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

Patent metadata

Field	Value
Publication number	US-12157632-B2
Application number	US-202318383321-A
Country	US
Kind code	B2
Filing date	Oct 24, 2023
Priority date	Oct 27, 2017
Publication date	Dec 3, 2024
Grant date	Dec 3, 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. An object processing system for processing objects, said object processing system comprising:
a plurality of automated carriers, each automated carrier including a base structure on which an object is supported, and at least two wheel assemblies that are pivotably 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 automated carrier;
a guidance system on which the plurality of automated carriers are moved in each of two mutually orthogonal directions, the guidance system including a plurality of guidance areas, each guidance area including identifiable indicia that is unique to each guidance area; and
a control system for providing commands to each of the plurality of automated carriers to move each of the plurality of automated carriers a respective limited number of guidance areas 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 guidance area and approach an associated second guidance area, and wherein the associated first guidance area and the associated second guidance area are not contiguous.

2. The object processing system of claim 1 , wherein the plurality of guidance areas are provided as a two-dimensional array of guidance areas.

3. The object processing system of claim 1 , wherein the plurality of guidance areas are each mutually separated from adjacent guidance areas by a distance that is at least as large as a diameter of each wheel of the at least two wheel assemblies.

4. The object processing system of claim 1 , wherein the control system provides instructions to move no more than two guidance areas at a time.

5. The object processing system of claim 1 , wherein the control system provides bidirectional heartbeat information to the plurality of automated carriers.

6. The object processing system of claim 1 , wherein the control system receives bidirectional heartbeat information from the plurality of automated carriers.

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

8. The object processing system of claim 7 , 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.

9. An object processing system for processing objects, said object processing system comprising:
a plurality of automated carriers, each automated carrier including a base structure on which an object is supported, and at least two wheel assemblies that are supported on the base structure;
a guidance system on which the plurality of automated carriers are moved in each of two mutually orthogonal directions, the guidance system including a plurality of guidance areas, each guidance area including identifiable indicia that is unique to each guidance area; and
a control system for providing commands to each of the plurality of automated carriers to move each of the plurality of automated carriers no more than two guidance areas at a time for each automated carrier, wherein the commands provided by the control system to each automated carrier includes commands to leave an associated first guidance area and approach an associated second guidance area, and wherein the associated first guidance area and the associated second guidance area are not contiguous.

10. The object processing system of claim 9 , wherein the plurality of guidance areas are provided as a two-dimensional array of guidance areas.

11. The object processing system of claim 9 , wherein the plurality of guidance areas are each mutually separated from adjacent guidance areas by a distance that is at least as large as a diameter of each wheel of the at least two wheel assemblies.

12. The object processing system of claim 9 , wherein the control system provides instructions to move no more than one guidance area at a time.

13. The object processing system of claim 9 , wherein the control system provides bidirectional heartbeat information to the plurality of automated carriers.

14. The object processing system of claim 9 , wherein the control system receives bidirectional heartbeat information from the plurality of automated carriers.

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

16. The object processing system of claim 15 , 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.

17. A method of processing objects comprising:
providing a plurality of automated carriers, each automated carrier including a base structure on which an object is supported, and at least two wheel assemblies that are pivotably 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 automated carrier, said plurality of automated carriers being provided on a guidance system for movement in each of two mutually orthogonal directions, the guidance system including a plurality of guidance areas, each guidance area including identifiable indicia that is unique to each guidance area; and
providing commands to each of the plurality of automated carriers to move each of the plurality of automated carriers a respective limited number of guidance areas 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 guidance area and approach an associated second guidance area, and wherein the associated first guidance area and the associated second guidance area are not contiguous.

18. The method of claim 17 , wherein the plurality of guidance areas are provided as a two-dimensional array of guidance areas.

19. The method of claim 17 , wherein the plurality of guidance areas are each mutually separated from adjacent guidance areas by a distance that is at least as large as a diameter of each wheel of the at least two wheel assemblies.

20. The method of claim 17 , wherein providing the commands includes providing instructions to move no more than two guidance areas at a time.

21. The method of claim 17 , wherein the method further includes providing bidirectional heartbeat information to the plurality of automated carriers.

22. The method of claim 17 , wherein the method further includes receiving bidirectional heartbeat information from the plurality of automated carriers.

23. The method of claim 17 , wherein the guidance 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 23 , 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