# US 12,594,665 B2 · Systems and methods for processing objects including a zone gantry system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,665 B2 - Document ID: US12594665B2 - Status: Granted - Kind: B2 - Application number: 18/766,929 - Filed: 2024-07-09 - Published: 2024-12-26 - Granted: 2026-04-07 - Earliest claimed: 2017-03-20 - Assignees: Berkshire Grey Operating Company, Inc. - Applicants: Berkshire Grey Operating Company, Inc. - Inventors: Thomas Wagner; Kevin Ahearn; John Richard Amend, Jr.; Benjamin Cohen; Michael Dawson-Haggerty; William Hartman Fort; Christopher Geyer; Jennifer Eileen King; Thomas Koletschka; Michael Cap Koval; Kyle Maroney; Matthew T. Mason; William Chu-Hyon McMahan; Gene Temple Price; Joseph Romano; Daniel Carlton Smith; Siddhartha Srinivasa; Prasanna Velagapudi; Thomas Allen - Web page: https://patentgrep.com/patent/US12594665B2 ## CPC - B25J 9/026: {Gantry-type} - B25J 9/0093: {co-operating with conveyor means} - B25J 9/1615: {characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators} - B65G 1/0464: {with access from above} - B65G 1/1373: {for fulfilling orders in warehouses} - B65G 47/917: {control arrangements} - G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders - B65G 1/0485: {Check-in, check-out devices} - B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas} - B65G 2201/0258: Trays, totes or bins - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. The plurality of storage bins provides storage of a plurality of objects, where the plurality of storage bins are in communication with a gantry retrieval conveyance system for moving selected bins to a bin processing location. The plurality of destination bins are in communication with the gantry retrieval conveyance system for moving a selected destination bin to the processing location. The processing programmable motion device is at the processing location and is in communication with the gantry retrieval conveyance system. The processing programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin and depositing the selected object in the selected destination bin. ## Claims ### Claim 1 A method of providing a storage, retrieval and processing system, the method comprising: retrieving a selected storage bin from among a plurality of storage bins using a gantry system that grasps the selected storage bin; moving the selected storage bin to a processing location using the gantry system; retrieving a selected destination bin from among a plurality of destination bins using the gantry system that grasps the selected destination bin; moving the selected destination bin to the processing location using the gantry system; and transferring an object from the selected storage bin to the selected destination bin using a programmable motion device that includes an end-effector for grasping and moving the object. ### Claim 2 (depends on 1) The method of claim 1, wherein the method further includes returning the selected storage bin anywhere in a storage section that stores the plurality of storage bins. ### Claim 3 (depends on 1) The method of claim 1, wherein the method further includes returning the selected destination bin anywhere in a destination section that stores the plurality of destination bins. ### Claim 4 (depends on 1) The method of claim 1, wherein the plurality of storage bins is provided as a storage bin array, and the plurality of destination bins is provided as a destination bin array. ### Claim 5 (depends on 1) The method of claim 1, wherein the plurality of storage bins and the plurality of destination bins are comingled. ### Claim 6 (depends on 1) The method of claim 1, wherein the method further includes providing the selected destination bin to any one of an output conveyor, an output staging area, or a floor pallet. ### Claim 7 (depends on 1) The method of claim 1, wherein the processing location includes a plurality of conveyors, the plurality of conveyors including a first conveyor that receives the selected storage bin and a second conveyor that receives the selected destination bin. ### Claim 8 (depends on 7) The method of claim 7, wherein the programmable motion device is positioned between the plurality of conveyors. ### Claim 9 A method of providing a storage, retrieval and processing system, the method comprising: retrieving a selected storage bin from among a plurality of storage bins using a first gantry system that grasps the selected storage bin; moving the selected storage bin to a processing location using the first gantry system; retrieving a selected destination bin from among a plurality of destination bins using a second gantry system that grasps the selected destination bin; moving the selected destination bin to the processing location using the second gantry system; and transferring an object from the selected storage bin to the selected destination bin using a programmable motion device that includes an end-effector for grasping and moving the object. ### Claim 10 (depends on 9) The method of claim 9, wherein the plurality of storage bins are provided at a plurality of floors, and the plurality of destination bins are provided at the plurality of floors. ### Claim 11 (depends on 9) The method of claim 9, wherein the method further includes returning the selected storage bin anywhere in a storage section that stores the plurality of storage bins. ### Claim 12 (depends on 9) The method of claim 9, wherein the method further includes returning the selected destination bin anywhere in a destination section that stores the plurality of destination bins. ### Claim 13 (depends on 9) The method of claim 9, wherein the plurality of storage bins is provided as a storage bin array, and the plurality of destination bins is provided as a destination bin array. ### Claim 14 (depends on 9) The method of claim 9, wherein the plurality of storage bins and the plurality of destination bins are comingled. ### Claim 15 (depends on 9) The method of claim 9, wherein the method further includes providing the selected destination bin to any one of an output conveyor, an output staging area, or a floor pallet. ### Claim 16 (depends on 9) The method of claim 9, wherein the processing location includes a plurality of conveyors, the plurality of conveyors including a first conveyor that receives the selected storage bin and a second conveyor that receives the selected destination bin. ### Claim 17 (depends on 16) The method of claim 16, wherein the programmable motion device is positioned between the plurality of conveyors. ### Claim 18 A method of providing a storage, retrieval and processing system, the method comprising: retrieving a selected storage bin from among a plurality of storage bins using a gantry system that grasps the selected storage bin; moving the selected storage bin to a processing location using the gantry system; moving a destination bin to the processing location; transferring an object form the selected storage bin to the destination bin using a programmable motion device that includes an end-effector for grasping and moving the object; and providing the destination bin to any one of an output conveyor, an output staging area, or a floor pallet. ### Claim 19 (depends on 18) The method of claim 18, wherein the method further includes returning the selected storage bin anywhere in a storage section that stores the plurality of storage bins. ### Claim 20 (depends on 18) The method of claim 18, wherein the method further includes returning the destination bin anywhere in a destination section that stores the plurality of destination bins. ### Claim 21 (depends on 18) The method of claim 18, wherein the plurality of storage bins is provided as a storage bin array, and the plurality of destination bins is provided as a destination bin array. ### Claim 22 (depends on 18) The method of claim 18, wherein the plurality of storage bins and the plurality of destination bins are comingled. ### Claim 23 (depends on 18) The method of claim 18, wherein the processing location includes a plurality of conveyors, the plurality of conveyors including a first conveyor that receives the selected storage bin and a second conveyor that receives the selected destination bin. ### Claim 24 (depends on 23) The method of claim 23, wherein the programmable motion device is positioned between the plurality of conveyors.