System and method for assisting in object picking from a container in an object handling system

Abstract

A container pushing system for pushing objects within a container is disclosed, wherein the container is positioned on a conveyor, the conveyor comprising a plurality of rollers mutually spaced apart from each other. The container pushing system comprises at least one container contact element, the container contact element being vertically movable between at least two rollers of the conveyor and horizontally movable in a direction substantially parallel to the at least two rollers.

Description

[0001] priority

[0002] This application claims priority to U.S. Provisional Patent Application Serial No. 63 / 187,732, filed May 12, 2021, the disclosure of which is hereby incorporated by reference in its entirety. Background Technology

[0003] This invention relates generally to object handling systems, and more particularly to object handling systems for handling various objects, such as automated warehousing systems, distribution center systems, and sorting systems.

[0004] Current object processing systems typically involve the processing of large numbers of objects, which are received in organized or unorganized batches and must be routed to their desired destinations based on a list or a specific address on the object (e.g., in a mailing system).

[0005] For example, an Automated Storage and Retrieval System (AS / RS) typically includes a computer control system for automatically storing (placing) items to designated storage locations and retrieving items from those locations. Traditional AS / RS often use suitcases (or boxes), which are the smallest loading unit in the system. In these systems, the suitcase is handed to a person who selects individual items from it. Once the person has selected the required number of items from the suitcase, it is reintroduced into the AS / RS.

[0006] For example, current distribution center sorting systems typically present an inflexible sequence of operations, where a chaotic stream of input objects is first broken down into individual, isolated streams, presented one at a time to a scanner that identifies the objects. A robot's programmable motion device, for instance, can grasp objects from boxes, cartons, or suitcases, processing or transferring them one at a time to an introductory element (e.g., a conveyor, tilting pallet, or manually moving box), which transports the objects to a desired destination for further processing at a processing station.

[0007] In a typical parcel sorting system, manual or automated systems typically retrieve parcels in the order of arrival and sort each parcel or object into a collection bin based on a given set of heuristics. For example, all objects of similar types, all objects in a single customer order, or all objects destined for the same shipping destination might end up in one collection bin. A manual or automated system is needed to receive the objects and move each object to its designated collection bin. If the number of different types of incoming (received) objects is large, a large number of collection bins are required.

[0008] Current state-of-the-art sorting systems rely to some extent on human labor. Most solutions depend on workers who perform sorting by scanning objects from an entry area (chute, workbench, etc.) and placing them in temporary storage locations, conveyors, or collection bins. In systems using programmable motion devices, such as robots with end effectors for grasping objects, objects are not always presented to the programmable motion device in the most advantageous position or orientation for rapid grasping and processing. Again, human intervention may be required to help better present objects to the programmable motion device.

[0009] There is still a need for more efficient and cost-effective object handling systems that can process objects of various sizes and weights into appropriate collection bins or boxes, but are efficient in handling objects of such varying sizes and weights. Summary of the Invention

[0010] According to one aspect, the present invention provides a container pushing system for pushing an object within a container, wherein the container is positioned on a conveyor including a plurality of rollers spaced apart from each other. The container pushing system includes at least one container contact element that is vertically movable between at least two rollers of the conveyor and horizontally movable in a direction substantially parallel to the at least two rollers.

[0011] According to another aspect, the present invention provides an object handling system including a programmable motion device for approaching an object within a container on a conveyor. The object handling system includes: at least one container contact element vertically movable between at least two sections of the conveyor; and an actuator for actuating the at least one contact element in a direction substantially transverse to the vertical direction of movement.

[0012] According to another aspect, the present invention provides a method for pushing at least one object in a container on a conveyor. The method includes vertically moving at least one container contact element between at least two sections of the conveyor; and actuating an actuator to move at least one contact element in a direction substantially transverse to the vertical direction of movement. Attached Figure Description

[0013] The following description can be further understood with reference to the accompanying drawings, in which:

[0014] Figure 1 An illustrative schematic view of an object handling system including a container pushing system according to one aspect of the present invention is shown.

[0015] Figure 2 Show Figure 1 An illustrative diagram of a container pushing system, top front view, in which the container contact element does not contact the container;

[0016] Figure 3 Show Figure 2 A front view of the illustrative diagram of a container pushing system;

[0017] Figure 4 Show Figure 1 An illustrative diagram of a container pushing system, top front view, in which container contact elements contact the container;

[0018] Figure 5 Show Figure 4 A front view of the illustrative diagram of a container pushing system;

[0019] Figures 6A to 6C The container contact element is shown in contact with the container. Figure 6A ), move the container in the first direction ( Figure 6B ) and moving the container in a second direction opposite to the first direction ( Figure 6C Illustrative diagram view;

[0020] Figure 7 An illustrative graphical representation showing the velocity and position of an object inside a container when it encounters a hard block;

[0021] Figure 8 Show Figure 1 An illustrative front view of a portion of the container pushing system;

[0022] Figure 9 An illustrative graphical representation of lateral displacement and lifting height in a system according to one aspect of the invention is shown;

[0023] Figure 10A and Figure 10B An illustrative front view showing different shapes of impellers used in a container pushing system according to aspects of the invention, illustrating a circular shape ( Figure 10A ) and oval shape ( Figure 10B );

[0024] Figure 11 Showing the use Figure 10A and Figure 10B An illustrative graphical representation of the lateral displacement and lift height in the propeller system;

[0025] Figures 12A to 12C An illustrative front view of a container pushing system according to another aspect of the invention is shown, wherein the elliptical blades are in a non-engaged container position. Figure 12A ), only the position of the container ( Figure 12B ), and the location of the moving container ( Figure 12C );

[0026] Figure 13An illustrative front view of a container pushing system according to another aspect of the invention is shown, the container pushing system having multiple rows of blades rotating at different rotational speeds or rotating out of phase with each other;

[0027] Figure 14A and Figure 14B An illustrative schematic view of a container pushing system according to another aspect of the invention is shown, the container pushing system having individual blades rotating at different rotational speeds or rotating out of phase with each other, shown in a top front view. Figure 14A ) and the lower front view ( Figure 14B );

[0028] Figure 15A and Figure 15B An illustrative schematic view showing a container pushing system with an independently detachable conveyor section according to another aspect of the invention, illustrating separation from the conveyor section ( Figure 15A ) and combined with conveyor sections ( Figure 15B ) container pushing component;

[0029] Figure 16 An illustrative schematic view of a manually operated container pushing system for testing purposes, according to one aspect of the invention, shows the hardware for rotatably mounting a blade drive shaft.

[0030] Figure 17 An illustrative schematic view of a container pushing system according to one aspect of the invention is shown, illustrating a drive shaft with a polygonal cross-sectional shape;

[0031] Figure 18 An illustrative side front view of a container pushing system according to another aspect of the invention is shown, wherein conveyor rollers are mounted on a weighing sensor;

[0032] Figure 19 Show Figure 18 An illustrative front view of the container pushing system;

[0033] Figure 20 An illustrative schematic view of an object handling system including a container pushing system according to another aspect of the present invention is shown, the container pushing system including a conveyor belt as a container contact element.

[0034] Figure 21A and Figure 21B Show Figure 20 In the object handling system, the conveyor belt does not engage with the container. Figure 21A ) and joint container ( Figure 21B Front view of )

[0035] Figures 22A to 22D The conveyor belt-shaped container contact element is shown to not contact the container. Figure 22A ), contact container ( Figure 22B ), move the container in the first direction ( Figure 22C ) and moving the container in a second direction opposite to the first direction ( Figure 22D An illustrative front view of the diagram.

[0036] Figure 23 A lower front view of a container pushing system according to one aspect of the invention is shown, wherein a belt lift mount is coupled to a common lifting boom;

[0037] Figure 24 A front view of a container pushing system using a right-angle conveyor belt system according to one aspect of the present invention is shown.

[0038] Figure 25 An illustrative front view of an object handling system is shown, the system including a container pushing system with blades at a checkpoint preceding the object handling station; and

[0039] Figure 26 An illustrative front view of an object handling system is shown, which includes a container pushing system with a conveyor belt at a checkpoint before the object handling station.

[0040] The accompanying drawings are for illustrative purposes only. Detailed Implementation

[0041] According to one aspect, the present invention provides a container pushing system for pushing an object within a container, wherein the container is positioned on a conveyor comprising a plurality of rollers spaced apart from each other. The container pushing system includes one or more container contact elements that are vertically movable between the rollers of the conveyor and horizontally movable, for example, by rotational or linear motion, in a direction substantially parallel to at least two of the rollers.

[0042] It has been found that in some applications, one or more objects within a container (e.g., a box, case, or suitcase) can be positioned within the container, making it difficult or impossible for an end effector of a programmable motion device (e.g., a robotic gripper) to grasp or pick up the objects. Additionally, depending on the object's position within the container, one or more sensing systems (e.g., cameras) located near the container may have difficulty observing or be unable to observe the object. It has also been found that a pushing system can be provided, which can be mounted within a picking system, to move items within the container to allow for better observation and / or grasping of the items. Objects typically move towards the center of the container, making them easier for the robotic gripper to reach. According to certain aspects, it is desirable to position this feature within the picking area so that picking attempts can be made between pushing adjustments.

[0043] For example, Figure 1 A system 10 according to one aspect of the invention is shown. System 10 includes a processing station 12 having a programmable motion device (e.g., an articulated arm) 14 with an end effector 16, and a plurality of sensing units 18, 19. The sensing units 19 may be positioned above a feed conveyor 20 on which feed containers (e.g., suitcases) 22 containing objects are disposed. Generally, processing station 12 uses the end effector 16 of the programmable motion device 14 to move objects to an output container (e.g., a box) 24 on an output conveyor 26. The system also includes a container pushing system (discussed in more detail below) comprising support walls 30, 32. The operation of the system (including the conveyor, programmable motion device, sensing units, and container pushing system) can be controlled by one or more computer processing systems 100.

[0044] Further reference Figure 2 and Figure 3 The container pushing system also includes multiple blades 34 rotatably mounted on one or more drive shafts 36 below the conveyor 20, such that the blades are rotated when actuated (by an actuating motor 38). Figure 2 A view showing the top of conveyor 20 is provided, while Figure 3 The view shown is from below the conveyor, with both blades in an unengaged, downward-facing position. As the blades rotate, they appear between the conveyor's rollers 40, and reference... Figure 4 and Figure 5 When rotating upwards, the highest area of ​​the blade is located above roller 40. Figure 4 A view showing the top of conveyor 20 is provided, while Figure 5 The view shown is from below the conveyor, with both blades in the mating face upwards.

[0045] Further reference Figure 6A When the blade 34 rotates such that at least a portion of the blade is above the roller 40, the container 22 on the conveyor 20 above the blade is slightly lifted by the blade. Then, the blade 34 can move in one direction (e.g., Figure 6B The container 22, which contains any object, is rapidly rotated (or continues to rotate rapidly) clockwise, so that it violently impacts the supporting wall 30. Figure 6B As shown, this allows any object within it to move toward the central region of container 22. Alternatively, the blades 34 can move in one direction (e.g., Figure 6C The container 22, which contains any object, is rapidly rotated (or continues to rotate rapidly) counterclockwise, so that it violently impacts the supporting wall 32. Figure 6CAs shown, this allows any object within the container to travel towards the central region of the container 22 by bouncing off the inner wall of the container closest to the support wall 32. For example, if there are other objects in the container between the object to be moved and the opposing inner wall of the container, this process of moving the container closer to the object against the support wall may be necessary. The blades may be coated or include a covering of, for example, rubber or polyurethane material to facilitate engagement with the underside of the container.

[0046] Therefore, the method involves moving the container so that its contents will move directly or by bouncing off the inner wall of the container toward the central area of ​​the container. A vision system can determine which part of the container contains the object that needs to be repositioned. Using this information, the software can determine which movement of the container is necessary or most effective for moving the object in the desired direction, and then perform the operation using a container pushing system. It has been determined that a container trajectory that may be particularly effective in some applications is to accelerate the container at a controlled rate and then stop the container's speed as quickly as possible by colliding the suitcase with a hard stop. During the acceleration phase, the object inside the container will have the same speed as the container, and after the impact, the object will slide a given distance within the container, the distance depending on the speed and the coefficient of friction. Figure 7 A graphical representation showing the velocity and position of the container and the object relative to the rigid block. The dashed line represents the object sliding on the bottom plate of the container.

[0047] Figure 8 A container 22 on a conveyor is shown, with a paddle 34 (circular in this document) below the conveyor rotated to a point of contact with the underside of the conveyor. The paddle 34 includes a polygonal opening 35 and is mounted on a shaft 36 with a complementary polygonal cross-sectional shape, such as a hexagonal polygonal shape. Figure 10A As further illustrated. Therefore, one method for laterally accelerating a container is to use this eccentric cam to lift and move the suitcase. Figure 8 In this system, cams are staggered between the conveyor rollers. Each shaft is connected by a timing belt, chain, or gear so that they rotate at the same rate. The initial position is when the paddles are at the bottom of the cycle. By rotating one revolution clockwise or counterclockwise, the container is lifted and translated (e.g., in one step or pushed into a chute). Displacement occurs by placing a rigid stop at a position where the container will collide with it, while simultaneously reaching maximum lateral velocity.

[0048] Therefore, the container is initially lifted off the conveyor, accelerated upwards, and reaches one side (laterally shifted and lifted, as...). Figure 9(As shown). Vertical acceleration increases the friction between the object and the container, so the object in the container will accelerate closer to the container. After the top dead center, the container hits the side rail (hard stop). This stops the container's lateral movement, but the object should have the same or similar lateral velocity as the container upon impact, such as... Figure 9 This is further illustrated. At this point, the container and the object accelerate downwards, thus reducing the normal force between them and consequently reducing friction. After the container has come to a stop, the object will continue moving, closer to the center of the container than before the pushing.

[0049] Therefore, as the blade rotates once, it can accelerate the container, or in other ways, it can rotate multiple times until it pushes the container against the hard stop. One or more sensing systems 18, 19 can also be used to monitor any movement of objects within the container and can stop the blade when sufficient movement is achieved within the container. An object may also experience sufficient movement before the container reaches the hard stop. The pushing system can also adjust the direction of blade rotation in response to the position or orientation of one or more objects within the container. For example, if an object is adjacent to a first (e.g., left) sidewall, the system can push the container against the opposite (e.g., right) hard stop.

[0050] Therefore, the blades can be eccentrically mounted and circular in shape (e.g. Figure 10A (as shown), or it can be elliptical (as shown at 38 and including polygonal opening 37), and eccentrically mounted (as shown). Figure 10B (As shown) or, if the blades are large enough to accommodate a mounting shaft below the conveyor rollers, center mounting. Alternatively, it can be achieved through a shaped opening (e.g., as shown) that mates with a rotatable drive shaft of a similar shape (e.g., a hexagonal cross-section). Figure 10A and Figure 10B The hexagonal blades shown are installed (to the rotating shaft). The shape of the blades (e.g., cams) can be adjusted to adjust the amount of lifting and displacement that will occur. Compared to elliptical blades, circular blades will have more lateral movement for the same amount of lifting.

[0051] On one hand, the intended motion can be used to uniformly shift the product from left to right. In this case, the paddle (e.g., a cam) shape is symmetrical and the motion can be clockwise or counterclockwise. (Reference) Figure 11 Compared to circular blades, elliptical blades will provide less horizontal movement for the same vertical movement.

[0052] The system can be configured with elliptical blades, for example... Figures 12A to 12C shown. Specifically, Figure 12AThe illustration shows a container pushing system according to another aspect, which includes a plurality of elliptical blades 50 rotatably mounted on one or more drive shafts 52 below a conveyor including rollers 40, such that when actuated (by actuation as described above, but for clarity in...) Figures 12A to 12C The blades rotate when the motor (not shown) is used. Figure 12A This shows a view of the blade 50 in its original or rest position, completely downwards. As the blade 50 rotates, it appears between the conveyor rollers 40, as... Figure 12B As shown, and when the blade rotates fully upwards, it is positioned above roller 40, as... Figure 12C As shown.

[0053] Multiple sets of 56 and 58 blades in 50 Figures 12A to 12C The image shows that they are already rotating together. On the other hand, one set of blades can rotate at different speeds or rotate out of phase with another set of blades. For example, Figure 13 A system is shown in which a first set of 60 blades 64 rotates faster or out of phase with respect to a second set of 62 blades 66. Similarly, as blades 64, 66 rotate such that at least a portion of the blades are above roller 40, a container 22 on a conveyor above the blades is slightly lifted by the blades, and due to the different rotational positions or speeds / phases of the different blades, the container is lifted such that one side of container 22 is higher than the opposite side (and may be lifted earlier). This system can allow for specialized directional movement that specifically adjusts, for example, the tilt angle θ of the container to reduce (reduce sinθ) the effect of the object's weight on the container's base plate.

[0054] According to another aspect, the blades (e.g., four) can rotate on different axes at different speeds or phases. For example, Figure 14A A system is shown above in which blades 70, 72, 74, 76 rotate faster or out of phase relative to each other on shafts 71, 73, 75, 77 (e.g., ...). Figure 14B(As shown). Similarly, when blades 64 and 66 rotate such that at least a portion of the blades are above roller 40, container 22 on the conveyor above the blades is slightly lifted by the blades, and due to the different rotational positions or speeds / phases of the different blades, the container is lifted such that one side and one end (front / rear) of container 22 is higher (and may be lifted earlier) than the opposite side and opposite end (front / rear) of container 22. This system can allow specialized two-dimensional directional movement, which specifically adjusts, for example, the tilt angle θ of the container to reduce (reduce sinθ) the effect of the object's weight on the container's bottom plate in each of the left-right and front-back directions. In such a system, an object against the front or rear wall can be pushed towards the center of the container by the rotational movement of a cam in one direction. Thus, the system can achieve movement of an object within the container in a combined movement vector, which includes components in one direction and a second direction orthogonal to the first.

[0055] refer to Figure 15A and Figure 15B A container pushing system can be provided according to one aspect, making it easily combinable with existing roller conveyors. Specifically, conveyor 80 may include roller 82, and container pushing system 84 may include blades 86 on shaft 88, said shaft being coupled to actuators 81, 83, 85 between support walls 87, 89, such as... Figure 15A As shown. Figure 15B As shown, the extrusion system 84 can be positioned below an existing conveyor, allowing the blades 86 to move between the rollers 82 to engage the container, as discussed above. The extrusion system 84 can operate according to each of the aspects presented above as discussed above.

[0056] Figure 16 A prototype built using a manual crank is shown to provide motion for observing the movement of the corresponding object inside the container. Figure 16 The image shows the blade shaft 36 mounted to the fixed device at the swivel mount 39. This prototype can be used to design specific (different) blade shapes and rotational speeds for different applications. Figure 17 A container 22 is shown in a conveyor section including a pushing system according to one aspect of the invention, the pushing system comprising a roller 65 mounted on a roller actuator 67 for providing an active drive roller. According to one aspect, the pushing system should not interfere with the actuation of the active control roller.

[0057] Depending on some aspects, the container pushing system can be used with a conveyor section that includes a weighing sensor to weigh the container before and after picking it up. Figure 18 and Figure 19The diagram illustrates a container pushing system according to another aspect, comprising a plurality of blades 90 rotatably mounted on one or more drive shafts below a conveyor 92, such that the blades 90 are rotated when actuated (by an actuating motor as described above). A conveyor roller 94 is mounted on a load cell or force / torque sensor 96, and the system includes a support wall 98 against which a container 99 can be pushed, as described above. Figure 18 A view from the side of conveyor 20 is shown, while Figure 19 The view shown is from the end of the conveyor, with both blades in an engaged, upward-facing position. Similarly, as the blades rotate, they appear between the conveyor's rollers 40. Efforts can be made to ensure that the container pushing system is not designed to significantly impact the weighing conveyor, potentially causing partial failure of balance calibration, by ensuring that the container does not directly affect any strain gauges or force / torque sensors (e.g., by attaching support walls to the system structure, thus isolating them from the strain gauges or force / torque sensors).

[0058] Figure 20 A system 110 according to another aspect of the invention is shown, comprising a processing station 112 having a programmable motion device (e.g., an articulated arm) 114 with an end effector 116, and a plurality of sensing units 118, 119. Sensing units 119 may be positioned above a feed conveyor 120 on which feed containers (e.g., suitcases) 122 containing objects are disposed. Generally, processing station 112 uses the end effector 116 of the programmable motion device 14 to move objects to an output container (e.g., a box) 124 on an output conveyor 126. The system also includes a container pushing system (discussed in more detail below) comprising support walls 130, 132 and a liftable transverse conveyor 140 mounted on an elevator 142. Operation of the system (including the conveyor, programmable motion device, sensing units, and container pushing system) may be controlled by one or more computer processing systems 200.

[0059] Further reference Figure 21A and Figure 21B The transverse conveyor belt 140 is installed on the elevator 142 between the rollers 150 of the conveyor 126. Figure 21A The elevator is shown in a lowered position, allowing containers 122 on the conveyor to be supported by rollers 150 so that they can travel along the length of the conveyor. Figure 21B The elevator 152 (and therefore the conveyor belt 150) is shown in an elevated position between the rollers 150 of the conveyor, and when elevated, the bottom of the container 122 becomes supported by the conveyor belt 140 instead of the rollers 150.

[0060] The conveyor belt and elevator can be configured as a right-angle conveyor station to guide the container against the supporting wall. The right-angle conveyor provides roughly the same movement as the cam described above, but with two separate actuators. One actuator lifts a series of narrow, parallel conveyor belts (elevators), while the other actuator drives the conveyor belts. Through this mechanism, the container is lifted and then accelerated laterally into a rigid stop placed at a given distance from the starting point. As before, this impact causes the container to stop moving and allows the object to continue moving within the container until it stops due to friction. After the pushing movement ends, the conveyor belt slowly returns the container to the starting point to avoid pushing in the opposite direction, thus canceling the result.

[0061] Figure 22A An enlarged view of the container 122 on the roller 150 is shown, and Figure 22B The container 122 is shown in an elevated position on the conveyor belt 140. Figure 22C The conveyor belt is shown pushing the container against the support wall 130, and Figure 22D The conveyor belt is shown pushing the container against the support wall 132. Figure 23 The lower side of the conveyor is shown, and the lift mounting 152 can be coupled to the lifting rod 154 (on each side of the conveyor) for effectively actuating the lift system.

[0062] Depending on various aspects, the system's operating mode can be as follows: The container reaches a specific side of the conveyor width (for any cam or conveyor belt system). Preferably, the container is tilted to one side for pickup. After the push, the container can (slowly) return to this position, which can be referred to as the "original position".

[0063] If the object is located in the upper right corner of the container (relative to...) Figure 24 If the item is located in the upper left corner (relative to the image shown), the pushing operation will be as follows: Lift container 164 (e.g., using the right-angle conveyor 162 shown or using the paddles as described above). Accelerate container 164 to the left. After colliding with hard stop 166, accelerate to low speed and bring the suitcase to hard stop 168 (original position). Lower the right-angle conveyor (or paddles). If the item is located in the upper left corner (relative to the image shown), the pushing operation will be as follows: Lift the paddles or right-angle conveyor. Accelerate to low speed and bring the container to hard stop 166. Accelerate to high speed to enter hard stop 168, then lower the right-angle conveyor or paddles.

[0064] According to another aspect, when using two conveyor belts, the conveyor belts can be driven at different speeds (or even in different directions for a short period of time) to allow objects inside the container to move in directions other than left and right (as referenced above). Figure 14A and Figure 14BIn addition to the movement described above, it also moves in the forward and backward directions. Therefore, the system can realize the movement of objects within the container in a combined movement vector, which includes components in one direction of the conveyor belt and in a second direction orthogonal to the first direction.

[0065] The aforementioned system relates to the use of a container pushing system at a station where a programmable motion device acquires an object. According to another aspect, the container pushing system can be positioned before the pickup station, as shown in reference [reference needed]. Figure 25 and Figure 26 As shown.

[0066] For example, Figure 25 A system 210 according to one aspect of the invention is shown, comprising a processing station 212 having a programmable motion device (e.g., an articulated arm) with an end effector, and a plurality of sensing units guided to containers on a feed conveyor 220, on which feed containers (e.g., suitcases) 222 containing objects are disposed. Generally, the processing station 212 uses the end effector of a programmable motion device 214 to move objects to an output container (e.g., a box) 224 on an output conveyor 226. The system also includes a separate container pushing station 284 (discussed in more detail above), which includes rotatable paddles 234 and support walls 230, 232. The operation of the system (including the conveyor, programmable motion device, sensing units, and container pushing system) can be controlled by one or more computer processing systems.

[0067] Figure 26 A system 310 according to one aspect of the invention is shown, comprising a processing station 312 having a programmable motion device 214 (e.g., an articulated arm) with an end effector, and a plurality of sensing units guided to containers on a feed conveyor 320, on which feed containers (e.g., suitcases) 322 containing objects are disposed. Generally, the processing station 312 uses the end effector 316 of the programmable motion device 314 to move objects to an output container (e.g., a box) 324 on an output conveyor 326. The system also includes a separate container pushing station 384 (discussed in more detail above), which includes a liftable right-angle conveyor belt 334 and support walls 330, 332. The operation of the system (including the conveyor, programmable motion device, sensing units, and container pushing system) can be controlled by one or more computer processing systems.

[0068] Those skilled in the art should understand that many modifications and variations can be made to the disclosed embodiments without departing from the spirit and scope of the invention.

Claims

1. A container push system for pushing objects within containers, comprising: a conveyor comprising a plurality of rollers spaced apart from each other; at least one container contact element movable vertically between at least two rollers of the conveyor and movable horizontally in a direction substantially parallel to the at least two rollers; and at least one hard stop disposed along a side of the conveyor, wherein the at least one container contact element lifts and displaces laterally a container containing an object moving on the conveyor so that the container impacts the at least one hard stop, wherein the impact of the container against the at least one hard stop causes the object within the container to displace therein.

2. The container push system of claim 1, wherein the at least one container contact element comprises a plurality of container contact elements movable vertically between the at least two rollers of the conveyor, and wherein each container contact element comprises a rotatable paddle.

3. The container push system of claim 2, wherein each rotatable paddle is circular and eccentrically mounted on a drive shaft.

4. The container push system of any one of claims 2 to 3, wherein each rotatable paddle is elliptical.

5. The container push system of any one of claims 2 to 4, wherein each rotatable paddle is rotatable at a plurality of rotational speeds.

6. The container push system of any one of claims 2 to 5, wherein each rotatable paddle is rotatable at a plurality of rotational accelerations.

7. The container push system of any one of claims 2 to 6, wherein each rotatable paddle is rotatable simultaneously with a rotatable paddle of at least one other container contact element of the plurality of container contact elements at mutually different rotational speeds.

8. The container push system of any one of claims 2 to 7, wherein each rotatable paddle is rotatable simultaneously with a rotatable paddle of at least one other container contact element of the plurality of container contact elements at mutually different rotational accelerations.

9. The container push system of any one of claims 1 to 8, wherein the at least one container contact element comprises a lateral conveyor belt that is liftable between the at least two rollers and actuatable in a direction substantially parallel to the at least two rollers.

10. The container push system of claim 1, wherein the at least one hard stop is a support wall.

11. The container push system of claim 1, wherein the at least one hard stop is a side rail.

12. An object processing system, comprising: a conveyor comprising a plurality of rollers spaced apart from each other; a programmable motion device for accessing objects within containers on the conveyor; at least one container contact element movable vertically between at least two portions of the conveyor; an actuator for moving the at least one contact element in a direction substantially transverse to the vertical direction of movement; and a controller for controlling the programmable motion device and the actuator. ​ at least one hard stop disposed along a side of the conveyor, wherein the at least one container contact element lifts and laterally displaces the container moving on the conveyor against the at least one hard stop, thereby causing displacement of any object within the container prior to the programmable motion device accessing the object.

13. The object processing system of claim 12, wherein the at least one container contact element comprises a plurality of container contact elements vertically movable between the at least two portions of the conveyor, and wherein each container contact element comprises a rotatable paddle.

14. The object processing system of claim 13, wherein each rotatable paddle is circular and eccentrically mounted on a drive shaft.

15. The object processing system of any one of claims 13 to 14, wherein each rotatable paddle is elliptical.

16. The object processing system of any one of claims 13 to 15, wherein each rotatable paddle is rotatable at a plurality of rotational speeds.

17. The object processing system of any one of claims 13 to 16, wherein each rotatable paddle is rotatable at a plurality of rotational accelerations.

18. The object processing system of any one of claims 13 to 17, wherein each rotatable paddle is rotatable at a mutually different rotational speed from a rotatable paddle of at least one other container contact element of the plurality of container contact elements simultaneously.

19. The object processing system of any one of claims 13 to 18, wherein each rotatable paddle is rotatable at a mutually different rotational acceleration from a rotatable paddle of at least one other container contact element of the plurality of container contact elements simultaneously.

20. The object processing system of any one of claims 12 to 19, wherein the at least one container contact element comprises a lateral conveyor belt that is liftable between the at least two portions of the conveyor and actuatable in a direction substantially parallel to the at least two portions of the conveyor.

21. The object processing system of claim 12, wherein the at least one hard stop is a support wall.

22. The object processing system of claim 12, wherein the at least one hard stop is a side rail.

23. A method of jostling at least one object in a container on a conveyor, the method comprising: vertically moving at least one container contact element between at least two portions of the conveyor; actuating an actuator to move the at least one container contact element in a direction substantially transverse to the vertical movement direction such that the at least one container contact element lifts and laterally displaces a container moving on the conveyor against at least one hard stop disposed along a side of the conveyor, thereby causing displacement of an object within the container.

24. The method of claim 23, wherein the at least one container contacting element comprises a plurality of container contacting elements, and wherein the method comprises moving the plurality of container contacting elements vertically between the at least two portions of the conveyor, and wherein each container contacting element comprises a rotatable paddle.

25. The method of claim 24, wherein each rotatable paddle is circular and is mounted eccentrically on a drive shaft.

26. The method of any one of claims 24 to 25, wherein each rotatable paddle is elliptical.

27. The method of any one of claims 24 to 26, wherein each rotatable paddle is rotatable at a plurality of rotational speeds.

28. The method of any one of claims 24 to 27, wherein each rotatable paddle is rotatable at a plurality of rotational accelerations.

29. The method of any one of claims 24 to 28, wherein each rotatable paddle is rotatable simultaneously with a rotatable paddle of at least one other container contacting element of the plurality of container contacting elements at mutually different rotational speeds.

30. The method of any one of claims 24 to 29, wherein each rotatable paddle is rotatable simultaneously with a rotatable paddle of at least one other container contacting element of the plurality of container contacting elements at mutually different rotational accelerations.

31. The method of any one of claims 23 to 30, wherein the at least one container contacting element comprises a transverse conveyor belt that is liftable between the at least two portions of the conveyor and is actuatable in a direction substantially parallel to the at least two portions of the conveyor.

32. The method of claim 23, wherein the at least one hard stop is a support wall.

33. The method of claim 23, wherein the at least one hard stop is a side rail.

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