System and method for dynamically handling objects provided in a vehicle with cooperating programmable motion devices

Abstract

An object handling system for dynamically removing objects from a trailer (12) of a towed trailer is disclosed. The object handling system includes a load assessment system for assessing load characteristics of a plurality of objects within the trailer and for providing load assessment data indicative of the load characteristics, an object assessment system for assessing relative positions and relative environments of an object of the plurality of objects in response to the load assessment data and for providing object assessment data of the object, and a dynamic engagement system (10) for dynamically engaging the object within the trailer with either of at least two cooperatively operable programmable motion devices (24, 26) in response to the object assessment data.

Description

[0001] priority

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 252,811, filed October 6, 2021, the disclosure of which is hereby incorporated in its entirety by reference. Background Technology

[0003] The present invention generally relates to automated robotic and other object handling systems, such as sorting systems, and more specifically to automated robotic systems designed for use in environments where, for example, multiple objects (e.g., small packages, parcels, and items) need to be handled and / or delivered to several output destinations.

[0004] Many small parcel delivery systems receive small parcels from vehicles (e.g., trailers towing trailers). The parcels are unloaded and delivered to processing stations in a haphazard flow, which can be provided as individual parcels or in groups (e.g., in bags), and can be delivered to any of several different modes of transport, such as conveyors, pallets, Gaylords, or boxes. Each parcel must then be delivered to the correct destination container, determined by identification information associated with the parcel, typically a label printed on the parcel or applied to a sticker. Destination containers can take various forms, such as bags or boxes.

[0005] Sorting these small packages from vehicles has traditionally been done at least in part by human workers who unload the vehicles, scan the small packages (e.g., with a handheld barcode scanner), and then place them in designated locations. For example, many order fulfillment operations are highly efficient using a process called wave picking. In wave picking, orders are picked from warehouse shelves and placed in locations containing multiple orders that are being sorted downstream (e.g., into boxes). During the sorting phase, individual items are identified, and multi-item orders are merged (e.g., into a single box or shelf location) so they can be packaged and shipped to the customer. The process of sorting these objects has traditionally been done manually. Human sorters pick up objects from incoming boxes, locate the barcode on the object, scan the barcode with a handheld barcode scanner, determine the appropriate box or shelf location based on the scanned barcode, and then place the object in that determined location, where all objects in the order have been defined as belonging to that location. Automated systems for order fulfillment have also been proposed, but if objects arrive by vehicle, such systems still require the objects to first be removed from the vehicle for processing.

[0006] Therefore, such systems do not adequately consider the entire process of objects being delivered to the processing station by vehicles, such as trailers towing trailers, and then provided there. Furthermore, many processing stations, such as those used for sorting small packages, are sometimes at or near full capacity in terms of available floor space and sorting resources, thus requiring systems to unload vehicles and efficiently and effectively provide an orderly flow of objects. Summary of the Invention

[0007] According to one aspect, the present invention provides an object handling system for dynamically removing objects from a trailer of a towing trailer. The object handling system includes: a load assessment system for assessing load characteristics of a plurality of objects within the trailer and for providing load assessment data representing the load characteristics; an object assessment system for assessing the relative position and relative environment of the objects among the plurality of objects in response to the load assessment data and for providing object assessment data for the objects; and a dynamic engagement system for dynamically engaging the objects within the trailer using any one of at least two cooperatively operable programmable motion devices in response to the object assessment data.

[0008] According to another aspect, the present invention provides an object handling system for dynamically removing objects from a trailer of a towing trailer. The object handling system includes: a load assessment system for assessing load characteristics of a plurality of objects within the trailer and for providing load assessment data representing the load characteristics; an engagement system including at least two cooperatively operable programmable motion devices for engaging the objects within the trailer in response to the load assessment data; and a stability detection system for detecting whether any one of the plurality of objects within the trailer is secured to prevent movement relative to the trailer or any of the other objects among the plurality of objects.

[0009] According to another aspect, the present invention provides an object handling system for dynamically removing objects from a trailer of a towing trailer. The object handling system includes: an object evaluation system for evaluating the relative position and immediate environment of an object among a plurality of objects and for providing object evaluation data of the object; an engagement system for dynamically engaging the object within the trailer using any one of at least two cooperatively operable programmable motion devices in response to the object evaluation data; and a stability detection system for detecting whether any one of the plurality of objects within the trailer is secured to prevent movement relative to the trailer or any of the other objects among the plurality of objects.

[0010] According to another aspect, the present invention provides a method for removing a plurality of objects from a trailer of a towing trailer. The method includes assessing load characteristics of the plurality of objects within the trailer and providing load assessment data representing the load characteristics; assessing, in response to the load assessment data, the relative positions and relative environments of the objects among the plurality of objects and providing object assessment data for the objects; and dynamically engaging the objects within the trailer using any one of at least two cooperatively operable programmable motion devices in response to the object assessment data. Attached Figure Description

[0011] The following description can be further understood with reference to the accompanying drawings, in which:

[0012] Figure 1 An illustrative diagrammatic view of an object processing system according to one aspect of the present invention is shown;

[0013] Figure 2 It shows Figure 1 An illustrative diagram of a part of the object processing system, shown in large image;

[0014] Figure 3 An illustrative flowchart of a load evaluation routine according to one aspect of the invention is shown;

[0015] Figure 4 An illustrative flowchart of an object evaluation routine according to one aspect of the present invention is shown;

[0016] Figure 5A and Figure 5B It shows Figure 1 An illustrative diagram of an object processing system, showing the simultaneous processing of objects at both low and high heights;

[0017] Figure 6A and Figure 6B This illustrates a scenario where each programmable motion device has a switchable lower processing height and an upper processing height. Figure 5A and Figure 5B An illustrative diagram of an object processing system;

[0018] Figures 7A to 7D This illustrates a scenario where programmable motion devices cooperate to transfer objects between them. Figure 1 An illustrative diagram of an object handling system, showing the grasping of an object using a first programmable motion device. Figure 7A ), to move the object toward the second programmable motion device ( Figure 7B ), using two programmable motion devices to hold the object ( Figure 7C ) and using a second programmable motion device to move the object for placement. Figure 7D );

[0019] Figures 8A to 8D This illustrates a scenario where programmable motion devices cooperate to lift objects together. Figure 1 An illustrative diagram of an object handling system, showing the grasping of an object using a first programmable motion device. Figure 8A ), to move the object toward the second programmable motion device ( Figure 8B ), using two programmable motion devices to hold the object ( Figure 8C ) and using a first programmable motion device and a second programmable motion device to move the object for placement. Figure 8D );

[0020] Figure 9 An illustrative schematic flowchart of a holding system detection routine according to one aspect of the present invention is shown;

[0021] Figure 10 An illustrative diagrammatic view shows an object handling system that handles objects held inside a trailer by a mesh.

[0022] Figure 11 An illustrative diagram view shows an object handling system that handles objects held inside a trailer on a packaged pallet.

[0023] Figure 12A and Figure 12B It shows Figure 1 An illustrative diagram of an object processing system, showing it in the retracted position. Figure 12A ) and the position of the extension ( Figure 12B The tray removal system;

[0024] Figure 13A and Figure 13B It shows Figure 12A and Figure 12B An illustrative bottom view of the object processing system, showing it in the retracted position. Figure 13A ) and the position of the extension ( Figure 13B The tray removal system;

[0025] Figure 14 It shows Figure 12A and Figure 12B An illustrative diagram of a pallet removal system, showing the lifting fork in a lowered position to engage the pallet;

[0026] Figure 15 It shows Figure 12A and Figure 12B An illustrative diagram of the pallet removal system is shown in a large-scale view, illustrating the lifting fork in the raised-lower position;

[0027] Figure 16It shows Figure 12A and Figure 12B An illustrative diagram of a pallet removal system, showing the pallet removal system in a partially rotated position;

[0028] Figure 17 It shows Figure 12A and Figure 12B An illustrative diagram of a pallet removal system, showing the pallet removal system in a fully rotated position;

[0029] Figure 18 It shows Figure 12A and Figure 12B An illustrative bottom view of the pallet removal system, showing the pallet removal system in a non-rotating position;

[0030] Figure 19 It shows Figure 12A and Figure 12B An illustrative bottom view of the pallet removal system, showing the pallet removal system in a fully rotated position;

[0031] Figure 20 It shows Figure 12A and Figure 12B An illustrative side view of the pallet removal system, showing the removal of a pallet from a trailer towing a trailer;

[0032] Figure 21 It shows Figure 20 An illustrative diagram of a pallet removal system, showing a pallet being removed from and rotated from a trailer;

[0033] Figure 22 It shows Figure 21 An illustrative rear view of the pallet removal system, showing a pallet being lowered onto the shipping terminal; and

[0034] Figure 23 An illustrative rear view of a pallet removal system is shown, in which pallets are rotated and retracted away from the stacked pallets.

[0035] The accompanying drawings are shown for illustrative purposes only. Detailed Implementation

[0036] According to various aspects, the present invention provides a dynamic engagement system for engaging objects within a trailer of a towing trailer. References include, for example... Figure 1 The dynamic engagement system 10 can engage objects within the trailer 12 and includes a chassis 14 connected to a warehouse conveyor 16 via a coupling 18. The chassis 14 (and the conveyor 16) is movable on wheels to allow the engagement system 10 to enter (and exit) the trailer 12. The wheels on the chassis 14 are powered and the control system is remotely coupled to one or more computer processing systems 100.

[0037] Further reference Figure 2 The engagement system 10 includes two programmable motion devices 24 and 26, each including an end effector 30 having, for example, a plurality of vacuum suction cups coupled to a vacuum source. The programmable motion devices 24 and 26 are mounted on automatically adjustable height bases 20 and 22, which cooperate with the programmable motion devices 24 and 26 to provide further vertical range of motion to the end effector 30. The bases 20 and 22 are mounted on a support structure 34, which also includes a chassis conveyor 36 connected via a coupling 18 to a warehouse conveyor 16 (in...). Figure 1 (As shown in the diagram). Depending on various aspects, programmable motion devices 24 and 26 can operate cooperatively to efficiently unload objects from trailer 12, as discussed in more detail below.

[0038] Initially, the load on the objects inside the trailer can be assessed. (Reference) Figure 3 The load assessment routine can be initiated by moving the conveyor chassis toward the trailer (step 1002) (step 1000). The system can then scan until at least one upper object is visible (step 1004). The height of the at least one upper object and the distance to it are then determined using distance and position detection sensors in sensing unit 28 (step 1006) (step 1008). The pallet is then further lowered to determine if any lower object is provided in the trailer that is closer to the dynamic engagement system than the at least one upper object (and if so, where it is located) (step 1008). The height of the highest object, the distance to the highest object, and the distance to any nearby object are recorded (step 1012), and the system, in response to the height of the highest object, the distance to the highest object, and the distance to any nearby object, sets the distance to move forward toward the trailer for unloading (step 1014). Specifically, the chassis is positioned near the nearest object.

[0039] Once the chassis is positioned, each facing object is evaluated. Specifically, for example, and referring to... Figure 4The object evaluation routine can begin by evaluating object boundaries (step 2000). For each object encountered from top to bottom and laterally, all boundaries of the front face of each object of interest are identified (step 2002). For each object of interest, the system will also determine any boundaries of the top surface associated with the front face (step 2004). Using this information, the system can determine whether the top surface includes a surface suitable for vacuum suction cup gripping and provides top surface gripping evaluation data (step 2006). The system can also determine whether the front face includes a surface suitable for vacuum suction cup gripping and provides front gripping evaluation data (step 2008). The system can also determine whether any exposed sides include a surface suitable for vacuum suction cup gripping and provides side gripping evaluation data (step 2010). The system can then provide dynamic object engagement instructions in response to the top surface gripping evaluation data, front gripping evaluation data, and side gripping evaluation data (step 2012). Processing is performed by one or more computer processing systems 100 communicating (directly or wirelessly) with the programmable motion device, sensing unit, conveyor system, and pallet removal system discussed herein.

[0040] Depending on various aspects, programmable motion devices 24 and 26 can operate cooperatively to provide dynamic engagement of objects in the trailer. For example, cooperative operability can minimize any time that one programmable motion device must wait for another. This is achieved by recognizing that handling objects closer to the top height of the trailer may require more time (grabbing, moving, and placing onto conveyor 36) than handling objects not closer to the top height. Reference Figure 5A and Figure 5B Both programmable motion devices 24 and 26 can simultaneously handle objects at roughly the same low height, while (and refer to...) Figure 6A and Figure 6B The programmable motion devices 24 and 26 can simultaneously handle objects at roughly the same height. In this way, devices 24 and 26 can most efficiently and alternately grab objects from the trailer and place them onto the chassis conveyor 36. When both devices grab objects at the same height, the travel time between devices 24 and 26 from grabbing the object to placing it on the conveyor 36 is closely matched.

[0041] According to another aspect, collaborative operability can involve a programmable motion device grasping an object and moving it toward a commonly accessible position (for both devices 24, 26). Then, another (second) programmable motion device can grasp the object, followed by the first programmable motion device releasing the object, and then the second programmable motion device moving the object to the conveyor 36 where the object is placed. (See reference) Figures 7A to 7DA programmable motion device (e.g., 26) can grasp an object (e.g., 38), such as Figure 7A As shown. Then, the programmable motion device can move the object to a normally accessible position, such as... Figure 7B As shown. The commonly reachable position can be the position where two programmable motion devices can simultaneously reach the object. Then, another programmable motion device 24 can also grasp the object (e.g., Figure 7C (As shown), then the first programmable motion device 26 can release the object. Then, the programmable motion device 24 moves the object 38 to the conveyor 36 and places the object onto the conveyor 36 (as shown). Figure 7D (As shown). When the two devices work together in this way, the time for unloading objects from the trailer can be improved in certain applications, such as when the programmable motion device must reach a greater distance to grab an object or when the object needs to be slowly placed onto the conveyor 36.

[0042] According to another aspect, cooperative operability can involve two programmable motion devices working together to lift a heavy object. Cooperative operability can involve one programmable motion device grasping an object 40 and moving it to a normally accessible position (by the two devices 24, 26). Then, another (second) programmable motion device can also grasp the object, and then the first and second programmable motion devices can work together to lift the object onto a conveyor 36 where the object is placed. (Reference) Figures 8A to 8D A programmable motion device (e.g., 24) can grasp an object (e.g., 40), such as Figure 8A As shown. If the object is determined to be heavy (by having device 24 attempt to lift the object, or by accessing a database with known object identities), the programmable motion device can slide the object toward a normally accessible position, and the two programmable motion devices 24 and 26 can simultaneously grasp the object at the normally accessible position (e.g., Figure 8B (As shown). Then, another programmable motion device (e.g., 26) can also grasp the object, such as Figure 8C As shown. The gripping position of the first programmable motion device 24 can also be adjusted, and the object 40 can be moved further to have a new gripping position. For example... Figure 8D As shown, the two programmable motion devices can then cooperate to lift an object onto the conveyor 36. With the two devices working together in this manner, the system can handle heavier objects, increase the speed of handling heavier objects, and extend system life by reducing the load on each programmable motion device. The motion of the dynamic engagement system is communicated via sensing system 28, articulated arms 24, 26, automatically adjustable bases 20, 22, and conveyor wheel actuators (e.g., Figure 13A and Figure 13BOne or more processing systems 100, as shown in 15), provide communication.

[0043] A retention detection system can also be used to determine the presence of retention systems (e.g., restraint nets, walls, or groups of objects wrapped together and provided on a pallet). Reference Figure 9 The holding detection system is initiated by triggering for each object that may not have been adequately handled (step 3000). Specifically, for each insufficient grasp or insufficient attempt to move an object, the following data is collected (step 3002). This step is performed until the panel is lowered to its lowest point and all accessible and movable objects have been moved. The system then records instances of mesh lines across the front of the holding objects (step 3004), and then records instances of mesh lines extending horizontally across multiple holding objects (step 3006). The system then records instances of mesh lines extending vertically across multiple holding objects (step 3008), and then records any image of any portion of the pallet near the trailer floor (step 3010). The system then sets a mesh detection signal in response to any instance of mesh lines associated with multiple holding objects (step 3012), and / or then sets a pallet detection signal in response to any image of any portion of the pallet near the trailer floor associated with multiple holding objects (step 3014). The system then engages the automatic pallet removal system in response to the pallet detection signal (step 3016). Similarly, all processing can be performed by one or more computer processing systems 100.

[0044] Therefore, during object removal, if any object cannot be removed (it may not be properly grasped or cannot be moved due to obstacles), the system will run a hold detection routine to determine if any object remains in the trailer. The system will continue moving to the next object until all movable objects are found. Whenever an object is identified as immovable (also ungraspable or blocked), the system will run the hold detection routine. The hold detection routine may run on one or more computer processing systems 100 using perception data from perception unit 28 and may combine object grasping attempt data to analyze image data to identify if any hold system is preventing object removal from the trailer. If a hold function is present, the system will run for each immovable object found.

[0045] The combination of the results of multiple executions of a routine provides recurring results, which should confirm the type of preserved characteristics present. For example, Figure 10 A mesh 50 is shown, fastened to an accessory mount spanning the width and height of the trailer. This mesh can be manually installed while the trailer is being loaded and may need to be manually removed while the trailer is being unloaded. An alarm (lights and / or sound) is triggered if the mesh is detected by the system and removed by personnel.

[0046] Alternatively, when a movable object is removed, an image of the exposed end of the pallet at the trailer floor can be detected. Objects on the pallet can be wrapped (given that the system cannot move individual objects), and upon detecting the pallet, the system will trigger a pallet removal command. For example, Figure 11 A tray 60 is shown, with the object on the tray contained within a package (e.g., clear plastic) 62. The object within the package 62 on the tray cannot be moved by the end effector 30, and the system will run a hold detection routine. Once the bottom of the trailer becomes clear, the tray 60 will become visible to the sensing system 28, and the system will record the presence of the tray. Again, if the system detects the tray, an alarm (light and / or sound) will be triggered, and the tray and its associated object can be removed by personnel.

[0047] Alternatively, when the system detects the presence of a tray as described above, it can employ an automatic tray removal system. Specifically, refer to... Figure 12A and Figure 12B The system may include a pallet removal system 80, which includes a slidable pivot end 82 that first moves along a track 83 (e.g., Figure 13A , Figure 13B , Figure 18 as well as Figure 19 (as shown) linearly, then through pivot pin 84 (as shown) Figure 14 (As shown) rotates relative to the chassis conveyor 14. The system also includes a rotating swing end 86, and the two ends 82, 86 are connected to the swing rod 88, as shown. Figure 15 As shown. The swing arm 88 is attached to a counterweight 110 supported by multiple heavy-duty casters 112 (as shown). Figure 22 (As shown). The system includes a track 83 along which pins 84 are guided to move the assembly to the end of the chassis 14 as the assembly moves linearly (powered by drive wheels on ends 82, 86). The pallet removal system 80 also includes a pair of forks 94, 96 mounted to a crossbar 98, which can be actively raised or lowered along tracks 102, 104 under the control of one or more computer processing systems. Figure 20 The forks 94, 96 and crossbar 98 are shown in the raised position. The pallet removal system 80 may also include one or more sensing systems 106, 108 (such as...). Figure 14 (As shown) to assist in the tray removal process.

[0048] refer to Figure 16 and Figure 17 The pallet removal system 80 can rotate about pin 84 relative to chassis 14 (e.g., to...). Figure 16 The 45 degrees shown, and to such Figure 17(as shown in the 90-degree figure). Figure 18 A bottom side view of the pallet removal system 80 below the chassis conveyor 14 is shown, and Figure 19 A bottom side view of the tray removal system rotated 90 degrees is shown (e.g.) Figure 17 (Middle). The counterweight 110 facilitates the lifting of the pallet, and the casters 112 (together with the wheels below the pivot end 82 and the swing end 86) support the weight of the counterweight 110 and the pallet. Figure 20 The image shows the object pallet being removed from the trailer, and Figure 21 The image shows an object tray rotated 90 degrees by a removal system. Figure 22 It shows Figure 21 The tray in the middle is rotated 90 degrees in a relative side view, and Figure 23 The image shows a pallet removed and unloaded from the removal system. The removed and unloaded pallet no longer obstructs the removal of objects from the trailer, and the dynamic engagement system can re-enter the trailer and resume object removal. The removed and unloaded pallet can be handled by personnel.

[0049] Those skilled in the art will understand that many modifications and variations can be made to the embodiments disclosed above without departing from the spirit and scope of the invention.

Claims

1. An object handling system for dynamically removing objects from a trailer of a towing trailer, the object handling system comprising: A load assessment system for assessing the load characteristics of multiple objects within the trailer and for providing load assessment data representing the load characteristics; An object evaluation system, wherein the object evaluation system is used to evaluate the relative position and relative environment of an object among a plurality of objects in response to the load evaluation data and to provide object evaluation data for the object; as well as A dynamic engagement system for dynamically engaging the object within the trailer using any one of at least two cooperatively operable programmable motion devices in response to the object evaluation data. The object handling system further includes a stability detection system for detecting whether any of the plurality of objects within the trailer is secured to prevent movement relative to the trailer or any of the other objects in the plurality of objects.

2. The object processing system of claim 1, wherein the load assessment system includes a plurality of sensing units that provide sensing data, and wherein the load characteristics include the height of the plurality of objects.

3. The object processing system of any one of claims 1 to 2, wherein the load assessment system includes a plurality of sensing units that provide sensing data, and wherein the load characteristics include the proximity of the plurality of objects to the rear end of the trailer.

4. The object handling system of any one of claims 1 to 2, wherein the cooperatively operable programmable motion devices operate to maintain approximately the same grasping and placing timing between the cooperatively operable programmable motion devices.

5. The object handling system of any one of claims 1 to 2, wherein the cooperatively operable programmable motion device operates to maintain approximately grasping and placing timing by grasping an object at approximately the same height within the trailer.

6. The object handling system of any one of claims 1 to 2, wherein the cooperatively operable programmable motion devices operate continuously such that one programmable motion device first transfers an object to another programmable motion device and then places the object on an output conveyor.

7. The object handling system of any one of claims 1 to 2, wherein the cooperatively operable programmable motion devices operate together to lift the object so that they move together to the output conveyor.

8. The object processing system of claim 1, wherein the stability detection system determines whether a subset of the plurality of objects is provided on the tray.

9. The object handling system of claim 8, wherein the object handling system further comprises a pallet removal system that engages the pallet and removes the pallet and the subset of the plurality of objects from the trailer.

10. The object handling system of claim 9, wherein the pallet removal system includes a pallet lifting fork mounted on a swing arm below the dynamic engagement system.

11. The object handling system of claim 1, wherein the stability detection system determines whether a subset of the plurality of objects is held within the trailer by a net.

12. An object handling system for dynamically removing objects from a trailer of a towing trailer, the object handling system comprising: A load assessment system for assessing the load characteristics of multiple objects within the trailer and for providing load assessment data representing the load characteristics; A dynamic engagement system comprising at least two programmable motion devices operable in response to the load assessment data for engaging the object within the trailer; as well as A stability detection system is used to detect whether any one of the plurality of objects within the trailer is secured to prevent movement relative to the trailer or any of the other objects in the plurality of objects.

13. The object processing system of claim 12, wherein the load assessment system includes a plurality of sensing units that provide sensing data, and wherein the load characteristics include the height of the plurality of objects.

14. The object handling system of any one of claims 12 to 13, wherein the cooperatively operable programmable motion devices operate to maintain approximately the same grasping and placement timing between the cooperatively operable programmable motion devices.

15. The object handling system of any one of claims 12 to 13, wherein the cooperatively operable programmable motion device operates to maintain approximately grasp-and-place timing by grasping an object at approximately the same height within the trailer.

16. The object handling system of any one of claims 12 to 13, wherein the cooperatively operable programmable motion devices operate continuously such that one programmable motion device first transfers an object to another programmable motion device and then places the object on an output conveyor.

17. The object handling system of any one of claims 12 to 13, wherein the cooperatively operable programmable motion devices operate together to lift the object so that they move together to the output conveyor.

18. The object handling system of any one of claims 12 to 13, wherein the stability detection system determines whether a subset of the plurality of objects is provided on a tray.

19. The object handling system of claim 18, wherein the object handling system further comprises a pallet removal system that engages the pallet and removes the pallet and the subset of the plurality of objects from the trailer.

20. The object handling system of claim 19, wherein the pallet removal system includes a pallet lifting fork mounted on a swing arm below the dynamic engagement system.

21. The object handling system of any one of claims 12 to 13, wherein the stability detection system determines whether a subset of the plurality of objects is held within the trailer by a net.

22. An object handling system for dynamically removing objects from a trailer of a towing trailer, the object handling system comprising: An object evaluation system is used to evaluate the relative position and immediate environment of an object among a plurality of objects and to provide object evaluation data for the object. A dynamic engagement system for dynamically engaging the object within the trailer using any one of at least two cooperatively operable programmable motion devices in response to the object evaluation data. as well as A stability detection system is used to detect whether any one of the plurality of objects within the trailer is secured to prevent movement relative to the trailer or any of the other objects in the plurality of objects.

23. The object handling system of claim 22, wherein the cooperatively operable programmable motion devices operate to maintain approximately the same grasping and placement timing between the cooperatively operable programmable motion devices.

24. The object handling system of claim 23, wherein the cooperatively operable programmable motion device operates to maintain approximately grasp-and-place timing by grasping an object at approximately the same height within the trailer.

25. The object handling system of any one of claims 22 to 24, wherein the cooperatively operable programmable motion devices operate continuously such that one programmable motion device first transfers an object to another programmable motion device and then places the object on an output conveyor.

26. The object handling system of any one of claims 22 to 24, wherein the cooperatively operable programmable motion devices operate together to lift the object so as to move it together to the output conveyor.

27. The object handling system of any one of claims 22 to 24, wherein the stability detection system determines whether a subset of the plurality of objects is provided on a tray.

28. The object handling system of claim 27, wherein the object handling system further comprises a pallet removal system that engages the pallet and removes the pallet and the subset of the plurality of objects from the trailer.

29. The object handling system of claim 28, wherein the pallet removal system includes a pallet lifting fork mounted on a swing arm below the dynamic engagement system.

30. The object handling system of any one of claims 22 to 24, wherein the stability detection system determines whether a subset of the plurality of objects is held within the trailer by a net.

31. The object processing system of any one of claims 22 to 24, wherein the object processing system further comprises a load assessment system for assessing load characteristics of a plurality of objects within the trailer and for providing load assessment data representing the load characteristics.

32. The object processing system of claim 31, wherein the load assessment system includes a plurality of sensing units that provide sensing data, and wherein the load characteristics include the height of the plurality of objects.

33. The object processing system of claim 31, wherein the load assessment system includes a plurality of sensing units that provide sensing data, and wherein the load characteristics include the proximity of the plurality of objects to the rear end of the trailer.

34. A method for removing multiple objects from a trailer of a towing trailer, the method comprising: The load characteristics of multiple objects within the trailer are evaluated to provide load evaluation data representing these load characteristics; In response to the load assessment data, the relative position and relative environment of the objects among the plurality of objects are assessed and used to provide object assessment data for the objects; The object within the trailer is dynamically engaged using any one of at least two cooperatively operable programmable motion devices in response to the object evaluation data. as well as Detect whether any one of the plurality of objects within the trailer is secured to prevent movement relative to the trailer or any of the other objects in the plurality of objects.

35. The method of claim 34, wherein the method further comprises operating the cooperatively operable programmable motion devices to maintain approximately the same grasping and placing timing between the cooperatively operable programmable motion devices.

36. The method of claim 34, wherein the method further comprises operating the cooperatively operable programmable motion device to maintain approximately grasping and placing timing by grasping an object at approximately the same height within the trailer.

37. The method of claim 34, wherein the method further comprises continuously operating the cooperatively operable programmable motion devices such that one programmable motion device first transfers an object to another programmable motion device and then places the object on an output conveyor.

38. The method of claim 34, wherein the method further comprises operating the cooperatively operable programmable motion device together to lift the object so as to move it together to the output conveyor.

Images