System and method for object processing using a dynamic wheel assembly

Abstract

An object handling system is disclosed, comprising: a movement system for moving from a proximal position toward a plurality of objects in a trailer towing the trailer, the movement unit comprising at least one conveyor section for transporting any objects on the at least one conveyor section out of the trailer, the at least one conveyor section includes a leading edge located at a front portion of the movement system when the movement system moves toward a set of objects in the trailer; and a pair of front wheel assemblies each comprising a pair of wheels mounted on a frame pivotally attached to the chassis of the mobile system, where each wheel assembly comprises a drive system also mounted on the frame, the wheel assembly is pivotable relative to the chassis while being driven by the drive system.

Description

[0001] Priority

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 455,158, filed March 28, 2023, U.S. Provisional Patent Application No. 63 / 604,634, filed November 30, 2023, and U.S. Provisional Patent Application No. 63 / 562,970, filed March 8, 2024, the disclosure of each of which is hereby incorporated by reference in its entirety. BACKGROUND

[0003] The present invention relates generally to automated, robotic, and other object processing systems, such as sortation systems, and in particular, to automated and robotic systems intended for use in environments where, for example, a variety of objects (e.g., parcels, packages, and items, etc.) are to be processed and / or distributed to a number of output destinations.

[0004] Many parcel distribution systems receive parcels from vehicles, such as trailers towed by a tractor. The parcels are unloaded and delivered to a processing station in a jumbled stream that can be provided as one or more individual parcels aggregated into groups, such as bag(s), and can be provided to any of a number of different conveyances, such as a conveyor, one or more pallets, Gaylord(s), or bin(s). Each parcel must then be distributed to the correct destination container as determined by identifying information associated with the parcel, typically determined by a label printed on or a sticker affixed to the parcel. The destination container can take many forms, such as a bag or a bin.

[0005] Sorting such small parcels from vehicles has traditionally been performed at least in part by human workers who unload the vehicles and then scan the small parcels, e.g., with a hand-held barcode scanner, and then place the small parcels in designated locations. For example, many order fulfillment operations achieve high efficiency by employing a process called wave picking. In wave picking, orders are picked from warehouse shelves and placed in locations (e.g., into bins) that contain multiple orders for downstream sorting. In the sorting phase, individual items are identified and multiple item orders are consolidated, e.g., into a single bin or shelf location, in order to package them and then ship them to customers. The process of sorting these objects has traditionally been done by hand. A human sorter picks an object from an inbound bin, finds a barcode on the object, scans the barcode with a hand-held barcode scanner, determines from the scanned barcode the appropriate bin or shelf location for the object, and then places the object in the bin or shelf location to which all objects of that order belong. Automated systems for order fulfillment have also been proposed, but such systems still require that objects be first removed from vehicles for processing if the objects arrive by vehicle.

[0006] Accordingly, such systems do not fully account for the entire process in which objects are first delivered to a processing station by a vehicle, such as a trailer of a tractor trailer, and provided at the processing station. Unloading the trailer by personnel (e.g., into a Godel bin or large bin) takes a considerable amount of time. Moreover, many processing stations that receive Godel bins or large bins are sometimes at or near full capacity in terms of available floor space and sortation resources. Accordingly, there is also a need for a system that can unload a vehicle and efficiently and effectively provide a more ordered stream of objects for processing. SUMMARY

[0007] According to one aspect, the present invention provides an object processing system comprising: a mobile system for moving from a proximal location toward a plurality of objects in a trailer of a tractor trailer, the mobile unit including at least one conveyor section for carrying any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile system as the mobile system moves toward the collection of objects in the trailer; and a pair of front wheel assemblies each including a pair of wheels mounted on a frame, the frame being pivotally attached to a chassis of the mobile system, wherein each wheel assembly includes a drive system also mounted on the frame such that the wheel assembly is pivotable relative to the chassis while being driven by the drive system.

[0008] According to another aspect, the present application provides an object handling system comprising: a mobile system for moving from a proximal location towards a plurality of objects in a trailer of a towing vehicle, the mobile unit comprising at least one conveyor section for carrying any objects on the at least one conveyor section out of the trailer, the at least one conveyor section comprising a leading edge at a front of the mobile system as the mobile system moves towards the collection of objects in the trailer; and a pair of front wheel assemblies each pivoting about a front wheel axis that is generally transverse to a direction of movement of the front wheel assemblies; and a rear wheel assembly pivoting about a rear wheel axis that is generally parallel to the direction of movement of the front wheel assemblies.

[0009] According to a further aspect, the present application provides a method of handling objects, the method comprising: moving a mobile unit along a first direction from a proximal location towards a plurality of objects in a trailer of a towing vehicle, the mobile unit comprising at least one conveyor section for carrying any objects on the at least one conveyor section out of the trailer, the at least one conveyor section comprising a leading edge at a front of the mobile unit as the mobile unit moves towards the collection of objects in the trailer; pivoting a pair of front wheel assemblies, each front wheel assembly being pivotable about an axis that is generally transverse to the first direction; and pivoting a rear wheel assembly about an axis that is generally parallel to the first direction. BRIEF DESCRIPTION OF DRAWINGS

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

[0011] Figure 1 An illustrative schematic rear view of an object handling system according to an aspect of the present application is shown, the object handling system comprising a mobile system for unloading a trailer of a towing vehicle;

[0012] Figure 2 An illustrative schematic front view of an object handling system of Figure 1 is shown;

[0013] Figure 3 An illustrative schematic view of a mobile system of an object handling system of Figure 1 is shown;

[0014] Figure 4 An illustrative schematic view of an object handling system of Figure 3 is shown, showing the mobile system entering a trailer of a towing vehicle;

[0015] Figure 5 An illustrative schematic view of an object handling system of Figure 3 is shown, showing an enlarged view of an aspect of the underside of the object handling system;

[0016] Figure 6 An illustrative schematic view of the object handling system of Figure 3 , showing an enlarged view of another aspect of the underside of the object handling system;

[0017] Figure 7A And Figure 7B An illustrative functional view of the perception processing steps in the object handling system according to one aspect of the present application;

[0018] Figure 8A And Figure 8B An illustrative schematic view of a zoning system according to one aspect of the present application, showing vertical uniform zoning Figure 8A and vertical variable zoning Figure 8B ;

[0019] Figure 9 An illustrative schematic view of the front wheel drive system of the mobile system of the object handling system of Figure 3 ;

[0020] Figure 10 An illustrative schematic view of the rear wheel steering system of the mobile system of Figure 3 ;

[0021] Figure 11A And Figure 11B An illustrative schematic view of the front wheel drive system of Figure 9 , showing the front wheel assembly oscillating in a first rotational position Figure 11A and parked in a second rotational position Figure 11B ;

[0022] Figure 12 An illustrative schematic external view of the front wheel drive system of Figure 9 , showing the front wheel assembly of another aspect of the present application;

[0023] Figure 13 An illustrative schematic internal view of the front wheel drive system of Figure 12 ;

[0024] Figure 14 An illustrative schematic view of the rear wheel system of Figure 10 , showing the rear wheel system accommodating debris in the trailer;

[0025] Figure 15 An illustrative schematic side view of the rear wheel system of Figure 14 ;

[0026] Figure 16A And Figure 16B An illustrative schematic view of the rear wheel system of Figure 3An illustrative schematic diagram of an end effector system of an object handling system showing a vacuum chuck array ( Figure 16A ) and shows an enlarged view of a portion of the vacuum cup array with some of the vacuum conduits removed to show the vacuum valves ( Figure 16B );

[0027] Figure 17A and Figure 17B Shown Figure 16B An illustrative enlarged schematic diagram of the vacuum valves of the system showing the three valves in the closed position ( Figure 17A ), and shows three valves in the open position ( Figure 17B );

[0028] Figure 18 Shown Figure 16A and Figure 16B An illustrative schematic diagram of portions of a vacuum end effector system showing an enlarged view of a vacuum valve assembly;

[0029] Figure 19 Shown Figure 16A and Figure 16B An illustrative schematic diagram of various parts of a vacuum end effector system showing a front view of a vacuum chuck array;

[0030] Figures 20A to 20F An illustrative schematic functional view of a vacuum valve in a zone is shown, wherein the vacuum is closed ( Figure 20A ), vacuum on and no objects grabbed ( Figure 20B ), vacuum is on and an object is attached to all vacuum cups in the zone ( Figure 20C ), vacuum on and only one object attached to some but not all of the vacuum cups in the zone ( Figure 20D ), the vacuum is on and two objects are attached to some but not all of the vacuum cups in the zone ( Figure 20E ), and the system ejects objects from the vacuum cup array ( Figure 20F );

[0031] Figures 21A to 21C Shown Figure 18 An illustrative schematic partial cross-sectional view of a vacuum valve showing the valve opening ( Figure 21A ), showing the valve initially closed ( Figure 21B ), and shows the valve remains closed ( Figure 21C );

[0032] Figure 22 shows an illustrative schematic exploded view of a valve assembly used in accordance with another aspect of the present invention;

[0033] Figure 23 Shown Figure 18An illustrative graphical representation of the relationship of spring displacement in a vacuum valve to the net force acting on the spring;

[0034] Figure 24A and Figure 24B An illustrative schematic diagram of a vacuum array end effector system of Figure 16A grasping an object ( Figure 24A ) and releasing the object onto a Figure 3 conveyance system of an object processing system of Figure 24B ;

[0035] Figure 25A and Figure 25B An illustrative schematic diagram of a movement system of an object processing system of Figure 3 presence of an anomalous object in a trailer ( Figure 25A ) and showing the anomalous object has been placed on a conveyance system of the movement system ( Figure 25B ) ;

[0036] Figure 26A and Figure 26B An illustrative schematic diagram of a conveyance system of an object processing system of Figure 3 at a first width ( Figure 26A ) and an expanded second width ( Figure 26B ) ;

[0037] Figure 27A and Figure 27B An illustrative schematic diagram of a kick-out roller in an object processing system of Figure 3 proximity to an object ( Figure 27A ) and engaging the object ( Figure 27B ) to push the object onto a movement system;

[0038] Figure 28 An illustrative schematic side cross-sectional view of a shaped kick-out roller for use in accordance with one aspect of the present application;

[0039] Figure 29 An illustrative schematic diagram of an object being engaged by a shaped kick-out roller of Figure 28 ;

[0040] Figure 30 An illustrative schematic side cross-sectional view of a shaped kick-out roller for use in accordance with another aspect of the present application;

[0041] Figure 31 An illustrative schematic side cross-sectional view of a shaped kick-out roller for use in accordance with a further aspect of the present application;

[0042] Figure 32shows an illustrative schematic side cross-sectional view of a shaped kick-out roller used in accordance with further aspects of the present invention, wherein the rotational symmetry is asymmetric;

[0043] Figure 33 shows an illustrative schematic side cross-sectional view of a shaped kick-out roller used in accordance with further aspects of the present invention, wherein the kick-out roller is cam-shaped in cross-section;

[0044] Figure 34 Shown Figure 3 An illustrative schematic diagram of a drive system for a kickout roller of a mobile system, wherein the drive system includes a drive belt coupled to a loading conveyor;

[0045] Figure 35 Shown Figure 3 An illustrative schematic diagram of a drive system for a kick-out roller of a mobile system, wherein the drive system includes a drive motor coupled to the kick-out roller;

[0046] Figure 36 Shown Figure 3 an illustrative schematic diagram of an infeed conveyor system of an object handling system;

[0047] Figure 37 shows a partially removed illustrative schematic cross-sectional view of an induction conveyor system illustrating a vacuum blower;

[0048] Figure 38A and 38B Shown Figure 1 An illustrative schematic diagram of a receiving conveyor of an object handling system showing the receiving conveyor starting to move ( Figure 38A ) and has moved away from its base towards the trailer ( Figure 38B );

[0049] Figures 39A to 39C Shown Figure 1 The receiving conveyor of the object handling system is in the folded position ( Figure 39A ), partially extended position ( Figure 39B ) and fully extended position ( Figure 39C ) is an illustrative schematic diagram;

[0050] Figure 40 shows an illustrative schematic diagram of a receiving conveyor according to another aspect of the present invention;

[0051] Figure 41 Shown Figure 40 an illustrative schematic diagram of a receiving conveyor in a partially extended position;

[0052] Figure 42 an illustrative schematic diagram showing a utility conduit in a receiving conveyor according to one aspect of the present invention; and

[0053] Figure 43 An illustrative schematic of a collection conveyor system for moving objects from a receiving conveyor to a utility conveyor in an object processing system is shown in accordance with one aspect of the present disclosure.

[0054] The drawings are shown for illustrative purposes only. DETAILED DESCRIPTION

[0055] In accordance with various aspects and with reference to Figure 1 and Figure 2 , an object processing system 10 is provided that processes a collection of objects within a trailer 12 of a towed trailer on a loading dock 16 and provides the objects to a receiving conveyor 550 via a transition conveyor 150, which can be positioned beneath a collection conveyor 560 of a facility, for example, for receiving the objects. The collection conveyor 560 receives the objects from the receiving conveyor 550. The object processing system 10 includes a programmable motion device 122 with an end effector 124.

[0056] The mobile system 10 is coupled to the receiving conveyor 550 for providing the objects to the receiving conveyor 550 as the mobile system 10 and the receiving conveyor 550 are moved into the trailer 12. The mobile system 10 (with the programmable motion device and the receiving conveyor 550 pulled behind it) can use one or more mobile unit motors 142 to move into and out of the trailer 12. As the mobile system 10 moves into the trailer, a perception system 152 (as shown) provides perception information (such as depth perception data, 2D or 3D scan data, and / or camera image data) to help guide the mobile unit 25 into the trailer. Figure 2

[0057] According to certain aspects, the system can include multiple programmable motion devices and one or more kick-out rollers. For example, Figure 3 An object processing system 10 is shown that includes a structure 34 that includes two programmable motion devices 118, 122 and one or more computer processing systems (such as the computer processing system 100 shown) and a high flow vacuum source (such as the high flow vacuum source shown). The two programmable motion devices can include the same type of end effector (such as the two end effectors 120, 124 discussed above) or can include different types of end effectors. As Figure 4 Figure 37 Figure 3 ​​​As shown, programmable motion device 118 includes an end effector 120 with an array of vacuum cups, and programmable motion device 122 includes an end effector 124 with a series of actuated conveyor segments. Each programmable motion device 118, 122 can move their respective end effector within the space within the trailer to reach objects within the trailer and move them off onto the trailer floor or onto the loading section 130. The loading section 130 includes a plurality of conveyor segments 132, 134, 136, and loading segments 132, 134 each include a kick-out roller 138 and 139. The kick-out rollers directly contact any objects on the trailer floor and help move the objects on the floor onto the loading section 130. Conveyor segments 132, 134 provide movement toward a collection conveyor 140, which leads to a transition conveyor 150 for coupling to a lateral conveyor system. The kick-out rollers 138, 139 can each be driven differently or independently with respect to the conveyor segments 132, 134, as discussed below with reference to Figure 34 、 Figure 35 A perception system 152 can also be employed to provide perception data regarding, for example, the proximity of a pile or stack of objects within the trailer.

[0058] Figure 4 A side view of the object processing system 10 is shown with the trailer 12 about to enter the towed trailer. Conveyor segments 134, 136 can be raised along their sides adjacent to conveyor segment 132 (as shown in Figure 3 ) to help enter the trailer, and the loading section 130 can be slightly elevated to protect the kick-out rollers 138 as the system 10 enters the trailer 12. The system 10 also includes two front drive wheel systems 142 and two rear steering wheel systems 148. Although simple casters (passive wheels) can be used in accordance with certain aspects of the present invention, the use of active rear steering wheels (e.g., 148) can help maintain alignment of the object processing system within the trailer. The respective heights of the loading dock 16 and the floor 40 of the trailer can differ, and the loading dock 16 and the floor 40 can be spaced apart by a small distance. If a ramp or temporary threshold bridging the loading dock and the floor is provided, the two front drive wheel systems 142 can still help move the object processing system onto and over the ramp or temporary threshold. Figure 5 An enlarged view of the underside of the system 10 is shown, which shows support casters 131 on the underside of conveyor segment 132 (as shown in Figure 3 ). Figure 6 A bottom view of an object processing system according to further aspects of the present invention is shown, which includes a front wheel assembly 342 having a wheel 346 mounted to a wheel carriage 343, and a caster 331 located within a recess of a guard 333, adjacent to kick-out rollers 138, 139 mounted to a kick-out roller support 464.

[0059] The object processing systems disclosed herein can employ various perception systems and perception methods. For example, with reference to Figure 7A and Figure 7B the system can involve engaging multiple (e.g., three) perception units 152 (e.g., machine vision smart cameras) mounted above the workspace of a programmable motion device (as shown in Figure 3 Each of the perception units 152 can capture color point cloud data, and each of the perception units is calibrated and positioned at a known location and spacing. Using two or more such perception units can provide a unique angle to show the three-dimensional nature of the point cloud data. The process can begin (step 1000) by capturing synchronized point cloud data using the perception units 152 (step 1002). The point cloud data sets are then fused (step 1004) and points outside the region of interest are removed. The system then removes data related to noise (radius and statistical outlier removal) (step 1006).

[0060] The system will then seek to maximize contact between the suction cup edge and the object by scoring candidate grasp locations. The system will also prevent grasp locations from being too close by including only a limited number of grasp locations within the voxelized region of the workspace. Specifically, knowing the distance between the perception units 152, the system will generate a 3D point cloud model (step 1008), which is then divided into voxelized regions (step 1010). The system will then search the linear space for the best grasp location in each voxel. Specifically, the system will model each voxel in the linearized space (step 1012), and then search the explicit range of pitch and roll (yaw range set to lower (e.g., zero)) (step 1014).

[0061] The system will then find candidate grasp locations in each voxel (step 1016), and then calculate the contact point location between the gripper and the point cloud data (step 1018). The retraction of the gripper is then modeled (step 1020), ignoring grasps where the gripper exits the region of interest, the object is too close to an obstacle, etc. The system will then score each candidate grasp location based on the engaged contact point location and the modeled retraction of the gripper (step 1022). The system will then create a task space region (step 1024) before ending (step 1026) the iteration. With reference to Figure 19The gripper can include an array of vacuum cups disposed in two or more zones 190, 192. Each zone can be modeled differently in terms of providing for modeling of retraction of the gripper, for example, vacuum cups in zone 190 can have a higher score value (e.g., 3 or 4) compared to vacuum cups in zone 192 (e.g., 1 or 2). In this way, a portion of the array of vacuum cups, such as the center, can be favorable for forming a grasp location. The grasp location can be a pull location on a surface of the object facing the mobile system, and can be a pick location on an exposed top surface of the object.

[0062] When determining grasp (pull) locations (e.g., 102, 104, 106, 108), the system can assign the entire area of objects within trailer 12 into zoned areas, as shown in Figure 8A and 8B Specifically, Figure 8A shows a vertically uniform zoned 101 such that grasp locations 102 and 104 are in one zone, while grasp locations 106 and 508 are in another zone. Zoning 101 can change when objects are removed (e.g., if there are more objects or heavier objects on one side of the trailer). FIG. 2B shows a vertically uniform zoned 101 such that grasp locations 102 and 104 are in one zone, while grasp locations 106 and 508 are in another zone. Zoning 101 can change when objects are removed (e.g., if there are more objects or heavier objects on one side of the trailer). Figure 8B shows a zoned 103 that varies in the vertical direction such that grasp location 102 is in one zoned area, while grasp locations 104, 106, 108 are in another zoned area. Again, zoning 103 can change dynamically as objects are removed due to various reasons such as weight of objects, volume of objects, and presence of un-processable objects (exceptions).

[0063] With further reference to Figure 9 Each front drive wheel system 142 includes a pivotable frame 143 that includes a motor 144 and two drive wheels 146. Figure 11A and 11B shows a front drive wheel assembly (frame removed for clarity) that shows each wheel 146 is driven by motor 144 via a belt 147. The pivoting of wheel system 142 about pivot pin 149 is independent of the power applied to wheel 146 by motor 144. This allows each wheel system 142 to accommodate for gaps and height differences as object handling system 10 enters and exits the trailer.

[0064] Figure 10Power driven rear caster wheel systems 148 are shown, each comprising an actuable transverse roller 149 that allows the wheel system to actively steer the rear wheels as the system enters and moves within the trailer. Maintaining equal distance between the offloading system and the inner side walls of the trailer is not only important for efficient collection of objects, but also for the deployment of conveyor sections 134 and 136, and to allow personnel access (by rotating upward to allow access), as discussed herein. Figure 11A and Figure 11B The front wheel system 142 is shown engaging the drive motor 144 with the wheels 146 via a belt 147 regardless of the rotational position of the front wheel system 142 relative to the frame 134 via the pivot mount 149. Figure 11A The front wheel system is shown with the wheels 146 below the frame pivoting downward under the frame 134, while Figure 11B The front wheel system is shown with the wheels 146 below the frame pivoting upward under the frame 134. Figure 12 and Figure 13 A front wheel assembly 342 is shown in accordance with a further aspect of the application comprising wheels 346 mounted on wheel mounts 343 that are each pivotable about an axis 349 and are drivable via a motor 344 through a belt 347 upon pivoting.

[0065] Figure 14 The rear steering assembly 447 in Figure 10 is shown engaging debris in a trailer, which shows that the rear steering assembly 447 can rotate about an axis 449. It is noted that the pivot axis 449 is transverse to the pivot axis of each of the wheel assemblies 142, 342, but the direction of travel of the wheels 146, 148, 346 is generally the same (wheel 148 is a multidirectional wheel). The system allows for rear steering while accommodating unevenness of the travel surface using pivot wheel assemblies that pivot in mutually orthogonal directions.

[0066] Referring to Figure 15 , the object handling system 10 can remain aligned within the trailer by using the multidirectional wheel system 148, which provides rotation in the direction of the wheel system 142 as well as movement transverse to the direction of movement of the wheel system 142 through actuation of the transverse roller 149. The steering provided by the multidirectional wheel system 148 (in combination with the front wheel system 142 moving in the reverse direction) can be particularly useful when exiting the trailer.

[0067] Figure 16A An enlarged view of the end effector 120 is shown, which shows an array of vacuum cups 176 mounted to a manifold 178 via a conduit 180. Further reference is made to Figure 16BEach conduit includes a check valve assembly 182 (three of which are shown by omitting each respective conduit). Each check valve assembly 182 within each conduit 180 is normally open to provide vacuum pressure (through the respective vacuum chuck) when the vacuum chucks are sufficiently engaged with an object, but in some cases, closes the vacuum when the object is not engaged. For example, each check valve assembly 182 includes a movable valve ball 184, as shown. Figure 17A When a vacuum chuck 176 is engaged with an object 177, as shown, each movable valve ball 184 associated with each applied vacuum chuck moves outward relative to the manifold 178 to allow vacuum flow through the respective vacuum chuck 176. Figure 17B

[0068] Figure 18 An enlarged view of a check valve assembly 182 is shown, which illustrates the movable valve ball 184 within a retaining cage 186. Each check valve assembly 182 can also include a biasing spring 188 to bias the valve ball 184 to an outward position to allow vacuum flow. This allows vacuum flow even if the seal of the vacuum chucks with an object (e.g., 177) does not create a tight seal. For example, a high flow vacuum source (such as a blower) can be used that provides at least about 100 cubic feet per minute of airflow to each vacuum chuck, and the vacuum pressure at each vacuum chuck is no more than about 65,000 Pascals below atmospheric pressure (e.g., about 50,000 Pascals or 7.25 psi below atmospheric pressure). The use of check valves with the array of vacuum chucks allows vacuum to be applied only through the vacuum chucks that are in sufficient contact with an object within the trailer to be unloaded.

[0069] In addition, the array of vacuum chucks 176 can be connected to a vacuum source (or multiple vacuum sources) through independently controllable zones. Figure 19 A central zone 190 is shown, as well as a more peripheral zone 192 (vacuum chucks outside of the central zone 190). Each zone can be individually coupled to one of a plurality of vacuum sources via Figure 24A connectors 194, 196, as shown, and thus can provide different levels of vacuum and / or flow. The spring contact of each valve spring 188 can be selected to provide vacuum at each vacuum chuck when the pressure drop due to engagement or contact or proximity to an object is sufficient to move the object. High vacuum flow can be suitable for moving objects that cannot provide a tight seal with any vacuum chuck, while still being able to quickly establish a stable grip on the object despite imperfect sealing.

[0070] ​The high flow vacuum is set to open as the vacuum cups approach the object to be grasped. If some of the vacuum cups engage the object, but other vacuum cups in the zone do not, the valves to the other vacuum cups will close, providing further vacuum force to the engaged cups. This is done automatically through the selection of the valve spring, valve spring constant, and any preload, as discussed in this article. Specifically, Figure 20A A zone 190 comprising seven valve assemblies is shown (e.g., Figure 19 When the blower 702 is turned off, each valve (706-718) is open because the spring ( Figure 18 The force of 188 in the air chamber pushes the ball 184 to the open position. Since the blower 702 is off, no vacuum is provided at the vacuum cups 720-732. The object detection sensors 734-746 record that no object is attached to any of the vacuum cups. Figure 20B When the blower 702 is turned on, vacuum flows from the blower valve 704 and then flows from the vacuum cups 720-732 through each of the valves 706-718. The valves 706-718 are kept open because the spring force (f k ) is greater than the reaction force (f ) generated by the air flow due to the vacuum flowing through all seven vacuum cups 720-732. v1 ). Select and use spring 188 to ensure that the valve flows through the vacuum force (f v1 ) remains open under the action of ). Again, sensors 734-746 record that no object is attached to any of the vacuum cups.

[0071] refer to Figure 20C , when all vacuum cups 720-732 engage object 748, the air flow caused by the vacuum through the vacuum cups 720-732 is greatly reduced, causing valves 706-718 to remain open. Sensors 734-746 will register that the object is engaged by its associated vacuum cup because the pressure in each corresponding vacuum conduit will be within the designed vacuum window (between full vacuum and atmosphere). Object 748 is expelled by actuation of blower valve 704, as described below with reference to Figure 20F discussed.

[0072] When some but not all of the vacuum cups in a certain area (e.g., 190) engage an object (e.g., Figure 20D The force (f) of the air flow caused by the vacuum at the engaged vacuum cups 724, 726, 728 when the object 750 is in the v4 ) will be greatly reduced, as discussed above. However, in this case, since three of the suction cups (suction cups 724, 726, 738) are nearly blocked, the force (f) generated by the vacuum flow through the suction cups 720, 722, 730, 732 isv3 ) increases. Force fv3 is greater than force f v1 , and significantly greater than the force f k of the spring constant. This causes the valves 706, 708, 716, 718 to close, thereby increasing the vacuum force exerted by the engaged suction cups 724, 726, 728 on the object 750, such that f v4 > f v2 . The sensors 738, 740, 742 will register that the object is engaged by its associated vacuum suction cup, as the pressure in each respective vacuum conduit will be within the designed vacuum window (between full vacuum and atmospheric). Conversely, the sensors 734, 736, 744, and 746 will register that the object is not engaged, as the pressure in each respective vacuum conduit will be approximately atmospheric. Note that in Figure 17A , the object 175 is being held by the gripper, but the vacuum suction cup associated with the valve is shown as not being engaged with the object 175, while in Figure 17B , the vacuum suction cup associated with the valve is shown as being engaged with the object 177.

[0073] If an additional object 752 is similarly engaged by the vacuum suction cups 730, 732, while the object 750 is engaged by the vacuum suction cups 724, 726, and 728 (as shown in Figure 20E , the valves 710, 712, 714, 716, and 718 will remain open, as the force f v6 of the vacuum flow at the vacuum suction cups 730, 732 will decrease and fall below the force (f k ) of the spring. The force at the vacuum suction cups 724, 726, 728 will also decrease from f v4 to f v6 , but will still be well below the force (f k ) of the spring. Since all of the suction cups are nearly clogged (suction cups 724, 726, 728, 730, and 732), the force (f v3 ) generated by the vacuum flow through the suction cups 720 and 722 increases. Force fv5 is greater than the force f k of the spring constant. This causes the valves 706 and 708 to close, thereby increasing the vacuum force exerted by the engaged suction cups 724, 726, 728, 730, and 732 on the objects 750 and 752. The sensors 738-746 will register that the object (or objects) is engaged by its associated vacuum suction cup, as the pressure in each respective vacuum conduit will be within the designed vacuum window (between full vacuum and atmospheric).

[0074] Any object or objects that are being held by one or more of the vacuum cups can be expelled by actuation of the blower valve 704. Specifically, the valve 704 can vent both the blower and the line to valve 706 to atmosphere. Because the distance from the blower 702 to atmosphere (illustrated as LI) is much shorter than the average distance (illustrated as L2) to the vacuum cups 720-732 through valves 706-718, the blower vacuum is maintained by the draw through valve 704. The design of the system takes advantage of positioning the blower valve 704 very close to the blower 702.

[0075] Figures 21A to 21C The state of each valve assembly during use is illustrated. Figure 21A The valve assembly is shown in the open position, with the spring 188 pushing the ball 184 fully against the outer prongs of the retainer 186. In this case, the force f k is greater than any opposing force (f v ) exerted on the ball by the associated vacuum cup. k v ). Referring to Figure 21B , if the force f v is greater than the force f k (e.g., if some other vacuum cup is engaged with the valve, but not the vacuum cup associated with the valve, which causes the air flow through the vacuum cup not engaged with an object to increase significantly), the valve closes. Once closed, the air flow is effectively stopped, but the pressure in the valve conduit (and all of the vacuum cups engaged with objects) will be very low due to the vacuum, and the pressure difference (f PΔ ) between the pressure in the valve conduit and the atmosphere (on the other side of the ball) will keep the valve closed, as Figure 21C illustrated.

[0076] By selecting and designing the spring and understanding the operating forces under different vacuum conditions, the system can be designed to require the minimum number of vacuum cups to engage an object. This minimum number can be, for example, one, two, three, or four cups, and can be achieved by changing the spring constant (switching different springs) or changing the pre-tension on the spring to tune the relationship. For example, Figures 21A to 21C the pre-tension on the spring 188 in may be adjusted by adjusting (turning) the pre-tension plug 187.

[0077] Figure 22A valve assembly for a vacuum control system according to a further aspect of the application is shown, the valve assembly including a base 483 that engages (e.g., screws into) a housing 485, thereby capturing a spring 488 therebetween, the spring bearing against a ball 484 that is seated against a pre-load stop 487. By changing the pre-load stop 487 of different thicknesses, the pre-load of the valve assembly can be adjusted as discussed above.

[0078] Figure 23 These relationships are shown at 760, which shows the spring displacement versus the net force of the system in the direction of the spring force. The net force is f k -(f v +f PΔ ). The graph shows the valve closed at 762, and shows the valve open at 764, and the system operates in this range provided that the different vacuum forces are greater than the spring force, and the other vacuum forces are less than the spring force, as discussed above. When the opposing force acting against the spring force f k is at a minimum, the valve opens, as shown at 764. Adjusting the spring pre-tension adjusts the force required to close the valve.

[0079] Accordingly, the end effector 120 of the programmable motion device 118 includes a plurality of vacuum cups 176 for engaging an object (e.g., object 174) as shown at Figure 24A and for moving the object to the floor 40 or loading portion 130 of the trailer as shown at Figure 24B According to various further aspects, the system of the present application can employ two programmable motion devices with the same type of end effector (e.g., two end effectors 120 or two end effectors 124).

[0080] The object processing system enters the trailer from the loading dock (under the control of one or more computer processing systems). An exception conveyor is provided to receive (e.g., via personnel) items and packages that the system can not be able to process, for example, due to size, weight, or odd shape (e.g., tires). The exception conveyor can be provided on one or both sides of the system. The exception conveyor includes one or more exception sensing systems to monitor the flow rate of the exception objects along the exception conveyor. Objects processed by the system are provided to a fixed location facility infeed conveyor, and the facility infeed conveyor includes one or more infeed sensing systems to monitor the infeed rate of the objects along the facility infeed conveyor. A mobile conveyor is coupled to and moves with the system near the transition conveyor, such that objects can be easily moved from the transition conveyor to the mobile conveyor during object processing.

[0081] According to one aspect, a mobile conveyor can be arranged below, but not attached to, the facility infeed conveyor, such that it can freely travel toward the trailer while still providing objects to the facility infeed conveyor. As the object handling system enters the trailer, a transition conveyor coupled to the system enters the trailer with the system. As objects are unloaded (again, as discussed above), the objects are provided from the transition conveyor to the mobile conveyor, and then from the mobile conveyor to the facility infeed conveyor.

[0082] Again, the flow rates of objects along the facility infeed conveyor (monitoring the flow rate into the facility from the additional trailer) are monitored. By monitoring these flow rates, the facility can identify potential jams within the facility when objects are entering the facility at too high of a rate. In this way, the system(s) can adjust the rate at which objects are removed from the trailer to provide time buffering for the facility, ensuring efficient object flow within the facility. The exception conveyor can provide similar buffering.

[0083] Again, with reference to Figure 3 , the system can include a plurality of sensing systems directed into the interior of the trailer 12 from the object handling system 10. The sensing systems 152, together with one or more computer processing systems, can be used to identify whether a holding device (such as a strap, net, or cradle) is present within the trailer, whether human intervention is required. In such a case, the conveyor sections 134, 136 are raised as shown in Figure 25A to allow personnel to enter the trailer and move through the system 10 to access (and remove) the detected holding device. In the system discussed herein, one or more of the conveyor wings can open to allow personnel access.

[0084] The sensing systems 152 can also detect the presence of an exception (again, an object that is too large, too heavy, or forms a shape that is difficult to handle). This determination can also be made based on one or more failed attempts to handle the object. When any such condition occurs, the system can raise the conveyor sections 134, 136 as shown in Figure 25A to allow personnel to enter the trailer and move through the system 10 to access the exception object 220. The worker can move the exception object 620 out of the trailer onto the exception conveyor 204, or the worker can place the object on the conveyor section 132 as shown in Figure 25B for processing by the system 10 as appropriate (e.g., it fits on the conveyor section 132, and does not exceed the facility size or weight limits).

[0085] According to a further aspect, the object handling system can include a conveyor section as discussed above but the conveyor section can be replaced with a static guide panel including guides on the panel. The guides on the panel should assist the objects to move upwards along the conveyor section, thereby being pushed towards the moving line through the center of the object handling system. The conveyor section and the guide panel can also be rotated together into an upright position to achieve the above discussed purposes, including into the trailer, and once the object handling system is in the trailer, to allow personnel to enter the interior of the trailer to perform either of removing holding devices or handling abnormal situations. Furthermore, when the conveyor sections 134, 136 are in the vertically elevated position, the conveyor is still operable to assist in moving objects along the conveyor section 132. This can even be by using the elevated conveyor sections 134, 136 to assist in moving objects along the conveyor section 132 by contacting the vertical sides of the objects, thereby assisting in clearing any jams on the conveyor section 132, and the conveyor sections 134, 136 can also be used to assist in clearing any jams by possibly contacting the top surface of the objects when rotated beyond the vertical direction.

[0086] As discussed herein, objects can be placed on the loading portion 130, or can be placed on (or already be on) the trailer floor 40. Referring to Figure 27A and Figure 27B , objects can be kicked out of contact with the rollers 138 and / or 139 and kicked onto the loading portion 130. Figure 27A shows an object 152 being approached by the loading portion 130, while Figure 27B shows the object 152 being lifted and moved by the kick-out rollers 138 onto the loading portion 130.

[0087] Figure 26A and Figure 26B shows Figure 27A and Figure 27B loading conveyor section 530, including the kick-out rollers 138, 139 and the conveyor sections 132, 134, 136 leading to the collection conveyor 140. Figure 26A shows the direction of movement provided by the conveyors of these sections: the conveyor sections 132, 134 move in a direction towards the collection conveyor 140, and the conveyor section 136 moves in a lateral direction towards each other from opposite sides of the loading portion 130. Further reference to Figure 26B , the loading portion 130 can also include a kick-out roller 138, 139 as Figure 26BAn expansion mechanism is shown for extending conveyor sections 134, 136 away from conveyor section 132 so that the outer width of loading section 130 approaches the width of floor 40 within the trailer. The expansion mechanism can be adjusted via a screw connection between conveyor sections 134, 136 and the support frame of loading section 130 and can be actuated manually or via an electric motor drive module. A flexible bellows can be provided to prevent small objects from falling between conveyor sections 134, 136 during expansion.

[0088] The object handling system may include a guide kick-out roller having features that facilitate engagement with an object within the trailer. For example, Figure 27A and Figure 27B An object handling system is shown that includes a loading section 130 having conveyor sections 132, 134, 136 as discussed above and kick-out rollers 138, 139 instead of rollers, which may be circular in cross-sectional shape or may be shaped to include engagement features. Figure 28 An end view of roller 262 is shown showing three peaked areas 268 separated by three flat areas 266, thereby forming a generally triangular cross-sectional shape as shown. Figure 28 shown) along Figure 29 When rotating in the direction shown in FIG. 5 , the roller 262 can engage the object 272 to be raised via one or more of the roller's peak regions 268, such as Figure 29 Thus, the peaked regions 268 of the rollers 262 can facilitate engagement of the system 260 with objects on the floor 40 of the trailer. As discussed above, each roller 262 can be driven differently or independently relative to the conveyor segments 132, 134.

[0089] According to other aspects, the kick-out roller can have a variety of shapes and functions. For example, Figure 30 A kick roller 274 is shown which includes four peaked areas 273 separated by four flat areas 275, thereby forming a generally square cross-sectional shape as shown. Figure 29 When rotated in the direction shown by F, the rollers 274 can engage the object to be raised through one or more of the roller's peak areas 273. Thus, the peak areas 273 of the rollers 274 can facilitate engagement of the system 260 with the object on the floor 40 of the trailer.

[0090] Figure 31 A kick roller 276 is shown which includes two peaked regions 277 separated by two gently curved regions 278, thereby forming a generally oval cross-sectional shape as shown. Figure 29When rotated in the direction indicated by arrow F, the rollers 276 can engage the object to be lifted by the peak region 277 of one or more of the rollers. Thus, the peak region 277 of the rollers 276 can facilitate engagement of the system 260 with the object on the floor 40 of the trailer.

[0091] The cross-sectional shape of the kick-out rollers need not be symmetrical. Figure 32 A kick-out roller 280 is shown that includes three peak regions 282, with one peak region connecting two straight regions 281; the other two peak regions 282 are connected by a single gently curved region 283, resulting in an asymmetrical outer surface when the roller is rotated. When the roller 284 is rotated about its respective center 270 in the direction indicated by arrow F, the peak regions 282 of one or more of the rollers can engage the object to be lifted. Thus, the peak regions 282 of the rollers 284 can facilitate engagement of the system 260 with the object on the floor 40 of the trailer. Figure 29 A kick-out roller 280 is shown that includes three peak regions 282, with one peak region connecting two straight regions 281; the other two peak regions 282 are connected by a single gently curved region 283, resulting in an asymmetrical outer surface when the roller is rotated. When the roller 284 is rotated about its respective center 270 in the direction indicated by arrow F, the peak regions 282 of one or more of the rollers can engage the object to be lifted. Thus, the peak regions 282 of the rollers 284 can facilitate engagement of the system 260 with the object on the floor 40 of the trailer.

[0092] According to a further aspect, the kick-out rollers (e.g., any of the rollers 138, 139, 262, 274, 276, 280) can be rotated about a point other than the center of the roller, resulting in the roller being rotated in a camming manner that can engage the object to be lifted by one or more of the outer camming portions of the rollers to facilitate engagement of the system 260 with the object on the floor 40 of the trailer.

[0093] Figure 33 A kick-out roller 284 is shown that includes an elongated outer surface 286 with a gradually increasing radius and a peak region 288 at which the radius of the outer surface is sharply reduced, resulting in a generally cam-shaped cross-sectional shape as shown. When the roller 284 is rotated about its respective rotational axis 270 in the direction indicated by arrow F, the peak region 288 of one or more of the rollers can engage the object to be lifted. Thus, the peak region 288 of the rollers 284 can facilitate engagement of the system 260 with the object on the floor 40 of the trailer. Figure 29 A kick-out roller 284 is shown that includes an elongated outer surface 286 with a gradually increasing radius and a peak region 288 at which the radius of the outer surface is sharply reduced, resulting in a generally cam-shaped cross-sectional shape as shown. When the roller 284 is rotated about its respective rotational axis 270 in the direction indicated by arrow F, the peak region 288 of one or more of the rollers can engage the object to be lifted. Thus, the peak region 288 of the rollers 284 can facilitate engagement of the system 260 with the object on the floor 40 of the trailer.

[0094] As noted above, each of the rollers 138, 139, 262, 274, 276, 280, 284 can be driven differently or independently with respect to the conveyor sections 132, 134. For example, Figure 34The lid 264 is shown to include alignment holes 290 for receiving alignment pins 292 on the support structure of a conveyor segment (e.g., the illustrated conveyor segment 134). The alignment pins 292 in the alignment holes 290 secure the lid 264 to the conveyor segment. The kick-out roller (e.g., 262 as shown) rotates about an axle 293 that is located in a collar 291 attached to the inner surface of the lid 264. In this way, the rollers (e.g., 138, 139, 262, 274, 276, 280, 284) are rotatably secured to the object processing system at both ends thereof.

[0095] The kick-out rollers (e.g., 138, 139, 262, 274, 276, 280, 284) can be driven by the conveyor segment (as shown), or can be driven by a separate drive system (as shown). In particular, Figure 34 Figure 35 The kick-out rollers (e.g., 138, 139, 262, 274, 276, 280, 284) can be driven by the conveyor segment (as shown), or can be driven by a separate drive system (as shown). In particular, Figure 34 A belt drive system 294 is shown that couples a first drive wheel 299 coupled to the rollers of the conveyor segment 234 to a second drive wheel 295 that drives the kick-out roller 262. The wheels 299, 295 can be of different sizes, allowing the kick-out roller to rotate at a different speed than the rollers of the conveyor segment 234. The lid 264 includes a recessed area that covers the belt drive system 294.

[0096] Figure 35 A motor drive system 296 is shown within the lid 264. Again, the alignment pins 292 in the alignment holes 290 secure the lid 264 to the conveyor segment. The kick-out roller (e.g., 262 as shown) rotates about an axle 293 that is located in a collar 291 attached to the inner surface of the lid 264. The motor drive system 296 includes a motor 297 and a drive wheel 298 that engages the drive wheel 295 of the roller (e.g., 262) when the lid 264 is placed over the drive wheel 293 and over the alignment pins 292.

[0097] Using either the belt drive system of Figure 34 or the separate motor drive system of Figure 35 the kick-out rollers can rotate at different speeds and directions than the rollers of adjacent conveyor segments. Each roller (e.g., 138, 139, 262, 274, 276, 280, 284) can include a drive system at one or both ends of the roller, and each roller includes a lid that supports the roller at both ends thereof, as discussed above.

[0098] ​The object handling system 10 may further include an induction conveyor section 150 including a pair of chevron-shaped inclined conveyor sections 254 that are angled such that objects received from the take-away conveyor 140 are moved onto the induction conveyor section 150, moved toward the center of the induction conveyor section 250 by inclined rollers, and then dropped to a substantially central position on the mobile conveyor 210, as shown. Figure 36 The induction conveyor segment 150 may be used with any of the systems discussed above.

[0099] Each zone of each end effector can be coupled to an independent high flow vacuum source, such as a blower. Figure 37 Four blowers 256 are shown, coupled to the vacuum ports (eg, Figure 24A 194, 196 in). The vacuum manifold for each end effector is connected to the blower via a hose that extends through a slidable / rotatable ring on the programmable motion device 118, 122.

[0100] Figure 38A and Figure 38B A view of a terminal end handling system including a receiving conveyor 550 is shown, showing the receiving conveyor beginning to extend toward the trailer ( Figure 38A ) and further extends to the trailer ( Figure 38B ). Anomalies can be placed on the anomaly conveyor 560, and very small objects can be pulled by personnel and placed on the small object conveyor 580. The remaining objects on the collection conveyor are directed to the facility conveyor 590.

[0101] The receiving conveyor 550 expands as it is pulled into the trailer and away from its base 552. The receiving conveyor 550 is supported by roller supports 554 that allow the receiving conveyor 550 to expand, and the conveyor surface may be provided by telescoping conveyor sections 556, such as Figure 39A shown. Figure 39B and Figure 39C The receiving conveyor is shown expanded as it moves away from its base 552. As the receiving conveyor 550 is expanded, utility conduits (e.g., providing power to the moving components) are deployed while being supported by the receiving conduit connector 560.

[0102] According to another aspect of the present invention, Figure 40 An expanded receiving conveyor 650 is shown including rollers 656 mounted on a structure including roller supports 654. Likewise, as the receiving conveyor 650 is expanded, the utility conduit is deployed while being supported by the receiving conduit connector 560. Figure 41 Shown Figure 40The receiving conveyor 650 in the above embodiment has been extended, resulting in the separation of the rollers 656, and the utility conduit 562 is unwound via the containment conduit joint 560. Figure 42 The containment conduit joint 560 is shown, whereby the utility conduit can pass through the joint 560, while allowing the utility line to translate through the joint and to rotate relative to the roller support 554.

[0103] The lower end of the collection conveyor 560 can be positioned proximate the receiving conveyor, and can optionally include a knife blade member 595 at the lower end of the collection conveyor 560, as shown. Figure 43 The knife blade member 595 can be positioned very close to the top surface of the receiving conveyor, to facilitate movement of objects from the receiving conveyor 550 onto the collection conveyor 560.

[0104] Those skilled in the art will appreciate that many modifications and variations to the disclosed embodiments are possible in light of the above teachings.

Claims

1. An object processing system comprising: a mobile system for moving from a proximal location toward a plurality of objects in a trailer of a towed trailer, the mobile unit including at least one conveyor section for carrying any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile system as the mobile system moves toward the collection of objects in the trailer; and a pair of front wheel assemblies each including a pair of wheels mounted on a frame, the frame pivotally attached to a chassis of the mobile system, wherein each wheel assembly includes a drive system also mounted on the frame such that the wheel assembly can pivot relative to the chassis while being driven by the drive system.

2. The object processing system of claim 1, wherein the frame of each front wheel assembly extends generally along a direction of travel of the wheels of the front wheel assembly.

3. The object processing system of claim 2, wherein the mobile system includes a rear wheel assembly including a pair of rear wheels mounted on a rear frame, the rear frame pivotally attached to the chassis.

4. The object processing system of claim 3, wherein the rear frame extends generally along a rear frame direction that is generally transverse to the pair of rear wheels of the rear wheel assembly.

5. The object processing system of claim 4, wherein the rear wheels are each multidirectional wheels.

6. The object processing system of claim 5, wherein the multidirectional wheels can be used to steer the mobile system.

7. The object processing system of any of claims 1-6, wherein the front wheel assembly accommodates changes in height of the front wheel assembly in a first direction of travel.

8. The object processing system of any of claims 1-7, the at least one conveyor section facilitating maintaining the leading edge of a front end of the mobile system from contacting a floor of the trailer.

9. The object processing system of any of claims 1-8, wherein the leading edge of a front end of the mobile system includes a kick-out roller separate from the at least one conveyor section, the kick-out roller facilitating moving the plurality of objects onto the at least one conveyor section.

10. The object processing system of any of claims 1-9, wherein the object processing system further includes a perception system for providing perception data to facilitate the mobile system moving into and out of the trailer.

11. An object processing system comprising: a mobile system for moving from a proximal location toward a plurality of objects in a trailer of a towed trailer, the mobile unit including at least one conveyor section for carrying any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile system as the mobile system moves toward the collection of objects in the trailer; and a pair of front wheel assemblies each pivoting about a front wheel axis that is generally transverse to a direction of movement of the front wheel assembly; and a rear wheel assembly pivoting about a rear wheel axis that is generally parallel to the direction of movement of the front wheel assembly.

12. The object processing system of claim 11, wherein each front wheel assembly is mounted to a front frame that extends generally along a direction of travel of the wheels of the front wheel assembly.

13. The object processing system of claim 12, wherein the rear wheel assembly includes a pair of rear wheels mounted on a rear frame that is pivotally attached to the chassis.

14. The object processing system of claim 13, wherein the rear frame extends generally along a rear frame direction that is generally transverse to the pair of rear wheels of the rear wheel assembly.

15. The object processing system of claim 14, wherein the rear wheels are each multidirectional wheels.

16. The object processing system of claim 15, wherein the multidirectional wheels are usable to steer the mobile system.

17. The object processing system of any of claims 11 to 16, wherein the front wheel assembly accommodates a change in height of the front wheel assembly in a first direction of travel.

18. The object processing system of any of claims 11 to 17, wherein the mobile system further includes a plurality of passive wheels located beneath the at least one conveyor section that help maintain the leading edge of a front end of the mobile system from contacting a floor of the trailer.

19. The object processing system of any of claims 11 to 18, wherein the leading edge of a front end of the mobile system includes a kick-out roller separate from the at least one conveyor section that helps move the plurality of objects onto the at least one conveyor section.

20. The object processing system of any of claims 11 to 19, wherein the object processing system further includes a perception system for providing perception data to help the mobile system move into and out of the trailer.

21. A method of processing objects, comprising: moving a mobile unit along a first direction from a proximal location toward a plurality of objects in a trailer of a towed trailer, the mobile unit including at least one conveyor section for carrying any objects on the at least one conveyor section out of the trailer, the at least one conveyor section including a leading edge at a front of the mobile unit as the mobile unit moves toward the collection of objects in the trailer; pivoting a pair of front wheel assemblies, each front wheel assembly being pivotable about an axis that is generally transverse to the first direction; and pivoting a rear wheel assembly about an axis that is generally parallel to the first direction.

22. The method of claim 21, wherein each front wheel assembly is mounted to a front frame that extends generally along a direction of travel of the wheels of the front wheel assembly.

23. The method of claim 22, wherein the rear wheel assembly includes a pair of rear wheels mounted on a rear frame that is pivotally attached to the chassis.

24. The method of claim 23, wherein the rear frame extends generally in a rear frame direction, the rear frame direction being generally transverse to the first direction.

25. The method of claim 24, wherein the rear wheels are each multidirectional wheels.

26. The method of claim 25, wherein the method includes utilizing the multidirectional wheels to steer the mobile system.

27. The method of any one of claims 21 to 26, wherein the front wheel assembly accommodates a change in height of the front wheel assembly in a first direction of travel.

28. The method of claims 21 to 27, wherein the mobile system further includes a plurality of passive wheels located below the at least one conveyor section, the plurality of passive wheels helping to maintain the front edge of a front end of the mobile system from contacting a floor of the trailer.

29. The method of claims 21 to 28, wherein the front edge of a front end of the mobile system includes a kick-out roller separate from the at least one conveyor section, the kick-out roller helping to move the plurality of objects onto the at least one conveyor section.

30. The method of claims 21 to 29, wherein the object handling system further includes a perception system for providing perception data to help the mobile system move into and out of the trailer.

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