Granted Patent B2

US 12,282,321 · App. 17/950,786 · Granted Apr 22, 2025

Inventors: Thomas Wagner (Concord, MA); Kevin Ahearn (Nebo, NC); 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.

G05B19/41895B07C3/003B07C5/36B25J9/0093B25J9/1615B65G1/0464B65G1/0478B65G1/065B65G1/1371B65G1/1376B65G1/1378B65G47/82B65G47/905B66F9/063G06Q10/087B65G2201/0258

Abstract

Claims (38)

1. A processing system for processing objects, said processing system comprising:

a perception unit for perceiving identifying indicia representative of an identity of an object of a plurality of objects received at an input station;

an articulated arm having an end effector configured to acquire an object from the plurality of objects at the input station; and

an automated carrier that receives the object from the end effector of the articulated arm and moves over a plurality of track sections that are disposed above a plurality of boxes or packages arranged in an array, wherein the automated carrier includes a door defined in a floor of the automated carrier that opens to drop the object through an opening defined at one of the plurality of track sections into one of the plurality of boxes or packages below prior to returning to the input station.

2. The processing system as claimed in claim 1 , wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.

3. The processing system as claimed in claim 1 , wherein the automated carrier is movable in at least two dimensions over the plurality of track sections.

4. The processing system as claimed in claim 1 , wherein a subset of the plurality of boxes or packages is provided on a pull-out drawer.

5. The processing system as claimed in claim 1 , wherein the processing system further includes an output conveyor onto which the box or package is placed after receiving the object dropped from the automated carrier.

6. The processing system as claimed in claim 1 , wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below.

7. The processing system as claimed in claim 1 , wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.

8. The processing system as claimed in claim 7 , wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the primary conveyor.

9. A processing system for processing objects, said processing system comprising:

a perception unit for perceiving identifying indicia representative of an identity of an object of a plurality of objects received at an input station;

an articulated arm having an end effector configured to acquire an object from the plurality of objects at the input station; and

an automated carrier that receives the object from the end effector of the articulated arm and moves over a plurality of track sections that are disposed above a plurality of boxes or packages arranged on a plurality of pull-out drawers, wherein the automated carrier includes a door defined in a floor of the automated carrier that opens to drop the object through an opening defined at one of the plurality of track sections into one of the plurality of boxes or packages arranged on one of the plurality of pull-out drawers prior to returning to the input station.

10. The processing system as claimed in claim 9 , wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.

11. The processing system as claimed in claim 9 , wherein the automated carrier is movable in at least two dimensions over the plurality of track sections.

12. The processing system as claimed in claim 9 , wherein the plurality of boxes or packages are provided in an array on the plurality of pull-out drawers.

13. The processing system as claimed in claim 9 , wherein the processing system further includes an output conveyor onto which the box or package is placed after receiving the object dropped from the automated carrier.

14. The processing system as claimed in claim 9 , wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below.

15. The processing system as claimed in claim 9 , wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.

16. The processing system as claimed in claim 15 , wherein the processing system is provided as one of a plurality of processing systems that are each in communication with the primary conveyor.

17. A method of processing objects, said method comprising:

receiving a plurality of objects at an input station;

perceiving identifying indicia representative of an identity of a plurality of objects using at least one perception unit at the input station;

acquiring an object from among the plurality of objects at the input station using an end effector of an articulated arm;

dropping the object from the end effector of the articulated arm into an automated carrier;

moving the automated carrier with the object in the automated carrier over a plurality of track sections that are disposed above a plurality of boxes or package arranged in an array;

stopping the automated carrier over one of the plurality of track sections that defines an opening to one of the plurality of boxes or packages below;

dropping the object from the automated carrier into the box or package below the track section by opening a door defined in a floor of the automated carrier; and

returning the automated carrier to the input station.

18. The method as claimed in claim 17 , wherein the input station includes a primary conveyor and an input area conveyor onto which the plurality of objects are diverted from the primary conveyor.

19. The method as claimed in claim 17 , wherein the plurality of objects are provided in a bin that is one of a plurality of bins, each bin including a further plurality of objects.

20. The method as claimed in claim 17 , wherein acquiring the object includes planning a grasp location for the object.

21. The method as claimed in claim 17 , wherein the automated carrier is movable over the plurality of track sections in at least two dimensions.

22. The method as claimed in claim 17 , wherein moving the automated carrier with the object over the plurality of track sections includes moving the automated carrier with the object over the plurality of track sections in each of two mutually orthogonal directions.

23. The method as claimed in claim 17 , wherein a subset of the plurality of boxes or packages are provided on a pull-out drawer.

24. The processing system as claimed in claim 17 , wherein each of the plurality of track sections is a raised square with rounded edges, wherein the plurality of track sections are mounted over a plurality of openings that lead to the plurality of boxes or packages disclosed below.

Assignments (1)

Continuity (4)

References Cited (400)