# US 2021/0276798 A1 · Systems and methods for providing order fulfillment using a spiral tower system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0276798 A1 - Document ID: US20210276798A1 - Status: Published application - Kind: A1 - Application number: 17/193,380 - Filed: 2021-03-05 - Published: 2021-09-09 - Earliest claimed: 2020-03-06 - Assignees: Berkshire Grey Operating Company, Inc. - Applicants: Berkshire Grey, Inc. - Inventors: Prasanna Velagapudi; Joseph Romano; Christopher Geyer; Guoming Alex Long; Thomas Allen; Christopher Buck - Web page: https://patentgrep.com/patent/US20210276798A1 ## CPC - B65G 1/0485: {Check-in, check-out devices} - B65G 1/1376: {the orders being assembled on a commissioning conveyor} - B65G 1/1371: {with data records} - B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas} - B65G 21/18: in three-dimensionally curved paths - B65G 41/005: {mounted for both pivotal and linear movement} - B65G 47/57: for articles - B65G 47/64: Switching conveyors - B65G 2203/0208: relating to the transported articles - B65G 2203/04: Detection means - B65G 2203/041: Camera - 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) ## Abstract 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. ## Claims ### Claim 1 A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising: a plurality of bins including objects to be distributed by the storage, retrieval and processing system, said 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, said 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. ### Claim 2 (depends on 1) The storage, retrieval and processing system as claimed in claim 1, wherein the destination container is provided among a plurality of destination containers that are provided on a routing helical conveyor. ### Claim 3 (depends on 1) The storage, retrieval and processing system as claimed in claim 1, wherein the routing conveyor includes a routing conveyor support that is mounted on a column. ### Claim 4 (depends on 3) The storage, retrieval and processing system as claimed in claim 3, wherein the routing conveyor support is movable vertically along the column. ### Claim 5 (depends on 3) The storage, retrieval and processing system as claimed in claim 3, wherein the routing conveyor support is rotationally movable around the column. ### Claim 6 (depends on 3) The storage, retrieval and processing system as claimed in claim 3, wherein the routing conveyor is a belt conveyor that is mounted on the conveyor support at a non-horizontal angle. ### Claim 7 (depends on 1) The storage, retrieval and processing system as claimed in claim 1, wherein the storage, retrieval and processing system further includes a destination container removal system for removing completed destination containers. ### Claim 8 (depends on 7) The storage, retrieval and processing system as claimed in claim 7, wherein the destination container removal system includes a container conveyance system for moving completed destination containers toward an output station. ### Claim 9 (depends on 8) The storage, retrieval and processing system as claimed in claim 8, wherein the container conveyance system further includes a removal helical conveyor. ### Claim 10 (depends on 2) The storage, retrieval and processing system as claimed in claim 2, wherein the routing helical conveyor is positioned radially inwardly of a removal helical conveyor for removing completed destination containers. ### Claim 11 A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising: 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, said 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 input conveyance system; and routing conveyance system including a conveyor for receiving the selected object, and for moving the selected object from the input area toward a destination container provided at mutually-helically disposed destination container locations. ### Claim 12 (depends on 11) The storage, retrieval and processing system as claimed in claim 11, wherein the destination container is provided among a plurality of destination containers that are provided on a routing helical conveyor. ### Claim 13 (depends on 11) The storage, retrieval and processing system as claimed in claim 11, wherein the routing conveyor includes a routing conveyor support that is mounted on a column. ### Claim 14 (depends on 13) The storage, retrieval and processing system as claimed in claim 13, wherein the routing conveyor support is movable vertically along the column. ### Claim 15 (depends on 13) The storage, retrieval and processing system as claimed in claim 13, wherein the routing conveyor support is rotationally movable around the column. ### Claim 16 (depends on 13) The storage, retrieval and processing system as claimed in claim 13, wherein the routing conveyor is a belt conveyor that is mounted on the conveyor support at a non-horizontal angle. ### Claim 17 (depends on 11) The storage, retrieval and processing system as claimed in claim 11, wherein the destination container removal system includes a container conveyance system for receiving completed destination containers. ### Claim 18 (depends on 17) The storage, retrieval and processing system as claimed in claim 17, wherein the container conveyance system further includes a removal helical conveyor. ### Claim 19 (depends on 12) The storage, retrieval and processing system as claimed in claim 12, wherein the routing helical conveyor is positioned radially inwardly of a removal helical conveyor for removing completed destination containers. ### Claim 20 (depends on 12) The storage, retrieval and processing system as claimed in claim 12, wherein the system further includes a destination container removal system for removing completed destination containers, said destination container removal system including a container conveyance system for moving completed destination containers toward an output station. ### Claim 21 A method of providing storage, retrieval and processing of objects, said method comprising: providing on a conveyance system a plurality of bins including objects to be distributed; grasping and moving objects within at least one of the plurality of bins in an input area of the conveyance system using a programmable motion device that includes an end effector for grasping and moving any of the objects; providing perception data regarding a selected object that is presented to the perception system by the programmable motion device; and routing the selected object in a vertical direction toward a destination container responsive to the perception data, said destination container being provided among a plurality of destination containers at mutually-helically disposed destination container locations, and the vertical direction being generally internal to the mutually-helically disposed destination container locations. ### Claim 22 (depends on 21) The method as claimed in claim 21, wherein the method further includes providing the destination container among a plurality of destination containers that are provided on a routing helical conveyor. ### Claim 23 (depends on 21) The method as claimed in claim 21, wherein the routing the selected object involves use of a routing conveyor on a routing conveyor support that is mounted on a column. ### Claim 24 (depends on 23) The method as claimed in claim 23, wherein the routing includes moving the routing conveyor vertically along the column. ### Claim 25 (depends on 23) The method as claimed in claim 23, wherein the routing includes rotating the routing conveyor around the column. ### Claim 26 (depends on 21) The method as claimed in claim 21, wherein the method further includes removing completed destination containers using a container conveyance system for moving completed destination containers toward an output station. ### Claim 27 (depends on 26) The method as claimed in claim 26, wherein the container conveyance system further includes a removal helical conveyor. ### Claim 28 (depends on 27) The method as claimed in claim 27, wherein the routing helical conveyor is positioned radially inwardly of a removal helical conveyor for removing completed destination containers.