Systems and methods for processing objects including a zone gantry system

Patent metadata

Field	Value
Publication number	US-12594665-B2
Application number	US-202418766929-A
Country	US
Kind code	B2
Filing date	Jul 9, 2024
Priority date	Mar 20, 2017
Publication date	Apr 7, 2026
Grant date	Apr 7, 2026

Abstract

A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. The plurality of storage bins provides storage of a plurality of objects, where the plurality of storage bins are in communication with a gantry retrieval conveyance system for moving selected bins to a bin processing location. The plurality of destination bins are in communication with the gantry retrieval conveyance system for moving a selected destination bin to the processing location. The processing programmable motion device is at the processing location and is in communication with the gantry retrieval conveyance system. The processing programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin and depositing the selected object in the selected destination bin.

First claim

What is claimed is:

1 . A method of providing a storage, retrieval and processing system, the method comprising:
retrieving a selected storage bin from among a plurality of storage bins using a gantry system that grasps the selected storage bin; moving the selected storage bin to a processing location using the gantry system; retrieving a selected destination bin from among a plurality of destination bins using the gantry system that grasps the selected destination bin; moving the selected destination bin to the processing location using the gantry system; and transferring an object from the selected storage bin to the selected destination bin using a programmable motion device that includes an end-effector for grasping and moving the object.

2 . The method of claim 1 , wherein the method further includes returning the selected storage bin anywhere in a storage section that stores the plurality of storage bins.

3 . The method of claim 1 , wherein the method further includes returning the selected destination bin anywhere in a destination section that stores the plurality of destination bins.

4 . The method of claim 1 , wherein the plurality of storage bins is provided as a storage bin array, and the plurality of destination bins is provided as a destination bin array.

5 . The method of claim 1 , wherein the plurality of storage bins and the plurality of destination bins are comingled.

6 . The method of claim 1 , wherein the method further includes providing the selected destination bin to any one of an output conveyor, an output staging area, or a floor pallet.

7 . The method of claim 1 , wherein the processing location includes a plurality of conveyors, the plurality of conveyors including a first conveyor that receives the selected storage bin and a second conveyor that receives the selected destination bin.

8 . The method of claim 7 , wherein the programmable motion device is positioned between the plurality of conveyors.

9 . A method of providing a storage, retrieval and processing system, the method comprising:
retrieving a selected storage bin from among a plurality of storage bins using a first gantry system that grasps the selected storage bin; moving the selected storage bin to a processing location using the first gantry system; retrieving a selected destination bin from among a plurality of destination bins using a second gantry system that grasps the selected destination bin; moving the selected destination bin to the processing location using the second gantry system; and transferring an object from the selected storage bin to the selected destination bin using a programmable motion device that includes an end-effector for grasping and moving the object.

10 . The method of claim 9 , wherein the plurality of storage bins are provided at a plurality of floors, and the plurality of destination bins are provided at the plurality of floors.

11 . The method of claim 9 , wherein the method further includes returning the selected storage bin anywhere in a storage section that stores the plurality of storage bins.

12 . The method of claim 9 , wherein the method further includes returning the selected destination bin anywhere in a destination section that stores the plurality of destination bins.

13 . The method of claim 9 , wherein the plurality of storage bins is provided as a storage bin array, and the plurality of destination bins is provided as a destination bin array.

14 . The method of claim 9 , wherein the plurality of storage bins and the plurality of destination bins are comingled.

15 . The method of claim 9 , wherein the method further includes providing the selected destination bin to any one of an output conveyor, an output staging area, or a floor pallet.

16 . The method of claim 9 , wherein the processing location includes a plurality of conveyors, the plurality of conveyors including a first conveyor that receives the selected storage bin and a second conveyor that receives the selected destination bin.

17 . The method of claim 16 , wherein the programmable motion device is positioned between the plurality of conveyors.

18 . A method of providing a storage, retrieval and processing system, the method comprising:
retrieving a selected storage bin from among a plurality of storage bins using a gantry system that grasps the selected storage bin; moving the selected storage bin to a processing location using the gantry system; moving a destination bin to the processing location; transferring an object form the selected storage bin to the destination bin using a programmable motion device that includes an end-effector for grasping and moving the object; and providing the destination bin to any one of an output conveyor, an output staging area, or a floor pallet.

19 . The method of claim 18 , wherein the method further includes returning the selected storage bin anywhere in a storage section that stores the plurality of storage bins.

20 . The method of claim 18 , wherein the method further includes returning the destination bin anywhere in a destination section that stores the plurality of destination bins.

21 . The method of claim 18 , wherein the plurality of storage bins is provided as a storage bin array, and the plurality of destination bins is provided as a destination bin array.

22 . The method of claim 18 , wherein the plurality of storage bins and the plurality of destination bins are comingled.

23 . The method of claim 18 , wherein the processing location includes a plurality of conveyors, the plurality of conveyors including a first conveyor that receives the selected storage bin and a second conveyor that receives the selected destination bin.

24 . The method of claim 23 , wherein the programmable motion device is positioned between the plurality of conveyors.

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 Carlton
• SRINIVASA Siddhartha
• Velagapudi Prasanna
• Allen Thomas

Classifications

• B65G47/917

  control arrangements · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title

• G06Q10/087

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

• B65G1/0464 Primary

  with access from above · CPC title

• B65G1/0485

  Check-in, check-out devices · CPC title