Systems and methods for processing objects including an automated shuttle system

Abstract

Disclosed is a storage, retrieval, and handling system (10) for handling objects. The storage, retrieval, and handling system includes: a storage section (12) for a plurality of storage bins (14), the plurality of storage bins providing storage for a plurality of objects, wherein the plurality of storage bins communicate with a retrieval conveyor system (28); a programmable motion device (18) that communicates with the retrieval conveyor system for receiving storage bins from the plurality of bins, wherein the programmable motion device includes an end effector (38) for grasping and removing a selected object from a selected storage bin; and a movable carriage (22) for receiving the selected object from the end effector of the programmable motion device and for bringing the selected object to one of a plurality of destination bins (26).

Description

[0001] This application is a divisional application of a Chinese application with application number 201880019640.3, filing date March 19, 2018, and invention title "Systems and Methods for Handling Objects Including an Automated Shuttle System".

[0002] This application claims the priority of U.S. Provisional Patent Application Serial No. 62 / 473,843, filed on March 20, 2017, the disclosure of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present invention generally relates to storage and retrieval systems for use with systems for handling objects, and more particularly to automated storage and retrieval systems. BACKGROUND ART

[0004] Automated storage and retrieval systems (AS / RS) typically include a computer control system for automatically storing (placing) and retrieving items from defined storage locations. Conventional AS / RS typically use suitcases (or bins), which are the smallest load units of the system. In these systems, the suitcase is brought to a person, and the person selects individual items from the suitcase. When the person has selected the desired number of items from the suitcase, the suitcase is then re-introduced into the AS / RS.

[0005] In these conventional systems, the suitcase is brought to a person, and the person can retrieve items from the suitcase or add items to the suitcase. The suitcase then returns to the storage location. Such systems, for example, can be used in library and warehouse storage facilities. The AS / RS is not involved in the handling of the objects within the suitcase because when the suitcase is brought to a person, the person handles the objects. This separation of tasks allows any automated transportation system to do what it does best - move the suitcase - and the person to do what the person does better - select items from a jumbled suitcase. This also means that when the transportation system brings the suitcase to a person, the person can stand in one place, which increases the speed at which the person can select goods.

[0006] However, in such conventional systems, there are limitations in terms of the time and resources required for the suitcase to move towards and away from each person, and how quickly people can handle suitcases in applications where each person may need to handle a large number of suitcases. Therefore, there is still a need for an AS / RS that stores and retrieves objects more efficiently and cost-effectively, and also helps to handle a wide variety of objects. SUMMARY OF THE INVENTION

[0007] According to one embodiment, the present invention provides a storage, retrieval, and handling system for handling objects. The storage, retrieval, and handling system includes: a plurality of storage bins that provide storage for a plurality of objects, wherein the plurality of storage bins communicate with a retrieval conveyor system; a programmable motion device that communicates with the retrieval conveyor system and is configured to receive storage bins from the plurality of bins, wherein the programmable motion device includes an end effector for gripping and removing a selected object from a selected storage bin; and a movable carriage that is configured to receive the selected object from the end effector of the programmable motion device and to transport the selected object to one of a plurality of destination bins.

[0008] According to another embodiment, the present invention provides a storage, retrieval, and handling system for handling objects, wherein the storage, retrieval, and handling system includes a plurality of storage bins, at least one programmable motion device, and a movable carriage. The plurality of storage bins provide storage for a plurality of objects and are arranged in at least two linear arrangements, each linear arrangement communicating with a retrieval conveyor system. The at least one programmable motion device communicates with the retrieval conveyor system and is configured to receive storage bins from the plurality of bins, and the programmable motion device is configured to grip and remove a selected object from a selected storage bin. The reciprocating movable carriage is configured to receive the selected object from the end effector of the programmable motion device and to transport the selected object to one of a plurality of destination bins, the plurality of destination bins being arranged in at least two linear arrangements of destination bins.

[0009] According to another embodiment, the present invention provides a method for providing storage, retrieval, and handling of objects. The method includes the steps of: providing a plurality of storage bins for storing a plurality of objects, the plurality of storage bins communicating with a retrieval conveyor system; receiving storage bins from the plurality of storage bins at a programmable motion device that communicates with the retrieval conveyor system; gripping and moving a selected object from a selected storage bin; receiving the selected object from the programmable motion device and transporting the selected object to one of a plurality of destination bins. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The following description can be further understood with reference to the accompanying drawings, wherein:

[0011] Figure 1 An illustrative schematic diagram of a storage, retrieval, and handling system according to an embodiment of the present invention is shown;

[0012] Figure 2 Shows Figure 1 An illustrative schematic diagram of the storage section of the storage, retrieval, and handling system of;

[0013] Figure 3A and 3B An illustrative schematic diagram of an embodiment of a bin shifting system of a retrieval conveyor system for the present invention is shown;

[0014] Figure 4 Illustrates an illustrative schematic exploded view of a bin assembly serving as a storage bin or destination bin according to various embodiments of the present invention;

[0015] Figure 5 Illustrates Figure 4 the assembled cartridge tray assembly;

[0016] Figures 6A - 6D Illustrates an illustrative schematic view of another bin shifting system of another embodiment of the present invention;

[0017] Figure 7 Illustrates an illustrative schematic view of a programmable motion device processing station for a storage, retrieval, and handling system according to an embodiment of the present invention.

[0018] Figure 8 Illustrates a view from Figure 7 a sensing system, which shows a view of an object to be processed inside a bin;

[0019] Figure 9A and 9B Illustrates an illustrative schematic view of a grasping selection process in a storage, retrieval, and handling system of an embodiment of the present invention;

[0020] Figure 10A and 10B Illustrates an illustrative schematic view of a grasping planning process in a storage, retrieval, and handling system of an embodiment of the present invention;

[0021] Figure 11A and 11B Illustrates an illustrative schematic view of a grasping execution process in a storage, retrieval, and handling system of an embodiment of the present invention;

[0022] Figure 12 Illustrates an illustrative schematic view of a part of a processing system and a part of a destination section of an embodiment of a storage, retrieval, and handling system according to an embodiment of the present invention.

[0023] Figure 13 Illustrates an illustrative schematic view of a processing section in a storage, retrieval, and handling system according to an embodiment of the present invention, where an object is placed in a carriage;

[0024] Figure 14 Illustrates Figure 13 the processing section, where the carriage has moved along its track;

[0025] Figure 15 Illustrates Figure 13 the processing section, where the carriage has transferred its load to a destination bin.

[0026] Figure 16A and 16B shows an illustrative schematic diagram of a cassette removal mechanism for a storage, retrieval, and handling system according to an embodiment of the present invention;

[0027] Figure 17 shows Figure 13 an illustrative schematic diagram of the processing unit of, where the carriage has returned to its base and the removed destination cassette is pushed from its position;

[0028] Figure 18 shows Figure 13 an illustrative schematic diagram of the processing unit of, where the removed destination cassette moves along the output conveyor;

[0029] Figure 19 shows an illustrative schematic diagram of a storage, retrieval, and handling system according to another embodiment of the present invention, which employs a plurality of storage units, processing units, and a plurality of destination units; and

[0030] Figure 20 shows an illustrative schematic diagram of a storage, retrieval, and handling system according to another embodiment of the present invention, which employs additional multiple storage units, processing units, and destination units.

[0031] The drawings shown are for illustrative purposes only. Detailed Description

[0032] According to one embodiment, the present invention provides a storage, retrieval, and handling system for handling objects. The system includes a plurality of storage cassettes providing storage for a plurality of objects, a programmable motion device, and a movable carriage. The plurality of storage cassettes communicate with a retrieval conveyor system. The programmable motion device communicates with the retrieval conveyor system for receiving a storage cassette from the plurality of cassettes, and the programmable motion device includes an end effector for grasping and removing a selected object from a selected storage cassette. The movable carriage receives the selected object from the end effector of the programmable motion device and transports the selected object to one of a plurality of destination cassettes.

[0033] Referring Figure 1 , the system 10 according to an embodiment of the present invention includes: a storage unit 12 provided with a plurality of storage cassettes 14, a processing unit 16 including a programmable motion device 18, and one or more destination units 20 including one or more shuttle carriages 22. Generally, the storage cassettes 14 are selectively provided to the processing unit 16 and the storage cassettes 14 are selectively provided from the processing unit 16, wherein an object moves from a selected storage cassette and is placed or dropped by the programmable motion device 18 into a carriage 22 of the destination unit 20 for conveyance to one of a plurality of destination cassettes 24. When the destination cassette 24 is full, the full cassette is pushed onto an output conveyor 26 for further processing or transportation.

[0034] AsFigure 2 As shown, the storage bins 14 of the storage unit 12 are provided near the retrieval conveyor 28, which transports the selected storage bin to the processing station 16. As referred to Figure 3A and 3B further shown, when a particular storage bin 15 is selected for retrieval, the bin removal mechanism 30 travels between the bins 14 and stops near the selected storage bin, as Figure 3A shown.

[0035] Reference Figure 3B , the system then moves the pusher member 32 of the mechanism 30 to push the selected bin 15 onto the conveyor 28 leading to the processing unit 16. The removal mechanism 30 can drive the pusher member 32 through any of a variety of processes, including passing the beam 31 through a pusher mechanism 28 that spirals on the beam 29 such that the pusher member 28 moves as the support beam rotates, or through other mechanical, pneumatic, or electronic drives.

[0036] The conveyor 28 (and other conveyors in the system) can be motion-controlled so that the speed and direction of the conveyor (e.g., rollers or belts) can be controlled. In certain embodiments, certain conveyors (e.g., leading from the storage station 12 to the processing station 16) can be gravity-biased to convey any storage bin on any conveyor system to the processing unit 16 near the programmable motion device 18.

[0037] The bins 14 can be provided as boxes, suitcases, containers, or any other type of device that can receive and hold items. In further embodiments, the bins can be set in a unified tray (so that the spacing is consistent with the processing), and can also include an open lid that can hold the bin in an open state, and the processing can also be made consistent by any spacing, alignment, or marking.

[0038] For example, Figure 4 an exploded view of a box tray assembly 130 is shown. As shown, the box 132 (e.g., a standard shipping-size cardboard box) can include a bottom 131 and side edges 133, which are received by the top surface 135 and the inner side 137 of the box tray 134. The box tray 134 can include a recessed (protected) area, where a label or other identification mark 14 can be set and a wide and smooth contact surface 151, which can be engaged by the pusher or removal mechanism as described below.

[0039] Also as Figure 4As shown, the cassette 132 may include a top flap 138 that, when opened as shown, is held open by the inner surface 140 of the cassette lid 136. The cassette lid 136 may also include a recessed (protected) area where a label or other identification marker 145 may be provided. The cassette lid 136 also provides defined edge openings 142 and corner elements 144 that may help maintain the structural integrity of the assembly and may help stack unused lids on top of each other. Unused cassette trays may also be stacked on top of each other.

[0040] Thus, the cassette 132 is held securely within the cassette tray 134, and the cassette lid 136 holds the flap 138 down along the outside of the cassette, allowing access to the interior of the cassette through the opening 142 in the cassette lid 136. Figure 5 A width side view of the cassette tray assembly 130 is shown, where the cassette 132 is securely seated within the cassette tray 134 and the cassette lid holds the flap 138 that opens the cassette 132. In various embodiments of the present invention, the cassette tray assembly may be used as either or both a storage bin and a destination bin.

[0041] Reference Figures 6A - 6D , a cassette kicker 184 according to an embodiment of the present invention may be suspended by and travel along a track 86 and may include a rotatable arm 88 and a roller 190 at the end of the arm 88. Reference Figures 6B - 6D , when the roller 190 contacts the kick plate 151 of the cassette tray assembly 120 ( Figure 4 as shown), the arm 188 continues to rotate, pushing the cassette tray assembly 180 from the first conveyor 182 to the second conveyor 180. Similarly, the roller 190 is designed to contact the kick plate 151 of the cassette tray assembly 181 to push the cassette tray assembly 181 onto the conveyor 180. Such a system may be used to remove empty or fully unloaded bins (e.g., from the conveyor 182), or to remove fully loaded or fully loaded bins (e.g., removed from the conveyor 182). The conveyors 180, 182 may also be coplanar, and the system may further include a transition roller 183 to facilitate the movement of the cassette tray assembly 181, such as by activating to pull the cassette onto the conveyor 180.

[0042] Reference Figure 7 , the processing station 16 further includes a sensing unit 36 that is mounted near the base of the programmable motion device 18 and looks down into a selected storage bin. The end effector 38 of the programmable motion device grasps an object in the bin and moves to transport the object to a desired destination bin 24 by placing or depositing the object into a carrier, and then shuttles the object to the selected destination bin 24 (as further shown in Figure 12 ).

[0043] As long as the system knows the position where the bin has returned and knows how each bin might move when the selected storage bin is transferred to conveyor 28, the storage bin can then return to the multiple storage bins at the storage station and can return to any position within the bin. For example, the storage bins can be offset (e.g., by gravity) to stack on one end of each row of bins, and the returned bin can be placed at the uphill end of a row of storage bins. As described above, the storage bin can be returned to the storage section 12 by the conveyor and can be returned to the central area between the conveyor 28 by personnel or by using the additional removal mechanism described above to urge the bin back to the central area.

[0044] Figure 8 An image view of bin 14 from the sensing unit 38 is shown, with reference numeral 50. The image view shows bin 14 (e.g., on the conveyor), and bin 14 contains objects 78, 80, 82, 84, and 86. In this embodiment, the objects are homogeneous and are intended to be assigned to different dispensing packages. Overprinted (for illustrative purposes) on objects 78, 80, 82, 84, 86 are the intended grasp positions 79, 81, 83, and 85 of the objects. Note that while candidate grasp positions 79, 83, and 85 appear to be good grasp positions, grasp position 81 is not because the object associated with it is at least partially under another object. The system may not even have attempted to identify the grasp position of object 84 because object 84 is too obscured by other objects. A 3D model of the robotic end effector can be used to indicate the candidate grasp positions, which are placed at the positions where the actual end effector will go (used as grasp positions), as Figure 5 shown. For example, if the grasp position is near the centroid of the object to provide greater stability during grasping and transfer, and / or if the grasp position avoids positions on the object such as caps, seams, etc. where a good vacuum seal may not be obtained, then the grasp position can be considered good.

[0045] If the detection system cannot fully sense the object, the sensing system treats the object as two different objects and may propose more than one candidate grasp for the two different objects. If the system performs a grasp in any of these poor grasp positions, since a poor grasp position where a vacuum seal will not occur, it will not be able to obtain the object, or will obtain the object at a grasp position that is very far from the centroid, thus causing great instability during any purposeful transportation process. Each result is undesirable.

[0046] If a poor grasping position is encountered, the system may remember the position of the relevant object. By recognizing good and bad grasping positions, a correlation is established between the features in the 2D / 3D image and the concept of good or bad grasping positions. Using this data and these correlations as input to a machine learning algorithm, for each image presented to it, the system can finally know the position to grasp the object optimally and the positions to avoid grasping the object.

[0047] As Figure 9A and 9B shown, when generating good grasping position information, the perception system can also identify the flattest part of the object. In particular, if the object includes a tubular end and a flat end such as object 87, the system will identify the flatter end, as Figure 9B shown as 88 in. Additionally, the system can select the area of the object where the UPC code appears, because such a code is usually printed on a relatively flat part of the object for easy barcode scanning.

[0048] Figure 10A and 10B show that for each object 90, 92, the grasping selection system can determine the direction perpendicular to the selected flat part of the objects 90, 92. As Figure 11A and 11B shown, the robotic system then guides the end effector 94 to approach each object 90, 92 from a direction perpendicular to the surface, in order to better facilitate the generation of a good grasp of each object. By approaching each object from a direction substantially perpendicular to the object surface, the robotic system significantly increases the likelihood of obtaining a good grasp of the object, especially when using a vacuum end effector.

[0049] Thus, in some embodiments of the present invention, there is provided a grasping optimization that can be determined based on the surface normal, that is, moving the end effector perpendicular to the perceived surface of the object (opposite to vertical picking), and such a grasping point can be selected as the grasping point with a reference feature, such as picking on a barcode, provided that the barcode is almost always applied to a flat point on the object.

[0050] Figure 12 shows parts of the processing unit 16 and the destination unit 20 of the system, which includes a movable carriage 22 that can receive an object from the end effector 38 of the programmable motion device 18. The movable carriage can reciprocate between destination bins 24, and as Figure 13 and 14 further shown, each carriage 22 moves along a track 42 and can be actuated to place the object 44 into the desired destination bin 24 (as Figure 15 shown).

[0051] The destination bins can be set in a conveyor (e.g., rollers or belts) and can be biased (e.g., by gravity) to push all destination bins towards one end (e.g., the distal end 38 as shown). Refer to Figure 16A and 16B , when it is selected to remove a destination bin 24 (e.g., because the bin is full or ready for further processing), the system will push the completed bin onto the output conveyor 26 for entry into further processing or shipping stations. The conveyor 26 can be biased (e.g., by gravity) to bring any bin on the conveyor to the output position.

[0052] Figure 16A and 16B illustrates pushing bins from multiple destination bins onto the output conveyor 26 by using a shifting mechanism 48. According to additional embodiments, other shifting mechanisms can be used, e.g., including those discussed above with reference to Figures 3A - 3B and 6A - 6D. The destination bins can be provided as boxes or containers or any other type of device that can receive and hold items, including the box tray assemblies discussed above with reference to Figure 4 and 5 .

[0053] After moving the bins onto the conveyor (as Figure 17 shown), each destination bin can be pushed together, and the system records any change in the position of the moved bins (as Figure 18 shown). In this way, new empty bins can be added at the end, and the system records the correct positions of each destination bin and the identification processing details. This is shown in Figure 13 and 14 , where the bin 24 is removed and pushed onto the conveyor 26 (see Figure 13 ), then the remaining bins are pushed together while the removed bin rolls towards the output position (see Figure 14 ).

[0054] In terms of the sorting per hour and the number of available storage bins and destination bins, the system of the present invention is highly scalable. Figure 15 illustrates a system 100 according to another embodiment of the present invention, which includes a plurality of storage sections 112, a plurality of processing sections 116, and a plurality of destination sections 120. Generally, the functions of two storage sections 112 are as discussed above with respect to Figures 1 - 6D , and feed two processing sections 116 as discussed above with reference to Figure 1 and 4 . Each processing section 116 includes a programmable motion device 118 that provides an object to a carriage of one or more processing sections 120.

[0055] Figure 16 shows a system 200 according to another embodiment of the present invention, which includes an additional plurality (e.g., four) of storage units 212, an additional plurality (e.g., four) of processing units 216, and an additional plurality (e.g., four pairs) of destination units 120. Generally, the functions of all storage units 212 are as described above with respect to Figures 1 - 3B and as fed to all processing units 216 as discussed above with reference to Figure 1 and 4 . Each processing unit 216 includes a programmable motion device 218 that provides an object to a carriage of one or more processing units 220.

[0056] The control of each of the systems 10, 100, and 200 can be set by a computer system 60 that communicates with the storage conveyor and shifting mechanism, the processing conveyor and shifting mechanism, and the programmable motion device. The computer system 60 also contains knowledge (constantly updated) of the location and identity of each storage bin, and knowledge (also constantly updated) of the location and identity of each destination bin. Thus, the system instructs the storage bins and destination bins to move, retrieves objects from the storage bins, and allocates the objects to the destination bins according to an overall list that specifies which items must be provided in which destination bins, e.g., for shipment to distribution or retail locations.

[0057] Those skilled in the art will understand that various modifications and variations can be made to the embodiments disclosed above without departing from the spirit and scope of the present invention.

Claims

1. A storage, retrieval, and handling system for handling objects, the storage, retrieval, and handling system comprising: A storage section including a plurality of storage bins that provide storage for a plurality of objects; A destination section including a plurality of destination bins and a movable carriage; A handling section including a programmable motion device disposed above the destination section; And A retrieval transfer system for transporting a selected storage bin from the storage section to the handling section, wherein the retrieval transfer system includes one or more conveyors that extend above the destination section and form a transfer loop around the programmable motion device of the handling section, Wherein the programmable motion device of the handling section includes an end effector for grasping and removing a selected object from the selected storage bin and moving the selected object into the movable carriage of the destination section through an opening defined by the transfer loop, and the movable carriage transports the selected object to a selected destination bin among the plurality of destination bins provided in the destination section and places the selected object into the selected destination bin.

2. The storage, retrieval, and handling system according to claim 1, wherein the plurality of storage bins are arranged in at least one linear arrangement adjacent to a part of the retrieval transfer system, and wherein the storage, retrieval, and handling system includes a bin shifting system for pushing a selected storage bin onto the transfer system.

3. The storage, retrieval, and handling system according to claim 1, wherein the retrieval transfer system returns the selected storage bin to the plurality of storage bins.

4. The storage, retrieval, and handling system according to claim 3, wherein the retrieval transfer system returns the selected storage bin to a position different from the position where the selected storage bin was selected.

5. The storage, retrieval, and handling system according to claim 1, wherein the programmable motion device is positioned near the transfer loop of the retrieval transfer system.

6. The storage, retrieval, and handling system according to claim 5, wherein the movable carriage moves back and forth between two rows of the plurality of destination bins and places the selected object into a selected destination bin in one of the two rows of destination bins.

7. The storage, retrieval, and handling system according to claim 6, further comprising an output transfer system including output conveyors arranged parallel to each row of destination bins, wherein the output transfer system receives the completed destination bins and transports the completed destination bins out of the destination section.

8. The storage, retrieval, and handling system according to claim 1, further comprising at least one additional programmable motion device and at least one additional movable carriage, the at least one additional programmable motion device for grasping and removing a selected object from an additional selected storage bin and for providing the additional selected object to the at least one additional movable carriage.

9. The storage, retrieval, and handling system according to claim 1, wherein the storage unit includes at least two storage bins arranged linearly, and the retrieval conveyor system includes at least two conveyors arranged parallel to each linearly arranged storage bin, the conveyors being configured to transport a selected storage bin out of the storage unit, wherein at least two conveyors merge into a common conveyor for transporting the selected storage bin to a conveyor loop located at the processing unit.

10. A method for providing storage, retrieval, and handling of objects, the method comprising: providing a storage unit including a plurality of storage bins for storing a plurality of objects; transporting a selected storage bin on a retrieval conveyor system from the storage unit to a processing unit, wherein the processing unit includes a programmable motion device, and wherein the retrieval conveyor system includes one or more conveyors that extend above the destination unit and form a conveyor loop around the programmable motion device; using the programmable motion device to grasp and remove a selected object from the selected storage bin and move the selected object into a movable carriage of the destination unit through an opening defined by the conveyor loop; and transporting the selected object in the movable carriage to a selected destination bin among a plurality of destination bins provided in the destination unit and placing the selected object in the selected destination bin.

11. The method according to claim 10, wherein the plurality of storage bins are arranged in at least one linear arrangement adjacent to a portion of the retrieval conveyor system, and wherein the method further includes pushing the selected storage bin onto the conveyor system.

12. The method according to claim 10, further comprising returning the selected storage bin to the plurality of storage bins through the retrieval conveyor system.

13. The method according to claim 12, wherein the retrieval conveyor system returns the selected storage bin to a location different from the location where the selected storage bin was selected.

14. The method according to claim 13, wherein the movable carriage moves back and forth between a plurality of destination bins in two rows and places the selected object in a selected destination bin in one of the two rows of destination bins.

15. The method according to claim 14, further comprising pushing a completed destination bin onto an output conveyor system and transporting the completed destination bin on the output conveyor system away from the destination unit.

16. A storage, retrieval, and handling system for handling objects, the storage, retrieval, and handling system comprising: a processing unit including a programmable motion device; a destination unit including a movable carriage; a storage unit including a plurality of storage bins providing storage for a plurality of objects, the plurality of storage bins being arranged in at least one row of storage bins having an uphill end and a downhill end, the plurality of storage bins being biased by gravity and stacked at the downhill end of the at least one row of storage bins; a retrieval conveyor system for providing a selected storage bin from a first storage location to the processing unit, the first storage location being at any position in the at least one row of storage bins, and returning the selected storage bin from the processing unit to a second storage location at the uphill end of the at least one row of storage bins; The processing unit is configured to receive a selected storage bin from the retrieval conveyor system. The programmable motion device of the processing unit includes an end effector configured to grasp and remove a selected object from the selected storage bin and place the selected object in a movable carrier. The movable carrier is configured to transport the selected object to a selected destination bin among a plurality of destination bins and place the selected object in the selected destination bin.

17. The storage, retrieval, and processing system according to claim 16, wherein the storage unit includes a bin shifting system configured to push a selected storage bin onto the retrieval conveyor system.

18. The storage, retrieval, and processing system according to claim 16, wherein the programmable motion device is positioned near a portion of the retrieval conveyor system.

19. The storage, retrieval, and processing system according to claim 18, wherein the movable carrier moves back and forth between two rows of a plurality of destination bins, and wherein the movable carrier is adapted to place a selected object in a selected destination bin.

20. The storage, retrieval, and processing system according to claim 16, further comprising at least one additional programmable motion device configured to grasp and remove a selected object from an additional selected storage bin and to provide the additional selected object to an additional movable carrier.

21. A storage, retrieval, and processing system for processing objects, the storage, retrieval, and processing system comprising: a plurality of storage bins providing storage of a plurality of objects, the plurality of storage bins being arranged in at least two linear arrangements, each of the plurality of storage bins communicating with a retrieval conveyor system including a retrieval conveyor. The retrieval conveyor system further includes an automatic storage bin removal system that moves between at least two linear arrangements of the plurality of storage bins and stops near a selected storage bin. The automatic storage bin removal system includes a pushing member that moves along a support beam to push a selected storage bin of the plurality of storage bins onto the retrieval conveyor; at least one programmable motion device in communication with the retrieval conveyor system, the at least one programmable motion device being configured to receive a selected storage bin from the plurality of storage bins, the at least one programmable motion device including an end effector configured to grasp and remove a selected object from the selected storage bin; and a movable carrier configured to receive a selected object from the end effector of the at least one programmable motion device and to transport the selected object to a selected destination bin among a plurality of destination bins and place the selected object in the selected destination bin.

22. The storage, retrieval, and processing system according to claim 21, wherein the retrieval conveyor system is further adapted to return the selected storage bin to the plurality of storage bins.

23. The storage, retrieval, and processing system according to claim 21, wherein the retrieval conveyor system returns the selected storage bin to a storage location different from the storage location from which the selected storage bin was selected.

24. The storage, retrieval, and processing system according to claim 21, wherein the programmable motion device is positioned near a portion of the retrieval conveyor system.

25. The storage, retrieval, and handling system according to claim 21, wherein the movable carriage is adapted to place a selected object into one of a plurality of destination bins.

26. The storage, retrieval, and handling system according to claim 25, wherein each destination bin is adapted to selectively place any contents of the respective destination bin into a destination container, the destination container being adapted to be sealed and shipped by transportation.

27. The storage, retrieval, and handling system according to claim 26, wherein each destination bin is disposed near an output conveyor system for receiving a completed destination container and for providing the completed destination container to an additional processing location.

28. The storage, retrieval, and handling system according to claim 27, wherein the additional processing location is a goods shipping location.

29. The storage, retrieval, and handling system according to claim 21, wherein the movable carriage is a reciprocating carriage.

30. The storage, retrieval, and handling system according to claim 21, further comprising at least one additional programmable motion device for grasping and removing a selected object from an additional selected storage bin and for providing the additional selected object to an additional movable carriage.

31. The storage, retrieval, and handling system according to claim 21, wherein the plurality of destination bins are arranged in at least two linearly arranged destination bins.

32. A method of providing storage, retrieval, and handling of objects, the method comprising: providing a plurality of storage bins for storing a plurality of objects, the plurality of storage bins communicating with a retrieval conveyor system, the plurality of storage bins being disposed in at least one row of storage bins having an uphill end and a downhill end, the plurality of storage bins being biased by gravity and stacked at the downhill end of the at least one row of storage bins; using the retrieval conveyor system to move a selected storage bin from a first storage location to a processing station, the first storage location being at any position in the at least one row of storage bins; receiving the selected storage bin from the retrieval conveyor system at the processing station; using a programmable motion device at the processing station to remove a selected object from the selected storage bin to a movable carriage; transporting the selected object in the movable carriage to a selected destination bin of a plurality of destination bins and placing the selected object into the selected destination bin; and returning the selected storage bin to a second storage location at the uphill end of the at least one row of storage bins.

33. The method according to claim 32, wherein the method further comprises pushing the selected storage bin onto a retrieval conveyor on the retrieval conveyor system.

34. The method according to claim 32, wherein the movable carriage reciprocates between two rows of a plurality of destination bins, and wherein the movable carriage is adapted to place a selected object into one of the plurality of destination bins.

35. The method according to claim 34, wherein each destination bin is adapted to selectively place any contents of the respective destination bin into a destination container, the destination container being adapted to be sealed and shipped by transportation.

36. The method according to claim 35, wherein each destination bin is disposed near an output conveyor system for receiving the completed destination containers and for providing the completed destination containers to a further processing location.

37. The method according to claim 36, wherein the further processing location is a goods shipping location.

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