US 12,410,011 B2
Systems and methods for processing objects including an auto-shuttle system
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); John Richard Amend, Jr., Belmont, MA (US); Benjamin Cohen, White Plains, NY (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, Gibsonia, PA (US); Thomas Koletschka, Somerville, MA (US); Michael Cap Koval, Mountain View, CA (US); Kyle Maroney, Saunderstown, RI (US); Matthew T. Mason, Atlanta, GA (US); William Chu-Hyon McMahan, North Cambridge, MA (US); Gene Temple Price, Somerville, MA (US); Joseph Romano, Arlington, MA (US); Daniel Carlton Smith, Wexford, 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 Jan. 30, 2024, as Appl. No. 18/427,025.
Application 18/427,025 is a continuation of application No. 17/739,735, filed on May 9, 2022, granted, now 11,932,489, issued on Mar. 19, 2024.
Application 17/739,735 is a continuation of application No. 16/744,862, filed on Jan. 16, 2020, granted, now 11,365,051, issued on Jun. 21, 2022.
Application 16/744,862 is a continuation of application No. 15/924,883, filed on Mar. 19, 2018, granted, now 10,583,553, issued on Mar. 10, 2020.
Claims priority of provisional application 62/473,843, filed on Mar. 20, 2017.
Prior Publication US 2024/0262624 A1, Aug. 8, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 1/137 (2006.01); B07C 3/00 (2006.01); B25J 9/00 (2006.01); B25J 9/02 (2006.01); B25J 9/16 (2006.01); B65G 1/04 (2006.01); B65G 47/82 (2006.01); B65G 47/90 (2006.01); B65G 65/00 (2006.01); G06Q 10/087 (2023.01)
CPC B65G 1/137 (2013.01) [B07C 3/00 (2013.01); B07C 3/008 (2013.01); B25J 9/0093 (2013.01); B25J 9/026 (2013.01); B25J 9/1612 (2013.01); B25J 9/1615 (2013.01); B65G 1/0485 (2013.01); B65G 1/1373 (2013.01); B65G 47/82 (2013.01); B65G 47/90 (2013.01); B65G 47/905 (2013.01); B65G 65/005 (2013.01); G06Q 10/087 (2013.01); B65G 2201/0258 (2013.01)] 29 Claims
OG exemplary drawing
 
1. An automated storage, retrieval and processing system comprising:
an input bin storage section that includes a plurality of input bins for access by a retrieval conveyance system that brings an input bin of the plurality of input bins to a processing station;
a receiving area at the processing station for receiving the input bin containing one or more objects, the processing station including a programmable motion device for grasping and removing a selected object of the one or more objects from the input bin and moving and dropping the selected object;
a carrier for receiving the dropped selected object from the programmable motion device, said carrier being adapted to move the selected object as well as being adapted to discharge the selected object from the carrier; and
an array of destination locations below the carrier such that the carrier is movable at an elevation above the array of destination locations, each destination location including an open top such that the carrier deposits the selected object into a selected destination location of the plurality of destination locations by discharging the selected object into the open top of the selected destination location.
 
11. An automated storage, retrieval and processing system for processing objects, the automated storage, retrieval and processing system comprising:
an input bin storage section that includes a plurality of input bins for access by a retrieval conveyance system that brings each input bin to the processing station;
a receiving area at the processing station for receiving an input bin containing one or more objects, the processing station including a programmable motion device for grasping and removing a selected object of the one or more objects from the input bin and moving the selected object;
a carrier for receiving the selected object from the programmable motion device, said carrier being adapted to move the selected object as well as being adapted to discharge the selected object from the carrier; and
an array of destination locations below the carrier such that the carrier is movable at an elevation above the array of destination locations, each destination location including an open top such that the carrier deposits the selected object into a selected destination location of the plurality of destination locations by tipping the carrier to discharge the selected object into the selected destination location.
 
21. A method of storing, retrieving and processing objects, said method comprising:
storing a plurality of input bins at an input bin storage section;
moving a selected input bin of the plurality of input bins to a retrieval conveyance system;
receiving, at a processing station from the retrieval conveyance system, the selected input bin containing one or more objects;
using a programmable motion device, grasping and removing a selected object of the one or more objects from the selected input bin;
moving the selected object to a carrier using the programmable motion device;
moving the carrier;
providing an array of destination locations below the carrier such that the carrier is movable at an elevation above the array of destination locations; and
dropping the selected object into a selected destination location of the array of destination locations by tipping the carrier to discharge the selected object into the selected destination location.