US 11,839,902 B2
Systems and methods for dynamic sortation of objects
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (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 31, 2022, as Appl. No. 17/828,314.
Application 17/828,314 is a continuation of application No. 16/902,351, filed on Jun. 16, 2020, granted, now 11,400,491.
Application 16/902,351 is a continuation of application No. 15/241,779, filed on Aug. 19, 2016, granted, now 10,730,078, issued on Aug. 4, 2020.
Claims priority of provisional application 62/265,181, filed on Dec. 9, 2015.
Claims priority of provisional application 62/263,050, filed on Dec. 4, 2015.
Prior Publication US 2022/0288644 A1, Sep. 15, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B07C 5/36 (2006.01); G05B 19/418 (2006.01); B07C 3/08 (2006.01); B65G 47/96 (2006.01); B07C 5/34 (2006.01); B07C 3/00 (2006.01); B07C 3/02 (2006.01); B07C 3/14 (2006.01); G06Q 10/087 (2023.01)
CPC B07C 5/36 (2013.01) [B07C 3/008 (2013.01); B07C 3/02 (2013.01); B07C 3/082 (2013.01); B07C 3/14 (2013.01); B07C 5/3412 (2013.01); B65G 47/962 (2013.01); G05B 19/4189 (2013.01); G06Q 10/087 (2013.01); B07C 2501/0063 (2013.01); G05B 2219/32328 (2013.01); G05B 2219/40078 (2013.01); G05B 2219/45056 (2013.01); Y02P 90/02 (2015.11)] 22 Claims
OG exemplary drawing
 
1. An object processing system comprising:
a programmable motion device with an end-effector for grasping at an input area a selected object, and for moving the selected object;
a carriage with a load bed for receiving the selected object thereon from the end-effector of the programmable motion device, said carriage being movably mounted at a carriage elevation on a track system for movement of the carriage at the carriage elevation;
a plurality of destination locations with output bins with open tops provided at a destination location elevation that is lower than the carriage elevation; and
an actuation system for causing the carriage to discharge the selected object from the load bed and drop the selected object into a selected output bin of a selected destination location of the plurality of destination locations,
wherein the carriage is driven in a first direction to move along the track system from a first location towards the selected destination location and is driven in a second direction that is different than the first direction to move along the track system towards the first location from the selected destination location to receive a next selected object from the programmable motion device at the first location.