公开(公告)号：US11718479B2

公开(公告)日：2023-08-08

申请号：US17124925

申请日：2020-12-17

申请人： Berkshire Grey Operating Company, Inc.

发明人： 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分类号： B65G1/137 ,  B07C3/00 ,  B07C5/34 ,  G06K7/10 ,  G06Q10/08 ,  G06Q10/087 ,  B25J9/00

CPC分类号： B65G1/1376 ,  B07C3/008 ,  B07C5/3412 ,  B25J9/0093 ,  B65G1/1371 ,  G06K7/10861 ,  G06Q10/087 ,  B65G1/1373

摘要： 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.

公开(公告)号：US20230234216A1

公开(公告)日：2023-07-27

申请号：US18099420

申请日：2023-01-20

申请人： Berkshire Grey Operating Company, Inc.

发明人： Bretton ANDERSON ,  Jason YAP ,  William Chu-Hyon MCMAHAN ,  Calvin TOOTHAKER ,  William FARMER

IPC分类号： B25J9/00 ,  B25J9/10 ,  B25J17/00 ,  B25J15/06

CPC分类号： B25J9/0009 ,  B25J9/0093 ,  B25J9/102 ,  B25J15/0616 ,  B25J17/00

摘要： An end-effector system is disclosed for use with a programmable motion device. The end-effector system includes an arm attachment portion for attachment to an arm of the programmable motion device, an end-effector attachment portion for attachment to an end-effector for grasping objects, a rotational shaft portion for rotational attachment to the arm attachment portion, said rotational shaft portion being coupled to the end-effector attachment portion at a distal end thereof, and a motor system providing rotation of the rotational shaft portion as well as the end-effector attachment portion with respect to the arm attachment portion.

公开(公告)号：US11691279B2

公开(公告)日：2023-07-04

申请号：US16855015

申请日：2020-04-22

申请人： Berkshire Grey Operating Company, Inc.

发明人： Calvin Toothaker ,  John Richard Amend, Jr. ,  Benjamin Cohen ,  Christopher Geyer ,  Matthew T. Mason ,  Thomas Wagner

IPC分类号： B25J9/16 ,  B25J15/06 ,  B25J18/00

CPC分类号： B25J9/1633 ,  B25J15/0616 ,  B25J18/00

摘要： 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.

公开(公告)号：US20230124854A1

公开(公告)日：2023-04-20

申请号：US17959009

申请日：2022-10-03

申请人： Berkshire Grey Operating Company, Inc.

发明人： Luis Galup ,  Thomas Koletschka

IPC分类号： B25J9/16 ,  B25J15/06 ,  B25J9/00 ,  B65G47/91 ,  G06T7/73 ,  G06V20/50 ,  G06T1/00

摘要： 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.

公开(公告)号：US20230019431A1

公开(公告)日：2023-01-19

申请号：US17949936

申请日：2022-09-21

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas Wagner ,  Kevin Ahearn ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  Christopher Geyer ,  Thomas Koletschka ,  Kyle T. Maroney ,  Matthew T. Mason ,  Gene Temple Price ,  Joseph Romano ,  Daniel Smith ,  Siddhartha Srinivasa ,  Prasanna Velagapudi ,  Thomas Allen

IPC分类号： G06K7/14 ,  G06V20/64 ,  G06Q10/08 ,  B07C5/36 ,  G05B19/418 ,  B25J9/16 ,  G06K7/10 ,  G05B19/12 ,  G06K19/06 ,  B25J19/02 ,  B65G1/137 ,  G06V40/13 ,  B25J9/00

摘要： 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.

公开(公告)号：US20230012957A1

公开(公告)日：2023-01-19

申请号：US17950786

申请日：2022-09-22

申请人： Berkshire Grey Operating Company, Inc.

发明人： 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分类号： G05B19/418 ,  B65G1/06 ,  B66F9/06 ,  B65G1/04 ,  B07C3/00 ,  B25J9/16 ,  B65G47/82 ,  B65G1/137 ,  B07C5/36 ,  B65G47/90 ,  G06Q10/08 ,  B25J9/00

摘要： 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.

公开(公告)号：US20220414359A1

公开(公告)日：2022-12-29

申请号：US17899294

申请日：2022-08-30

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas WAGNER ,  Matthew T. Mason ,  Christopher Geyer ,  John Richard Amend ,  Kyle Maroney ,  Joseph Romano ,  Victoria Hinchey ,  Jeffrey Kittredge ,  Andrew Gauthier ,  Lakshman Kumar ,  Prasanna Velagapudi

IPC分类号： G06K7/10 ,  B65G47/46 ,  B65G47/18 ,  B65G47/12 ,  B07C5/34 ,  B65G1/137 ,  B65G25/04

摘要： 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.

公开(公告)号：US11494575B2

公开(公告)日：2022-11-08

申请号：US16800587

申请日：2020-02-25

申请人： Berkshire Grey Operating Company, Inc.

发明人： 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分类号： G06K7/14 ,  G06K19/06 ,  B07C5/36 ,  B25J9/16 ,  G06K7/10 ,  G05B19/418 ,  B25J9/00 ,  G06V20/64 ,  G06V40/13 ,  B25J19/02 ,  B65G1/137 ,  G05B19/12 ,  G06Q10/08

摘要： 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.

公开(公告)号：US11493910B2

公开(公告)日：2022-11-08

申请号：US16789917

申请日：2020-02-13

申请人： Berkshire Grey Operating Company, Inc.

发明人： 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分类号： G05B19/418 ,  B07C5/36 ,  B25J9/00 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  G06Q10/08 ,  B65G47/82 ,  B65G47/90 ,  B25J9/16 ,  B07C3/00 ,  B66F9/06

摘要： 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.

公开(公告)号：US11478923B2

公开(公告)日：2022-10-25

申请号：US16808600

申请日：2020-03-04

申请人： Berkshire Grey Operating Company, Inc.

发明人： 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分类号： B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B65G1/04 ,  B65G1/137 ,  B65G47/91 ,  G06Q10/08

摘要： A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. 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 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. 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.