Systems and methods for processing objects, including automated radial processing stations

Patent metadata

Field	Value
Publication number	US-10906740-B2
Application number	US-201815928556-A
Country	US
Kind code	B2
Filing date	Mar 22, 2018
Priority date	Mar 22, 2017
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

A method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device, 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 that are radially spaced from the programmable motion device.

First claim

What is claimed is:

1. A method of processing objects using a programmable motion device, comprising:
perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, the input area including an input station accessible by the programmable motion device;
acquiring an object from the plurality of objects at the input station using an end effector of the programmable motion device; and
moving the acquired object from the input station toward an identified processing bin using the programmable motion device, said identified processing bin being associated with the identifying indicia and said identified processing bin being provided as one of a plurality of processing bins,
wherein the plurality of processing bins are provided in a plurality of generally semicircular rows facing toward the input station, the plurality of generally semicircular rows of processing bins increasing in radial distance from a stationary base of the programmable motion device.

2. The method as claimed in claim 1 , wherein perceiving the identity of the plurality of objects includes perceiving indicia on one of the plurality of objects.

3. The method as claimed in claim 1 , wherein perceiving the identity of the plurality of objects includes perceiving indicia on an input bin containing the plurality of objects.

4. The method as claimed in claim 1 , wherein identifying the plurality of objects occurs when the plurality of objects are on the at least one input conveyance system.

5. The method as claimed in claim 1 , wherein identifying the plurality of objects occurs when the plurality of objects are at the input area.

6. The method as claimed in claim 1 , wherein the plurality of objects are provided in one of a plurality of input bins and wherein each input bin includes a homogenous set of objects.

7. The method as claimed in claim 1 , wherein the plurality of generally semicircular rows of processing bins increase in elevation as a respective radial distance of each row increases with respect to the stationary base of the programmable motion device.

8. The method as claimed in claim 1 , wherein the stationary base of the programmable motion device is positioned on a floor below the input area.

9. The method as claimed in claim 1 , wherein the stationary base of the programmable motion device is suspended from above with respect to the input area.

10. The method as claimed in claim 1 , wherein the method further includes determining a plurality of identities of the plurality of processing bins.

11. The method as claimed in claim 1 , wherein the method further includes determining at least one trajectory path for the programmable motion device to move the acquired object from the input station to one of the plurality of processing bins located at the identified processing location, and wherein the at least one trajectory path includes a changing portion and an unchanging portion.

12. The method of claim 1 , wherein the plurality of processing bins are tilted towards the programmable motion device.

13. The method as claimed in claim 1 , wherein the plurality of generally semicircular rows of processing bins are arranged between the input station and an output conveyor, the method further comprising:
generating a signal through an indicator that a completed processing bin is ready to be removed from the plurality of processing bins to the output conveyor.

14. The method as claimed in claim 1 , wherein the input area includes a plurality of input stations that are each accessible by the programmable motion device.

15. The method as claimed in claim 14 , wherein the method further includes determining a grasp location of the object to be acquired from the plurality of objects at the input area.

16. A method of processing objects using a programmable motion device, comprising:
perceiving identifying indicia representative of an identity of a first plurality of objects;
acquiring an object from the first plurality of objects at an input area using an end effector of the programmable motion device, said input area being in communication with at least one input conveyance system for providing objects to be processed, wherein the input area includes an input area conveyor accessible by the programmable motion device;
moving the acquired object from the input area conveyor toward an identified processing bin using the programmable motion device, said identified processing bin being associated with the identifying indicia and said identified processing bin being provided as one of a plurality of processing bins, said plurality of processing bins being provided in a plurality of arcuate rows that curve inward towards the input area conveyor, the plurality of arcuate rows of processing bins increasing in elevation as a respective radial distance of each row increases with respect to a stationary base of the programmable motion device;
removing the first plurality of objects from the input area conveyor via the at least one input conveyance system; and
conveying a second plurality of objects to the input area conveyor via the at least one input conveyance system.

17. The method as claimed in claim 16 , wherein the first and second plurality of objects are provided in one of a plurality of input bins and wherein each input bin includes a homogenous set of objects.

18. The method as claimed in claim 16 , wherein the input area includes a plurality of input stations that are each accessible by the programmable motion device.

19. The method as claimed in claim 16 , wherein the method further includes determining a grasp location of an object to be acquired from the first or second plurality of objects at the input area.

20. The method as claimed in claim 16 , wherein the stationary base of the programmable motion device is positioned on a floor below the input area.

21. The method as claimed in claim 16 , wherein the stationary base of the programmable motion device is suspended from above with respect to the input area.

22. The method of claim 16 , wherein the plurality of processing bins are tilted towards the programmable motion device.

23. The method as claimed in claim 16 , wherein the plurality of arcuate rows of processing bins are arranged between the input area conveyor and an output conveyor, the method further comprising:
illuminating a light to indicate that a processing bin is complete and ready to be removed from the plurality of processing bins to the output conveyor.

24. 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;
a routing conveyance system for directing the plurality of objects toward an input area from at least one input conveyance system, the input area including an input station accessible by the programmable motion device;
a plurality of processing bins provided in a plurality of semicircular rows that curve toward the input station, the plurality of semicircular rows of processing bins increasing in radial distance from a stationary base of the programmable motion device; and
an acquisition system for acquiring an object from the plurality of objects at the input station using an end effector of the programmable motion device, the programmable motion dev

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

• G06Q10/087 Primary

  Inventory or stock management, e.g. order filling, procurement or balancing against orders · 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

• B65G1/1371

  with data records · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title

• B25J9/0093

  co-operating with conveyor means · CPC title