Systems and methods for providing order fulfillment using a recirculating routing system
A storage, retrieval and processing system is disclosed for processing objects. The storage, retrieval and processing system includes a plurality of bins including objects to be distributed, the plurality of bins being provided on a conveyance system, a programmable motion device that includes an end effector for grasping and moving any of the objects, the programmable motion device being capable of reaching any of the objects within at least one of the plurality of bins in an input area of the conveyance system, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system including a track-mounted shuttle for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a destination container responsive to the perception data.
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;
a programmable motion device 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;
an object perception unit for providing perception data regarding a selected object that is presented to the object perception unit by the programmable motion device, the object perception unit including at least one camera; and
a routing conveyance system including a first track-mounted shuttle for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a destination container provided among a plurality of destination containers in a vertically stacked array responsive to the perception data,
wherein the first track-mounted shuttle includes a first conveyor mounted on a first frame that is vertically movable on a first elevator rod, the first elevator rod extending upward from a first shuttle base that is horizontally movable along a first track circuit adjacent the vertically stacked array.
2. The storage, retrieval and processing system as claimed in claim 1 , wherein the storage, retrieval and processing system further includes a destination container removal system including a second tracked-mounted shuttle for removing completed destination containers from the vertically stacked array,
wherein the first track-mounted shuttle and the second track-mounted shuttle are provided on opposite sides of the vertical stacked array of destination containers.
3. The storage, retrieval and processing system as claimed in claim 2 , wherein the second track-mounted shuttle moves completed destination containers in each of horizontal and vertical directions away from the vertically stacked array of destination containers toward an output conveyor.
4. The storage, retrieval and processing system as claimed in claim 2 , wherein the second track-mounted shuttle includes a second conveyor that is mounted on a second frame that is vertically movable on a second elevator rod.
5. The storage, retrieval and processing system as claimed in claim 4 , wherein the second elevator rod extends upward from a second shuttle base that is horizontally movable along a second track circuit adjacent the vertically stacked array.
6. The storage, retrieval and processing system as claimed in claim 1 , wherein the object perception unit includes a drop perception unit.
7. The storage, retrieval and processing system as claimed in claim 6 , wherein the programmable motion device drops the selected object through the drop perception unit and onto first track-mounted shuttle.
8. The storage, retrieval and processing system as claimed in claim 1 , wherein the programmable motion device includes an end-effector that is coupled to a vacuum source.
9. The storage, retrieval and processing system as claimed in claim 1 , wherein the plurality of destination containers in the vertically stacked array are open on opposing sides thereof.
10. 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;
a programmable motion device that includes an end effector for grasping and moving any of the objects;
a routing conveyance system including a first track-mounted shuttle for receiving a selected object and for moving the selected object toward any destination container of a plurality of destination containers provided in a vertically stacked array; and
a destination container removal system for removing completed destination containers, said destination container removal system including a second track-mounted shuttle for acquiring any destination container from the plurality of destination containers provided in the vertically stacked array,
each track-mounted shuttle including a conveyor mounted on a frame that is vertically movable on an elevator rod, the elevator rod extending upward from a shuttle base that is horizontally movable along a respective track circuit adjacent the vertically stacked array, wherein the first track-mounted shuttle and the second track-mounted shuttle are provided on opposite sides of the vertically stacked array.
11. The storage, retrieval and processing system as claimed in claim 10 , wherein the second track-mounted shuttle of the destination container removal system moves the destination container in each of horizontal and vertical directions away from the vertically stacked array of destination containers toward an output conveyor.
12. The storage, retrieval and processing system as claimed in claim 10 , wherein the storage, retrieval and processing system includes a drop perception unit.
13. The storage, retrieval and processing system as claimed in claim 12 , wherein the programmable motion device drops the selected object through the drop perception unit and onto first track-mounted shuttle.
14. The storage, retrieval and processing system as claimed in claim 10 , wherein the plurality of destination containers in the vertically stacked array are open on opposing sides thereof.
15. A method of providing storage, retrieval and processing of objects, said method comprising:
providing on an input 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 input conveyance system using a programmable motion device 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 regarding a selected object by an object perception unit, wherein the selected object is presented to the object perception unit by the programmable motion device, the object perception unit including at least one camera; and
routing the selected object in each of horizontal and vertical directions on a first track-mounted shuttle as the first track-mounted shuttle moves about a first track circuit toward a destination container provided among a plurality of destination containers in a vertically stacked array responsive to the perception data,
wherein the first track-mounted shuttle includes a first conveyor mounted on a first frame that is vertically movable on a first elevator rod, the first elevator rod extending upward from a first shuttle base that is horizontally movable along the first track circuit adjacent the vertically stacked array.
16. The method as claimed in claim 15 , wherein the method further includes removing completed destination containers using a destination container removal system that includes a second track-mounted shuttle for moving completed destination containers in each of horizontal and vertical directions.
17. The method as claimed in claim 16 , wherein removing the completed destination containers using the second track-mounted shuttle of the destination container removal system for moving the completed destination containers in each of removal horizontal and vertical directions includes moving the second track-mounted shuttle along a second track circuit,
wherein the second track-mounted shuttle includes a second conveyor mounted on a second frame that is vertically movable on a second elevator rod, the second elevator rod extending upward from a second shuttle base that is horizontally movable along the second track circuit adjacent the vertically stacked array.
18. The method as claimed in claim 15 , wherein the object perception unit includes a drop perception unit.
19. The method as claimed in claim 18 , wherein the programmable motion device drops the selected object through the drop perception unit and onto first track-mounted shuttle.
20. The method as claimed in claim 15 , wherein the plurality of destination containers in the vertically stacked array are open on opposing sides thereof.