Granted Patent B2

US 12,269,681 · App. 17/193,377 · Granted Apr 8, 2025

Inventor: Guoming Alex Long (Wexford, PA)

Assignee: Berkshire Grey Operating Company, Inc.

B65G1/0485B65G1/0435B65G1/1371B65G47/90B65G2203/0208B65G2203/04

Abstract

Claims (37)

1. A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising:

a plurality of bins including objects to be distributed, said plurality of bins being provided on an input conveyance system;

an articulated arm that includes an end effector for grasping and moving a selected object among the objects within at least one of the plurality of bins in an input area of the input conveyance system;

a drop perception unit providing perception data regarding the selected object that is presented to the drop perception unit by the articulated arm; and

a routing conveyance system including at least one object conveyor that receives the selected object and moves the selected object in each of horizontal and vertical directions in the space between two vertically stacked arrays of destination containers to directly reach a selected destination container in either of the two vertically stacked arrays of destination containers responsive to the perception data, wherein the at least one object conveyor urges the selected object into the selected destination container in a third direction that is orthogonal to the horizontal and vertical directions.

2. The storage, retrieval and processing system as claimed in claim 1 , wherein the object conveyor is mounted to a routing vertical rail system.

3. The storage, retrieval and processing system as claimed in claim 2 , wherein the routing vertical rail system is mounted on a routing horizontal rail system.

4. The storage, retrieval and processing system as claimed in claim 1 , wherein the storage, retrieval and processing system further includes a destination container movement system for removing completed destination containers from an opposite side from which the destination container was loaded.

5. The storage, retrieval and processing system as claimed in claim 4 , wherein the destination container movement system moves the completed destination containers in each of removal horizontal and vertical directions toward an output conveyor.

6. The storage, retrieval and processing system as claimed in claim 4 , wherein the destination container movement system includes a container conveyor that is mounted to a container movement vertical rail system.

7. The storage, retrieval and processing system as claimed in claim 6 , wherein the container movement vertical rail system is mounted on a container movement horizontal rail system.

8. The storage, retrieval and processing system as claimed in claim 7 , wherein the container conveyor is positionable to provide the selected destination container to an output conveyor.

9. A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising:

a plurality of bins including objects to be distributed, said plurality of bins being provided on an input conveyance system;

an articulated arm that includes an end effector for grasping and moving a selected object among the objects within at least one of the plurality of bins in an input area of the input conveyance system; and

a routing conveyance system including a first object conveyor and a second object conveyor, each object conveyor being provided for receiving a selected object, and for moving the selected object from the input area in each of horizontal and vertical directions in the space between two vertically stacked arrays of destination containers and directly reach a destination container in either of the two vertically stacked arrays of destination containers,

wherein each object conveyor urges the selected object in a third direction that is orthogonal to the horizontal and vertical directions into the destination container, and wherein the first and second object conveyors are adapted to travel along the horizontal and vertical directions and to avoid colliding with one another by traveling in circuits, one of which is time delayed with respect to the other.

10. The storage, retrieval and processing system as claimed in claim 9 , wherein each object conveyor is mounted to a routing vertical rail system.

11. The storage, retrieval and processing system as claimed in claim 10 , wherein the routing vertical rail system is mounted on a routing horizontal rail system.

12. The storage, retrieval and processing system as claimed in claim 10 , wherein the storage, retrieval and processing system further includes:

a drop perception unit providing perception data regarding a selected object that is presented to the drop perception unit by the articulated arm, and

a destination container movement system that moves completed destination containers in each of removal horizontal and vertical directions toward an output conveyor responsive to the perception data.

13. The storage, retrieval and processing system as claimed in claim 12 , wherein the destination container movement system includes a container conveyor that is mounted to a container movement vertical rail system.

14. The storage, retrieval and processing system as claimed in claim 13 , wherein the container movement vertical rail system is mounted on a container movement horizontal rail system.

15. The storage, retrieval and processing system as claimed in claim 14 , wherein the container conveyor is positionable to provide the selected destination container to an output conveyor.

16. A method of providing storage, retrieval and processing of objects, said method comprising:

providing on a conveyance system a plurality of bins including objects to be distributed;

grasping and moving objects within at least one of the plurality of bins in an input area of the conveyance system using an articulated arm that includes an end effector for grasping and moving any of the objects within at least one of the plurality of bins in an input area of the input conveyance system;

providing perception data by a drop perception unit regarding a selected object that is presented to the drop perception unit by the articulated arm;

routing the selected object on a first object conveyor that moves in each of horizontal and vertical directions in the space between two vertically stacked arrays of destination containers to directly reach a selected destination container in either of the two vertically stacked arrays of destination containers responsive to the perception data using a first object conveyor; and

urging the selected object from the first object conveyor into the selected destination container in a third direction that is orthogonal to the horizontal and vertical directions.

17. The method as claimed in claim 16 , wherein routing the selected object in each of horizontal and vertical directions includes moving the first object conveyor along vertical and horizontal directions in a circuit.

18. The method as claimed in claim 17 , wherein the method further includes:

routing a further selected object in each of the horizontal and vertical directions toward a further selected destination container responsive to the perception data using a second object conveyor; and

urging the selected object from the second object conveyor into the further selected destination container, each of the first and second object conveyors being adapted to travel along the horizontal and vertical directions and to avoid colliding with one another by traveling in circuits, one of which is time delayed with respect to the other.

19. The method as claimed in claim 16 , wherein the method further includes removing completed destination containers using a destination container movement system for moving completed destination containers in each of removal horizontal and vertical directions toward an output conveyor.

20. The method as claimed in claim 17 , wherein the method further includes moving the selected destination container to an output conveyor.

Assignments (2)

Continuity (2)

References Cited (259)