An end-effector system for use with a programmable motion device is disclosed. The end-effector system includes a first end-effector for performing a task of grasping and moving an object from an input area to an output area, the first end-effector including a vacuum cup gripper, a second end-effector for grasping and moving the object to assist the task performed by the first end-effector, said second end-effector including a non-vacuum gripper, and a control system comprising at least one camera for detecting movement of the object associated with the task, the control system directing the second end-effector to contact the object and move in a motion corresponding to the movement of the object associated with the task, and the control system directing the first end-effector for grasping the object and the second end-effector for contacting the object to cooperatively move the object to the output area to complete the task.
An end-effector system for use with a programmable motion device is disclosed. The end-effector system includes a first end-effector for performing a task of grasping and moving an object from an input area to an output area, the first end-effector including a vacuum cup gripper, a second end-effector for grasping and moving the object to assist the task performed by the first end-effector, said second end-effector including a non-vacuum gripper, and a control system comprising at least one camera for detecting movement of the object associated with the task, the control system directing the second end-effector to contact the object and move in a motion corresponding to the movement of the object associated with the task, and the control system directing the first end-effector for grasping the object and the second end-effector for contacting the object to cooperatively move the object to the output area to complete the task.
A box handling system is disclosed for use in an object processing system. The box handling system includes a box tray including a recessed area for receiving a box, and the recessed area includes a plurality of floor and edge portions for receiving the box that contains objects to be processed.
B65D 5/00 - Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper
B65D 5/42 - Details of containers or of foldable or erectable container blanks
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
4.
PERCEPTION SYSTEMS AND METHODS FOR IDENTIFYING AND PROCESSING A VARIETY OF OBJECTS
A drop perception system is disclosed that includes an open housing structure having an internal volume, an open top and an open bottom, and a plurality of perception units positioned to capture perception data within the internal volume at a plurality of locations between the open top and the open bottom of the open housing.
B07C 5/34 - Sorting according to other particular properties
G01B 11/245 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
G06K 7/14 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
G06V 20/80 - Recognising image objects characterised by unique random patterns
H04N 23/56 - Cameras or camera modules comprising electronic image sensorsControl thereof provided with illuminating means
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
5.
SYSTEMS AND METHODS FOR DYNAMIC SORTATION OF OBJECTS
An automated shuttle sorter is disclosed that includes a carriage that is movable from a load position at which the carriage may be loaded, and at least two destination locations into which any contents of the carriage may be provided from the carriage.
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
B07C 3/00 - Sorting of mail or documents according to destination
B07C 3/02 - Apparatus characterised by the means used for distribution
B07C 3/08 - Apparatus characterised by the means used for distribution using arrangements of conveyors
B07C 3/14 - Apparatus characterised by the means used for detection of the destination using light-responsive detecting means
B07C 5/34 - Sorting according to other particular properties
B65G 47/96 - Devices for tilting links or platforms
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
6.
SYSTEMS AND METHODS FOR PROVIDING ANALYTICS REGARDING A PLURALITY OF OBJECT PROCESSING SYSTEMS
An analytics system is disclosed for providing real time analytical data regarding operational characteristics of a plurality of object processing systems that process objects. The analytics system includes a communication system for accessing the warehouse management system and for obtaining object specific data, a data collection system for receiving real time data regarding processing at each of the plurality of object processing systems, each of the plurality of object processing systems including a programmable motion device that is programmed to process objects independent of other of the plurality of processing systems, an integration system for integrating the real time data with the object assignment data, and a graphic display system for displaying the real time data as associated with the assignment data.
A processing system is disclosed for processing objects. The processing system includes a perception system for providing perception data regarding an object, and a primary transport system for providing transport of the object along a primary direction toward a processing location that is identified based on the perception data.
B65G 47/49 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers without bodily contact between article or load-carrier and automatic control device
B65G 47/40 - Devices for discharging articles or materials from conveyors by dumping, tripping, or releasing load-carriers by tilting conveyor buckets
B65G 47/82 - Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
8.
SYSTEMS AND METHODS FOR PROVIDING HIGH FLOW VACUUM ACQUISITION IN AUTOMATED SYSTEMS
A system is disclosed for providing high flow vacuum control to an end effector of an articulated arm. The system includes a high flow vacuum source that provides an opening with an area of high flow vacuum at the end effector such that objects may be engaged while permitting substantial flow of air through the opening, and a load detection system for characterizing the load presented by the object.
An automated packing system for placing at least one object into a container is disclosed. The automated packing system includes an input conveyance system for providing empty containers to a packing station, a multidirectional unit at the packing station for receiving the container and for urging the container against a corner provided by two braces, a programmable motion device for packing the container with objects provided by source containers, and an output conveyance system for receiving the container from the multidirectional unit following packing.
B65B 43/54 - Means for supporting containers or receptacles during the filling operation
B65B 5/08 - Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
B65B 35/14 - Feeding, e.g. conveying, single articles by agitators or vibrators
B65B 57/10 - Automatic control, checking, warning or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
10.
SYSTEMS AND METHODS FOR AUTOMATED PACKAGING AND PROCESSING CONTAINERS FOR SHIPPING WITH PLACE STACK TRANSFER MANAGEMENT
An automated packing system for placing at least one object into a container is disclosed. The automated packing system includes an input conveyance system for providing empty containers to a packing station, a multidirectional unit at the packing station for receiving the container and for urging the container against a corner provided by two braces, a programmable motion device for packing the container with objects provided by source containers, and an output conveyance system for receiving the container from the multidirectional unit following packing.
B65B 35/16 - Feeding, e.g. conveying, single articles by grippers
B65B 43/52 - Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up stateFeeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging positionLocating containers or receptacles at the filling positionSupporting containers or receptacles during the filling operation using roller-ways or endless conveyors
B65B 43/54 - Means for supporting containers or receptacles during the filling operation
B65G 47/54 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way
11.
SYSTEMS AND METHODS FOR OBJECT PROCESSING USING A VACUUM GRIPPER THAT PROVIDES OBJECT RETENTION BY SHROUD INVERSION
An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface includes at least one aperture through which a vacuum is provided, and the body includes an outer surface that faces away from the open interior. The body provides that when the flow of air drawn by the vacuum source through the at least one aperture is reduced due to the at least one aperture being at least partially blocked, the outer surface of the body engages the object being grasped at least partially within the open interior of the body.
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.
An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.
An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body includes at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.
An end-effector is disclosed for a programmable motion device. The end effector includes a body that includes a vacuum portion through which a vacuum is applied to an object, and a gripping portion that is adapted to engage the object, the vacuum portion being generally orthogonal to the gripping portion.
A storage, retrieval and processing system for processing objects includes: a plurality of bins including objects to be distributed, said plurality of bins being provided on an input conveyance system; a programmable motion device that includes an end effector for grasping and moving any of the objects, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a selected destination container responsive to the perception data, the routing conveyance system including at least one object conveyor for urging the selected object toward the selected destination container in a third direction that is generally orthogonal to the horizontal and vertical directions.
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.
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.
B65D 5/00 - Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper
B65D 5/42 - Details of containers or of foldable or erectable container blanks
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
19.
SYSTEMS AND METHODS FOR PROVIDING ORDER FULFILLMENT USING A RECIRCULATING ROUTING SYSTEM
A storage, retrieval and processing system is disclosed for processing objects. The storage, retrieval and processing system includes a plurality of bins including objects to be distributed, the plurality of bins being provided on a conveyance system, a programmable motion device that includes an end effector for grasping and moving any of the objects, the programmable motion device being capable of reaching any of the objects within at least one of the plurality of bins in an input area of the conveyance system, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system including a track-mounted shuttle for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a destination container responsive to the perception data.
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.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/08 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 9/00 - Apparatus for assisting manual handling having suspended load-carriers movable by hand or gravity
B65G 35/00 - Mechanical conveyors not otherwise provided for
B65G 37/00 - Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
B65G 41/02 - Frames mounted on wheels for movement on rail tracks
B65G 47/48 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers
B65G 47/90 - Devices for picking-up and depositing articles or materials
B65G 47/96 - Devices for tilting links or platforms
G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
21.
SYSTEMS AND METHODS FOR LEARNING TO EXTRAPOLATE OPTIMAL OBJECT ROUTING AND HANDLING PARAMETERS
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.
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.
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.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/08 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 9/00 - Apparatus for assisting manual handling having suspended load-carriers movable by hand or gravity
B65G 35/00 - Mechanical conveyors not otherwise provided for
B65G 37/00 - Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
B65G 41/02 - Frames mounted on wheels for movement on rail tracks
B65G 47/48 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers
B65G 47/90 - Devices for picking-up and depositing articles or materials
B65G 47/96 - Devices for tilting links or platforms
G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
24.
SYSTEMS AND METHODS FOR SEPARATING OBJECTS USING VACUUM DIVERTS WITH ONE OR MORE OBJECT PROCESSING SYSTEMS
A distribution system for use in an induction system with an object processing system. The distribution system provides dissimilar objects into one of a plurality of receiving units. The distribution system includes an air intake system with an opening that is a fixed distance from a conveyor section, said air intake system aiding in moving an object on the conveyor section from the conveyor section to one of a plurality of adjacent transport units.
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/96 - Devices for tilting links or platforms
25.
SYSTEMS AND METHODS FOR SEPARATING OBJECTS USING DROP CONVEYORS WITH ONE OR MORE OBJECT PROCESSING SYSTEMS
A distribution system is disclosed for use with 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 a chute that includes at least one actuatable door for selectively dropping the object through the at least one actuable door, said chute leading to a first receiving station with a second receiving station being positioned below the at least one actuable door.
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/96 - Devices for tilting links or platforms
26.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING SEMI-AUTONOMOUS STATIONS AND AUTOMATED OUTPUT PROCESSING
A semi-autonomous processing system for processing objects is disclosed. The semi-autonomous processing system includes an input conveyance system for moving objects to a presentation area, a perception system including perception units that are directed toward a detection area for providing perception data regarding an object in the presentation area, at least two transport systems, each of which is adapted to receive the object and move the object in either of reciprocal directions, and a manual workstation area between the perception area the at least two transport systems.
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.
A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be sorted 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 removal from the conveying system, and a removal system for removing the certain selected objects from the conveying system for providing a singulated stream of objects.
B65G 47/49 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers without bodily contact between article or load-carrier and automatic control device
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/22 - Devices influencing the relative position or the attitude of articles during transit by conveyors
B65G 47/256 - Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles removing incorrectly orientated articles
B65G 47/44 - Arrangements or applications of hoppers or chutes
B65G 47/82 - Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
B65G 47/90 - Devices for picking-up and depositing articles or materials
29.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS PROVIDED IN VEHICLES
An object processing system is disclosed for unloading objects from a trailer of a tractor trailer. The object processing system includes an engagement system including a truck entry portion for entering the trailer and for indiscriminately engaging unidentified objects within the trailer, and a conveyance system for conveying objects engaged by the engagement system toward an unloading portion of the trailer.
B65G 47/49 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers without bodily contact between article or load-carrier and automatic control device
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 65/06 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
B65G 65/08 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with reciprocating pick-up conveyors
An automated packing system is disclosed for placing a plurality of objects into a shipping container. The system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, a destination container location assessment system for positioning a destination container, a detection system for detecting a plurality of objects within the supply bin responsive to the position of the supply bin on the receiving conveyor as aligned by the alignment system, an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container, and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station, and for placing the selected object into the shipping container in a selected orientation.
A storage, retrieval and processing system for processing objects is disclosed that includes a plurality of bins including objects to be distributed, the plurality of bins being provided on a conveyance system, a programmable motion device that includes an end effector for grasping and moving any of the objects, the programmable motion device being capable of reaching any of the objects within at least one of the plurality of bins in an input area of the conveyance system, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system including a routing conveyor for receiving the selected object, and for moving the selected object in each of vertical and rotational directions toward a destination container responsive to the perception data.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 21/18 - Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors for conveyors having endless load-carriers movable in curved paths in three-dimensionally curved paths
B65G 41/00 - Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
B65G 47/57 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices to or from inclined or vertical conveyor sections for articles
An automated packing system is disclosed for placing a plurality of objects into a shipping container. The system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, the supply bin receiving conveyor including sensing unit for determining an extent of advancement of the supply bin in a conveyor direction along the supply bin receiving conveyor, a detection system for detecting a plurality of objects within the supply bin responsive to the position of the supply bin on the receiving conveyor as aligned by the alignment system, an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container, and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station, and for placing the selected object into the shipping container in a selected orientation and pose.
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.
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
B07C 3/00 - Sorting of mail or documents according to destination
B07C 5/34 - Sorting according to other particular properties
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.
G06K 7/14 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
B07C 5/36 - Sorting apparatus characterised by the means used for distribution
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G05B 19/12 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using record carriers
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
A processing system for processing objects is disclosed that includes a plurality of receiving stations for receiving a plurality of objects, each object being associated with prerecorded data, and a plurality of processing stations, each of which is in communication with at least one processing station. Each processing station includes perception means for perceiving data regarding an identity of any of an object or a bin of objects, and capture means for capturing characteristic data regarding an object to provide captured data. Each processing station further includes comparison means for comparing the captured data with the prerecorded data to provide comparison data, and a plurality of distribution stations, each of which is in communication with at least one processing station for receiving objects from the at least one processing station responsive to the comparison data.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G01G 19/414 - Weighing apparatus or methods adapted for special purposes not provided for in groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means using electronic computing means only
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
G06K 7/14 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
36.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING SPACE EFFICIENT DISTRIBUTION STATIONS AND AUTOMATED OUTPUT PROCESSING
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.
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/96 - Devices for tilting links or platforms
37.
SYSTEMS AND METHODS FOR DISRUPTING RESONANCE IN VACUUM CUP ASSEMBLIES USED WITH PROGRAMMABLE MOTION DEVICES
An end-effector for a programmable motion device is disclosed for use with a vacuum source. The end-effector includes an end-effector attachment portion for attaching the end-effector to the programmable motion device, the end-effector attachment portion including a vacuum channel coupled to the vacuum source, a contact portion of the end-effector for contacting an object to be acquired by the contact portion of the end-effector, a flexible intermediate section including a contact end of the flexible intermediate portion proximate the contact portion of the end-effector, the flexible intermediate section of the end-effector being intermediate the end-effector attachment portion and the contact portion of the end-effector, the flexible intermediate section including a bellows portion that extends radially outwardly of the vacuum channel, and a bellows insert that extends into the flexible intermediate section.
An object processing system is disclosed that includes a carrier for receiving an object on a receiving surface thereof, said receiving surface being adapted to move the object thereon in at least one transfer direction; a horizontal translation system for moving the carrier in a horizontal direction that is generally orthogonal to the transfer direction; a vertical translation system for moving the carrier in a vertical direction; and a payload stability system including a plurality of emitters that each emit a detectable field over a portion of the receiving surface, and a plurality of receivers for receiving the detectable field from each of the plurality of emitters and providing a plurality of detection signals, said payload stability system providing payload stability information responsive to the plurality of detection signals.
An object processing system is disclosed that includes a carrier for receiving an object on a receiving surface thereof, said receiving surface being adapted to move the object thereon in at least one transfer direction; a horizontal translation system for moving the carrier in a horizontal direction that is generally orthogonal to the transfer direction; a vertical translation system for moving the carrier in a vertical direction; and a payload stability system including a plurality of emitters that each emit a detectable field over a portion of the receiving surface, and a plurality of receivers for receiving the detectable field from each of the plurality of emitters and providing a plurality of detection signals, said payload stability system providing payload stability information responsive to the plurality of detection signals.
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.
An object induction system is disclosed for assigning handling parameters to an object. The system includes an analysis system, an association system, and an assignment system. The analysis system includes at least one characteristic perception system for providing perception data regarding an object to be processed. The association system includes an object information database and assigns association data to the object responsive to commonality with of any of the characteristic perception data with any of the characteristic recorded data. The assignment system is for assigning programmable motion device handling parameters to the indicia perception data based on the association data, and includes a workflow management system as well as a separate operational controller.
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.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/08 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 9/00 - Apparatus for assisting manual handling having suspended load-carriers movable by hand or gravity
B65G 35/00 - Mechanical conveyors not otherwise provided for
B65G 37/00 - Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
B65G 41/02 - Frames mounted on wheels for movement on rail tracks
B65G 47/48 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers
B65G 47/90 - Devices for picking-up and depositing articles or materials
B65G 47/96 - Devices for tilting links or platforms
G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
43.
SYSTEMS AND METHODS FOR ACQUIRING AND MOVING OBJECTS
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.
An object processing system is disclosed that includes a first support structure for supporting a plurality of containers that are positioned to receive a plurality of objects, a second support structure for receiving any of the plurality of containers when each of the plurality of containers is ready to be discharged from the first support structure, and an automated mobile transfer unit for selectively transferring a selected container from the first support structure to the second support structure, said automated mobile transfer unit including a mobile chassis unit for moving the at least one automated mobile transfer unit in a first direction among the first support structure and the second support structure, and a payload transfer system supported by the mobile chassis unit and adapted to transfer a selected container of the plurality of containers from the first support structure to the second support structure.
An object processing system is disclosed that includes a distribution system for distributing a plurality of objects among a plurality of containers, an output conveyance system for receiving a plurality of completed containers, and a container discharge system for emptying any contents of a container of the plurality of completed containers into a destination location, the container discharge system including a discharge conveyor section in which the container is suspended and moved in a conveyor direction while permitting a bottom of the container to drop open to discharge any contents of the container into the destination location.
B65G 19/02 - Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors for articles, e.g. for containers
46.
SYSTEMS AND METHODS FOR PROVIDING OBJECT PROCESSING USING MOBILE TRANSFER UNITS
An object processing system is disclosed that includes a first support structure for supporting a plurality of containers that are positioned to receive a plurality of objects, a second support structure for receiving any of the plurality of containers when each of the plurality of containers is ready to be discharged from the first support structure, and an automated mobile transfer unit for selectively transferring a selected container from the first support structure to the second support structure, said automated mobile transfer unit including a mobile chassis unit for moving the at least one automated mobile transfer unit in a first direction among the first support structure and the second support structure, and a payload transfer system supported by the mobile chassis unit and adapted to transfer a selected container of the plurality of containers from the first support structure to the second support structure.
A method is disclosed of changing a tool on a programmable motion device. The method includes the steps of moving an attachment portion of an end effector of the programmable motion device in a continuous motion; while the attachment portion of the end effector moves in the continuous motion, engaging one of: the attachment portion of the end effector with the tool, or the tool attached to the attachment portion of the end effector with an exchange system, and continuing to move the attachment portion of the end effector in the continuous motion to change a connection status of the attachment portion of the end effector while the attachment portion of the end effector moves in the continuous motion.
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.
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
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
G05B 19/19 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
50.
SYSTEMS AND METHODS FOR HOSE ROUTING IN PROGRAMMABLE MOTION SYSTEMS
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 being attached, in a joint portion of the hose, to at least two adjacent arm sections of the plurality of arm sections mutually attached to a joint of the plurality of joints such that the joint portion of the hose remains substantially outside of any plane defined by motion of the mutually adjacent arm sections when rotated about the joint.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
51.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING COMMONLY LOCATED BIN INFEED AND DISCHARGE
An object processing system is disclosed that includes an infeed processing system including a source bin feed conveyor for providing source bins, a distribution system for receiving the source bins and for receiving a plurality of empty bins, and for providing objects from the source bins to a collection of processing locations, each processing location including an empty bin of the plurality of empty bins thereby providing the previously empty bins as processed bins when completed, and an outfeed processing system for moving the processed bins away from the collection of processing locations, wherein the empty bins and the processed bins are each positioned at some point in their respective output paths on a common out-feed conveyor.
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.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/08 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 9/00 - Apparatus for assisting manual handling having suspended load-carriers movable by hand or gravity
B65G 35/00 - Mechanical conveyors not otherwise provided for
B65G 37/00 - Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
B65G 41/02 - Frames mounted on wheels for movement on rail tracks
B65G 47/48 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers
B65G 47/90 - Devices for picking-up and depositing articles or materials
B65G 47/96 - Devices for tilting links or platforms
G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
53.
SYSTEMS AND METHODS FOR PROVIDING, IN PROGRAMMABLE MOTION DEVICES, COMPLIANT END EFFECTORS WITH NOISE MITIGATION
A vacuum cup is disclosed for use in a programmable motion device. The vacuum cup includes an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of the vacuum cup that generally surrounds the open inlet. The vacuum cup lip includes an inner surface that defines the open outlet through which a vacuum may be provided, and includes noise mitigation features on an outer surface of the vacuum cup lip.
An object processing system is disclosed that includes an infeed processing system including a source bin feed conveyor for providing source bins, a distribution system for receiving the source bins and for receiving a plurality of empty bins, and for providing objects from the source bins to a collection of processing locations, each processing location including an empty bin of the plurality of empty bins thereby providing the previously empty bins as processed bins when completed, and an outfeed processing system for moving the processed bins away from the collection of processing locations, wherein the empty bins and the processed bins are each positioned at some point in their respective output paths on a common out-feed conveyor.
B65G 15/22 - Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units
A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins is in communication with a bin conveyance system for moving selected storage bins to a storage bin processing location, a programmable motion device in communication with the bin processing location for receiving a selected storage bin from the plurality of 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 plurality of destination bins in communication with the bin conveyance system for moving a selected destination bin from a destination bin processing location that is proximate the programmable motion device to the plurality of destination bins.
An order fulfillment system is disclosed in which objects to be collected into orders are provided in output totes. The system includes a primary sortation system that includes a loop conveyance system that moves objects around a closed loop that includes a plurality of primary sortation exits, each of which leads to a location inside the closed loop, and a secondary sortation system that includes a plurality of secondary conveyances, each of which receives an object at one of the plurality of primary sortation exits, and conveys the object to one of a plurality of totes, the plurality of totes being within the closed loop of the primary sortation system.
B65G 15/02 - Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration for conveying in a circular arc
B65G 15/42 - Belts or like endless load-carriers made of rubber or plastics having ribs, ridges, or other surface projections
57.
SYSTEMS AND METHODS FOR CONTROLLING THE DISGORGING OF OBJECTS IN CONTAINERS BY VIBRATORY MOTION
A system is disclosed for controlling the disgorging of objects. The system includes a container system including a container for containing objects, rotation means for rotating the container to a disgorgement angle, and movement means for moving at least a portion of the container system in a repetitious manner with a net zero distance of travel of the at least the portion of the container system such that the objects are disgorged from the container at a controlled rate of disgorgement.
B65G 65/23 - Devices for tilting and emptying of containers
B65B 69/00 - Unpacking of articles or materials, not otherwise provided for
B65G 47/14 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
B65G 47/42 - Devices for discharging articles or materials from conveyors operated by article or material being conveyed and discharged
58.
SYSTEMS AND METHODS FOR PROVIDING WHEELS HAVING VARIABLE SPRING RATES
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.
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.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
60.
SYSTEMS AND METHODS FOR ASSISTING IN OBJECT GRASPING FROM CONTAINERS IN OBJECT PROCESSING SYSTEMS
A container jostling system for jostling objects within a container is disclosed, where the container is positioned on a conveyor that includes a plurality of rollers that are mutually spaced from one another. The container jostling system includes at least one container contact element that is movable vertically between at least two rollers of the conveyor, and is movable horizontally in a direction that is substantially parallel with the at least two rollers.
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.
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.
An induction system is disclosed for filtering the induction of objects to a plurality of object processing systems. The induction system includes an evaluation means for evaluating at least one characteristic of an object, and routing means for routing the object in one of a plurality of directions responsive to the evaluated characteristic, at least one of the plurality of directions leading to a selected one of the plurality of object processing systems.
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/96 - Devices for tilting links or platforms
64.
SYSTEMS AND METHODS FOR PROVIDING ORDER FULFILLMENT USING A CONVEYOR TAKEAWAY SYSTEM
A storage, retrieval and processing system for processing objects is disclosed that includes a plurality of bins including objects to be distributed by the storage, retrieval and processing system, the plurality of bins being provided on an input conveyance system, a programmable motion device that includes an end effector for grasping and moving any of the objects, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a destination container responsive to the perception data, the destination container being provided among a plurality of destination containers in a row that are provided as a set on a destination conveyance system.
B65G 21/18 - Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors for conveyors having endless load-carriers movable in curved paths in three-dimensionally curved paths
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 13/04 - Roller-ways having driven rollers all rollers driven
B65G 47/68 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor and to transfer them in individual layers to more than one conveyor, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
B65G 47/90 - Devices for picking-up and depositing articles or materials
G06K 7/14 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
65.
SYSTEMS AND METHODS FOR DYNAMIC PROCESSING OF OBJECTS USING INTERMEDIATE STORAGE CACHES
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 programable 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.
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.
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.
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/96 - Devices for tilting links or platforms
68.
Systems and methods for processing objects, including automated mobile matrix bins
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.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
69.
Processing systems and methods for providing processing of a variety of objects
A sortation system is disclosed that 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, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
70.
SYSTEMS AND METHODS FOR PROVIDING VERTICAL MOBILE CARRIER SYSTEMS
An object processing system (10) is disclosed that includes a vertical structure (14) extending in a vertical direction and at least one automated mobile carrier (12) adapted for movement with respect to the vertical structure. The at least one automated mobile carrier includes a carrier base portion including at least two wheels for moving the automated mobile carrier in at least one direction that is generally orthogonal with respect to the vertical direction, a carrier upper portion for receiving at least one object thereon to be moved by the automated mobile carrier, and an elevation system for lifting the carrier upper portion of the automated mobile carrier with respect to the carrier base portion of the automated mobile carrier such that an engagement system of the carrier upper portion engages the vertical structure.
An object processing system (300) is disclosed that includes a object processing system including at least one automated mobile carrier (312) including a carrier base portion including at least two wheels for moving the automated mobile carrier in at least one horizontal direction, a carrier upper portion that includes a payload receiving portion for receiving at least one object thereon to be moved by the automated mobile carrier, and an extension system for extending the payload receiving portion horizontally away from and toward a central region of the automated mobile carrier, and an elevation system for elevating the carrier upper portion including the payload receiving portion with respect to the carrier base portion independently of the extension system.
09 - Scientific and electric apparatus and instruments
Goods & Services
Industrial robots; machines for use by retailers, manufacturers, healthcare companies, and shipping companies to automate operational processes, namely, machines in the nature of industrial robots, conveyors and material handling machines for ecommerce, distribution and logistics functions, specifically, picking products and containers of products to assemble outbound orders, packing products into boxes and other containers, sorting products, assembling product orders, sorting packages, and identifying products and packages; automated industrial machine system for selecting, grasping and placing items to assemble outbound orders, pack products into boxes and other containers, sort products, assemble product orders, sort packages, and identify products and packages, this system being comprised of industrial robot arms, end effectors being parts of industrial robots, cameras, sensors for force, vision, and object identification and operating software therefor that is embedded in the system or sold therewith as a unit Artificial intelligence systems comprised of computer hardware for computer vision, motion and path planning, sensors, machine haptics, machine learning robotic arms and material handling components, being pickers, and software that is embedded in the system or sold therewith as a unit; artificial intelligence systems comprised of computer hardware for grasping objects, moving objects, placing objects, and interfacing with enterprise systems and software that is embedded in the system or sold therewith as a unit; equipment for communication networks, namely, computer servers and computer hardware for wireless local area networking, switches, and radios, and electronic controllers for industrial robots, conveyors and material handling machines and software that is embedded in the system or sold therewith as a unit; all the aforementioned systems being for use by retailers, manufacturers, healthcare companies, and shipping companies to automate operational processes, namely, processes to support ecommerce, store restocking, parcel handling, product identification, product handling, order processing, order assembly, order handling and order transport
09 - Scientific and electric apparatus and instruments
Goods & Services
Industrial robots; machines for use by retailers, manufacturers, healthcare companies, and shipping companies to automate operational processes, namely, machines in the nature of industrial robots, conveyors and material handling machines for ecommerce, distribution and logistics functions, specifically, picking products and containers of products to assemble outbound orders, packing products into boxes and other containers, sorting products, assembling product orders, sorting packages, and identifying products and packages; automated industrial machine system for selecting, grasping and placing items to assemble outbound orders, pack products into boxes and other containers, sort products, assemble product orders, sort packages, and identify products and packages, this system being comprised of industrial robot arms, end effectors being parts of industrial robots, cameras, sensors for force, vision, and object identification and operating software therefor that is embedded in the system or sold therewith as a unit Artificial intelligence systems comprised of computer hardware for computer vision, motion and path planning, sensors, machine haptics, machine learning robotic arms and material handling components, being pickers, and software that is embedded in the system or sold therewith as a unit; artificial intelligence systems comprised of computer hardware for grasping objects, moving objects, placing objects, and interfacing with enterprise systems and software that is embedded in the system or sold therewith as a unit; equipment for communication networks, namely, computer servers and computer hardware for wireless local area networking, switches, and radios, and electronic controllers for industrial robots, conveyors and material handling machines and software that is embedded in the system or sold therewith as a unit; all the aforementioned systems being for use by retailers, manufacturers, healthcare companies, and shipping companies to automate operational processes, namely, processes to support ecommerce, store restocking, parcel handling, product identification, product handling, order processing, order assembly, order handling and order transport
76.
Systems and methods for processing objects including transport vehicles
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.
An object processing system is disclosed that includes a mobile unit for moving from a proximal location toward a plurality of objects in a trailer of a tractor trailer, the mobile unit including at least one conveyor section for transporting any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile unit as the mobile unit moves toward the plurality of objects in the trailer, and a kicker roller adjacent the leading edge of the at least one conveyor section, the kicker roller being positioned in front of the at least one conveyor section for urging the plurality of objects onto the at least one conveyor section.
An object processing system is disclosed that includes a mobile system for moving from a proximal location toward a plurality of objects in a trailer of a tractor trailer, said mobile system including at least one conveyor section for transporting any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile system as the mobile unit moves toward the collection of objects in the trailer, and a programmable motion device including an end-effector for grasping and moving the plurality of objects toward the at least one conveyor section, the end-effector including a plurality of vacuum cups each of which is associated with a valve assembly and each of the vacuum cups being in communication with a vacuum source via each respective valve assembly.
An object processing system is disclosed that includes a mobile system for moving from a proximal location toward a plurality of objects in a trailer of a tractor trailer, the mobile system including at least one conveyor section for transporting any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile system as the mobile unit moves toward the plurality of objects in the trailer, and a kicker roller adjacent the leading edge of the at least one conveyor section, the kicker roller being positioned in front of the at least one conveyor section for urging the plurality of objects onto the at least one conveyor section.
An object processing system is disclosed that includes a mobile system for moving from a proximal base toward a plurality of objects to be processed, and a programmable motion device supported on the mobile unit at a proximal end of the programmable motion device, the programmable motion device including an end-effector at a distal end thereof, the end-effector including a first stationary portion that remains stationary with respect to the distal end of the programmable motion device, and a second movable portion that moves with respect to the first stationary portion, the second movable portion for contacting at least one object of the plurality of objects for urging the at least one object from the plurality of objects toward the mobile system.
An object processing system is disclosed that includes a mobile system for moving from a proximal location toward a plurality of objects in a trailer of a tractor trailer, said mobile system including at least one conveyor section for transporting any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile system as the mobile unit moves toward the collection of objects in the trailer, and a programmable motion device including an end-effector for grasping and moving the plurality of objects toward the at least one conveyor section, the end-effector including a plurality of vacuum cups each of which is associated with a valve assembly and each of the vacuum cups being in communication with a vacuum source via each respective valve assembly.
An object processing system is disclosed that includes a mobile system for moving from a proximal location toward a plurality of objects in a trailer of a tractor trailer, said mobile unit including at least one conveyor section for transporting any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile system as the mobile system moves toward the collection of objects in the trailer, and a pair of front wheel assemblies that each include a pair of wheels mounted on a frame that is pivotally attached to a chassis of the mobile system, wherein each wheel assembly includes a drive system that is also mounted on the frame such that the wheel assemblies are pivotable with respect to the chassis while being driven by the drive system.
An induction system for filtering the induction of objects to an object processing system is disclosed. The induction system includes an evaluation means for evaluating at least one characteristic of an object, and a routing system for routing the object in one of a plurality of directions responsive to the evaluated characteristic, at least one of the plurality of directions leading to the object processing system.
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
B07C 5/34 - Sorting according to other particular properties
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 25/04 - Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 47/18 - Arrangements or applications of hoppers or chutes
B65G 47/46 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points
B65G 47/96 - Devices for tilting links or platforms
84.
SYSTEMS AND METHODS FOR PROCESSING OBJECTS USING AN ARTICULATED UNLOADER
An object processing system is disclosed that includes a mobile system for moving from a proximal base toward a plurality of objects to be processed, and a programmable motion device supported on the mobile system at a proximal end of the programmable motion device, the programmable motion device including an end-effector at a distal end thereof, the end-effector including a first stationary portion that remains stationary with respect to the distal end of the programmable motion device, and a second movable portion that moves with respect to the first stationary portion, the second movable portion for contacting at least one object of the plurality of objects for urging the at least one object from the plurality of objects toward the mobile system.
An object processing system is disclosed that includes a mobile system for moving from a proximal location toward a plurality of objects in a trailer of a tractor trailer, said mobile unit including at least one conveyor section for transporting any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile system as the mobile system moves toward the collection of objects in the trailer, and a pair of front wheel assemblies that each include a pair of wheels mounted on a frame that is pivotally attached to a chassis of the mobile system, wherein each wheel assembly includes a drive system that is also mounted on the frame such that the wheel assemblies are pivotable with respect to the chassis while being driven by the drive system.
B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
86.
Systems and methods for providing contact detection in an articulated arm
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.
A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins being in communication with a retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and is adapted for movement of the programmable motion device along a first direction, and a plurality of destination bins that are provided in at least one linear arrangement along the first direction of movement of the programmable motion device.
A system is disclosed for providing high flow vacuum control to an end effector of an articulated arm. The system includes a high flow vacuum source that provides an opening with an area of high flow vacuum at the end effector such that objects may be engaged while permitting substantial flow of air through the opening, and a load detection system for characterizing the load presented by the object.
An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface includes at least one aperture through which a vacuum is provided, and the body includes an outer surface that faces away from the open interior. The body provides that when the flow of air drawn by the vacuum source through the at least one aperture is reduced due to the at least one aperture being at least partially blocked, the outer surface of the body engages the object being grasped at least partially within the open interior of the body.
An object processing system is disclosed that includes a vertical structure extending in a vertical direction and at least one automated mobile carrier adapted for movement with respect to the vertical structure. The at least one automated mobile carrier includes a carrier base portion including at least two wheels for moving the automated mobile carrier in at least one direction that is generally orthogonal with respect to the vertical direction, a carrier upper portion for receiving at least one object thereon to be moved by the automated mobile carrier, and an elevation system for lifting the carrier upper portion of the automated mobile carrier with respect to the carrier base portion of the automated mobile carrier such that an engagement system of the carrier upper portion engages the vertical structure.
An object processing system within a trailer for a tractor trailer is disclosed. 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.
An object processing system is disclosed that includes a object processing system including at least one automated mobile carrier including a carrier base portion including at least two wheels for moving the automated mobile carrier in at least one horizontal direction, a carrier upper portion that includes a payload receiving portion for receiving at least one object thereon to be moved by the automated mobile carrier, and an extension system for extending the payload receiving portion horizontally away from and toward a central region of the automated mobile carrier, and an elevation system for elevating the carrier upper portion including the payload receiving portion with respect to the carrier base portion independently of the extension system.
A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins is in communication with a retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of 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 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 bins.
An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.
An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body includes at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.
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.
An object processing system is disclosed for unloading objects from a trailer of a tractor trailer. The object processing system includes an engagement system including a truck entry portion for entering the trailer and for indiscriminately engaging unidentified objects within the trailer, and a conveyance system for conveying objects engaged by the engagement system toward an unloading portion of the trailer.
B65G 47/49 - Devices for discharging articles or materials from conveyors with distribution, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers without bodily contact between article or load-carrier and automatic control device
B65G 47/12 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
B65G 65/06 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
B65G 65/08 - Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with reciprocating pick-up conveyors
A drop perception system is disclosed that includes an open housing structure having an internal volume, an open top and an open bottom, and a plurality of perception units positioned to capture perception data within the internal volume at a plurality of locations between the open top and the open bottom of the open housing.
B07C 5/34 - Sorting according to other particular properties
G01B 11/245 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
G06K 7/14 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
G06V 20/80 - Recognising image objects characterised by unique random patterns
H04N 23/56 - Cameras or camera modules comprising electronic image sensorsControl thereof provided with illuminating means
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
99.
Systems and methods for processing objects, including automated processing stations
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.
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.
