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.

公开(公告)号：US20240033936A1

公开(公告)日：2024-02-01

申请号：US18377086

申请日：2023-10-05

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Yu DING ,  Christopher GEYER ,  Luis GALUP ,  Jeffrey KITTREDGE ,  Thomas KOLETSCHKA ,  Lakshman KUMAR ,  Anjana NELLITHIMARU ,  Ryan O'HERN ,  Jeremy SASLAW

IPC: B25J9/16 ,  G06T7/80 ,  G06T7/70 ,  G06V10/25 ,  G06V10/147

CPC classification number: B25J9/1697 ,  G06T7/80 ,  G06T7/70 ,  B25J9/1692 ,  G06V10/25 ,  G06V10/147 ,  G06T2207/30208 ,  G05B2219/37009

Abstract: A system is disclosed for providing extrinsic calibration of a camera to a relative working environment of a programmable motion device that includes an end-effector. The system includes a fiducial located at or near the end-effector, at least one camera system for viewing the fiducial as the programmable motion device moves in at least three degrees of freedom, and for capturing a plurality of images containing the fiducial, and a calibration system for analyzing the plurality of images to determine a fiducial location with respect to the camera to permit calibration of the camera with the programmable motion device.

公开(公告)号：US20240199349A1

公开(公告)日：2024-06-20

申请号：US18541075

申请日：2023-12-15

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Ashwin DESHPANDE ,  Jeremy SASLAW ,  Luis GALUP ,  Kyle BROWN ,  Ryan O'HERN ,  Michael KOSSYREV ,  Vitalii RUSSINKOVSKII ,  Christopher GEYER ,  Benjamin COHEN

IPC: B65G47/90

CPC classification number: B65G47/905 ,  B65G2201/0238

Abstract: A system is disclosed for processing objects using a programmable motion device. The system includes an end-effector of the programmable motion device for grasping an object from an in-feed container, and a control system for determining a payload guard for the selected object. The payload guard includes pointcloud data regarding volumetric data that include a volume occupied by the selected object, and the payload guard is determined responsive to at least one characteristic of the selected object and is provided specific to the selected object.

公开(公告)号：US20230112778A1

公开(公告)日：2023-04-13

申请号：US17965420

申请日：2022-10-13

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Ryan O'HERN ,  Joseph Romano ,  Craig Hattabaugh ,  John Richard Amend, JR. ,  Jacob Torrey ,  Jeffrey Kittredge ,  Sara Laprade ,  Sarah Myers ,  Joshua Best ,  Christopher Buck ,  Thomas Allen

IPC: B65G1/127 ,  B65G1/06

Abstract: An object processing system is disclosed that includes an object induction station at which objects are provided for processing. The object induction station includes at least one perception unit for providing perception data regarding an object, and an object processing system for receiving objects from the object induction station, and for urging an object into a first end of one of a plurality of chute location, each of which including a first end that is accessible by the carrier and a second end that is accessible by a mobile destination container of a plurality of mobile destination containers.

公开(公告)号：US20220356017A1

公开(公告)日：2022-11-10

申请号：US17738346

申请日：2022-05-06

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Joseph ROMANO ,  Christopher BUCK ,  Thomas ALLEN ,  Christopher GEYER ,  Victoria HINCHEY ,  Charles BAPTISTA ,  Jacob TORREY ,  Ryan O'HERN ,  Andrew EWART ,  John Richard AMEND, JR. ,  Prasanna VELAGAPUDI ,  Benjamin COHEN ,  Guoming Alex LONG

IPC: B65G1/137 ,  B65G1/10

Abstract: An operator inducted object processing system is disclosed that includes an object induction station at which objects are provided for processing, said object induction station including at least one perception unit for providing perception data regarding an object, an object processing system for receiving objects from the object induction station, said object processing system including a carrier configured for movement in a first generally horizontal direction between two mutually opposing arrays of destination locations, each of which extends along the first generally horizontal direction, and the carrier also being configured for movement in a second generally vertical direction between the two mutually opposing arrays of destination locations, each of which also extends along the second generally vertical direction, wherein the movement in the first generally horizontal direction is independent of the movement in the second generally vertical direction, and wherein the carrier is further configured for movement in mutually opposing third directions that are generally orthogonal to the first and second directions, for urging an object thereon into a first end of an adjacent selected destination location, each of the destination locations including a first end that is accessible by the carrier, and a plurality of object collection stations, each of which is associated with a second end of each of the destination locations.