公开(公告)号：US20220410372A1

公开(公告)日：2022-12-29

申请号：US17882669

申请日：2022-08-08

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: B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B65G1/04 ,  G06Q10/08 ,  B65G1/137 ,  B65G47/91

Abstract: 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.

公开(公告)号：US20220297940A1

公开(公告)日：2022-09-22

申请号：US17836271

申请日：2022-06-09

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas WAGNER ,  Matthew T. MASON ,  Thomas KOLETSCHKA ,  Abraham SCHNEIDER ,  Shervin JAVDANI ,  Christopher GEYER

IPC: B65G1/137 ,  B65G61/00 ,  G06Q10/08

Abstract: A system for object processing is disclosed. The system includes a framework of processes that enable reliable deployment of artificial intelligence-based policies in a warehouse setting to improve the speed, reliability, and accuracy of the system. The system harnesses a vast number of picks to provide data points to machine learning techniques. These machine learning techniques use the data to refine or reinforce in-use policies to optimize the speed and successful transfer of objects within the system. For example, objects in the system are identified at a supply location, a predetermined set of information regarding object is retrieved and combined with a set of object information and processing parameters determined by the system. The combined information is then used to determine routing of the object according to an initial policy. This policy is then observed, altered, tested, and re-implemented in an altered form.

公开(公告)号：US20220274267A1

公开(公告)日：2022-09-01

申请号：US17744068

申请日：2022-05-13

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: B25J15/00 ,  B25J15/06 ,  B25J15/10

Abstract: An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.

公开(公告)号：US20250148234A1

公开(公告)日：2025-05-08

申请号：US18919283

申请日：2024-10-17

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 Carlton SMITH ,  Siddhartha SRINIVASA ,  Prasanna VELAGAPUDI ,  Thomas ALLEN

IPC: G06K7/10 ,  B07C5/34 ,  B65G1/137 ,  B65G25/04 ,  B65G47/12 ,  B65G47/18 ,  B65G47/46 ,  B65G47/96

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.

公开(公告)号：US20250042029A1

公开(公告)日：2025-02-06

申请号：US18823311

申请日：2024-09-03

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

IPC: B25J9/16 ,  B07C3/00 ,  B25J9/00 ,  B25J15/06 ,  G05B19/19

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

公开(公告)号：US20250026569A1

公开(公告)日：2025-01-23

申请号：US18902753

申请日：2024-09-30

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas WAGNER ,  Kevin AHEARN ,  John Richard AMEND ,  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 Carlton SMITH ,  Siddhartha SRINIVASA ,  Prasanna VELAGAPUDI ,  Thomas ALLEN

IPC: B65G1/06 ,  B25J9/00 ,  B25J9/16 ,  B65G1/04 ,  B65G1/137 ,  B66F9/06 ,  G05B19/418

Abstract: A storage, retrieval and processing system is disclosed for processing objects. The system includes a plurality of bins including objects to be distributed by the processing system, said plurality of bins being provided in at least a partially generally circular arrangement, a programmable motion device that includes an end effector for grasping and moving any of the objects, said programmable motion device being capable of reaching any of the objects within the plurality of bins, and a plurality of destination containers for receiving any of the objects from the plurality of bins, said plurality of destination containers being provided in a region that is generally within the at least partially generally circular arrangement of the plurality of bins.

公开(公告)号：US20240174403A1

公开(公告)日：2024-05-30

申请号：US18384920

申请日：2023-10-30

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Prasanna VELAGAPUDI ,  Christopher GEYER ,  Benjamin COHEN ,  Joseph ROMANO ,  Matthew T. MASON

IPC: B65D1/34 ,  B65B5/06 ,  B65B53/00 ,  B65B57/02 ,  B65D1/40

CPC classification number: B65D1/34 ,  B65B5/068 ,  B65B53/00 ,  B65B57/02 ,  B65D1/40

Abstract: A standardized shipping tray is disclosed for use in an order fulfillment system. The standardized shipping tray includes a bottom panel that includes raised portions that assist to inhibit rolling on an object within along the bottom panel, and at least two flexible side panels that are adapted to fold inward under a force of a wrapping.

公开(公告)号：US20240054302A1

公开(公告)日：2024-02-15

申请号：US18382101

申请日：2023-10-20

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： 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: G06K7/10 ,  B65G47/46 ,  B65G47/18 ,  B65G47/12 ,  B07C5/34 ,  B65G1/137 ,  B65G25/04

CPC classification number: G06K7/10693 ,  B65G47/46 ,  B65G47/18 ,  B65G47/12 ,  B07C5/3412 ,  B65G1/1378 ,  B65G25/04 ,  B65G47/962

Abstract: 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：US20240033951A1

公开(公告)日：2024-02-01

申请号：US18376890

申请日：2023-10-05

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas WAGNER ,  Kevin AHEARN ,  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: B25J19/06 ,  B25J9/16 ,  G08B5/36

CPC classification number: B25J19/06 ,  B25J9/1676 ,  G08B5/36 ,  G05B2219/40196 ,  G05B2219/40202

Abstract: A robotic system is disclosed that includes an articulated arm with an end effector. The robotic system is for use in a robotic environment requiring interaction with persons in the robotic environment, and includes a plurality of lights that are illuminated responsive to known near-future movements of the articulated arm to convey the known near-future movements of the articulated arm to the persons in the robot environment.

公开(公告)号：US20240024920A1

公开(公告)日：2024-01-25

申请号：US18374933

申请日：2023-09-29

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas WAGNER ,  Kevin AHEARN ,  John Richard AMEND, JR. ,  Benjamin COHEN ,  William Hartman FORT ,  Michael DAWSON-HAGGERTY ,  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: B07C1/04 ,  B65G47/08 ,  B25J9/00 ,  B07C5/02 ,  B65G47/28 ,  G05B19/418 ,  B07C3/00 ,  B65B5/12 ,  B65B5/10 ,  B65B35/24 ,  B65B35/36 ,  B65B35/06 ,  B65B57/14 ,  B07C3/08 ,  B07C5/36

CPC classification number: B07C1/04 ,  B65G47/08 ,  B25J9/0093 ,  B07C5/02 ,  B65G47/28 ,  B25J9/0084 ,  G05B19/4182 ,  B07C3/00 ,  B65B5/12 ,  B65B5/101 ,  B65B35/24 ,  B65B35/36 ,  B65B35/06 ,  B65B5/106 ,  B65B57/14 ,  B07C3/08 ,  B07C5/36 ,  B65G2203/041 ,  B25J9/1697

Abstract: A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be processed from a source area along a first direction, a detection system for detecting objects at the conveying system, and for selecting certain selected objects for redistribution on the conveying system, and a movement redistribution system for redistributing the certain selected objects on the conveying system for providing a singulated stream of objects.