IP Library › Granted Patent US 12,252,340
Granted Patent B2
US 12,252,340 · App. 17/478,149 · Granted Mar 18, 2025

Movement systems and method for processing objects including mobile matrix carrier systems

Inventors: Thomas Wagner (Concord, MA); Kevin Ahearn (Fort Mill, SC); John Richard Amend, Jr. (Belmont, MA); Benjamin Cohen (Somerville, MA); Michael Dawson-Haggerty (Pittsburgh, PA); William Hartman Fort (Stratham, NH); Christopher Geyer (Arlington, MA); Jennifer Eileen King (Oakmont, PA); Thomas Koletschka (Cambridge, MA); Michael Cap Koval (Mountain View, CA); Kyle Maroney (North Attleboro, MA); Matthew T. Mason (Pittsburgh, PA); William Chu-Hyon McMahan (Cambridge, MA); Gene Temple Price (Cambridge, MA); Joseph Romano (Arlington, MA); Daniel Smith (Canonsburg, PA); Siddhartha Srinivasa (Seattle, WA); Prasanna Velagapudi (Pittsburgh, PA); Thomas Allen (Reading, MA)
Assignee: Berkshire Grey Operating Company, Inc.
B65G1/0478B65G1/0471B65G1/0492B65G1/065B65G1/1375B65G67/02B07C5/361B07C5/38B07C2301/0091B25J9/106B25J9/162B25J9/1687B61B13/00B61D3/00B61D9/00B65G1/00B65G1/026B65G1/04B65G1/0485B65G1/08B65G1/1371B65G1/1373B65G1/1378B65G9/002B65G9/008B65G35/00B65G37/00B65G41/02B65G47/48B65G47/902B65G47/904B65G47/96B65G65/005B65G65/23B65G2201/0258B65G2203/0216B65G2203/044B65G2811/0678B65G2814/0346G05B19/0428G05B19/41815G05B19/41895G05B2219/24001G05B2219/40078G05B2219/40252
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Quick Facts
Patent No.
US 12,252,340
App. No.
17/478,149
Granted
Mar 18, 2025
Kind
B2
Abstract

An object processing system is disclosed that includes a plurality of track sections, and a plurality of remotely actuatable carriers for controlled movement along at least portions of the plurality of track sections, each of the actuatable carriers being instructed at any time to move a limited number of track section only.

Claims (79)

1. A method of processing objects on a plurality of remotely controllable carriers, said method comprising:

providing the plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;

instructing each of the plurality of remotely controllable carriers to move over a limited number of track elements, the limited number of track elements being the same of each of the plurality of remotely controllable carriers and being less than a total number of track elements in any direction;

moving each of the plurality of remotely controllable carriers over the limited number of track elements; and

actuating a plurality of wheel assemblies on the each of the remotely controlled carriers to pivot to change to a direction of movement of each remotely controlled carrier when instructed to move over the limited number of track elements, wherein each of the plurality of wheel assemblies includes at least one associated guide wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

2. The method as claimed in claim 1 , wherein the track element width and the track element length are substantially the same.

3. The method as claimed in claim 1 , wherein each of the plurality of wheel assemblies includes a powered wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

4. The method as claimed in claim 1 , wherein each remotely controllable carrier includes four wheel assemblies.

5. The method as claimed in claim 4 , wherein actuating the plurality of wheel assemblies on the each of the remotely controlled carriers to pivot to change to a direction of movement of each remotely controlled carrier includes rotating a wheel along an outer edge of a track element.

6. The method as claimed in claim 1 , wherein each remotely controllable carrier includes eight guide wheels that contact an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

7. The method as claimed in claim 1 , wherein the limited number of track elements is three.

8. The method as claimed in claim 1 , wherein the limited number of track elements is two.

9. The method as claimed in claim 1 , wherein the limited number of track elements is one.

10. A method of processing objects on a plurality of remotely controllable carriers, said method comprising:

providing the plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;

instructing a first of the plurality of remotely controllable carriers to move over a first limited number of track elements in a first direction;

instructing a second of the plurality of remotely controllable carriers to move over a second limited number of track elements in a second direction;

actuating a first plurality of wheel assemblies on the first remotely controlled carrier to pivot the first remotely controller carrier to change to a third direction;

actuating a second plurality of wheel assemblies on the second remotely controlled carrier to pivot the second remotely controller carrier to change to a fourth direction;

instructing the first of the plurality of remotely controllable carriers to move over a third limited number of track elements in the third direction; and

instructing the second of the plurality of remotely controllable carriers to move over a fourth limited number of track elements in the fourth direction,

wherein each of the first plurality of wheel assemblies and the second plurality of wheel assemblies includes at least one associated guide wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over at least one of the first limited number of track elements, the second limited number of track elements, the third limited number of track elements and the fourth limited number of track elements.

11. The method as claimed in claim 10 , wherein the track element width and the track element length are substantially the same.

12. The method as claimed in claim 10 , wherein each of the plurality of wheel assemblies includes a powered wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

13. The method as claimed in claim 10 , wherein each remotely controllable carrier includes four wheel assemblies.

14. The method as claimed in claim 13 , wherein actuating the plurality of wheel assemblies on the each of the remotely controlled carriers to pivot to change to a direction of movement of each remotely controlled carrier includes rotating a wheel along an outer edge of a track element.

15. The method as claimed in claim 10 , wherein each remotely controllable carrier includes eight guide wheels that contact an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

16. The method as claimed in claim 10 , wherein the first, second, third and fourth limited numbers of track elements are all three track elements.

17. The method as claimed in claim 10 , wherein the first, second, third and fourth limited numbers of track elements are all two track elements.

18. The method as claimed in claim 10 , wherein the first, second, third and fourth limited numbers of track elements are all one track element.

19. A system for processing objects comprising:

a plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;

a processor for instructing each of the plurality of remotely controllable carriers to move over a limited number of track elements, the limited number of track elements being the same of each of the plurality of remotely controllable carriers and being less than a total number of track elements in any direction; and

a plurality of wheel assemblies on the each of the remotely controlled carriers that are adapted to pivot to change to a direction of movement of each remotely controlled carrier when instructed to move over the limited number of track elements wherein each of the plurality of wheel assemblies includes at least one associated guide wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

20. The system as claimed in claim 19 , wherein the track element width and the track element length are substantially the same.

21. The system as claimed in claim 19 , wherein each of the plurality of wheel assemblies includes a powered wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

22. The system as claimed in claim 19 , wherein each remotely controllable carrier includes four wheel assemblies.

23. The system as claimed in claim 22 , wherein the guide wheel of each of the four wheel assemblies on the each of the remotely controlled carriers maintains contact with the outside surface of the associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

24. The system as claimed in claim 19 , wherein each remotely controllable carrier includes eight guide wheels that contact an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

25. A method of processing objects on a plurality of remotely controllable carriers, said method comprising:

providing the plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;

instructing each of the plurality of remotely controllable carriers to move over a limited number of track elements, the limited number of track elements being the same of each of the plurality of remotely controllable carriers and being less than a total number of track elements in any direction;

moving each of the plurality of remotely controllable carriers over the limited number of track elements; and

actuating a plurality of wheel assemblies on the each of the remotely controlled carriers to pivot to change to a direction of movement of each remotely controlled carrier when instructed to move over the limited number of track elements,

wherein each remotely controllable carrier includes eight guide wheels that contact an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

26. The method as claimed in claim 25 , wherein the track element width and the track element length are substantially the same.

27. The method as claimed in claim 25 , wherein each of the plurality of wheel assemblies includes a powered wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

28. The method as claimed in claim 25 , wherein each remotely controllable carrier includes four wheel assemblies.

29. The method as claimed in claim 28 , wherein actuating the plurality of wheel assemblies on the each of the remotely controlled carriers to pivot to change to a direction of movement of each remotely controlled carrier includes rotating a wheel along an outer edge of a track element.

30. The method as claimed in claim 25 , wherein each of the plurality of wheel assemblies includes at least one associated guide wheel of the eight guide wheels that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

31. The method as claimed in claim 25 , wherein the limited number of track elements is three.

32. The method as claimed in claim 25 , wherein the limited number of track elements is two.

33. The method as claimed in claim 25 , wherein the limited number of track elements is one.

34. A method of processing objects on a plurality of remotely controllable carriers, said method comprising:

providing the plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;

instructing a first of the plurality of remotely controllable carriers to move over a first limited number of track elements in a first direction;

instructing a second of the plurality of remotely controllable carriers to move over a second limited number of track elements in a second direction;

actuating a first plurality of wheel assemblies on the first remotely controlled carrier to pivot the first remotely controller carrier to change to a third direction;

actuating a second plurality of wheel assemblies on the second remotely controlled carrier to pivot the second remotely controller carrier to change to a fourth direction;

instructing the first of the plurality of remotely controllable carriers to move over a third limited number of track elements in the third direction; and

instructing the second of the plurality of remotely controllable carriers to move over a fourth limited number of track elements in the fourth direction,

wherein each of the plurality of remotely controllable carriers includes eight guide wheels that contact an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over at least one of the first limited number of track elements, the second limited number of track elements, the third limited number of track elements and the fourth limited number of track elements.

35. The method as claimed in claim 34 , wherein the track element width and the track element length are substantially the same.

36. The method as claimed in claim 34 , wherein each of the first plurality of wheel assemblies and the second plurality of wheel assemblies includes a powered wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

37. The method as claimed in claim 34 , wherein each of the plurality of remotely controllable carrier includes four wheel assemblies.

38. The method as claimed in claim 37 , wherein actuating the first plurality of wheel assemblies and the second plurality of wheel assemblies on the plurality of remotely controllable carriers to pivot to change to a direction of movement of each remotely controlled carrier includes rotating a wheel along an outer edge of a track element.

39. The method as claimed in claim 34 , wherein each of the first plurality of wheel assemblies and the second plurality of wheel assemblies includes at least one associated guide wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the first, second, third and fourth limited number of track elements.

40. The method as claimed in claim 34 , wherein the first, second, third and fourth limited numbers of track elements are all three track elements.

41. The method as claimed in claim 34 , wherein the first, second, third and fourth limited numbers of track elements are all two track elements.

42. The method as claimed in claim 34 , wherein the first, second, third and fourth limited numbers of track elements are all one track element.

43. A system for processing objects comprising:

a plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;

a processor for instructing each of the plurality of remotely controllable carriers to move over a limited number of track elements, the limited number of track elements being the same of each of the plurality of remotely controllable carriers and being less than a total number of track elements in any direction; and

a plurality of wheel assemblies on the each of the remotely controlled carriers that are adapted to pivot to change to a direction of movement of each remotely controlled carrier when instructed to move over the limited number of track elements, wherein each remotely controllable carrier includes eight guide wheels that contact an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

44. The system as claimed in claim 43 , wherein the track element width and the track element length are substantially the same.

45. The system as claimed in claim 43 , wherein each of the plurality of wheel assemblies includes a powered wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

46. The system as claimed in claim 43 , wherein each remotely controllable carrier includes four wheel assemblies.

47. The system as claimed in claim 46 , wherein the guide wheel of each of the four wheel assemblies on the each of the remotely controlled carriers maintains contact with the outside surface of the associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

48. The system as claimed in claim 43 , wherein each of the plurality of wheel assemblies includes at least one associated guide wheel of the eight guide wheels that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

Assignments (2)
MERGER AND CHANGE OF NAME Recorded Feb 1, 2022
From: BERKSHIRE GREY, INC.; BERKSHIRE GREY OPERATING COMPANY, INC.
To: BERKSHIRE GREY OPERATING COMPANY, INC.
Reel/Frame 058947/0548 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 18, 2021
From: WAGNER, THOMAS; AHEARN, KEVIN; AMEND, JOHN RICHARD, JR.; 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
To: BERKSHIRE GREY, INC.
Reel/Frame 058150/0552 →
Continuity (5)
Continuation 16172231 · Oct 26, 2018
Provisional Application 62681409 · Jun 6, 2018
Provisional Application 62641640 · Mar 12, 2018
Provisional Application 62578030 · Oct 27, 2017
Related Publication 20220002078A1 · Jan 6, 2022
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