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AssigneeBerkshire Grey Operating Company, Inc.
InventorsThomas WAGNER, Kevin AHEARN, Benjamin COHEN, Michael DAWSON-NAGGERTY, Christopher GEYER, Thomas KOLETSCHKA, Kyle MARONEY, Matthew T. MASON, Gene Temple PRICE, Joseph ROMANO, Daniel Carlton SMITH, Siddhattha SRINIVASA, Prasanna VELAGAPUDI, Thomas ALLEN
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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.
-37. (canceled)
An object processing system comprising:
An object processing system comprising:
The object processing system of claim 37, wherein the second perception system is mounted on an articulated arm of the programmable motion device.
The object processing system of claim 37, wherein the second perception system is mounted on the end-effector.
The object processing system of claim 37, wherein the end-effector includes a flexible vacuum cup.
The object processing system of claim 37, wherein the end-effector includes at least two actuatable fingers.
The object processing system of claim 37, wherein the end-effector is a multi-gripper to grasp a large and/or heavy selected one of the plurality of objects.
The object processing system of claim 37, wherein the grasp location on the selected one of the plurality of objects at the input area is the identification code for the selected one of the plurality of objects.
The object processing system of claim 37, wherein the real-time image data of the second perception unit is two-dimensional image data.
The object processing system of claim 37, wherein the real-time image data of the second perception unit is three-dimensional image data.
A method of processing objects comprising:
Dependencies are inferred from the claim text.