Systems and methods for processing objects including mobile matrix carrier systems

Patent metadata

Field	Value
Publication number	US-2018265291-A1
Application number	US-201815926497-A
Country	US
Kind code	A1
Filing date	Mar 20, 2018
Priority date	Mar 20, 2017
Publication date	Sep 20, 2018
Grant date	—

Abstract

A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins is in communication with a bin conveyance system for moving selected storage bins to a storage bin processing location, a programmable motion device in communication with the bin processing location for receiving a selected storage bin from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and a plurality of destination bins in communication with the bin conveyance system for moving a selected destination bin from a destination bin processing location that is proximate the programmable motion device to the plurality of destination bins.

First claim

What is claimed is:

1 . A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising:
a plurality of storage bins providing storage of a plurality of objects, said plurality of storage bins being in communication with a bin conveyance system for moving selected storage bins to a storage bin processing location; a programmable motion device in communication with the bin processing location for receiving a selected storage bin from the plurality of bins, said programmable motion device including an end effector for grasping and moving a selected object out of a selected storage bin; and a plurality of destination bins in communication with the bin conveyance system for moving a selected destination bin from a destination bin processing location that is proximate the programmable motion device to the plurality of destination bins.

2 . The storage, retrieval and processing system as claimed in claim 1 , wherein the plurality of storage bins and the plurality of destination bins are interspersed with one another.

3 . The storage, retrieval and processing system as claimed in claim 1 , wherein the retrieval conveyance system is adapted to transport a selected storage bin to the storage bin processing location.

4 . The storage, retrieval and processing system as claimed in claim 3 , wherein the retrieval conveyance system includes an automated mobile matrix cart.

5 . The storage, retrieval and processing system as claimed in claim 4 , wherein the automated mobile matrix cart is movable in at least three mutually orthogonal directions.

6 . The storage, retrieval and processing system as claimed in claim 1 , wherein the processing programmable motion device includes an articulated arm, and wherein the articulated arm is positioned adjacent a portion of the retrieval conveyance system.

7 . The storage, retrieval and processing system as claimed in claim 1 , wherein the plurality of destination bins is provided as an array of storage bins.

8 . The storage, retrieval and processing system as claimed in claim 1 , wherein the retrieval conveyance system is also adapted to transport a selected destination bin to the destination bin processing location proximate the processing programmable motion device.

9 . The storage, retrieval and processing system as claimed in claim 1 , wherein the destination conveyance system includes an automated mobile matrix cart.

10 . The storage, retrieval and processing system as claimed in claim 9 , wherein the automated mobile matrix cart is movable in at least three mutually orthogonal directions.

10 . The storage, retrieval and processing system as claimed in claim 1 , wherein the processing programmable device is in communication with a plurality of destination bin processing locations.

11 . A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising:
a plurality of storage bins providing storage of a plurality of objects, said plurality of storage bins being in communication with a storage bin conveyance system for moving selected storage bins to a storage bin processing location; a programmable motion device in communication with the storage bin processing location for receiving a selected storage bin from the plurality of bins, said programmable motion device including an end effector for grasping and moving a selected object out of a selected storage bin; and a plurality of destination bins in communication with the conveyance system for moving a selected destination bin from a destination bin processing location that is proximate the programmable motion device to the plurality of destination bins.

12 . The storage, retrieval and processing system as claimed in claim 11 , wherein the plurality of storage bins and the plurality of destination bins are interspersed with one another.

13 . The storage, retrieval and processing system as claimed in claim 11 , wherein the retrieval conveyance system is adapted to transport a selected storage bin to the storage bin processing location.

14 . The storage, retrieval and processing system as claimed in claim 13 , wherein the retrieval conveyance system includes an automated mobile matrix cart.

15 . The storage, retrieval and processing system as claimed in claim 14 , wherein the automated mobile matrix cart is movable in at least three mutually orthogonal directions.

16 . The storage, retrieval and processing system as claimed in claim 11 , wherein the processing programmable motion device includes an articulated arm, and wherein the articulated arm is positioned adjacent a portion of the retrieval conveyance system.

17 . The storage, retrieval and processing system as claimed in claim 11 , wherein the plurality of destination bins is provided as an array of storage bins.

18 . The storage, retrieval and processing system as claimed in claim 11 , wherein the retrieval conveyance system is also adapted to transport a selected destination bin to the destination bin processing location proximate the processing programmable motion device.

19 . The storage, retrieval and processing system as claimed in claim 11 , wherein the destination conveyance system includes an automated mobile matrix cart.

20 . The storage, retrieval and processing system as claimed in claim 19 , wherein the automated mobile matrix cart is movable in at least three mutually orthogonal directions.

21 . A method of providing storage, retrieval and processing of objects, said method comprising the steps of:
providing a plurality of storage bins for storage of a plurality of objects; moving a selected storage bin to a storage bin processing location using a storage bin conveyance system; receiving the selected storage bin; grasping and moving a selected object out of the selected storage bin to selected destination bin; and moving the selected destination bin from a destination bin processing location that is proximate the programmable motion device to a plurality of destination bins.

22 . The method as claimed in claim 21 , wherein the plurality of storage bins and the plurality of destination bins are interspersed with one another.

23 . The method as claimed in claim 21 , wherein the step of moving a selected storage bin includes moving an automated mobile matrix cart.

24 . The method as claimed in claim 23 , wherein the automated mobile matrix cart is movable in at least three mutually orthogonal directions.

25 . The method as claimed in claim 21 , wherein the plurality of destination bins is provided as an array of storage bins.

26 . The method as claimed in claim 21 , wherein the step of moving a selected destination bin includes moving an automated mobile matrix cart.

27 . The method as claimed in claim 26 , wherein the automated mobile matrix cart is movable in at least three mutually orthogonal directions.

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

• B65G1/1378

  the orders being assembled on fixed commissioning areas remote from the storage areas · CPC title

• B65G65/005

  Control arrangements · CPC title

• B65G1/02 Primary

  Storage devices (furniture A47B; shop fittings A47F) · CPC title

• B65G2209/04

  Indication location means · CPC title

• B65G1/0492 Primary

  with cars adapted to travel in storage aisles · CPC title