Granted Patent B2

US 12,474,698 · App. 18/673,630 · Granted Nov 18, 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.

G05B19/41895B07C3/00B07C3/008B25J9/0093B25J9/1615B65G1/0478B65G1/0485B65G1/0492B65G1/1371B65G1/1373B65G1/1376B65G1/1378G05B19/41815G06Q10/087

Abstract

Claims (40)

1 . An object processing system comprising:

an in-feed conveyor for providing a plurality of objects to be processed to an input area;

a perception unit that perceives identifying indicia representative of an identity of an object among the plurality of objects received from the in-feed conveyor;

a programmable motion device including an end effector that acquires the object from among the plurality of objects at the input area and deposits the object into an identified processing bin of a plurality of processing bins, the identified processing bin being associated with the identifying indicia;

a plurality of automated mobile carriers, each of which is adapted to receive one of each of the plurality of processing bins, the automated mobile carriers being adapted for movement about a two dimensional array that includes track indicia that is perceived by at least one sensor on an underside of each automated mobile carrier, each automated mobile carrier being adapted for movement in two mutually orthogonal directions for bringing the plurality of processing bins to and from the programmable motion device; and

a control system that maintains a manifest in communication with a warehouse management system, wherein the manifest provides outbound destinations for each object via the plurality of processing bins on the plurality of automated mobile carriers.

2 . The object processing system of claim 1 , wherein the plurality of objects on the in-feed conveyor are provided among a plurality of input bins.

3 . The object processing system of claim 1 , wherein assignment of the identified processing bin is dynamically assigned.

4 . The object processing system of claim 1 , wherein the perception unit and the programmable motion device are provided at a processing station, and wherein the object processing system includes a plurality of processing stations, each of which is in communication with the in-feed conveyor.

5 . The object processing system of claim 1 , wherein each of the automated mobile carriers includes four wheels that permit each automated mobile carrier to move in the two mutually orthogonal directions.

6 . The object processing system of claim 1 , wherein each of the automated mobile carriers includes a plurality of sensors on the underside thereof.

7 . The object processing system of claim 6 , wherein each of the automated mobile carriers further includes at least one illumination source on an underside thereof.

8 . The object processing system of claim 7 , wherein the at least one illumination source illuminates the track indicia of the two dimensional array.

9 . An object processing system comprising:

an in-feed conveyor for providing a plurality of objects to be processed to an input area;

a perception unit that perceives identifying indicia representative of an identity of an object among the plurality of objects received from the in-feed conveyor;

a programmable motion device including an end effector that acquires the object from among the plurality of objects at the input area and deposits the object into an identified processing bin of a plurality of processing bins, the identified processing bin being associated with the identifying indicia;

a plurality of automated mobile carriers, each of which is adapted to receive one of each of the plurality of processing bins, the automated mobile carriers being adapted for movement in two mutually orthogonal directions for bringing the plurality of processing bins to and from the programmable motion device, each of the automated mobile carriers including at least one sensor on an underside thereof for perceiving location indicia under each respective automated mobile carrier; and

a control system that maintains a manifest in communication with a warehouse management system, wherein the manifest provides outbound destinations for each object via the plurality of processing bins on the plurality of automated mobile carriers.

10 . The object processing system of claim 9 , wherein the plurality of objects on the in-feed conveyor are provided among a plurality of input bins.

11 . The object processing system of claim 9 , wherein assignment of the identified processing bin is dynamically assigned.

12 . The object processing system of claim 9 , wherein the perception unit and the programmable motion device are provided at a processing station, and wherein the object processing system includes a plurality of processing stations, each of which is in communication with the in-feed conveyor.

13 . The object processing system of claim 9 , wherein each of the automated mobile carriers includes four wheels that permit each automated mobile carrier to move in the two mutually orthogonal directions.

14 . The object processing system of claim 9 , wherein each of the automated mobile carriers includes a plurality of sensors on the underside thereof.

15 . The object processing system of claim 14 , wherein each of the automated mobile carriers further includes at least one illumination source on an underside thereof.

16 . The object processing system of claim 15 , wherein the at least one illumination source illuminates the location indicia of a two dimensional array.

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

receiving a plurality of objects on an in-feed conveyor;

perceiving identifying indicia representative of an identity of an object among the plurality of objects received on the in-feed conveyor;

identifying one of a plurality of processing bins associated with the identifying indicia to receive the object;

moving an automated mobile carrier of a plurality of automated mobile carriers that carries the identified processing bin for movement along a first path in two mutually orthogonal directions, each of the automated mobile carriers including at least one sensor on an underside thereof for perceiving location indicia under each respective automated mobile carrier;

acquiring the object from the plurality of objects at an input area of a processing station using an end effector of a programmable motion device;

depositing the object into the identified processing bin using the end effector of the programmable motion device; and

moving the automated mobile carrier along a second path in the at least two mutually orthogonal directions away from the processing station to carry the identified processing bin to an output processing station.

18 . The method of claim 17 , wherein the plurality of objects on the in-feed conveyor are provided among a plurality of input bins.

19 . The method of claim 17 , wherein assignment of the identified processing bin is dynamically assigned.

20 . The method of claim 17 , wherein each of the automated mobile carriers includes four wheels that permit each automated mobile carrier to move in the two mutually orthogonal directions.

21 . The method of claim 17 , wherein each of the automated mobile carriers includes a plurality of sensors on the underside thereof.

22 . The method of claim 17 , wherein each of the automated mobile carriers further includes at least one illumination source on an underside thereof.

23 . The method of claim 22 , wherein the at least one illumination source illuminates the location indicia of a two dimensional array.

Assignments (1)

Continuity (5)

References Cited (400)