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 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.
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.
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
7.
SYSTEMS AND METHODS FOR PROVIDING AN OPERATOR INDUCTED ROBOTIC PUT WALL
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 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
10.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING PAYLOAD POSITIONABLE MOBILE CARRIERS
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
11.
SYSTEMS AND METHODS FOR OBJECT PROCESSING USING GRIPPERS FOR OBJECTS WITH LOW POSE AUTHORITY
An end-effector is disclosed for a programmable motion device. The end effector includes a body that includes a vacuum portion through which a vacuum is applied to an object, and a gripping portion that is adapted to engage the object, the vacuum portion being generally orthogonal to the gripping portion.
An analytics system is disclosed for providing real time analytical data regarding operational characteristics of a plurality of object processing systems that process objects. The analytics system includes a communication system for accessing the warehouse management system and for obtaining object specific data, a data collection system for receiving real time data regarding processing at each of the plurality of object processing systems, each of the plurality of object processing systems including a programmable motion device that is programmed to process objects independent of other of the plurality of processing systems, an integration system for integrating the real time data with the object assignment data, and a graphic display system for displaying the real time data as associated with the assignment data.
An automated packing system is disclosed for placing a plurality of objects into a shipping container. The system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, the supply bin receiving conveyor including sensing unit for determining an extent of advancement of the supply bin in a conveyor direction along the supply bin receiving conveyor, a detection system for detecting a plurality of objects within the supply bin responsive to the position of the supply bin on the receiving conveyor as aligned by the alignment system, an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container, and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station, and for placing the selected object into the shipping container in a selected orientation and pose.
An object induction system is disclosed for assigning handling parameters to an object. The system includes an analysis system, an association system, and an assignment system. The analysis system includes at least one characteristic perception system for providing perception data regarding an object to be processed. The association system includes an object information database and assigns association data to the object responsive to commonality with of any of the characteristic perception data with any of the characteristic recorded data. The assignment system is for assigning programmable motion device handling parameters to the indicia perception data based on the association data, and includes a workflow management system as well as a separate operational controller.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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 47/90 - Devices for picking-up and depositing articles or materials
15.
SYSTEMS AND METHODS FOR AUTOMATED PACKAGING AND PROCESSING FOR SHIPPING WITH CONTAINER ALIGNMENT
An automated packing system is disclosed for placing a plurality of objects into a shipping container. The system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, a destination container location assessment system for positioning a destination container, a detection system for detecting a plurality of objects within the supply bin responsive to the position of the supply bin on the receiving conveyor as aligned by the alignment system, an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container, and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station, and for placing the selected object into the shipping container in a selected orientation.
An automated packing system is disclosed for placing a plurality of objects into a shipping container. The a system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, a placement planning system for determining a packing placement order for the plurality of objects, a detection system for detecting a plurality of objects within the supply bin responsive to the position of the supply bin on the receiving conveyor as aligned by the alignment system, an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container, and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station, and for placing the selected object into the shipping container in a selected orientation.
An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, said body providing an open interior through which a vacuum may be provided to the contact portion, and the body includes at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.
An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface includes at least one aperture through which a vacuum is provided, and the body includes an outer surface that faces away from the open interior. The body provides that when the flow of air drawn by the vacuum source through the at least one aperture is reduced due to the at least one aperture being at least partially blocked, the outer surface of the body engages the object being grasped at least partially within the open interior of the body.
An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.
An end-effector of a programmable motion device is disclosed, Tire end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface is at least partially defining an aperture, and the body includes a flexible portion that permits at least a portion of the contact surface to be drawn at least partially into die open interior of the body when a flow of air drawn by die vacuum source through the aperture is reduced due to the aperture being at least partially blocked.
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
21.
SYSTEMS AND METHODS FOR PROVIDING ORDER FULFILLMENT USING A CONVEYOR TAKEAWAY SYSTEM
A storage, retrieval and processing system for processing objects is disclosed that includes a plurality of bins including objects to be distributed by the storage, retrieval and processing system, the plurality of bins being provided on an input conveyance system, a programmable motion device that includes an end effector for grasping and moving any of the objects, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a destination container responsive to the perception data, the destination container being provided among a plurality of destination containers in a row that are provided as a set on a destination conveyance system.
A storage, retrieval and processing system for processing objects includes: a plurality of bins including objects to be distributed, said plurality of bins being provided on an input conveyance system: a programmable motion device that includes an end effector for grasping and moving any of the objects, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a selected destination container responsive to the perception data, the routing conveyance system including at least one object conveyor for urging the selected object toward the selected destination container m a third direction that is generally orthogonal to the horizontal and vertical directions.
A storage, retrieval and processing system for processing objects is disclosed that includes a plurality of bins including objects to be distributed, the plurality of bins being provided on a conveyance system, a programmable motion device that includes an end effector for grasping and moving any of the objects, the programmable motion device being capable of reaching any of the objects within at least one of the plurality of bins in an input area of the conveyance system, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system including a routing conveyor for receiving the selected object, and for moving the selected object in each of vertical and rotational directions toward a destination container responsive to the perception data.
A storage, retrieval and processing system (10) is disclosed for processing objects. The storage, retrieval and processing system includes a plurality of bins (12) including objects to be distributed, the plurality of bins being provided on a conveyance system (16), a programmable motion device (24) that includes an end effector (28) for grasping and moving any of the objects, the programmable motion device being capable of reaching any of the objects within at least one of the plurality of bins in an input area of the conveyance system, a perception system (15, 26, 50) for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system (20) including a track-mounted shuttle (38) for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a destination container responsive to the perception data.
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.
An end-effector for a programmable motion device is disclosed herein for use with a vacuum source. The end-effector includes a flexible intermediate section including a bellows portion that extends radially outwardly and through which a vacuum is provided. A bellows insert extends into the flexible intermediate section for inhibiting air-flow from entering the bellows portion without inhibiting freedom of movement of the flexible intermediate section.
A wheel (10) is disclosed that includes an inner hub (12), an outer rim (14), and a plurality of resilient elements (16) that exhibit a first spring constant that is the same for all elements, and a second spring constant that is higher than the first spring constant for elements being compressed beyond a threshold deflection.
B60B 9/04 - Wheels of high resiliency using springs in leaf form
B60B 9/26 - Wheels of high resiliency comprising resilient spokes
B60C 7/14 - Non-inflatable or solid tyres characterised by means for increasing resiliency using springs
B60C 7/18 - Non-inflatable or solid tyres characterised by means for increasing resiliency using springs of helical or flat coil form disposed radially relative to wheel axis
28.
SYSTEMS AND METHODS FOR SORTING OBJECTS TO LARGE NUMBERS OF ORDERS
An order fulfillment system (20) is disclosed in which objects (44) to be collected into orders are provided in output totes. The system includes a primary sortation system (42) 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 (72, 76), 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 (42).
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 tlie 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 standardized shipping tray is disclosed for use in an order fulfillment system. The standardized shipping tray includes a bottom panel that includes raised portions that assist to inhibit roiling on an object within along the bottom panel, and at least two flexible side panels that are adapted to fold inward under a force of a wrapping.
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 control system processor identifies one or more restricted areas of movement of the articulated arm based on a movement model of the hose to prevent unwanted forces on the hose, wherein the unwanted forces includes any of a stress, a strain, a bending, a torsion, and a compression on the hose.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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 being attached, in a joint portion of the hose, to at least two adjacent arm sections of the plurality of arm sections mutually attached to a joint of the plurality of joints such that the joint portion of the hose remains substantially outside of any plane defined by motion of the mutually adjacent arm sections when rotated about the joint.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
33.
SYSTEMS AND METHODS FOR CONTROLLING THE DISGORGING OF OBJECTS IN CONTAINERS BY VIBRATORY MOTION
A system is disclosed for controlling the disgorging of objects. Tire system includes a container system including a container for containing objects, rotation means for rotating the container to a disgorgement angle, and movement means for moving at least a portion of the container system in a repetitious manner with a net zero distance of travel of the at least the portion of the container system such that the objects are disgorged from the container at a controlled rate of disgorgement.
A distribution system for use m 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.
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.
B65G 47/74 - Feeding, transfer, or discharging devices of particular kinds or types
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
B65G 47/04 - Devices for feeding articles or materials to conveyors for feeding articles
B65G 47/68 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor and to transfer them in individual layers to more than one conveyor, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
36.
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.
B65G 47/74 - Feeding, transfer, or discharging devices of particular kinds or types
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
B65G 47/04 - Devices for feeding articles or materials to conveyors for feeding articles
B65G 47/68 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor and to transfer them in individual layers to more than one conveyor, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
37.
SYSTEMS AND METHODS FOR SEPARATING OBJECTS USING A VACUUM ROLLER WITH ONE OR MORE OBJECT PROCESSING 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.
A distribution system is disclosed for use m 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 47/74 - Feeding, transfer, or discharging devices of particular kinds or types
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
B65G 47/04 - Devices for feeding articles or materials to conveyors for feeding articles
B65G 47/68 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor and to transfer them in individual layers to more than one conveyor, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
39.
SYSTEMS AND METHODS FOR LIMITING INDUCTION OF OBJECTS TO ONE OR MORE OBJECT PROCESSING SYSTEMS
An induction system for filtering the induction of objects to an object processing system is disclosed. Tire induction system includes an evaluation means for evaluating at least one characteristic of an object, and a routing system 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 the object processing system.
B65G 47/74 - Feeding, transfer, or discharging devices of particular kinds or types
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
B65G 47/04 - Devices for feeding articles or materials to conveyors for feeding articles
B65G 47/68 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor and to transfer them in individual layers to more than one conveyor, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
40.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING SEMI-AUTONOMOUS STATIONS AND AUTOMATED OUTPUT PROCESSING
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 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.
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
A processing system for processing objects is disclosed that includes a plurality' of receiving stations for receiving a plurality of objects, each object being associated with prerecorded daia, and a plurality of processing stations, each of winch is in communication with at least one processing station. Each processing station includes perception means for perceiving data regarding an identity of any of an object or a bin of objects, and capture means for capturing characteristic data regarding an object to provide captured data. Each processing station further includes comparison means for comparing the captured data with the prerecorded data to provide comparison data, and a plurality of distribution stations, each, of which is in communication with at least one processing station for receiving objects from the at least one processing station responsive to the comparison data.
A method of changing a tool on an end effector of a programmable motion device comprises moving an attachment portion of an end effector of the programmable motion device in a continuous motion; moving the attachment portion in a single direction of the continuous motion through an exchange system to remove a first tool from the attachment portion with an exchange system; and continuing to move the attachment portion in the single direction through the exchange system to attach a second tool to the attachment portion.
A sorting system comprises a conveyor for transporting containers with objects, a sensor for detecting identifying indicia representative of an identity of an object associated at an input area and a robot for gripping the object from a plurality of objects in the container at the input area and transferring the object to a carrier of a delivery system. A destination bin is associated with the identifying indicia of the object and the delivery system is provided for receiving the object on the carrier and for delivering the object toward the associated destination bin.
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)
45.
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 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.
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.
A programmable motion system includes a dynamic end effector system. The end effector system includes a plurality of acquisition units at an exchange station within an area accessible by the programmable motion device, and a coupling system for coupling any of the acquisition units to an end effector of the programmable motion device such that any of the acquisition units may be automatically selected from the exchange station and used by the programmable motion device without requiring activation or actuation by the exchange station and without intervention by a human. The coupling system includes a plurality of magnets arranged at a distal end of the end effector, which is configured for insertion into an open metal end of any of the plurality of acquisition unit. The magnets provide magnetic force for securing the open metal end of the acquisition unit to the distal end of the end effector.
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 peimitting 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
B65G 47/91 - Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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
F16K 17/38 - Safety valves; Equalising valves actuated in consequence of extraneous circumstances, e.g. shock, change of position of excessive temperature
G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
49.
SYSTEMS AND METHODS FOR PROVIDING DYNAMIC VACUUM PRESSURE AT AN END EFFECTOR USING A SINGLE VACUUM SOURCE
ABSTRACT 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. Date Recue/Date Received 2021-11-15
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
B65G 47/91 - Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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
50.
DISCONTINUOUS GRID SYSTEM FOR USE IN SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING MOBILE MATRIX CARRIER SYSTEMS
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.
An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a base structure of a carrier on which an object may be supported, and at least two wheels mounted to at least two motors to provide at least two wheel assemblies, the at least two wheel 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.
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 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 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, each of the actuatable carriers being instructed at any time to move a limited number of track section only.
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 for use with a programmable motion device includes a pair of rollers mounted to an end effector support structure, at least one of the pair of rollers being actuable to roll in at least one direction to draw at least a portion of an object to be grasped between mutually opposing surfaces of the pair of rollers.
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.
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
58.
SYSTEMS AND METHODS FOR PROVIDING SINGULATION OF OBJECTS FOR PROCESSING USING OBJECT MOVEMENT REDISTRIBUTION
ABSTRACT 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. Date Recue/Date Received 2021-06-02
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
59.
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.
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
60.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING SPACE EFFICIENT DISTRIBUTION STATIONS AND AUTOMATED OUTPUT PROCESSING
A space efficient automated processing system for processing objects 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 a primary transport horizontal component and a primary transport vertical component that is 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 that are each parallel with the input conveyance horizontal direction component and the primary direction horizontal direction component.
A space efficient automated processing system (10) for processing objects includes an input conveyance system (12, 14, 16) for moving objects from an input area (12) in at least an input conveyance vector (14,16) that includes an input conveyance horizontal direction component (16) and an input conveyance vertical direction component (14), a perception system (20) for receiving objects from the input conveyance system and for providing perception data regarding an object, a primary transport system (26) 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 opposite the input conveyance horizontal direction component, and at least two secondary transport systems (34, 36, 38), each of which receives the object from the primary transport system and moves the object in either of reciprocal directions that are each parallel with the input conveyance horizontal direction component and the primary direction horizontal direction component.
A space efficient automated processing system for processing objects 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 a primary transport horizontal component and a primary transport vertical component that is 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 that are each parallel with the input conveyance horizontal direction component and the primary direction horizontal direction component.
A space efficient automated processing system for processing objects 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 a primary transport horizontal component and a primary transport vertical component that is 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 that are each parallel with the input conveyance horizontal direction component and the primary direction horizontal direction component.
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 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.
ABSTRACT A 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 generally opposite the first end, 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 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 sel ected obj ect at first end of the destin ati on bin system . The destin ati on bin system provi des access to the plurality of destination bins at a second end thereof that is generally opposite the first end of the destination bin system. Date Recue/Date Received 2022-01-17
A storage, retrieval and processing system (10) for processing objects is disclosed. The storage, retrieval and processing system includes a storage section (12) for a plurality of storage bins (14) providing storage of a plurality of objects, where the plurality of storage bins is in communication with a retrieval conveyance system (28), a programmable motion device (18) in communication with the retrieval conveyance system for receiving the storage bins from the plurality of bins, where the programmable motion device includes an end effector (38) for grasping and moving a selected object out of a selected storage bin, and a movable carriage (22) 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 bins (26).
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 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.
A storage, retrieval and processing system (10) for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins (14), a plurality of destination bins (18), and a processing programmable motion device (22). 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 (24) 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 (20). 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.
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 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.
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 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 being in communication with a retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins 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 is adapted for movement of the programmable motion device along a first direction, and a plurality of destination bins that are provided in at least one linear arrangement along the first direction of movement of the programmable motion device.
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.
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.
An object processing system is disclosed for unloading objects from a trailer of a tractor trailer. The object processing system includes an engagement system including a truck entry portion for entering the trailer and for indiscriminately engaging unidentified objects within the trailer, and a conveyance system for conveying objects engaged by the engagement system toward an unloading portion of the trailer.
B65G 65/06 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
An object processing system is disclosed for unloading objects from a trailer of a tractor trailer. The object processing system includes an engagement system including a truck entry portion for entering the trailer and for indiscriminately engaging unidentified objects within the trailer, and a conveyance system for conveying objects engaged by the engagement system toward an unloading portion of the trailer.
B65G 65/06 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
An object processing system within a trailer for a tractor trailer is disclosed. The object processing system includes an input area of the trailer at which objects to be processed may be presented, a perception system for providing perception data regarding objects to be processed, and a primary transport system for providing transport of each object in one of at least two primary transport directions within the trailer based on the perception data.
An object processing system is disclosed for unloading objects from a trailer of a tractor trailer. The object processing system includes an engagement system including a truck entry portion for entering the trailer and for indiscriminately engaging unidentified objects within the trailer, and a conveyance system for conveying objects engaged by the engagement system toward an unloading portion of the trailer.
B65G 65/06 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
AB STRACT An object processing system within a trailer for a tractor trailer is disclosed. The object processing system includes an input area of the trailer at which objects to be processed may be presented, a perception system for providing perception data regarding objects to be processed, and a primary transport system for providing transport of each object in one of at least two primary transport directions within the trailer based on the perception data. Date Recue/Date Received 2021-06-04
An object processing system is disclosed for unloading objects from a trailer of a tractor trailer. The object processing system includes an engagement system including a truck entry portion for entering the trailer and for indiscriminately engaging unidentified objects within the trailer, and a conveyance system for conveying objects engaged by the engagement system toward an unloading portion of the trailer.
B65G 65/06 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
B60P 1/00 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
An object processing system is disclosed for unloading objects from a trailer of a tractor trailer. The object processing system includes an engagement system including a truck entry portion for entering the trailer and for indiscriminately engaging unidentified objects within the trailer, and a conveyance system for conveying objects engaged by the engagement system toward an unloading portion of the trailer.
B65G 65/06 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
84.
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 47/22 - Devices influencing the relative position or the attitude of articles during transit by conveyors
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 47/82 - Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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.
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 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 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/00 - Article or material-handling devices associated with conveyors; Methods employing such devices
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/74 - Feeding, transfer, or discharging devices of particular kinds or types
87.
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 nonhomogenous 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.
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.
A processing system is disclosed for providing processing of homogenous and nonhomogenous 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.
An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.
An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.
A drop perception system is disclosed that includes an open housing structure having an internal volume, an open top and an open bottom, and a plurality of perception units positioned to capture perception data within the internal volume at a plurality of locations between the open top and the open bottom of the open housing.
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)
G01B 11/245 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
93.
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.
A sortation system comprises an object identification system that identifies objects at an input area. The system comprises a receiving carriage that is loadable at a load position by dropping an object from the input area into the receiving carriage. The system comprises at least two destination locations. The receiving carriage is reciprocally movable between the load position and each of the at least two destination locations. The object in the receiving carriage may be discharged from the receiving carriage into any of the at least two destination locations.
A sortation system comprises an object identification system that identifies objects at an input area. The system comprises a receiving carriage that is loadable at a load position by dropping an object from the input area into the receiving carriage. The system comprises at least two destination locations. The receiving carriage is reciprocally movable between the load position and each of the at least two destination locations. The object in the receiving carriage may be discharged from the receiving carriage into any of the at least two destination locations.
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.
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 47/96 - Devices for tilting links or platforms
97.
SYSTEMS AND METHODS FOR DYNAMIC SORTATION OF OBJECTS WITH RECIPROCATING CARRIAGES
A sortation system comprises an object identification system that identifies objects at an input area. The system comprises a receiving carriage that is loadable at a load position by dropping an object from the input area into the receiving carriage. The system comprises at least two destination locations. The receiving carriage is reciprocally movable between the load position and each of the at least two destination locations. The object in the receiving carriage may be discharged from the receiving carriage into any of the at least two destination locations.
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.
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.
A sortation system for homogenous and non-homogenous objects comprises: a programmable motion device including an end effector; a perception system for recognizing any of identity, location, and orientation of each of a plurality of objects presented; and a grasp location selection system for selecting grasp locations on the objects that permit each of the objects to be grasped and moved by the end effector to a plurality of destination locations. The grasp location selection system determines candidate grasp locations based on real time image data and displays the image data on a touch screen input device including graphical superimposed indications that represent candidate grasp locations and angles of approach thereto. The grasp location selection system confirms or deletes candidate grasp locations responsive to the candidate grasp location being touched or swiped on the touch screen. The end effector grasps objects at confirmed candidate grasp locations.
patents
