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.
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 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)
5.
OBJECT PROCESSING SYSTEMS AND METHODS WITH MULTI-OBJECT SHUTTLING
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 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
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).
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
9.
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.
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
12.
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.
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
15.
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 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
19.
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 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
21.
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
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
B65G 47/90 - Devices for picking-up and depositing articles or materials
23.
SYSTEMS AND METHODS FOR OBJECT PROCESSING USING A VACUUM GRIPPER THAT PROVIDES OBJECT RETENTION BY EVACUATION
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
patents
