins
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 Jun. 14, 2022, as Appl. No. 17/840,123.
Application 17/840,123 is a continuation of application No. 16/739,670, filed on Jan. 10, 2020, granted, now 11,402,831, issued on Aug. 2, 2022.
Application 16/739,670 is a continuation of application No. 15/928,977, filed on Mar. 22, 2018, granted, now 10,576,621, issued on Mar. 3, 2020.
Claims priority of provisional application 62/475,483, filed on Mar. 23, 2017.
Prior Publication US 2022/0311480 A1, Sep. 29, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05B 19/418 (2006.01); B07C 3/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B65G 1/04 (2006.01); B65G 1/137 (2006.01); H04B 7/0417 (2017.01); H04B 7/06 (2006.01); H04B 7/08 (2006.01)
CPC G05B 19/41895 (2013.01) [B07C 3/00 (2013.01); B07C 3/008 (2013.01); B25J 9/0093 (2013.01); B25J 9/1615 (2013.01); B65G 1/0478 (2013.01); B65G 1/0485 (2013.01); B65G 1/0492 (2013.01); B65G 1/1371 (2013.01); B65G 1/1373 (2013.01); B65G 1/1376 (2013.01); B65G 1/1378 (2013.01); H04B 7/0417 (2013.01); H04B 7/0617 (2013.01); H04B 7/0695 (2013.01); H04B 7/086 (2013.01); H04B 7/088 (2013.01)] 25 Claims
OG exemplary drawing
 
1. An object processing system comprising:
a processing station adjacent an in-feed conveyor on an input side thereof, the processing station including a perception unit that perceives identifying indicia representative of an identity of an object among a plurality of objects received from the in-feed conveyor;
a track system in the form of an array, a portion of the track system being adjacent the processing station on a processing side thereof that is opposite the input side; and
a plurality of automated carriers that move along the track system carrying a plurality of processing bins to and from the processing station, and being adapted for movement in two mutually orthogonal directions on the track system,
wherein the processing station further comprises an articulated arm having an end effector that acquires the object from among the plurality of objects at an input area of the processing station and deposits the object into an identified processing bin moved along the track system to the processing station by one of the plurality of automated carriers, said identified processing bin being associated with the identifying indicia and said identified processing bin being provided as one of the plurality of processing bins on the plurality of automated carriers.
 
9. An object processing system comprising:
a programmable motion device adjacent an in-feed conveyor on an input side thereof,
a perception unit proximate the programmable motion device that perceives identifying indicia representative of an identity of an object among a plurality of objects received from the in-feed conveyor;
a track system in the form of an array, a portion of the track system being adjacent the processing station on a processing side thereof that is opposite the input side;
a plurality of automated carriers that move along the track system carrying a plurality of processing bins to and from the processing station, and being adapted for movement in two mutually orthogonal directions on the track system and
an articulated arm that includes an end effector that acquires the object from among the plurality of objects at an input area and deposits the object into an identified processing bin moved along the track system to the programmable motion device by one of the plurality of automated carriers, said identified processing bin being associated with the identifying indicia and said identified processing bin being provided as one of the plurality of processing bins on the plurality of automated carriers.
 
17. A method of processing objects, said method comprising:
receiving a plurality of objects on the in-feed conveyor;
perceiving identifying indicia representative of an identity of an object among a plurality of objects received on the in-feed conveyor;
identifying one of a plurality of processing bins associated with the identifying indicia to receive the object;
moving an automated carrier of a plurality of automated carriers that carries the identified processing bin along a track system in the form of an array to a processing station, wherein the track system permits movement of the plurality of automated carriers in each of two mutually orthogonal directions;
acquiring the object from the plurality of objects at an input area of the processing station using an end effector of an articulated arm;
depositing the object into the identified processing bin using the end effector of the articulated arm; and
moving the automated carrier along the track system away from the processing station to carry the identified processing bin to an output conveyor.