Discontinuous grid system for use in systems and methods for processing objects including mobile matrix carrier systems

Patent metadata

Field	Value
Publication number	US-11866255-B2
Application number	US-202318099573-A
Country	US
Kind code	B2
Filing date	Jan 20, 2023
Priority date	Oct 27, 2017
Publication date	Jan 9, 2024
Grant date	Jan 9, 2024

Abstract

An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a discontinuous plurality of track sections on which an automated carrier may be directed to move, and the automated carrier includes a base structure on which an object may be supported, and at least two wheels assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier.

First claim

What is claimed is:

1. A method of moving objects to be processed, said method comprising:
receiving an object by an automated carrier, said automated carrier being provided as one of a plurality of automated carriers on a discontinuous track system;
receiving commands at each of the plurality of automated carriers to move the plurality of automated carriers a plurality of respective limited distances that are each short of any final destination for each automated carrier; and
moving the plurality of automated carriers in accordance with their respective commands, wherein the moving of each automated carrier includes leaving an associated first track element of the discontinuous track system and approaching an associated second track element of the discontinuous track system, and wherein the associated first track element and the associated second track element are not contiguous.

2. The method of claim 1 , wherein the automated carrier includes a plurality of wheel assemblies, and wherein the method further includes pivoting each of said wheel assemblies from a first position to a second position to effect a change in direction of movement of the automated carrier from a first direction to a second direction that is orthogonal to the first direction.

3. The method of claim 2 , wherein the method further includes re-aligning the plurality of wheel assemblies during movement between adjacent track elements by engaging one or more rounded corners of the adjacent track elements.

4. The method of claim 1 , wherein the discontinuous track system includes a plurality of track elements that are provided in an array.

5. The method of claim 1 , wherein each of the associated first track element and the associated second track element includes identifiable indicia that is detected by the automated carrier.

6. The method of claim 1 , wherein the discontinuous track system includes no power supply.

7. The method of claim 1 , wherein the discontinuous track system is in communication with an input station at which a plurality of objects is provided to the plurality of automated carriers.

8. The method of claim 7 , wherein the input station comprises at least one conveyor belt, and the method further includes moving a bin on the at least one conveyor belt to a selected automated carrier of the plurality of automated carriers.

9. A method of moving objects to be processed, said method comprising:
receiving an object by an automated carrier, said automated carrier being provided as one of a plurality of automated carriers on a discontinuous track system that includes a plurality of track elements;
receiving commands at each of the plurality of automated carriers to move the plurality of automated carriers a plurality of respective limited number of track elements that are each short of any final destination for each automated carrier; and
moving the plurality of automated carriers in accordance with their respective commands, wherein the moving of each automated carrier includes leaving an associated first track element of the plurality of track elements, and approaching an associated second track element of the plurality of track elements, and wherein the associated first track element and the associated second track element are not contiguous.

10. The method of claim 9 , wherein the automated carrier includes a plurality of wheel assemblies, and wherein the method further includes pivoting each of said wheel assemblies from a first position to a second position to effect a change in direction of movement of the carrier from a first direction to a second direction that is orthogonal to the first direction.

11. The method of claim 10 , wherein the method further includes re-aligning the plurality of wheel assemblies during movement between adjacent track elements by engaging one or more rounded corners of the adjacent track elements.

12. The method of claim 9 , wherein the plurality of track elements are provided in an array.

13. The method of claim 9 , wherein each of the plurality of track elements includes identifiable indicia that is detected by the automated carrier.

14. The method of claim 9 , wherein the discontinuous track system includes no power supply.

15. The method of claim 9 , wherein the discontinuous track system is in communication with an input station at which a plurality of objects is provided to the plurality of automated carriers.

16. The method of claim 15 , wherein the input station comprises at least one conveyor belt, and the method further includes moving a bin on the at least one conveyor belt to a selected automated carrier of the plurality of automated carriers.

17. An object processing system for processing objects, said object processing system comprising:
a discontinuous track system that includes a plurality of track elements;
a plurality of automated carriers on the discontinuous track system that includes the plurality of track elements; and
a control system for providing commands to each of the plurality of automated carriers to move the plurality of automated carriers a plurality of respective limited number of track elements that are each short of any final destination for each automated carrier;
wherein the commands provided by the control system to each automated carrier includes commands to leave an associated first track element of the plurality of track elements and approach an associated second track element of the plurality of track elements, and wherein the associated first track element and the associated second track element are not contiguous.

18. The object processing system of claim 17 , wherein each automated carrier includes a plurality of wheel assemblies, and wherein each of said wheel assemblies is pivotable from a first position to a second position to effect a change in direction of movement of the automated carrier from a first direction to a second direction that is orthogonal to the first direction.

19. The object processing system of claim 18 , wherein the the plurality of wheel assemblies are realignable during movement between adjacent track elements by engaging one or more rounded corners of the adjacent track elements.

20. The object processing system of claim 17 , wherein the plurality of track elements are provided in an array.

21. The object processing system of claim 17 , wherein each of said track elements includes identifiable indicia that is detected by each of the plurality of automated carrier.

22. The object processing system of claim 17 , wherein the discontinuous track system includes no power supply.

23. The object processing system of claim 17 , wherein the discontinuous track system is in communication with an input station at which a plurality of objects is provided to the plurality of automated carriers.

24. The method of claim 18 , wherein the input station comprises at least one conveyor belt on which a bin is movable to a selected automated carrier of the plurality of automated carriers.

Assignees

• Berkshire Grey Operating Company 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

• G05B2219/40252

  Robot on track, rail moves only back and forth · CPC title

• G05B2219/40078

  Sort objects, workpieces · CPC title

• G05B2219/24001

  Maintenance, repair · CPC title

• G05B19/41815

  characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell · CPC title

• G05B19/0428

  Safety, monitoring (G05B19/0423 takes precedence) · CPC title