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公开(公告)号：US20240409326A1
公开(公告)日：2024-12-12
申请号：US18736803
申请日：2024-06-07
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Ryan O'HERN , Conor O'NEIL , Joshua BEST , John Richard AMEND, JR. , Kyle BROWN , Ashwin DESHPANDE , Nicholas ECKENSTEIN , Dominick FREEMAN , Christopher GEYER , David KING , Joseph ROMANO , Jeremy SASLAW
IPC: B65G47/90
Abstract: A method of processing objects with a programmable motion device is disclosed. The method includes receiving a plurality of received objects at an input area proximate the programmable motion device, selecting and grasping a first object of the plurality of received objects from the input area using the programmable motion device, moving the first object to a cache area using the programmable motion device, said cache area being proximate the programmable motion device, selecting and grasping a second object of the plurality of received objects, moving the second object to a first destination location using the programmable motion device, selecting and grasping the first object from the cache area using the programmable motion device, and moving the first object to the first destination location using the programmable motion device.
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公开(公告)号：US12159192B2
公开(公告)日：2024-12-03
申请号：US17949936
申请日：2022-09-21
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Thomas Wagner , Kevin Ahearn , Benjamin Cohen , Michael Dawson-Haggerty , Christopher Geyer , Thomas Koletschka , Kyle Maroney , Matthew T. Mason , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
IPC: G06K7/14 , B07C5/36 , B25J9/00 , B25J9/16 , B25J19/02 , B65G1/137 , G05B19/12 , G05B19/418 , G06K7/10 , G06K19/06 , G06Q10/087 , G06V20/64 , G06V40/13
Abstract: A robotic system is disclosed that include an articulated arm and a first perception system for inspecting an object, as well as a plurality of additional perception systems, each of which is arranged to be directed toward a common area in which an object may be positioned by the robotic arm such that a plurality of views within the common area may be obtained by the plurality of additional perception systems.
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公开(公告)号：US12153994B2
公开(公告)日：2024-11-26
申请号：US18376939
申请日：2023-10-05
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Thomas Wagner , Kevin Ahearn , John Richard Amend, Jr. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , Victoria Hinchey , Jennifer Eileen King , Thomas Koletschka , Michael Cap Koval , Kyle Maroney , Matthew T. Mason , William Chu-Hyon McMahan , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
Abstract: A space efficient automated processing system for processing objects is disclosed. The processing system includes an input conveyance system for moving objects from an input area in at least an input conveyance vector that includes an input conveyance horizontal direction component and an input conveyance vertical direction component, a perception system for receiving objects from the input conveyance system and for providing perception data regarding an object, a primary transport system for receiving the object from the perception system and for providing transport of the object along at least a primary transport vector including an primary transport horizontal component and a primary transport vertical component that is generally opposite the input conveyance horizontal direction component, and at least two secondary transport systems, each of which receives the object from the primary transport system and moves the object in either of reciprocal directions.
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公开(公告)号：US20240385607A1
公开(公告)日：2024-11-21
申请号：US18673630
申请日：2024-05-24
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Thomas WAGNER , Kevin AHEARN , John Richard AMEND, JR. , Benjamin COHEN , Michael DAWSON-HAGGERTY , William Hartman FORT , Christopher GEYER , Jennifer Eileen KING , Thomas KOLETSCHKA , Michael Cap KOVAL , Kyle MARONEY , Matthew T. MASON , William Chu-Hyon MCMAHAN , Gene Temple PRICE , Joseph ROMANO , Daniel SMITH , Siddhartha SRINIVASA , Prasanna VELAGAPUDI , Thomas ALLEN
IPC: G05B19/418 , B07C3/00 , B25J9/00 , B25J9/16 , B65G1/04 , B65G1/137 , G06Q10/087 , H04B7/0417 , H04B7/06 , H04B7/08
Abstract: 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.
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公开(公告)号：US12145404B2
公开(公告)日：2024-11-19
申请号：US16986349
申请日：2020-08-06
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Guoming Alex Long
Abstract: A wheel is disclosed that includes an inner hub, an outer rim, and a plurality of resilient elements 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.
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Patent Agency Ranking
公开(公告)号：US12145258B2
公开(公告)日：2024-11-19
申请号：US17728049
申请日：2022-04-25
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Thomas Wagner , Kevin Ahearn , Matthew T. Mason , Christopher Geyer , Thomas Koletschka , Prasanna Velagapudi , Michael Dawson-Haggerty , Siddhartha Srinivasa , Kyle Maroney , Joseph Romano , Daniel Smith , Gene Temple Price , Thomas Allen
Abstract: An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.
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公开(公告)号：US12128557B2
公开(公告)日：2024-10-29
申请号：US17874337
申请日：2022-07-27
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Thomas Wagner , Kevin Ahearn , John Richard Amend, Jr. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , Victoria Hinchey , Jennifer Eileen King , Thomas Koletschka , Michael Cap Koval , Kyle Maroney , Matthew T. Mason , William Chu-Hyon McMahan , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
CPC classification number: B25J9/0093 , B25J9/1615 , B65G1/0464 , B65G1/1371 , B65G1/1376 , B65G1/1378 , B65G47/82 , B65G47/905 , G06Q10/087 , B65G2201/0258 , G06Q10/08
Abstract: 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.
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公开(公告)号：US20240343503A1
公开(公告)日：2024-10-17
申请号：US18643833
申请日：2024-04-23
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Thomas Wagner , Kevin Ahearn , John Richard Amend, JR. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , Victoria Hinchey , Jennifer Eileen King , Thomas Koletschka , Michael Cap Koval , Kyle Maroney , Matthew T. Mason , William Chu-Hyon McMahan , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
CPC classification number: B65G47/90 , B65G1/0485 , B65G1/1378 , B65G47/52 , B65G67/02
Abstract: A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a storage bin system for receiving at a first end thereof, a plurality of storage bins providing storage of a plurality of objects, a retrieval conveyance system at a second end of the storage bin system that is generally opposite the first end of the storage bin system, where the retrieval conveyance system is in communication with the plurality of storage bins, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of storage bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and a destination bin system for receiving the selected object from the end effector of the programmable motion device at first end of the destination bin system, and the destination bin system provides access to the plurality of destination bins at a second end thereof that is generally opposite the first end of the destination bin system.
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19.发明授权公开(公告)号：US12109708B2
公开(公告)日：2024-10-08
申请号：US18214759
申请日：2023-06-27
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Thomas Wagner , Kevin Ahearn , Benjamin Cohen , Michael Dawson-Haggerty , Christopher Geyer , Thomas Koletschka , Kyle Maroney , Matthew T. Mason , Gene Temple Price , Joseph Romano , Daniel Carlton Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
CPC classification number: B25J9/1664 , B07C3/008 , B25J9/0093 , B25J9/1694 , B25J9/1697 , B25J15/0616 , G05B19/19 , G05B2219/39102 , G05B2219/40053 , G05B2219/40078 , G05B2219/40431 , G05B2219/40519 , G05B2219/45047 , G05B2219/45063
Abstract: A processing system is disclosed for providing processing of objects that include 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.
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公开(公告)号：US20240308079A1
公开(公告)日：2024-09-19
申请号：US18673995
申请日：2024-05-24
Applicant: Berkshire Grey Operating Company, Inc.
Inventor： Thomas WAGNER , Kevin AHEARN , Michael DAWSON-HAGGERTY , Christopher GEYER , Thomas KOLETCHKA , Kyle MARONEY , Matthew T. MASON , Gene Temple PRICE , Joseph ROMANO , Daniel Carlton SMITH , Siddhartha SRINIVASA , Prasanna VELAGAPUDI , Thomas ALLEN
CPC classification number: B25J9/1694 , B25J9/1638 , B25J13/088 , B25J15/0616 , B25J17/0208
Abstract: A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.
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