US 12,138,790 B2
Systems and methods for SKU induction, decanting and automated-eligibility estimation
John Richard Amend, Jr., Belmont, MA (US); Timothy Barber, Marlborough, MA (US); Benjamin Cohen, Somerville, MA (US); Christopher Geyer, Arlington, MA (US); Evan Glasgow, Wexford, PA (US); James Guillochon, Arlington, MA (US); Kirsten Wang, Maynard, MA (US); Victoria Hinchey, Winchester, MA (US); Jennifer Eileen King, Oakmont, PA (US); Thomas Koletschka, Cambridge, MA (US); Guoming Alex Long, Wexford, PA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); William Chu-Hyon McMahan, Cambridge, MA (US); Samuel Naseef, Medford, MA (US); Kevin O′Brien, Belmont, MA (US); Dimitry Pechyoni, Newton, MA (US); Joseph Romano, Arlington, MA (US); Max Saccoccio, Andover, MA (US); Jessica Scolnic, Newton, MA (US); and Prasanna Velagapudi, Pittsburgh, PA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Oct. 27, 2021, as Appl. No. 17/512,234.
Claims priority of provisional application 63/107,680, filed on Oct. 30, 2020.
Prior Publication US 2022/0134543 A1, May 5, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/12 (2006.01)
CPC B25J 9/1602 (2013.01) [B25J 9/12 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01)] 23 Claims
OG exemplary drawing
 
1. An object induction system for assigning handling parameters to an object, said object induction system comprising:
an analysis system including at least one characteristic perception system for providing characteristic perception data regarding an object to be processed, said characteristic perception data including a weight, height, width, length, center of mass, object description, object category and at least one image;
an association system including an object information database with characteristic recorded data including at least a weight, height, width, length, center of mass, object description, object category and at least one image for each of a plurality of objects, said association system determining a similarity rank based on a comparison of the characteristic perception data of the object against the characteristic recorded data of a previously inducted object among the plurality of objects stored in the object information database, and said association system associating the object with identifying indicia of the previously inducted object responsive to the similarity rank between the object and the previously inducted object exceeding a threshold; and
an assignment system for assigning programmable motion device handling parameters associated with the identifying indicia of the previously inducted object for automated handling of the object, said assignment system including a workflow management system as well as a separate operational controller, said programmable motion device handling parameters including at least a vacuum pressure at an end effector, a size of a vacuum cup at the end effector, a maximum speed of movement of the end effector, a maximum angular acceleration of the end effector, a maximum linear acceleration of the end effector, a location at which to engage the object with the end effector, and a pose at which to hold the object by the end effector when grasped,
wherein the separate operational controller of the assignment system routes the programmable motion device handling parameters to a selected object processing system among a plurality of object processing systems, the selected object processing system including a selected programmable motion device capable of using the programmable motion device handling parameters for automated handling of the object.