Processing systems and methods for providing processing of a variety of objects

US10625432B2 · kind B2 · utility

Assignee

• Berkshire Grey, Inc. · US

Inventors

• Thomas Wagner · Concord, US
• Kevin Ahearn · Nebo, US
• Benjamin Cohen · Somerville, US
• Michael Dawson-Haggerty · Pittsburgh, US
• Christopher Geyer · Arlington, US
• Thomas Koletschka · Cambridge, US
• Kyle Maroney · Dodgeville, US
• Matthew T. Mason · Pittsburgh, US
• Gene Temple Price · Cambridge, US
• Joseph Romano · Arlington, US
• Daniel Smith · Pittsburgh, US
• Siddhartha Srinivasa · Seattle, US
• Prasanna Velagapudi · Pittsburgh, US
• Thomas Allen · Reading, US

Key dates

• Filing date: Nov 10, 2016
• Grant date: Apr 21, 2020
• Expiry date: Nov 10, 2036

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y02P90/02
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A sortation system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The sortation system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects, 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.