Patents Examined by Thomas Randazzo
  • Patent number: 10843333
    Abstract: 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.
    Type: Grant
    Filed: June 6, 2018
    Date of Patent: November 24, 2020
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, Benjamin Cohen, Michael Dawson-Haggerty, Christopher Geyer, Victoria Hinchey, Thomas Koletschka, Kyle Maroney, Matthew T. Mason, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 10839474
    Abstract: Feedback information is an important aspect in all machine learning systems. In robot systems that are picking objects from a plurality of objects this has been arranged by acquiring images of objects that have been picked. When images are acquired after picking they can be imaged accurately and the information about picking and also dropping success can be improved by using acquired images as a feedback in the machine learning arrangement being used for controlling the picking and dropping of objects.
    Type: Grant
    Filed: August 3, 2017
    Date of Patent: November 17, 2020
    Assignee: ZenRobotics Oy
    Inventors: Tuomas Lukka, Janne Kujala
  • Patent number: 10840122
    Abstract: A teaching method according to an embodiment is for a transfer device including a substrate holding unit including a suction port for holding a substrate by applying suction, an actuation mechanism for moving the substrate holding unit, and a pressure detecting unit for detecting a pressure in a suction path communicating with the suction port. The method includes: moving the substrate holding unit under the substrate; moving the substrate holding unit upward toward the substrate, while applying suction to the suction path and detecting the pressure in the suction path; determining whether or not the substrate holding unit has touched the substrate, based on the pressure in the suction path; and storing, as a standard position, a position of the substrate holding unit at a time of determining that the substrate holding unit has touched the substrate.
    Type: Grant
    Filed: December 5, 2018
    Date of Patent: November 17, 2020
    Assignee: Tokyo Electron Limited
    Inventors: Toshiyuki Kobayashi, Ryu Kitahara, Kazuya Koshiishi, Junya Sato, Shun Suto, Toshimitsu Chiba
  • Patent number: 10829349
    Abstract: A CHE controller arrangement comprises: an execution controller in operative connection with one or more engines of the CHE and configured to control movement of the CHE; a communication controller having a memory to at least store a job to be executed by said CHE, the communication controller further comprising a first interface to retrieve instructions from an external instance, and particular from a terminal operating system related to a plurality of jobs to be executed by said CHE and a second interface to communicate with at least a second CHE; a control interface between the execution controller and the communication controller being adapted to provide instructions to the execution controller responsive to an execution of said job, and the second inter face being adapted to forward at least one job of the plurality of jobs in response to a respective request by said at least one second CHE.
    Type: Grant
    Filed: March 20, 2017
    Date of Patent: November 10, 2020
    Assignee: APM TERMINALS B.V.
    Inventor: Alexandru Duca
  • Patent number: 10822131
    Abstract: A system and method therefor for use with a conveyor carrying cartons inbound to a printing area and outbound away from the printing area. The system has a printer located in the printing area for printing documents to be inserted into corresponding cartons on the conveyor and a controller for cooperatively controlling operations of the conveyor and the printer based on the positions of the cartons relative to the printer. The controller includes a staging processor for determining when to cause the conveyor to carry the cartons inbound past the printer and when to cause the printer to print the documents. In operation, the controller queues the documents for printing, monitors outbound capacity of the conveyor based on detected positions of the cartons, releases a group of the cartons inbound on the conveyor in response to the outbound capacity reaching a predetermined threshold, and initiates printing the queued documents corresponding to the cartons in the group when the group of the cartons is released.
    Type: Grant
    Filed: October 10, 2018
    Date of Patent: November 3, 2020
    Assignee: StreamTech Engineering, LLC
    Inventors: Steven A. Horcher, Alan R. Miller, Jr.
  • Patent number: 10822169
    Abstract: An order picking system includes an automatic guided trolley for picking objects for an order in at least one shelving and having at least two running wheels and gear wheel supports cooperating with two pairs of uprights so as to allow the trolley to rise along the uprights. A stretched roller chain is fixed on each of the uprights, the chain extending substantially parallel to the longitudinal axis of the upright to which it is fixed to receive a tooth of the gear wheel cooperating with the upright to which it is fixed. Two adjacent rollers of the chain are spaced apart by the pitch value of the gear wheel. Each movable support has a securing element with one of the four uprights to maintain a predetermined distance between the axis of the gear wheel mounted on the movable support and the chain receiving the teeth of the gear wheel.
    Type: Grant
    Filed: April 9, 2018
    Date of Patent: November 3, 2020
    Assignee: EXOTEC SOLUTIONS
    Inventors: Romain Moulin, Renaud Heitz
  • Patent number: 10824164
    Abstract: A materials handling vehicle operating system is provided comprising a tag layout where a plurality of entry/exit tag sets are arranged along a travel path at different ones of the entry/exit thresholds of a restricted navigation zone. Each entry/exit tag set comprises a release tag, a restriction tag, and an indicator tag. The indicator tag is positioned between the restriction tag and the restricted navigation zone. The restriction tag is positioned between the release tag and the indicator tag. The tag reader and the reader module cooperate to compare identified tag data with stored tag data and initiate a remediation operation when an indicator tag is identified in place of a restriction tag. Tag layouts for one-way and two-way travel into and out of a restricted navigation zone are also contemplated.
    Type: Grant
    Filed: November 28, 2018
    Date of Patent: November 3, 2020
    Assignee: Crown Equipment Corporation
    Inventors: Daniel Douglas Walton, Aaron Louis Williams
  • Patent number: 10817764
    Abstract: A robot system for processing an object to be packaged as a product, a packaging method, and a method of processing the same are provided. The object has multiple surfaces, and multiple e-package information tags are provided on the surfaces of the object for storing information of the product. Each surface is provided with one of the e-package information tags. The information of the product includes information of a location, an orientation and physical features of the object. In operation, the robot system controls a sensing device to detect and capture one of the e-package information tags on the object to obtain a captured image, and processes the captured image to obtain the information of the product. Based on the information of the product, the robot system controls a robotic grasping device to perform a robotic manipulation for handling the object.
    Type: Grant
    Filed: September 21, 2018
    Date of Patent: October 27, 2020
    Assignees: Beijing Jingdong Shangke Information Technology Co., Ltd., JD.com American Technologies Corporation
    Inventors: Wei Xi, Hui Cheng
  • Patent number: 10815058
    Abstract: This document generally describes warehousing systems that can, in certain instances, improve the efficiency of warehousing operations and improve utilization of available space in a warehousing facility. The warehousing system may be implemented in an automated warehouse, such as an automated cold-storage facility, that uses programmable equipment to automate tasks associated with warehousing operations, such as transporting inbound storage items to specified storage positions of storage racks in the warehouse and removing outbound storage items from storage so that they may be loaded onto trucks for delivery away from the warehouse.
    Type: Grant
    Filed: March 15, 2019
    Date of Patent: October 27, 2020
    Assignee: Lineage Logistics, LLC
    Inventors: Elliott Gerard Wolf, Christopher Eckman, Brian Gutschow
  • Patent number: 10815080
    Abstract: The present disclosure provides an automatic loading and unloading system that is adaptable for an array of freight sizes, trucks and/or trailers. In some examples, the automatic loading and unloading may inventory the parcels scheduled for delivery, identify the dimensions of the parcels, and plot a loading configuration that maximizes the use of the truck or trailer. Based on the plotting, the automatic loading and unloading system may direct the automated guided vehicles (e.g., automatic forklifts) to the parcels scheduled for delivery. The automated guided vehicles may utilize the information received from the automatic loading and unloading system to identify a route from the parcel's storage location in the warehouse, for example, to the plotted position in the truck or trailer.
    Type: Grant
    Filed: January 11, 2017
    Date of Patent: October 27, 2020
    Assignee: OMNITRACS, LLC
    Inventor: Julie Anderson
  • Patent number: 10810544
    Abstract: Described in detail herein are systems and methods for detecting absent like physical objects at a first facility and replenishing the like physical objects from the second facility to the first facility. The system includes an autonomous robot device configured to detect absent like physical objects at a first facility and transmit an identifier associated with the like physical objects to a first computing system. The first computing system determines the need for the addition of the like physical objects in the first facility and transmits the data associated with the like physical objects to the second computing system. The second computing system corrects a perpetual inventory error associated with the like physical objects based on the received data and transmits instructions to an autonomous robot picker disposed at a second facility to replenish the like physical objects at the first facility.
    Type: Grant
    Filed: August 23, 2018
    Date of Patent: October 20, 2020
    Assignee: Walmart Apollo, LLC
    Inventors: Benjamin D. Enssle, David Blair Brightwell, Greg A. Bryan, Cristy Crane Brooks, Howard Gabbert
  • Patent number: 10807805
    Abstract: Various embodiments described herein generally relate to techniques for conveying articles on a conveyor system of a robotic carton unloader in a material handling environment. In accordance with an embodiment, the robotic carton unloader includes angled center guides for conveying and guiding one or more articles on one or more individually actuatable zones of the center conveyor. In this aspect, one or more zones may be actuated selectively to move rollers-driven belts of respective zones, in either of an upstream direction or a downstream direction, to separate and convey cartons on the center conveyor.
    Type: Grant
    Filed: August 9, 2018
    Date of Patent: October 20, 2020
    Assignee: INTELLIGRATED HEADQUARTERS, LLC
    Inventors: Dominic George Clucas, Matt Wicks, Ted Clucas, Michael L. Girtman
  • Patent number: 10799026
    Abstract: There is provided a system comprising a plurality of movable seats arranged in a seating area, a detection device, a non-transitory memory storing an executable code, a hardware processor executing the executable code to receive a first input from the detection device indicating an individual is present in the seating area, determine a first position of the individual in the seating area at a first time based on the first input, and arrange the plurality of seats in a first configuration based on the first position of the individual, wherein arranging the plurality of seats includes moving at least one of the plurality of seats to a new position.
    Type: Grant
    Filed: March 21, 2018
    Date of Patent: October 13, 2020
    Inventor: Steven Camuti
  • Patent number: 10793353
    Abstract: An article conveyance system includes a controller and a conveyance device. The controller includes: a storage section storing information concerning a position of a housing section stored in a shelf; a housing-section retrieving section retrieving, based on the information concerning the position of the housing section, housing positions of a plurality of the housing sections, which are picking targets, in the shelf; a route generating section generating a route that makes rounds of positions of the housing sections retrieved by the housing-section retrieving section; and a transmitting section transmitting information concerning the generated route and the housing positions of the housing sections to the conveyance device.
    Type: Grant
    Filed: January 27, 2017
    Date of Patent: October 6, 2020
    Assignee: Hitachi Industrial Products, Ltd.
    Inventors: Koichi Nakano, Yoriko Kazama, Junichi Kimura, Hiroshi Yoshitake
  • Patent number: 10791827
    Abstract: In one aspect, a pharmacy order processing system is disclosed. The system includes a plurality of picking workstations, each picking workstation including a plurality of bins. The system also includes a plurality of trays for carrying a plurality of pharmacy orders, a tray drop-off station, and a tray delivery conveyor extending between the tray drop-off station and the plurality of picking workstations. The system further includes a tray delivery conveyor extending between the tray drop-off station and the plurality of picking workstations. The system includes a plurality of packing workstations, each packing workstation including an opening to receive a scale and a plurality of receptacles configured to receive shipping label printers. The system also includes at least one inspection workstation, the at least one inspection workstation including at least one product scanner. The system further includes a packing delivery conveyor extending from the plurality of packing workstations.
    Type: Grant
    Filed: August 30, 2019
    Date of Patent: October 6, 2020
    Assignee: Express Scripts Strategic Development, Inc.
    Inventors: Robert E. Hoffman, Steven R. Hinkle, Jarrod A. Killough
  • Patent number: 10792706
    Abstract: A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be processed 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 redistribution on the conveying system, and a movement redistribution system for redistributing the certain selected objects on the conveying system for providing a singulated stream of objects.
    Type: Grant
    Filed: April 24, 2018
    Date of Patent: October 6, 2020
    Assignee: Berkshire Grey, 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 Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 10787316
    Abstract: A stocking assistant robot includes a base plate, one or more wheels coupled to the base plate, a first support coupled to the base plate, and a second support coupled to the base plate, wherein the first support is configured to move perpendicular to the base plate and the second support is configured to move perpendicular to the base plate. The stocking assistant robot also includes a first actuator configured to move the first support perpendicular to the base plate, and a second actuator configured to move the second support perpendicular to the base plate. The stocking assistant robot identifies an item, determines a stock location based on the identified item, operates one or more electric motors coupled to the one or more wheels based on the stock location, and moves the first support or the second support perpendicular to the base plate based on the stock location.
    Type: Grant
    Filed: June 26, 2018
    Date of Patent: September 29, 2020
    Assignee: SUNRISE R&D HOLDINGS, LLC
    Inventors: Brett Bracewell Bonner, Dion Perkins
  • Patent number: 10781044
    Abstract: An order fulfillment system and method includes a data base that is adapted to store data defining a plurality of customer orders. Each of the customer orders is a single item order having only one particular inventory item assigned to that order or a multiple item order having multiple particular inventory items assigned to that order. An inventory area stores inventory items that are available for fulfilling customer orders, and is responsive to said data base to retrieve particular inventory items from said inventory area that are assigned to customer orders in order to fulfill those orders. A sortation system combines particular inventory items together that make up an order. The sortation system has an automated induct subsystem and a sorter.
    Type: Grant
    Filed: May 7, 2019
    Date of Patent: September 22, 2020
    Assignee: Dematic Corp.
    Inventors: Michael J. Kasper, Jennifer Gonzales
  • Patent number: 10773891
    Abstract: In some embodiments, methods and systems for fulfilling consumer orders are provided. A stocking station includes at least one robotic stocking arm configured to unload a product from a first receptacle and to place the unloaded product onto a storage shelf, and a first picking station includes a first robotic picking arm configured to pick a first product from the storage shelf and to load the first product picked from the storage shelf into a second receptacle for delivery to a consumer. An empty receptacle placement station includes at least one robotic placing arm configured to place an empty second receptacle onto a packing conveyor configured to transport the empty second receptacle toward the first picking station for loading of the first product into the empty second receptacle. An electronic inventory management device transmits a signal the empty receptacle placement station and the first robotic picking arm.
    Type: Grant
    Filed: October 11, 2018
    Date of Patent: September 15, 2020
    Assignee: Walmart Apollo, LLC
    Inventors: Donald R. High, Michael D. Atchley
  • Patent number: 10773385
    Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.
    Type: Grant
    Filed: October 11, 2019
    Date of Patent: September 15, 2020
    Assignee: MUJIN, Inc.
    Inventors: Rosen Nikolaev Diankov, Huan Liu, Denys Kanunikov