US 11,813,741 B2
Systems and methods for providing dynamic communicative lighting in a robotic environment
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Prasanna Velagapudi, Pittsburgh, PA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Aug. 6, 2021, as Appl. No. 17/395,929.
Application 17/395,929 is a continuation of application No. 16/826,819, filed on Mar. 23, 2020, granted, now 11,117,271.
Application 16/826,819 is a continuation of application No. 16/243,753, filed on Jan. 9, 2019, granted, now 10,632,631, issued on Apr. 28, 2020.
Application 16/243,753 is a continuation of application No. 15/259,961, filed on Sep. 8, 2016, granted, now 10,265,872, issued on Apr. 23, 2019.
Claims priority of provisional application 62/216,017, filed on Sep. 9, 2015.
Prior Publication US 2021/0362356 A1, Nov. 25, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 19/06 (2006.01); B25J 9/16 (2006.01); G08B 5/36 (2006.01)
CPC B25J 19/06 (2013.01) [B25J 9/1676 (2013.01); G08B 5/36 (2013.01); G05B 2219/40196 (2013.01); G05B 2219/40202 (2013.01)] 31 Claims
OG exemplary drawing
 
1. A robotic system including an articulated arm with an end effector, said robotic system comprising:
a first plurality of lights provided in a ring proximate the end effector, said first plurality of lights being engageable in a grasp quality mode to indicate a grasp quality of the end effector's grasp on an object, and further being engageable in a movement mode to indicate a planned direction of movement of the end effector by illuminating one or more of the first plurality of lights that are on a side of the ring that is associated with the planned direction of movement of the end effector; and
a second plurality of lights provided proximate a plurality of destination bins, each of the second plurality of lights being associated with one of the plurality of destination bins, said second plurality of lights being engageable in a destination bin mode to indicate a destination bin to which the end effector plans to move the object, said destination bin mode of the second plurality of lights being associated with the movement mode of the first plurality of lights, and the second plurality of lights being engageable in a bin complete mode to indicate that a particular destination bin is ready for removal.