US 12,474,698 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 May 24, 2024, as Appl. No. 18/673,630.
Application 18/673,630 is a continuation of application No. 17/840,123, filed on Jun. 14, 2022, granted, now 12,032,367.
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 2024/0385607 A1, Nov. 21, 2024
Int. Cl. B65G 1/04 (2006.01); B07C 3/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B65G 1/137 (2006.01); G05B 19/418 (2006.01); G06Q 10/087 (2023.01)
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); G05B 19/41815 (2013.01); G06Q 10/087 (2013.01)] 23 Claims
OG exemplary drawing
 
1. An object processing system comprising:
an in-feed conveyor for providing a plurality of objects to be processed to an input area;
a perception unit that perceives identifying indicia representative of an identity of an object among the plurality of objects received from the in-feed conveyor;
a programmable motion device including an end effector that acquires the object from among the plurality of objects at the input area and deposits the object into an identified processing bin of a plurality of processing bins, the identified processing bin being associated with the identifying indicia;
a plurality of automated mobile carriers, each of which is adapted to receive one of each of the plurality of processing bins, the automated mobile carriers being adapted for movement about a two dimensional array that includes track indicia that is perceived by at least one sensor on an underside of each automated mobile carrier, each automated mobile carrier being adapted for movement in two mutually orthogonal directions for bringing the plurality of processing bins to and from the programmable motion device; and
a control system that maintains a manifest in communication with a warehouse management system, wherein the manifest provides outbound destinations for each object via the plurality of processing bins on the plurality of automated mobile carriers.
 
9. An object processing system comprising:
an in-feed conveyor for providing a plurality of objects to be processed to an input area;
a perception unit that perceives identifying indicia representative of an identity of an object among the plurality of objects received from the in-feed conveyor;
a programmable motion device including an end effector that acquires the object from among the plurality of objects at the input area and deposits the object into an identified processing bin of a plurality of processing bins, the identified processing bin being associated with the identifying indicia;
a plurality of automated mobile carriers, each of which is adapted to receive one of each of the plurality of processing bins, the automated mobile carriers being adapted for movement in two mutually orthogonal directions for bringing the plurality of processing bins to and from the programmable motion device, each of the automated mobile carriers including at least one sensor on an underside thereof for perceiving location indicia under each respective automated mobile carrier; and
a control system that maintains a manifest in communication with a warehouse management system, wherein the manifest provides outbound destinations for each object via the plurality of processing bins on the plurality of automated mobile carriers.
 
17. A method of processing objects, said method comprising:
receiving a plurality of objects on an in-feed conveyor;
perceiving identifying indicia representative of an identity of an object among the 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 mobile carrier of a plurality of automated mobile carriers that carries the identified processing bin for movement along a first path in two mutually orthogonal directions, each of the automated mobile carriers including at least one sensor on an underside thereof for perceiving location indicia under each respective automated mobile carrier;
acquiring the object from the plurality of objects at an input area of a processing station using an end effector of a programmable motion device;
depositing the object into the identified processing bin using the end effector of the programmable motion device; and
moving the automated mobile carrier along a second path in the at least two mutually orthogonal directions away from the processing station to carry the identified processing bin to an output processing station.