公开(公告)号：EP4088889A1

公开(公告)日：2022-11-16

申请号：EP22172900.7

申请日：2016-11-10

申请人： Berkshire Grey Operating Company, Inc.

发明人： WAGNER, Thomas ,  AHERN, Kevin ,  COHEN, Benjamin ,  DAWSON-HAGGERTY, Michael ,  GEYER, Christopher ,  KOLETSCHKA, Thomas ,  MARONEY, Kyle ,  MASON, Matthew T ,  PRICE, Gene Temple ,  ROMANO, Joseph ,  SMITH, Daniel ,  SRINIVASA, Siddhartha ,  VELAGAPUDI, Prasanna ,  ALLEN, Thomas

IPC分类号： B25J9/16 ,  G05B19/418

摘要： A sortation system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The sortation 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, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.