Granted Patent B2

US 12,679,676 · App. 17/961,493 · Granted Jul 14, 2026

Inventors: Thomas Allen (Reading, MA); Benjamin Cohen (Somerville, MA); John Richard Amend, Jr. (Belmont, MA); Joseph Romano (Arlington, MA); Matthew T. Mason (Pittsburgh, PA); Yanchun Wu (Sharon, MA); Jagtar Singh (Burlington, MA)

Assignee: Berkshire Grey Operating Company, Inc.

B65G67/24B65G43/00G06V20/59

Abstract

Claims (38)

1 . An object processing system for facilitating removal of objects from a trailer of a tractor trailer, said object processing system comprising:

an object obstruction detection system for identifying an obstruction during removal of objects;

a force application system for applying any of a plurality of defined forces to the obstruction;

a perception system for providing perception data regarding movement of the objects including the obstruction;

an assessment system for collecting force feedback information and perception data responsive to the application of force to the obstruction and providing assessment information; and

a control system for providing a removal model for removing the obstruction based on the assessment information, the object processing system adapted to remove the obstruction using the removal model.

2 . The object processing system as claimed in claim 1 , wherein the force application system applies forces in each of three mutually orthogonal directions.

3 . The object processing system as claimed in claim 1 , wherein the force application system applies rotational forces along each of three mutually orthogonal axes.

4 . The object processing system as claimed in claim 1 , wherein the plurality of defined forces applied to the obstruction induce movement of any of the objects to rock the obstruction.

5 . The object processing system as claimed in claim 1 , wherein the control system records data from prior attempts and applies machine learning in providing the removal model.

6 . The object processing system as claimed in claim 1 , wherein the removal model includes information regarding whether an end-effector attached to a programmable motion device should be changed.

7 . The object processing system as claimed in claim 1 , wherein the object processing system further includes a pallet removal system for engaging a pallet and removing the pallet and the subset of the plurality of objects from the trailer.

8 . The object processing system as claimed in claim 7 , wherein the pallet removal system includes pallet lift forks that are mounted on a swing arm under the object processing system.

9 . The object processing system as claimed in claim 1 , wherein the removal model provides a classification of objects to facilitate processing of unknown objects.

10 . The object processing system as claimed in claim 1 , wherein the object processing system further includes a diverting system for diverting certain selected objects responsive to the perception data.

11 . A method of facilitating removal of objects from a trailer of a tractor trailer, said method comprising:

identifying an obstruction during removal of objects within the trailer;

applying any of a plurality of defined forces to the obstruction;

collecting force feedback information and perception data regarding movement of the objects responsive to the application of force to the obstruction and providing assessment information; and

providing a removal model for removing the obstruction based on the assessment information and removing the obstruction using the removal model.

12 . The method as claimed in claim 11 , wherein the force application system applies forces in each of three mutually orthogonal directions.

13 . The method as claimed in claim 11 , wherein the force application system applies rotational forces along each of three mutually orthogonal axes.

14 . The method as claimed in claim 11 , wherein the plurality of defined forces induces movement of any of the objects responsive efforts to rock the obstruction.

15 . The method as claimed in claim 11 , wherein the method further includes recording data from prior attempts and applying machine learning in providing the removal model.

16 . The method as claimed in claim 11 , wherein the removal model includes information regarding whether an end-effector attached to a programmable motion device should be changed.

17 . The method as claimed in claim 11 , wherein the method further includes engaging a pallet within the trailer and removing the pallet from the trailer.

18 . The method as claimed in claim 11 , wherein the removal model provides a classification of objects to facilitate processing of unknown objects.

19 . The method as claimed in claim 11 , wherein the method further includes diverting certain selected objects responsive to the perception data.

20 . An obstruction assessment system for assessing an obstruction within a trailer of a tractor trailer, said obstruction assessment system comprising:

a force application system for applying a plurality of defined forces to an obstruction said plurality of forces including forces with a defined axis wherein the axes are mutually orthogonal;

a perception system for providing perception data regarding movement of the obstruction;

an assessment system for collecting force feedback information and perception data responsive to the application of force to the obstruction and providing assessment information; and

a control system for providing a removal model for removing the obstruction based on the assessment information and to remove the obstruction using the removal model.

21 . The obstruction assessment system as claimed in claim 20 , wherein the force application system applies forces in each of three mutually orthogonal directions.

22 . The obstruction assessment system as claimed in claim 20 , wherein the force application system applies rotational forces along each of three mutually orthogonal axes.

23 . The obstruction assessment system as claimed in claim 20 , wherein the plurality of defined forces applied to the obstruction induces movement to rock the obstruction.

24 . The obstruction assessment system as claimed in claim 20 , wherein the control system records data from prior attempts and applies machine learning in providing the removal model.

25 . The obstruction assessment system as claimed in claim 20 , wherein the removal model includes information regarding whether an end-effector attached to a programmable motion device should be changed.

Assignments (1)

Continuity (3)

References Cited (344)