A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes an end effector that is coupled via a dynamic coupling to the programmable motion system, wherein the dynamic coupling provides that at least a portion of the end effector may spin with respect to an other portion of the end effector.
F16C 19/18 - Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls
F16C 19/36 - Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
2.
BIN INFEED AND REMOVAL SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING MOBILE MATRIX CARRIER SYSTEMS
A bin exchange system is disclosed that includes a plurality of automated carriers, each of which is adapted to be remotely movable on an array of track sections, at least one input station by which bins may be introduced to the array of track sections, at least one processing station in communication with the array of track sections wherein objects may be moved between bins, and at least one output station by which bins may be removed from the array of track sections.
A semi-autonomous processing system for processing objects is disclosed. The semi-autonomous processing system includes an input conveyance system for moving objects to a presentation area, a perception system including perception units that are directed toward a detection area for providing perception data regarding an object in the presentation area, at least two transport systems, each of which is adapted to receive the object and move the object in either of reciprocal directions, and a manual workstation area between the perception area the at least two transport systems.
In an induction system for use with an object processing system, a distribution system is disclosed for providing dissimilar objects into one of a plurality of receiving units. The distribution system includes a conveyor section that travels over a vacuum roller, and the plurality of receiving units arranged generally below the vacuum roller such that an object with a mass will fall toward one of the plurality of receiving units based on both the object's mass and a vacuum force applied to the object through the conveyor section.
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
5.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING MOBILE MATRIX CARRIER SYSTEMS
A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins is in communication with a bin conveyance system for moving selected storage bins to a storage bin processing location, a programmable motion device in communication with the bin processing location for receiving a selected storage bin from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and a plurality of destination bins in communication with the bin conveyance system for moving a selected destination bin from a destination bin processing location that is proximate the programmable motion device to the plurality of destination bins.
A distribution system for use in an induction system with an object processing system. The distribution system provides dissimilar objects into one of a plurality of receiving units. The distribution system includes an air intake system with an opening that is a fixed distance from a conveyor section, said air intake system aiding in moving an object on the conveyor section from the conveyor section to one of a plurality of adjacent transport units.
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B07C 5/34 - Sorting according to other particular properties
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
7.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING SPACE EFFICIENT DISTRIBUTION STATIONS AND AUTOMATED OUTPUT PROCESSING
A space efficient automated processing system for processing objects is disclosed. The processing system includes an input conveyance system for moving objects from an input area in at least an input conveyance vector that includes an input conveyance horizontal direction component and an input conveyance vertical direction component, a perception system for receiving objects from the input conveyance system and for providing perception data regarding an object, a primary transport system for receiving the object from the perception system and for providing transport of the object along at least a primary transport vector including an primary transport horizontal component and a primary transport vertical component that is generally opposite the input conveyance horizontal direction component, and at least two secondary transport systems, each of which receives the object from the primary transport system and moves the object in either of reciprocal directions.
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B07C 5/34 - Sorting according to other particular properties
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
8.
SYSTEMS AND METHODS FOR DYNAMIC SORTATION OF OBJECTS
An automated shuttle sorter is disclosed that includes a carriage that is movable from a load position at which the carriage may be loaded, and at least two destination locations into which any contents of the carriage may be provided from the carriage.
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B07C 3/08 - Apparatus characterised by the means used for distribution using arrangements of conveyors
B65G 47/96 - Devices for tilting links or platforms
B07C 5/34 - Sorting according to other particular properties
B07C 3/00 - Sorting of mail or documents according to destination
B07C 3/02 - Apparatus characterised by the means used for distribution
B07C 3/14 - Apparatus characterised by the means used for detection of the destination using light-responsive detecting means
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
9.
SYSTEMS AND METHODS FOR PROVIDING DYNAMIC COMMUNICATIVE LIGHTING IN A ROBOTIC ENVIRONMENT
A robotic system is disclosed that includes an articulated arm with an end effector. The robotic system is for use in a robotic environment requiring interaction with persons in the robotic environment, and includes a plurality of lights that are illuminated responsive to known near-future movements of the articulated arm to convey the known near-future movements of the articulated arm to the persons in the robot environment.
G08B 5/36 - Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electromagnetic transmission using visible light sources
10.
SYSTEMS AND METHODS FOR CAMERA CALIBRATION WITH A FIDUCIAL OF UNKNOWN POSITION ON AN ARTICULATED ARM OF A PROGRAMMABLE MOTION DEVICE
A system is disclosed for providing extrinsic calibration of a camera to a relative working environment of a programmable motion device that includes an end-effector. The system includes a fiducial located at or near the end-effector, at least one camera system for viewing the fiducial as the programmable motion device moves in at least three degrees of freedom, and for capturing a plurality of images containing the fiducial, and a calibration system for analyzing the plurality of images to determine a fiducial location with respect to the camera to permit calibration of the camera with the programmable motion device.
G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
G06T 7/70 - Determining position or orientation of objects or cameras
G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
G06V 10/147 - Optical characteristics of the device performing the acquisition or on the illumination arrangements - Details of sensors, e.g. sensor lenses
11.
SYSTEMS AND METHODS FOR PROVIDING SINGULATION OF OBJECTS FOR PROCESSING
A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be sorted from a source area along a first direction, a detection system for detecting objects at the conveying system, and for selecting certain selected objects for removal from the conveying system, and a removal system for removing the certain selected objects from the conveying system for providing a singulated stream of objects.
B65G 47/49 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers without bodily contact between article or load-carrier and automatic control device
B65G 47/256 - Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles removing incorrectly orientated articles
B65G 47/22 - Devices influencing the relative position or the attitude of articles during transit by conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/44 - Arrangements or applications of hoppers or chutes
B65G 47/82 - Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
B65G 47/90 - Devices for picking-up and depositing articles or materials
12.
SYSTEMS AND METHODS FOR PROVIDING SINGULATION OF OBJECTS FOR PROCESSING USING OBJECT MOVEMENT REDISTRIBUTION
A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be processed from a source area along a first direction, a detection system for detecting objects at the conveying system, and for selecting certain selected objects for redistribution on the conveying system, and a movement redistribution system for redistributing the certain selected objects on the conveying system for providing a singulated stream of objects.
B07C 1/04 - Forming a stream from a bulk; Controlling the stream, e.g. spacing the articles
B65G 47/08 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
B07C 5/02 - Measures preceding sorting, e.g. arranging articles in a stream, orientating
B65G 47/28 - Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B07C 3/00 - Sorting of mail or documents according to destination
B65B 5/12 - Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions
B65B 5/10 - Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
B65B 35/24 - Feeding, e.g. conveying, single articles by endless belts or chains
B65B 35/36 - Arranging and feeding articles in groups by grippers
B65B 35/06 - Separating single articles from loose masses of articles
B65B 57/14 - Automatic control, checking, warning or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
B07C 3/08 - Apparatus characterised by the means used for distribution using arrangements of conveyors
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
13.
SYSTEMS AND METHODS FOR PROVIDING MOBILE SHUTTLE LOAD HANDLING SYSTEMS WITH MOBILE CARRIERS
An object processing system (210) is disclosed that includes an automated mobile shuttle (218) including a mobile chassis for moving the automated mobile shuttle in a first direction, a payload for supporting at least one object thereon, the payload including a plurality of tines, and a payload translation system, and an automated mobile carrier (212) movable in a second direction that is generally orthogonal with respect to the first direction, the automated mobile carrier including a receiving surface (236) for receiving the plurality of tines of the payload, wherein the payload translation system of the automated mobile shuttle is for translating the payload toward the receiving surface of the automated mobile carrier, and the payload translation system provides that the plurality of tines are adapted to engage recessed areas within the receiving surface of the automated mobile carrier.
An object processing system (10) including at least one automated mobile shuttle (14) is disclosed that includes a mobile chassis unit (40) for moving the automated mobile shuttle in a first direction, a payload (50) for supporting at least one object thereon, said payload including a plurality of tines (26), and a payload translation system (52) for translating the payload toward a receiving surface in at least a second direction that is orthogonal with respect to the first direction, the payload translation system providing that the plurality of tines are adapted to engage recessed areas within the receiving surface.
An object processing system including an input area for receiving a plurality of objects to be processed, an output area including a plurality of destination containers for receiving any of the plurality of objects, a programmable motion device proximate the input area and the output area, the programmable motion device including an end-effector for grasping a selected object of the plurality of objects, and a perception system for detecting the unexpected appearance of any of the plurality of objects that is not associated with the end-effector of the programmable motion device.
A control system is disclosed for an item processing system with a programmable motion device, said control system including a parameter estimator for estimating item handling parameters for items for which at least some parameters are known, a parameter explorer for identifying item handling parameters of items for which no parameters are known, and a parameter governor for determining whether to employ the parameter estimator or the parameter explorer in adjusting parameters for the item processing system.
An object processing system including at least one automated mobile shuttle is disclosed that includes a mobile chassis unit for moving the automated mobile shuttle in a first direction, a payload for supporting at least one object thereon, said payload including a plurality of tines, and a payload translation system for translating the payload toward a receiving surface in at least a second direction that is orthogonal with respect to the first direction, the payload translation system providing that the plurality of tines are adapted to engage recessed areas within the receiving surface.
A method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device. The identified processing location is associated with the identifying indicia and the identified processing location is provided as one of a plurality of processing locations along a first direction. The step of moving the acquired object includes moving the programmable motion device along a second direction that is substantially parallel with the first direction.
A control system is disclosed for an item processing system with a programmable motion device, said control system including a parameter estimator for estimating item handling parameters for items for which at least some parameters are known, a parameter explorer for identifying item handling parameters of items for which no parameters are known, and a parameter governor for determining whether to employ the parameter estimator or the parameter explorer in adjusting parameters for the item processing system.
An object processing system is disclosed that includes an automated mobile shuttle including a mobile chassis for moving the automated mobile shuttle in a first direction, a payload for supporting at least one object thereon, the payload including a plurality of tines, and a payload translation system, and an automated mobile carrier movable in a second direction that is generally orthogonal with respect to the first direction, the automated mobile carrier including a receiving surface for receiving the plurality of tines of the payload, wherein the payload translation system of the automated mobile shuttle is for translating the payload toward the receiving surface of the automated mobile carrier, and the payload translation system provides that the plurality of tines are adapted to engage recessed areas within the receiving surface of the automated mobile carrier.
An object processing system including an input area for receiving a plurality of objects to be processed, an output area including a plurality of destination containers for receiving any of the plurality of objects, a programmable motion device proximate the input area and the output area, the programmable motion device including an end-effector for grasping a selected object of the plurality of objects, and a perception system for detecting the unexpected appearance of any of the plurality of objects that is not associated with the end-effector of the programmable motion device.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
22.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS, INCLUDING AUTOMATED RE-CIRCULATING PROCESSING STATIONS
A method of processing objects using a programmable motion device is disclosed. The method includes the steps of providing an input conveyance system by which input bins of objects may be provided to a processing station that includes the programmable motion device that includes an end effector, perceiving at the processing station identifying indicia representative of an identity of a plurality of objects at an input area of the input conveyance system, grasping the an acquired object using the end effector, moving the acquired object toward an identified processing container using the programmable motion device, the identified processing container being associated with the identifying indicia and said identified processing container being provided as one of a plurality of processing containers at the processing station, and providing an output conveyance system in communication with the processing station, by which processing containers that contain processed objects may be provided.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B65D 5/42 - Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper - Details of containers or of foldable or erectable container blanks
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
23.
SYSTEMS AND METHODS FOR PROVIDING CONTACT DETECTION IN AN ARTICULATED ARM
A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.
A distribution system is disclosed for use with an induction system with an object processing system. The distribution system provides distribution of dissimilar objects into one of a plurality of receiving units. The distribution system includes an urging system for urging an object on a conveyor from the conveyor to a chute that includes at least one actuatable door for selectively dropping the object through the at least one actuable door, said chute leading to a first receiving station with a second receiving station being positioned below the at least one actuable door.
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
A processing system is disclosed for processing objects. The processing system includes a perception system for providing perception data regarding an object, and a primary transport system for providing transport of the object along a primary direction toward a processing location that is identified based on the perception data.
B65G 47/49 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers without bodily contact between article or load-carrier and automatic control device
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B65G 47/40 - Devices for discharging articles or materials from conveyors by dumping, tripping, or releasing load-carriers by tilting conveyor buckets
B65G 47/82 - Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
26.
SYSTEMS AND METHODS FOR SORTING OBJECTS TO LARGE NUMBERS OF ORDERS
An order fulfillment system is disclosed in which objects to be collected into orders are provided in output totes. The system includes a primary sortation system that includes a loop conveyance system that moves objects around a closed loop that includes a plurality of primary sortation exits, each of which leads to a location inside the closed loop, and a secondary sortation system that includes a plurality of secondary conveyances, each of which receives an object at one of the plurality of primary sortation exits, and conveys the object to one of a plurality of totes, the plurality of totes being within the closed loop of the primary sortation system.
B65G 15/02 - Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration for conveying in a circular arc
B65G 15/42 - Belts or like endless load-carriers made of rubber or plastics having ribs, ridges, or other surface projections
27.
SYSTEMS AND METHODS FOR PROVIDING PROCESSING OF A VARIETY OF OBJECTS EMPLOYING MOTION PLANNING
A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The processing system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin, wherein the unchanging portion of the trajectory path is chosen to provide a path from the base location to the destination bin location that is consistent with paths taken by other objects.
G05B 19/19 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
28.
SYSTEMS AND METHODS FOR DISTRIBUTING INDUCTION OF OBJECTS TO A PLURALITY OF OBJECT PROCESSING SYSTEMS
An induction system is disclosed for filtering the induction of objects to a plurality of object processing systems. The induction system includes an evaluation means for evaluating at least one characteristic of an object, and routing means for routing the object in one of a plurality of directions responsive to the evaluated characteristic, at least one of the plurality of directions leading to a selected one of the plurality of object processing systems.
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
29.
SYSTEMS AND METHODS FOR SEPARATING OBJECTS USING CONVEYOR TRANSFER WITH ONE OR MORE OBJECT PROCESSING SYSTEMS
A distribution system is disclosed for use in an induction system with an object processing system. The distribution system provides distribution of dissimilar objects into one of a plurality of receiving units. The distribution system includes an urging system for urging an object on a conveyor from the conveyor to one of a plurality of adjacent receiving stations via a receiving chute, wherein each receiving station is lower than the conveyor.
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B07C 5/34 - Sorting according to other particular properties
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
30.
SYSTEMS AND METHODS FOR ACQUIRING AND MOVING OBJECTS HAVING COMPLEX OUTER SURFACES
In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces.
A carrier system is disclosed for use in an object processing system. The carrier system includes a carrier body including a plurality of containment areas for respectively receiving a plurality of objects at a loading station, a motion actuator for moving the carrier body from the loading station to a distribution area, and an ejection actuation system for actuating the carrier body to deposit each of the plurality of objects into different destination locations.
A carrier system is disclosed for use in an object processing system. The carrier system includes a carrier body including a plurality of containment areas for respectively receiving a plurality of objects at a loading station, a motion actuator for moving the carrier body from the loading station to a distribution area, and an ejection actuation system for actuating the carrier body to deposit each of the plurality of objects into different destination locations.
B65G 35/06 - Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
B65G 47/40 - Devices for discharging articles or materials from conveyors by dumping, tripping, or releasing load-carriers by tilting conveyor buckets
33.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS, INCLUDING AUTOMATED RADIAL PROCESSING STATIONS
A method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device, said identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations that are radially spaced from the programmable motion device.
A buffering system is disclosed for use between an upper processing area and a lower processing area, said buffering system comprising a belt and at least one roller around at least a portion of which the belt extends, wherein the belt is anchored at a first anchor location to a frame, and an actuation system for moving the at least one roller with respect to the first anchor location to cause the belt to move such that a portion of the buffering system becomes open thereby providing a retractable belt door.
B65G 21/14 - Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively- movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
A buffering system is disclosed for use between an upper processing area and a lower processing area, said buffering system comprising a belt and at least one roller around at least a portion of which the belt extends, wherein the belt is anchored at a first anchor location to a frame, and an actuation system for moving the at least one roller with respect to the first anchor location to cause the belt to move such that a portion of the buffering system becomes open thereby providing a retractable belt door.
A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm, and a hose coupling an end effector of the programmable motion robotic system to a vacuum source. The hose is attached to at least one arm section of the articulated arm by a pass-through coupling that permits the hose to pass freely through the coupling as the plurality of arm sections are moved about the plurality of joints.
A box handling system is disclosed for use in an object processing system. The box handling system includes a box tray including a recessed area for receiving a box, and the recessed area includes a plurality of floor and edge portions for receiving the box that contains objects to be processed.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B65D 5/42 - Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper - Details of containers or of foldable or erectable container blanks
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
38.
MAINTENANCE SYSTEMS FOR USE IN SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING MOBILE MATRIX CARRIER SYSTEMS
A maintenance system is disclosed for assisting in maintaining an automated carrier system for moving objects to be processed. The maintenance system includes a plurality of automated carriers that are adapted to move on an array of discontinuous standard track sections, each said automated carrier including a carrier body that is no larger in either a length or width direction that a standard track section, and an automated maintenance carrier that is adapted to move on the array of discontinuous track sections, said automated maintenance system including a maintenance body that is larger in at least one of a length or width direction than the standard track section.
An end effector is disclosed for an articulated arm. The end effector includes a valve assembly including a plurality of supply channels, each supply channel including a supply conduit, a pressure sensor in fluid communication with the supply conduit, and a supply conduit plug. The supply conduit is in fluid communication with a vacuum source. During use, each supply conduit is either at vacuum such that the pressure within the supply conduit is substantially at a vacuum pressure, or is at a pressure that is substantially higher than vacuum pressure because the supply conduit plug has moved to block a portion of the supply conduit. The pressure sensor of each supply conduit provides a pressure sensor signal responsive to whether the pressure in the conduit is either substantially at vacuum or is at a pressure that is substantially higher than vacuum.
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, wherein each of the remotely controllable carriers is adapted to support and transport an object processing bin.
An end-effector system is disclosed for use with a programmable motion device. The end-effector system includes an arm attachment portion for attachment to an arm of the programmable motion device, an end-effector attachment portion for attachment to an end-effector for grasping objects, a rotational shaft portion for rotational attachment to the arm attachment portion, said rotational shaft portion being coupled to the end-effector attachment portion at a distal end thereof, and a motor system providing rotation of the rotational shaft portion as well as the end-effector attachment portion with respect to the arm attachment portion.
An end-effector system (30) is disclosed for use with a programmable motion device (12). The end-effector system (30) includes an arm attachment portion (34) for attachment to an arm of the programmable motion device (12), an end-effector attachment portion (30) for attachment to an end-effector (30) for grasping objects (32), a rotational shaft portion (50) for rotational attachment to the arm attachment portion (34), said rotational shaft portion (50) being coupled to the end-effector attachment portion (30) at a distal end thereof, and a motor (42) system providing rotation of the rotational shaft portion (50) as well as the end-effector attachment portion (30) with respect to the arm attachment portion (34).
A processing system for processing objects using a programmable motion device is disclosed. The processing system a perception unit for perceiving identifying indicia representative of an identity of an object associated with an input conveyance system, and an acquisition system for acquiring the object from a plurality of objects at an input area using an end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing location. The identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations. The processing system also includes a delivery system for receiving the object in a carrier and for delivering the object toward the identified processing location.
An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a discontinuous plurality of track sections on which an automated carrier may be directed to move, and the automated carrier includes a base structure on which an object may be supported, and at least two wheels assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier.
G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B65G 1/00 - Storing articles, individually or in orderly arrangement, in warehouses or magazines
B65G 37/00 - Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
B65G 47/90 - Devices for picking-up and depositing articles or materials
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
B07C 5/38 - Collecting or arranging articles in groups
B65G 9/00 - Apparatus for assisting manual handling having suspended load-carriers movable by hand or gravity
B65G 41/02 - Frames mounted on wheels for movement on rail tracks
B65G 47/48 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers
B65G 47/96 - Devices for tilting links or platforms
A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.
A dynamic movement analytics system is disclosed that includes a programmable motion device including an end-effector, and a perception transfer system for receiving an object from the end-effector and for moving the object toward any of a plurality of destination containers. The perception transfer system includes at least one perception system for providing perception data regarding any of weight, shape, pose authority, position authority or identity information regarding the object as it is moved toward the any of the plurality of destination containers.
An object recognition system includes: an image capture system for capturing at least one image of an object, and for providing image data representative of the captured image; a patch identification system in communication with the image capture system for receiving the image data, and for identifying at least one image patch associated with the captured image, each image patch being associated with a potential grasp location on the object, each potential grasp location being described as an area that may be associated with a contact portion of an end effector of a programmable motion device; a feature identification system for capturing at least one feature of each image patch, for accessing feature image data in the database and for providing feature identification data responsive to the image feature comparison data; and an object identification system for providing object identify data responsive to the image feature comparison data.
A dynamic movement analytics system is disclosed that includes a programmable motion device including an end-effector, and a perception transfer system for receiving an object from the end-effector and for moving the object toward a distribution conveyance system moving in a first direction at a first speed. The perception transfer system includes at least one perception system for providing perception data regarding any of weight, shape, pose authority, position authority or identity information regarding the object and for moving the object along the first direction at the first speed for transferring the object to the distribution conveyance system.
A container assembly processing system is disclosed that includes a container lifting assembly for lifting a container vertically from a carrier on a conveyor system.
An object recognition system includes: an image capture system for capturing at least one image of an object, and for providing image data representative of the captured image; a patch identification system in communication with the image capture system for receiving the image data, and for identifying at least one image patch associated with the captured image, each image patch being associated with a potential grasp location on the object, each potential grasp location being described as an area that may be associated with a contact portion of an end effector of a programmable motion device; a feature identification system for capturing at least one feature of each image patch, for accessing feature image data in the database, and for providing feature identification data responsive to the image feature comparison data; and an object identification system for providing object identify data responsive to the image feature comparison data.
G06V 10/46 - Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
G06V 10/75 - Image or video pattern matching; Proximity measures in feature spaces using context analysis; Selection of dictionaries
51.
SYSTEMS AND METHOD FOR PROVIDING DETECTION PROCESSING WITH VELOCITY MATCHING
A dynamic movement analytics system is disclosed that includes a programmable motion device including an end-effector, and a perception transfer system for receiving an object from the end-effector and for moving the object toward a distribution conveyance system moving in a first direction at a first speed. The perception transfer system includes at least one perception system for providing perception data regarding any of weight, shape, pose authority, position authority or identity information regarding the object and for moving the object along the first direction at the first speed for transferring the object to the distribution conveyance system.
A dynamic movement analytics system is disclosed that includes a programmable motion device including an end-effector, and a perception transfer system for receiving an object from the end-effector and for moving the object toward any of a plurality of destination containers. The perception transfer system includes at least one perception system for providing perception data regarding any of weight, shape, pose authority, position authority or identity information regarding the object as it is moved toward the any of the plurality of destination containers.
A dynamic movement analytics system is disclosed that includes a programmable motion device including an end-effector, and a perception transfer system for receiving an object from the end-effector and for moving the object toward any of a plurality of destination containers. The perception transfer system includes at least one perception system for providing perception data regarding any of weight, shape, pose authority, position authority or identity information regarding the object as it is moved toward the any of the plurality of destination containers.
An object processing system (10) is disclosed that includes an object induction station (12) at which objects are provided for processing. The object induction station (12) includes at least one perception unit (30, 32, 34) for providing perception data regarding an object, and an object processing system (14) for receiving objects from the object induction station (12), and for urging an object into a first end of one of a plurality of chute locations (60), each of which including a first end that is accessible by a carrier and a second end that is accessible by a mobile destination container of a plurality of mobile destination containers (70).
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/50 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to destination signals stored in separate systems
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
B65G 1/08 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
55.
AUTOMATED PROCESSING OF CONTAINER ASSEMBLY SYSTEMS AND METHODS
A container assembly processing system is disclosed that includes a container lifting assembly for lifting a container vertically from a carrier on a conveyor system.
An object processing system is disclosed for facilitating removal of objects from a trailer (12) of a tractor trailer. The object processing system includes 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, an assessment system for collecting force feedback information 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.
An object processing system is disclosed for dynamically providing the removal of objects from a trailer (12) of a tractor trailer. The object processing system includes a load assessment system for assessing a load characteristic of a plurality of objects within the trailer and for providing load assessment data representative of the load characteristic, an object assessment system for assessing a relative position and relative environment of an object of the plurality of objects responsive to the load assessment data, and for providing object assessment data for the object, and a dynamic engagement system (10) for dynamically engaging the objects within the trailer with either of at least two different engagement systems (24, 26) responsive to the object assessment data.
A system is disclosed for receiving a plurality of objects from an elevated trailer of a tractor trailer. The system includes a collection conveyor extending between a base end and a coupled end, the coupled end being rotatably coupled to an evacuation conveyor, said collection conveyor including an object facing surface between the base end and the coupled end for receiving the plurality of objects, said collection conveyor being rotatably adjustable with respect to the evacuation conveyor at the coupled end, and both the evacuation conveyor and the coupled end of the collection conveyor being elevationally adjustable.
An object processing system (10) is disclosed for receiving a plurality of objects and providing a shipment assembly of the plurality of objects (10). The object processing system includes an input conveyance system (20; 30) for providing the plurality of objects at a processing station (12; 14), and a programmable motion device (24; 34) for grasping and moving each of the plurality of objects from the input conveyance system (20; 30) to a receiving assembly that includes a floor (26; 36) and at least one wall (28; 38), wherein the floor (26; 36) and wall (28; 38) of the receiving assembly as well as the plurality of objects thereon, are rotatable approximately ninety degrees about a generally horizontal axis to provide the plurality of objects in a shipment assembly collection and orientation.
B65G 57/03 - Stacking of articles by adding to the top of the stack from above
B65G 57/24 - Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers, each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
B65G 57/28 - Stacking of articles by assembling the articles and tilting the assembled articles to a stacked position
60.
SYSTEMS AND METHODS FOR DYNAMIC PROCESSING OF OBJECTS PROVIDED IN VEHICLES WITH DUAL FUNCTION END EFFECTOR TOOLS
An object processing system is disclosed for dynamically providing the removal of objects from a trailer (12) of a tractor trailer. The object processing system includes a load assessment system for assessing a load characteristic of a plurality of objects within the trailer and for providing load assessment data representative of the load characteristic, an object assessment system for assessing a relative position and relative environment of an object of the plurality of objects responsive to the load assessment data, and for providing object assessment data for the object, and a dynamic engagement system (10) for dynamically engaging the objects within the trailer with either of at least two different engagement systems (24, 26) responsive to the object assessment data.
An object processing system is disclosed for facilitating removal of objects from a trailer (12) of a tractor trailer. The object processing system includes 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, an assessment system for collecting force feedback information 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.
An object processing system is disclosed for dynamically providing the removal of objects from a trailer (12) of a tractor trailer. The object processing system includes a load assessment system for assessing a load characteristic of a plurality of objects within the trailer and for providing load assessment data representative of the load characteristic, an object assessment system for assessing a relative position and relative environment of an object of the plurality of objects responsive to the load assessment data, and for providing object assessment data for the object, and a dynamic engagement system (10) for dynamically engaging the objects within the trailer with either of at least two cooperatively operable programmable motion devices (24, 26) responsive to the object assessment data.
A system is disclosed for receiving a plurality of objects from an elevated trailer of a tractor trailer. The system includes a collection conveyor extending between a base end and a coupled end, the coupled end being rotatably coupled to an evacuation conveyor, said collection conveyor including an object facing surface between the base end and the coupled end for receiving the plurality of objects, said collection conveyor being rotatably adjustable with respect to the evacuation conveyor at the coupled end, and both the evacuation conveyor and the coupled end of the collection conveyor being elevationally adjustable.
An object processing system is disclosed that includes an object induction station at which objects are provided for processing. The object induction station includes at least one perception unit for providing perception data regarding an object, and an object processing system for receiving objects from the object induction station, and for urging an object into a first end of one of a plurality of chute location, each of which including a first end that is accessible by the carrier and a second end that is accessible by a mobile destination container of a plurality of mobile destination containers.
B65G 1/127 - Storage devices mechanical with article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the circuit being confined in a vertical plane
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
65.
SYSTEMS AND METHODS FOR DYNAMIC PROCESSING OF OBJECTS PROVIDED IN VEHICLES WITH COOPERATING PROGRAMMABLE MOTION DEVICES
An object processing system is disclosed for dynamically providing the removal of objects from a trailer (12) of a tractor trailer. The object processing system includes a load assessment system for assessing a load characteristic of a plurality of objects within the trailer and for providing load assessment data representative of the load characteristic, an object assessment system for assessing a relative position and relative environment of an object of the plurality of objects responsive to the load assessment data, and for providing object assessment data for the object, and a dynamic engagement system (10) for dynamically engaging the objects within the trailer with either of at least two cooperatively operable programmable motion devices (24, 26) responsive to the object assessment data.
An object processing system is disclosed for dynamically providing the removal of objects from a trailer of a tractor trailer. The object processing system includes a load assessment system for assessing a load characteristic of a plurality of objects within the trailer and for providing load assessment data representative of the load characteristic, an object assessment system for assessing a relative position and relative environment of an object of the plurality of objects responsive to the load assessment data, and for providing object assessment data for the object, and a dynamic engagement system for dynamically engaging the objects within the trailer with either of at least two cooperatively operable programmable motion devices responsive to the object assessment data.
A system is disclosed for receiving a plurality of objects from an elevated trailer of a tractor trailer. The system includes a collection conveyor extending between a base end and a coupled end, the coupled end being rotatably coupled to an evacuation conveyor, said collection conveyor including an object facing surface between the base end and the coupled end for receiving the plurality of objects, said collection conveyor being rotatably adjustable with respect to the evacuation conveyor at the coupled end, and both the evacuation conveyor and the coupled end of the collection conveyor being elevationally adjustable.
B65G 67/30 - Unloading land vehicles using transportable tipping apparatus
B65G 43/08 - Control devices operated by article or material being fed, conveyed, or discharged
B65G 37/00 - Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
B65G 67/40 - Apparatus for tipping wagons or mine cars endwise toward one end only
68.
SYSTEMS AND METHODS FOR DYNAMIC PROCESSING OF OBJECTS PROVIDED IN VEHICLES WITH DUAL FUNCTION END EFFECTOR TOOLS
An object processing system is disclosed for dynamically providing the removal of objects from a trailer of a tractor trailer. The object processing system includes a load assessment system for assessing a load characteristic of a plurality of objects within the trailer and for providing load assessment data representative of the load characteristic, an object assessment system for assessing a relative position and relative environment of an object of the plurality of objects responsive to the load assessment data, and for providing object assessment data for the object, and a dynamic engagement system for dynamically engaging the objects within the trailer with either of at least two different engagement systems responsive to the object assessment data.
An object processing system is disclosed for facilitating removal of objects from a trailer of a tractor trailer. The object processing system includes 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, an assessment system for collecting force feedback information 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.
A vacuum cup is disclosed for use in a programmable motion device. The vacuum cup includes an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of the vacuum cup that generally surrounds the open inlet. The vacuum cup lip includes an inner surface that defines the open outlet through which a vacuum may be provided, and includes noise mitigation features on an outer surface of the vacuum cup lip.
A storage, retrieval and processing system is disclosed for processing objects. The system includes a plurality of bins including objects to be distributed by the processing system, said plurality of bins being provided in at least a partially generally circular arrangement, a programmable motion device that includes an end effector for grasping and moving any of the objects, said programmable motion device being capable of reaching any of the objects within the plurality of bins, and a plurality of destination containers for receiving any of the objects from the plurality of bins, said plurality of destination containers being provided in a region that is generally within the at least partially generally circular arrangement of the plurality of bins.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A distribution system for use in an induction system with an object processing system. The distribution system provides dissimilar objects into one of a plurality of receiving units. The distribution system includes an air intake system with an opening that is a fixed distance from a conveyor section, said air intake system aiding in moving an object on the conveyor section from the conveyor section to one of a plurality of adjacent transport units.
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B07C 5/34 - Sorting according to other particular properties
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/96 - Devices for tilting links or platforms
73.
ROBOTIC SYSTEMS AND METHODS FOR IDENTIFYING AND PROCESSING A VARIETY OF OBJECTS
A robotic system is disclosed that include an articulated arm and a first perception system for inspecting an object, as well as a plurality of additional perception systems, each of which is arranged to be directed toward a common area in which an object may be positioned by the robotic arm such that a plurality of views within the common area may be obtained by the plurality of additional perception systems.
G06K 7/14 - Methods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
G05B 19/12 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using record carriers
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a storage bin system for receiving at a first end thereof, a plurality of storage bins providing storage of a plurality of objects, a retrieval conveyance system at a second end of the storage bin system that is generally opposite the first end of the storage bin system, where the retrieval conveyance system is in communication with the plurality of storage bins, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of storage bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and a destination bin system for receiving the selected object from the end effector of the programmable motion device at first end of the destination bin system, and the destination bin system provides access to the plurality of destination bins at a second end thereof that is generally opposite the first end of the destination bin system.
A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a perception unit for perceiving identifying indicia representative of an identity of a plurality of objects received from an input conveyance system, and an acquisition system for acquiring an object from the plurality of objects at an input area using an end effector of the programmable motion device. The programmable motion device is adapted for assisting in the delivery of the object to an identified processing location. The identified processing location is associated with the identifying indicia and the identified processing location is provided as one of a plurality of processing locations. The system also includes a delivery system for receiving the object in a carrier and for delivering the object toward the identified processing location.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be sorted from a source area along a first direction, a detection system for detecting objects at the conveying system, and for selecting certain selected objects for removal from the conveying system, and a removal system for removing the certain selected objects from the conveying system for providing a singulated stream of objects.
B65G 47/49 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers without bodily contact between article or load-carrier and automatic control device
B65G 47/256 - Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles removing incorrectly orientated articles
B65G 47/22 - Devices influencing the relative position or the attitude of articles during transit by conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/44 - Arrangements or applications of hoppers or chutes
B65G 47/82 - Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
B65G 47/90 - Devices for picking-up and depositing articles or materials
77.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING A ZONE GANTRY SYSTEM
A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. The plurality of storage bins provides storage of a plurality of objects, where the plurality of storage bins are in communication with a gantry retrieval conveyance system for moving selected bins to a bin processing location. The plurality of destination bins are in communication with the gantry retrieval conveyance system for moving a selected destination bin to the processing location. The processing programmable motion device is at the processing location and is in communication with the gantry retrieval conveyance system. The processing programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin and depositing the selected object in the selected destination bin.
In an induction system for use with an object processing system, a distribution system is disclosed for providing dissimilar objects into one of a plurality of receiving units. The distribution system includes a conveyor section that travels over a vacuum roller, and the plurality of receiving units arranged generally below the vacuum roller such that an object with a mass will fall toward one of the plurality of receiving units based on both the object's mass and a vacuum force applied to the object through the conveyor section.
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B65G 47/96 - Devices for tilting links or platforms
79.
SYSTEMS AND METHODS FOR DYNAMIC PROCESSING OF OBJECTS
A method of processing objects is disclosed using a programmable motion device. The method includes the steps of acquiring an object from a plurality of mixed objects at an input area, perceiving identifying indicia in connection with the object, assigning an intermediate station to a destination location for the object responsive to the identifying indicia in connection with the object, and moving the acquired object toward the intermediate station.
B65G 43/08 - Control devices operated by article or material being fed, conveyed, or discharged
B65G 47/34 - Devices for discharging articles or materials from conveyors
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
80.
SYSTEMS AND METHODS FOR ASSISTING IN OBJECT GRASPING FROM CONTAINERS IN OBJECT PROCESSING SYSTEMS
A container jostling system for jostling objects within a container is disclosed, where the container is positioned on a conveyor that includes a plurality of rollers that are mutually spaced from one another. The container jostling system includes at least one container contact element that is movable vertically between at least two rollers of the conveyor, and is movable horizontally in a direction that is substantially parallel with the at least two rollers.
A semi-autonomous processing system for processing objects is disclosed. The semi-autonomous processing system includes an input conveyance system for moving objects to a presentation area, a perception system including perception units that are directed toward a detection area for providing perception data regarding an object in the presentation area, at least two transport systems, each of which is adapted to receive the object and move the object in either of reciprocal directions, and a manual workstation area between the perception area the at least two transport systems.
A container jostling system for jostling objects within a container is disclosed, where the container is positioned on a conveyor that includes a plurality of rollers that are mutually spaced from one another. The container jostling system includes at least one container contact element that is movable vertically between at least two rollers of the conveyor, and is movable horizontally in a direction that is substantially parallel with the at least two rollers.
B65G 21/20 - Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
B65G 27/12 - Applications of devices for generating or transmitting jigging movements of shaking devices, i.e. devices for producing movements of low frequency and large amplitude
B65G 27/32 - Applications of devices for generating or transmitting jigging movements with means for controlling direction, frequency, or amplitude of vibration or shaking movement
B65G 43/08 - Control devices operated by article or material being fed, conveyed, or discharged
83.
SYSTEMS AND METHODS FOR ASSISTING IN OBJECT GRASPING FROM CONTAINERS IN OBJECT PROCESSING SYSTEMS
A container jostling system for jostling objects within a container is disclosed, where the container is positioned on a conveyor that includes a plurality of rollers that are mutually spaced from one another. The container jostling system includes at least one container contact element that is movable vertically between at least two rollers of the conveyor, and is movable horizontally in a direction that is substantially parallel with the at least two rollers.
B65G 27/12 - Applications of devices for generating or transmitting jigging movements of shaking devices, i.e. devices for producing movements of low frequency and large amplitude
B65G 27/32 - Applications of devices for generating or transmitting jigging movements with means for controlling direction, frequency, or amplitude of vibration or shaking movement
B65G 43/08 - Control devices operated by article or material being fed, conveyed, or discharged
B65G 21/20 - Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
84.
SYSTEMS AND METHOD FOR OPERATOR INDUCED OBJECT PROCESSING
An operator inducted object processing system is disclosed that includes an object induction station at which objects are provided for processing, said object induction station including at least one perception unit for providing perception data regarding an object, an object processing system for receiving objects from the object induction station, said object processing system including a carrier configured for movement in a first generally horizontal direction between two mutually opposing arrays of destination locations, each of which extends along the first generally horizontal direction, and the carrier also being configured for movement in a second generally vertical direction between the two mutually opposing arrays of destination locations, each of which also extends along the second generally vertical direction, wherein the movement in the first generally horizontal direction is independent of the movement in the second generally vertical direction, and wherein the carrier is further configured for movement in mutually opposing third directions that are generally orthogonal to the first and second directions, for urging an object thereon into a first end of an adjacent selected destination location, each of the destination locations including a first end that is accessible by the carrier, and a plurality of object collection stations, each of which is associated with a second end of each of the destination locations.
An operator inducted object processing system is disclosed that includes an object induction station at which objects are provided for processing, said object induction station including at least one perception unit for providing perception data regarding an object, an object processing system for receiving objects from the object induction station, said object processing system including a carrier configured for movement in a first generally horizontal direction between two mutually opposing arrays of destination locations, each of which extends along the first generally horizontal direction, and the carrier also being configured for movement in a second generally vertical direction between the two mutually opposing arrays of destination locations, each of which also extends along the second generally vertical direction, wherein the movement in the first generally horizontal direction is independent of the movement in the second generally vertical direction, and wherein the carrier is further configured for movement in mutually opposing third directions that are generally orthogonal to the first and second directions, for urging an object thereon into a first end of an adjacent selected destination location, each of the destination locations including a first end that is accessible by the carrier, and a plurality of object collection stations, each of which is associated with a second end of each of the destination locations.
An operator inducted object processing system is disclosed that includes an object induction station at which objects are provided for processing, said object induction station including at least one perception unit for providing perception data regarding an object, an object processing system for receiving objects from the object induction station, said object processing system including a carrier configured for movement in a first generally horizontal direction between two mutually opposing arrays of destination locations, each of which extends along the first generally horizontal direction, and the carrier also being configured for movement in a second generally vertical direction between the two mutually opposing arrays of destination locations, each of which also extends along the second generally vertical direction, wherein the movement in the first generally horizontal direction is independent of the movement in the second generally vertical direction, and wherein the carrier is further configured for movement in mutually opposing third directions that are generally orthogonal to the first and second directions, for urging an object thereon into a first end of an adjacent selected destination location, each of the destination locations including a first end that is accessible by the carrier, and a plurality of object collection stations, each of which is associated with a second end of each of the destination locations.
A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a plurality of supply bins providing supply of a plurality of objects, with the plurality of supply bins being provided with a bin conveyance system, a programmable motion device in communication with the bin conveyance system, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected supply bin, and a movable carriage for receiving the selected object from the end effector of the programmable motion device, and for carrying the selected object to one of a plurality of destination containers.
A sortation system is disclosed that includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
A system including a programmable motion device and an end effector for grasping objects to be moved by the programmable motion device is disclosed. The system includes a vacuum source that provides a high flow vacuum such that an object may be grasped at an end effector opening while permitting a substantial flow of air through the opening, and a dead-head limitation system for limiting any effects of dead-heading on the vacuum source in the event that a flow of air to the vacuum source is interrupted.
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
B66C 1/02 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles by suction means
90.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS, INCLUDING AUTOMATED MOBILE MATRIX BINS
A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a perception unit for perceiving identifying indicia representative of an identity of a plurality of objects received from an input conveyance system, an acquisition system for acquiring an object from the plurality of objects at an input area using an end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing bin, and the identified processing bin is associated with the identifying indicia and said identified processing location is provided as one of a plurality of processing bins, and a delivery system for bringing the identified processing bin toward the object, where the delivery system includes a carrier for carrying the identified processing bin toward the object.
H04B 7/08 - Diversity systems; Multi-antenna systems, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
H04B 7/06 - Diversity systems; Multi-antenna systems, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
91.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING PAYLOAD POSITIONABLE MOBILE CARRIERS AND PROCESSING SYSTEMS FOR SEQUENCING DELIVERY OF OBJECTS
A method is disclosed of providing processing of a plurality of objects, the method comprising providing a plurality of containers from an input conveyance system to a plurality of container input stations, actuating a plurality of remotely actuatable carriers to move the containers from the plurality of input stations to a plurality of container support structures, as well as to any of a plurality of programmable motion devices for moving objects between containers; scheduling movement of the containers to and from the plurality of programmable motion devices; and providing a completed subset of the plurality of containers to an output conveyance system.
A method of providing transfer between a remotely actuatable carrier and a container support structure is disclosed, the method including providing a remotely actuatable carrier including a plurality of support ridges proximate the support structure and providing sensor output information regarding alignment of the remotely actuatable carrier and the container support structure, the container support structure including a plurality of support structure protrusions; and passing the plurality of support ridges of the remotely actuatable carrier between the plurality of support structure protrusions responsive to the sensor output information.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/90 - Devices for picking-up and depositing articles or materials
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
93.
Systems and methods for processing objects including mobile matrix carrier systems
A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins is in communication with a bin conveyance system for moving selected storage bins to a storage bin processing location, a programmable motion device in communication with the bin processing location for receiving a selected storage bin from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and a plurality of destination bins in communication with the bin conveyance system for moving a selected destination bin from a destination bin processing location that is proximate the programmable motion device to the plurality of destination bins.
An object processing system is disclosed that includes a plurality of remotely actuatable carriers for controlled movement in least two mutually orthogonal directions, each carrier including a base and a payload portion for receiving a container, each the payload portion being adapted to move in an elevational direction and a rotational direction about a rotational axis that is substantially parallel with the elevational direction.
A method is disclosed of providing processing of a plurality of objects. the method comprising providing a plurality of containers from an input conveyance system to a plurality of container input stations, actuating a plurality of remotely actuatable carriers to move the containers from the plurality of input stations to a plurality of container support structures, as well as to any of a plurality of programmable motion devices for moving objects between containers; scheduling movement of the containers to and from the plurality of programmable motion devices; and providing a completed subset of the plurality of containers to an output conveyance system.
An object processing system is disclosed that includes a plurality of remotely actuatable carriers for controlled movement in least two mutually orthogonal directions, each carrier including a base and a payload portion for receiving a container, each the payload portion being adapted to move in an elevational direction and a rotational direction about a rotational axis that is substantially parallel with the elevational direction.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
97.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING PAYLOAD POSITIONABLE MOBILE CARRIERS AND PROCESSING SYSTEMS FOR SEQUENCING DELIVERY OF OBJECTS
A method is disclosed of providing processing of a plurality of objects, the method comprising providing a plurality of containers from an input conveyance system to a plurality of container input stations, actuating a plurality of remotely actuatable carriers to move the containers from the plurality of input stations to a plurality of container support structures, as well as to any of a plurality of programmable motion devices for moving objects between containers; scheduling movement of the containers to and from the plurality of programmable motion devices; and providing a completed subset of the plurality of containers to an output conveyance system.
An object processing system is disclosed that includes a plurality of remotely actuatable carriers for controlled movement in least two mutually orthogonal directions, each carrier including a base and a payload portion for receiving a container, each the payload portion being adapted to move in an elevational direction and a rotational direction about a rotational axis that is substantially parallel with the elevational direction.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
99.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING PAYLOAD POSITIONABLE MOBILE CARRIERS AND INTERMEDIATE PROCESSING SYSTEMS
A method of providing transfer between a remotely actuatable carrier and a container support structure is disclosed, the method including providing a remotely actuatable carrier including a plurality of support ridges proximate the support structure and providing sensor output information regarding alignment of the remotely actuatable carrier and the container support structure, the container support structure including a plurality of support structure protrusions; and passing the plurality of support ridges of the remotely actuatable carrier between the plurality of support structure protrusions responsive to the sensor output information.
A system for object processing is disclosed. The system includes a framework of processes that enable reliable deployment of artificial intelligence-based policies in a warehouse setting to improve the speed, reliability, and accuracy of the system. The system harnesses a vast number of picks to provide data points to machine learning techniques. These machine learning techniques use the data to refine or reinforce in-use policies to optimize the speed and successful transfer of objects within the system. For example, objects in the system are identified at a supply location, a predetermined set of information regarding object is retrieved and combined with a set of object information and processing parameters determined by the system. The combined information is then used to determine routing of the object according to an initial policy. This policy is then observed, altered, tested, and re-implemented in an altered form.
