IP Library › Granted Patent US 12,434,270
Granted Patent B2
US 12,434,270 · App. 18/592,751 · Granted Oct 7, 2025

Systems and methods for providing for the processing of objects in vehicles

Inventors: Thomas Wagner (Concord, MA); Kevin Ahearn (Nebo, NC); Benjamin Cohen (White Plains, NY); Michael Dawson-Haggerty (Pittsburgh, PA); Christopher Geyer (Arlington, MA); Thomas Koletschka (Somerville, MA); Kyle Maroney (Saunderstown, RI); Matthew T. Mason (Atlanta, GA); Gene Temple Price (Somerville, MA); Joseph Romano (Arlington, MA); Daniel Carlton Smith (Wexford, PA); Siddhartha Srinivasa (Seattle, WA); Prasanna Velagapudi (Pittsburgh, PA); Thomas Allen (Reading, MA)
Assignee: Berkshire Grey Operating Company, Inc.
B07C5/362B07C3/02B07C5/02B07C5/3412B07C5/38B25J9/0018B25J9/1679B60P3/007B65G1/1378
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Quick Facts
Patent No.
US 12,434,270
App. No.
18/592,751
Granted
Oct 7, 2025
Kind
B2
Abstract

An object processing system within a trailer for a tractor trailer is disclosed. The object processing system includes an input area of the trailer at which objects to be processed may be presented, a perception system for providing perception data regarding objects to be processed, and a primary transport system for providing transport of each object in one of at least two primary transport directions within the trailer based on the perception data.

Claims (157)

1. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer, said object intake area being provided at a rear of the trailer;

a singulation system for singulating the plurality of objects and providing a singulated stream of objects;

a perception system providing perception data regarding each object of the singulated stream of objects;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions; and

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object,

wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

2. The object processing system as claimed in claim 1 , wherein the object processing system further includes an elevation system for elevating the plurality of objects to an elevated level, and wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects.

3. The object processing system as claimed in claim 2 , wherein the elevation system includes a cleated conveyor for drawing the plurality of objects from the object intake area, which facilitates providing the singulated stream of objects.

4. The object processing system as claimed in claim 1 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

5. The object processing system as claimed in claim 1 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

6. The object processing system as claimed in claim 5 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

7. The object processing system as claimed in claim 1 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

8. The object processing system as claimed in claim 1 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

9. The object processing system as claimed in claim 1 , wherein the object processing system further includes an unsorted collection bin that is accessible from outside the trailer.

10. The object processing system as claimed in claim 1 , wherein each of the plurality of output areas includes a bagging station.

11. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer;

an elevation system for elevating the plurality of objects to an elevated level;

a singulation system for singulating the plurality of objects at the elevated level and for providing a singulated stream of objects;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions; and

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object,

wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

12. The object processing system as claimed in claim 11 , wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects.

13. The object processing system as claimed in claim 11 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

14. The object processing system as claimed in claim 11 , wherein the elevation system includes a cleated conveyor for drawing the plurality of objects from the object intake area, which facilitates providing the singulated stream of objects.

15. The object processing system as claimed in claim 11 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

16. The object processing system as claimed in claim 15 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

17. The object processing system as claimed in claim 11 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

18. The object processing system as claimed in claim 11 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

19. The object processing system as claimed in claim 11 , wherein the object processing system further includes an unsorted collection bin that is accessible from outside the trailer.

20. The object processing system as claimed in claim 11 , wherein each of the plurality of output areas includes a bagging station.

21. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer;

a singulation system for singulating the plurality of objects and providing a singulated stream of objects;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions; and

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object, the plurality of output areas being accessible from outside the trailer in any of a plurality of sides of the trailer.

22. The object processing system as claimed in claim 21 , wherein the object processing system further includes an elevation system for elevating the plurality of objects to an elevated level, and wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects.

23. The object processing system as claimed in claim 22 , wherein the elevation includes a cleated conveyor for drawing the plurality of objects from the object intake area, which facilitates providing the singulated stream of objects.

24. The object processing system as claimed in claim 21 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

25. The object processing system as claimed in claim 21 , wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

26. The object processing system as claimed in claim 21 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

27. The object processing system as claimed in claim 26 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

28. The object processing system as claimed in claim 21 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

29. The object processing system as claimed in claim 21 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

30. The object processing system as claimed in claim 21 , wherein the object processing system further includes an unsorted collection bin that is accessible from outside the trailer.

31. The object processing system as claimed in claim 21 , wherein each of the plurality of output areas includes a bagging station.

32. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer, said object intake area being provided at a rear of the trailer;

a singulation system for singulating the plurality of objects and providing a singulated stream of objects, wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects;

an elevation system including a cleated conveyor for drawing the plurality of objects from the object intake area and elevating the plurality of objects to the singulation system at an elevated level;

a perception system providing perception data regarding each object of the singulated stream of objects;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions; and

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object.

33. The object processing system as claimed in claim 32 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

34. The object processing system as claimed in claim 32 , wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

35. The object processing system as claimed in claim 32 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

36. The object processing system as claimed in claim 35 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

37. The object processing system as claimed in claim 32 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

38. The object processing system as claimed in claim 32 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

39. The object processing system as claimed in claim 32 , wherein the object processing system further includes an unsorted collection bin that is accessible from outside the trailer.

40. The object processing system as claimed in claim 32 , wherein each of the plurality of output areas includes a bagging station.

41. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer, said object intake area being provided at a rear of the trailer;

a singulation system for singulating the plurality of objects and providing a singulated stream of objects;

a perception system providing perception data regarding each object of the singulated stream of objects;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions;

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object; and

an unsorted collection bin that is accessible from outside the trailer.

42. The object processing system as claimed in claim 41 , wherein the object processing system further includes an elevation system for elevating the plurality of objects to an elevated level, and wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects.

43. The object processing system as claimed in claim 42 , wherein the elevation system includes a cleated conveyor for drawing the plurality of objects from the object intake area, which facilitates providing the singulated stream of objects.

44. The object processing system as claimed in claim 41 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

45. The object processing system as claimed in claim 41 , wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

46. The object processing system as claimed in claim 41 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

47. The object processing system as claimed in claim 46 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

48. The object processing system as claimed in claim 41 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

49. The object processing system as claimed in claim 41 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

50. The object processing system as claimed in claim 41 , wherein each of the plurality of output areas includes a bagging station.

51. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer, said object intake area being provided at a rear of the trailer;

a singulation system for singulating the plurality of objects and providing a singulated stream of objects;

a perception system providing perception data regarding each object of the singulated stream of objects;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions; and

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object, and wherein each of the plurality of output areas includes a bagging station.

52. The object processing system as claimed in claim 51 , wherein the object processing system further includes an elevation system for elevating the plurality of objects to an elevated level, and wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects.

53. The object processing system as claimed in claim 51 , wherein the elevation system includes a cleated conveyor for drawing the plurality of objects from the object intake area, which facilitates providing the singulated stream of objects.

54. The object processing system as claimed in claim 51 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

55. The object processing system as claimed in claim 51 , wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

56. The object processing system as claimed in claim 51 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

57. The object processing system as claimed in claim 56 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

58. The object processing system as claimed in claim 51 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

59. The object processing system as claimed in claim 51 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

60. The object processing system as claimed in claim 51 , wherein the object processing system further includes an unsorted collection bin that is accessible from outside the trailer.

61. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer;

a singulation system for singulating the plurality of objects at the elevated level and for providing a singulated stream of objects;

an elevation system including a cleated conveyor for drawing the plurality of objects from the object intake area and for elevating the plurality of objects to the singulation system at an elevated level;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions; and

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object.

62. The object processing system as claimed in claim 61 , wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects.

63. The object processing system as claimed in claim 61 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

64. The object processing system as claimed in claim 61 , wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

65. The object processing system as claimed in claim 61 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

66. The object processing system as claimed in claim 65 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

67. The object processing system as claimed in claim 61 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

68. The object processing system as claimed in claim 61 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

69. The object processing system as claimed in claim 61 , wherein the object processing system further includes an unsorted collection bin that is accessible from outside the trailer.

70. The object processing system as claimed in claim 61 , wherein each of the plurality of output areas includes a bagging station.

71. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer;

an elevation system for elevating the plurality of objects to an elevated level;

a singulation system for singulating the plurality of objects at the elevated level and for providing a singulated stream of objects;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions;

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object; and

an unsorted collection bin that is accessible from outside the trailer.

72. The object processing system as claimed in claim 71 , wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects.

73. The object processing system as claimed in claim 71 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

74. The object processing system as claimed in claim 71 , wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

75. The object processing system as claimed in claim 71 , wherein the elevation system includes a cleated conveyor for drawing the plurality of objects from the object intake area, which facilitates providing the singulated stream of objects.

76. The object processing system as claimed in claim 71 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

77. The object processing system as claimed in claim 76 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

78. The object processing system as claimed in claim 71 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

79. The object processing system as claimed in claim 71 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

80. The object processing system as claimed in claim 71 , wherein each of the plurality of output areas includes a bagging station.

81. An object processing system within a trailer for a tractor trailer, said object processing system comprising:

an object intake area at which a plurality of objects are received in a non-ordered fashion within the trailer;

an elevation system for elevating the plurality of objects to an elevated level;

a singulation system for singulating the plurality of objects at the elevated level and for providing a singulated stream of objects;

a first conveyance system for receiving each object of the singulated stream of objects dropped onto the first conveyance system, said first conveyance system for moving each object in a first horizontal direction;

a plurality of second conveyance systems for receiving each object of the singulated stream of objects from the first conveyance system dropped onto any of the plurality of second conveyance systems, each of the plurality of second conveyance systems for moving each object in any of a plurality of second horizontal directions,

a plurality of third conveyance systems for receiving any of the singulated stream of objects from any of the second conveyance systems dropped onto any of the plurality of third conveyance systems, each of the third conveyance systems for moving each object in any of a plurality of third horizontal directions; and

a plurality of output areas for receiving each object of the singulated stream of objects from any of the third conveyance systems dropped into any of the plurality of output areas, each object of the singulated stream of objects being directed to one of the plurality of output areas responsive to the perception data associated with each object, wherein each of the plurality of output areas includes a bagging station.

82. The object processing system as claimed in claim 81 , wherein the singulation system singulates the plurality of objects by removing objects to provide the singulated stream of objects.

83. The object processing system as claimed in claim 81 , wherein the singulation system includes using an articulated arm to select objects to be provided to the perception system.

84. The object processing system as claimed in claim 81 , wherein the plurality of output areas are accessible from outside the trailer in any of a plurality of sides of the trailer.

85. The object processing system as claimed in claim 81 , wherein the elevation system includes a cleated conveyor for drawing the plurality of objects from the object intake area, which facilitates providing the singulated stream of objects.

86. The object processing system as claimed in claim 81 , wherein the plurality of second conveyance systems each includes a plurality of reciprocating carriages.

87. The object processing system as claimed in claim 86 , wherein each of the plurality of reciprocating carriages are tipped to discharge any contents therein.

88. The object processing system as claimed in claim 81 , wherein the plurality of second horizontal directions are each orthogonal to the first horizontal direction.

89. The object processing system as claimed in claim 81 , wherein the plurality of third horizontal directions are each orthogonal to the first horizontal direction.

90. The object processing system as claimed in claim 81 , wherein the object processing system further includes an unsorted collection bin that is accessible from outside the trailer.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Apr 4, 2024
From: WAGNER, THOMAS; AHEARN, KEVIN; COHEN, BENJAMIN; DAWSON-HAGGERTY, MICHAEL; GEYER, CHRISTOPHER; KOLETSCHKA, THOMAS; MARONEY, KYLE; MASON, MATTHEW T.; PRICE, GENE TEMPLE; ROMANO, JOSEPH; SMITH, DANIEL CARLTON; SRINIVASA, SIDDHARTHA; VELAGAPUDI, PRASANNA; ALLEN, THOMAS
To: BERKSHIRE GREY OPERATING COMPANY, INC.
Reel/Frame 067011/0309 →
Continuity (5)
Continuation 17837173 · Jun 10, 2022
Continuation 17086645 · Nov 2, 2020
Continuation 15833194 · Dec 6, 2017
Provisional Application 62430664 · Dec 6, 2016
Related Publication 20240269711A1 · Aug 15, 2024
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