Systems and methods for processing objects, including automated processing stations

Patent metadata

Field	Value
Publication number	US-10870538-B2
Application number	US-202016742166-A
Country	US
Kind code	B2
Filing date	Jan 14, 2020
Priority date	May 4, 2018
Publication date	Dec 22, 2020
Grant date	Dec 22, 2020

Abstract

A processing system for processing objects using a programmable motion device is disclosed. The processing system a perception unit for perceiving identifying indicia representative of an identity of an object associated with an input conveyance system, and an acquisition system for acquiring the object from a plurality of objects at an input area using an end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing location. The identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations. The processing system also includes a delivery system for receiving the object in a carrier and for delivering the object toward the identified processing location.

First claim

The invention claimed is:

1. A processing system for processing objects using a programmable motion device, said processing system comprising:
a perception unit for perceiving identifying indicia representative of an identity of an object associated with an input conveyance system;
an acquisition system including, in part, an end effector attached to the programmable motion device for acquiring the object from a plurality of objects at an input area using the end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing location, said identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations; and
a delivery system for receiving the object in a tray that travels in a circuit, said tray for selectively providing the object to a carriage that delivers the object to the identified processing location,
wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the input conveyance system.

2. The processing system as claimed in claim 1 , wherein the input conveyance system includes a primary conveyor and an input area conveyor onto which the plurality of objects may be diverted from the primary conveyor.

3. The processing system as claimed in claim 1 , wherein the plurality of objects is provided in a bin that is one of a plurality of bins, each including a further plurality of objects.

4. The processing system as claimed in claim 1 , wherein the tray is continuously moving.

5. The processing system as claimed in claim 1 , wherein the tray is adapted for delivering the object toward the identified processing location by dropping the object into a shuttle carriage that shuttles between a plurality of processing locations.

6. The processing system as claimed in claim 5 , wherein the shuttle carriage is actuatable to tip in either of two opposing directions to drop the object into either of the two processing locations.

7. The processing system as claimed in claim 1 , where the tray is one of a plurality of shuttle carriages that travel in a loop.

8. The processing system as claimed in claim 1 , wherein the acquisition system is adapted for causing the object to be delivered toward the identified processing location by placing the object into the tray using the end effector.

9. The processing system as claimed in claim 1 , wherein the acquisition system is adapted for causing the object to be delivered toward the identified processing location by placing the object into the tray using the end effector while the tray is moving.

10. The processing system as claimed in claim 9 , wherein the tray may be tipped in either of two opposing directions to drop the object onto the identified processing location.

11. The processing system as claimed in claim 1 , wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the circuit along which the tray travels.

12. A processing system for processing objects using a programmable motion device, said processing system comprising:
a perception unit for perceiving identifying indicia representative of an identity of a plurality of objects associated with an input conveyance system;
an acquisition system including, in part, and end effector attached to the programmable motion device for acquiring an object from the plurality of objects at an input area using an end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing location, said identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations; and
a delivery system for delivering the object to the identified processing location, said delivery system including a plurality of trays that travel in a loop, any of which tray may receive the object, and said delivery system including at least one movable carriage for receiving the object from any of the plurality of trays, and for providing the object via the movable carriage to the identified processing location.

13. The processing system as claimed in claim 12 , wherein the input conveyance system includes a primary conveyor and an input area conveyor onto which the plurality of objects may be diverted from the primary conveyor.

14. The processing system as claimed in claim 12 , wherein the plurality of objects is provided in a bin that is one of a plurality of bins, each including a further plurality of objects.

15. The processing system as claimed in claim 12 , wherein the plurality of trays is continuously moving.

16. The processing system as claimed in claim 12 , wherein each of the plurality of trays is adapted for delivering the object toward the identified processing location by dropping the object into the at least one movable carriage that shuttles between a plurality of processing locations.

17. The processing system as claimed in claim 16 , wherein the movable carriage is actuatable to tip in either of two opposing directions to drop the object into either of two processing locations.

18. The processing system as claimed in claim 12 , wherein the acquisition system is adapted for causing the object to be delivered toward the identified processing location by placing the object into the tray using the end effector.

19. The processing system as claimed in claim 12 , wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the input conveyance system.

20. A method of processing objects using a programmable motion device, said method comprising the steps of:
perceiving identifying indicia representative of an identity of an object of a plurality of objects associated with an input conveyance system including an input area;
acquiring the object from the plurality of objects at the input area using an end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing location, said identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations; and
delivering the object toward the identified processing location, said step of delivering the object toward the identified processing location including receiving the object in a tray while the tray is moving in a continuous circuit.

21. The method as claimed in claim 20 , wherein the input conveyance system includes a primary conveyor and an input area conveyor onto which the plurality of objects may be diverted from the primary conveyor.

22. The method as claimed in claim 20 , wherein the plurality of objects is provided in a bin that is one of a plurality of bins, each including a further plurality of objects.

23. The method as claimed in claim 20 , wherein the tray drops the object into a reciprocating carriage.

24. The method as claimed in claim 20 , wherein the step of delivering the object toward the identified processing location includes dropping the reciprocating carriage shuttles between a plurality of processing

Assignees

• Berkshire Grey Inc

Inventors

• Wagner Thomas
• Ahearn Kevin
• Amend Jr John Richard
• Cohen Benjamin
• DAWSON-HAGGERTY Michael
• Fort William Hartman
• GEYER Christopher
• King Jennifer Eileen
• Koletschka Thomas
• Koval Michael Cap
• MARONEY Kyle
• Mason Matthew T
• McMahan William Chu-Hyon
• Price Gene Temple
• Romano Joseph
• Smith Daniel
• SRINIVASA Siddhartha
• Velagapudi Prasanna
• Allen Thomas

Classifications

• B65G2203/041

  Camera · CPC title

• B65G2203/0216

  Codes or marks on the article · CPC title

• B65G47/48 Primary

  according to bodily destination marks on either articles or load-carriers · CPC title

• B07C5/3412

  according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication (sorting according to size measured by light-responsive means B07C5/10; sorting according to optical properties B07C5/342; for packages B65D79/02; for information carriers G06K7/00) · CPC title

• B65G2201/0258

  Trays, totes or bins · CPC title