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11.发明申请公开(公告)号：US20220072706A1
公开(公告)日：2022-03-10
申请号：US17528955
申请日：2021-11-17
Applicant: Berkshire Grey, 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
Abstract: A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The processing system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin, wherein the unchanging portion of the trajectory path is chosen to provide a path from the base location to the destination bin location that is consistent with paths taken by other objects.
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公开(公告)号：US20220058354A1
公开(公告)日：2022-02-24
申请号：US17516862
申请日：2021-11-02
Applicant: Berkshire Grey, Inc.
Inventor： Thomas Wagner , Matthew T. MASON , Christopher GEYER , John Richard AMEND, JR. , Kyle MARONEY , Joseph ROMANO , Victoria HINCHEY , Jeffrey KITTREDGE , Andrew GAUTHIER , Lakshman KUMAR , Prasanna Velagapudi
Abstract: A distribution system is disclosed for use in an induction system with an object processing system. The distribution system provides distribution of dissimilar objects into one of a plurality of receiving units. The distribution system includes an urging system for urging an object on a conveyor from the conveyor to one of a plurality of adjacent receiving stations via a receiving chute, wherein each receiving station is lower than the conveyor.
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公开(公告)号：US20220002080A1
公开(公告)日：2022-01-06
申请号：US17478405
申请日：2021-09-17
Applicant: Berkshire Grey, 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
Abstract: 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.
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公开(公告)号：US20210206578A1
公开(公告)日：2021-07-08
申请号：US17210627
申请日：2021-03-24
Applicant: Berkshire Grey, 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: B65G41/02 , B65G1/04 , G05D1/02 , B62D1/28 , B62D1/00 , B25J9/10 , B25J9/16 , G05B19/042 , G05B19/418 , B61B13/00 , B61D3/00 , B65G1/137 , B65G1/02 , B65G1/06 , B65G1/08 , B65G37/00 , B65G47/90 , B07C5/36 , B07C5/38 , B65G9/00 , B65G47/48 , B65G47/96 , B65G65/00 , B65G65/23
Abstract: 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.
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15.发明申请公开(公告)号：US20210130097A1
公开(公告)日：2021-05-06
申请号：US17150684
申请日：2021-01-15
Applicant: Berkshire Grey, 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 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.
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Patent Agency Ranking
公开(公告)号：US20210070551A1
公开(公告)日：2021-03-11
申请号：US16952428
申请日：2020-11-19
Applicant: Berkshire Grey, 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: B65G41/02 , B65G1/04 , G05D1/02 , B25J9/10 , B25J9/16 , G05B19/042 , G05B19/418 , B61B13/00 , B61D3/00 , B65G1/137 , B65G1/02 , B65G1/06 , B65G1/08 , B65G37/00 , B65G47/90 , B07C5/36 , B07C5/38 , B65G9/00 , B65G47/48 , B65G47/96 , B65G65/00 , B65G65/23
Abstract: 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.
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公开(公告)号：US20210053092A1
公开(公告)日：2021-02-25
申请号：US17086648
申请日：2020-11-02
Applicant: Berkshire Grey, 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: B07C5/36 , B25J9/16 , B07C5/38 , B07C5/02 , B25J9/00 , B07C3/02 , B07C5/34 , B65G1/137 , B60P3/00
Abstract: An object processing system within a trailer for a tracker trailer is discloses. 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.
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公开(公告)号：US20200148476A1
公开(公告)日：2020-05-14
申请号：US16742166
申请日：2020-01-14
Applicant: Berkshire Grey, 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
Abstract: A processing system for processing objects using a programmable motion device is disclosed. The processing system a perception unit for perceiving identifying indicia representative of an identity of an object associated with an input conveyance system, and an acquisition system for acquiring the object from a plurality of objects at an input area using an end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing location. The identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations. The processing system also includes a delivery system for receiving the object in a carrier and for delivering the object toward the identified processing location.
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19.发明申请公开(公告)号：US20190270197A1
公开(公告)日：2019-09-05
申请号：US16001630
申请日：2018-06-06
Applicant: Berkshire Grey, Inc.
Inventor： Thomas WAGNER , Kevin AHEARN , Benjamin COHEN , Michael DAWSON-HAGGERTY , Christopher GEYER , Victoria HINCHEY , Thomas KOLETSCHKA , Kyle MARONEY , Matthew T. MASON , Gene Temple PRICE , Joseph ROMANO , Daniel SMITH , Siddhartha SRINIVASA , Prasanna VELAGAPUDI , Thomas ALLEN
IPC: B25J9/00 , G05B19/418 , B25J9/16
Abstract: A method of processing objects using a programmable motion device is disclosed. The method includes the steps of providing an input conveyance system by which input bins of objects may be provided to a processing station that includes the programmable motion device that includes an end effector, perceiving at the processing station identifying indicia representative of an identity of a plurality of objects at an input area of the input conveyance system, grasping the an acquired object using the end effector, moving the acquired object toward an identified processing container using the programmable motion device, the identified processing container being associated with the identifying indicia and said identified processing container being provided as one of a plurality of processing containers at the processing station, and providing an output conveyance system in communication with the processing station, by which processing containers that contain processed objects may be provided.
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20.发明申请公开(公告)号：US20190135555A1
公开(公告)日：2019-05-09
申请号：US16171310
申请日：2018-10-25
Applicant: Berkshire Grey, 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
Abstract: 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.
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