US 12,145,798 B2
Systems and methods for processing objects including mobile matrix carrier systems
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 Sep. 15, 2023, as Appl. No. 18/368,585.
Application 18/368,585 is a continuation of application No. 17/832,484, filed on Jun. 3, 2022, granted, now 11,814,245.
Application 17/832,484 is a continuation of application No. 16/993,364, filed on Aug. 14, 2020, granted, now 11,390,459, issued on Jul. 19, 2022.
Application 16/993,364 is a continuation of application No. 15/926,497, filed on Mar. 20, 2018, granted, now 10,807,795, issued on Oct. 20, 2020.
Claims priority of provisional application 62/578,030, filed on Oct. 27, 2017.
Claims priority of provisional application 62/473,790, filed on Mar. 20, 2017.
Prior Publication US 2024/0051742 A1, Feb. 15, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 1/02 (2006.01); B65G 1/04 (2006.01); B65G 1/137 (2006.01); B65G 65/00 (2006.01)
CPC B65G 1/02 (2013.01) [B65G 1/0492 (2013.01); B65G 1/1378 (2013.01); B65G 65/005 (2013.01); B65G 2209/04 (2013.01)] 28 Claims
OG exemplary drawing
 
1. An object processing system comprising:
a plurality of processing bins, one or more of the plurality of processing bins containing objects to be processed;
a plurality of automated mobile carts, each automated mobile cart being adapted to receive and transport any of the plurality of processing bins within an automated mobile cart transport area, each of the plurality of automated mobile carts including a plurality of stands on which any of the plurality of processing bins is supported;
a plurality of shelves within the automated mobile cart transport area, each of the plurality of shelves including a plurality of prongs onto which any of the plurality of processing bins is placed or removed by the plurality of automated mobile carts, each of the plurality of automated mobile carts being adapted to place any of the plurality of processing bins onto a placement designated shelf of the plurality of shelves, in part, by moving the plurality of stands on a placement automated mobile cart of the plurality of automated mobile carts among the plurality of prongs on the placement designated shelf, and being adapted to retrieve any of the plurality of processing bins from a retrieval designated shelf of the plurality of shelves, in part, by moving the plurality of stands on a retrieval automated mobile cart of the plurality of automated mobile carts among the plurality of prongs on the retrieval designated shelf;
a bin processing area within the automated mobile cart transport area at which a selected processing bin of the plurality of processing bins is provided on a selected automated mobile cart of the plurality of automated mobile carts; and
a programmable motion device proximate the bin processing area, said programmable motion device including an end-effector for grasping a selected object from the selected processing bin at the bin processing area and for moving the selected object to a processing location.