阅读说明：本技术 使用盒子托盘组件动态处理物体的系统和方法 (System and method for dynamically processing objects using a cassette tray assembly ) 是由 J·R·小阿门德 W·C-H·麦克马汉 J·罗曼诺 V·欣奇 J·E·金 T·瓦格纳 于 2019-03-04 设计创作，主要内容包括：公开了一种用于在物体处理系统中使用的盒子操纵系统。该盒子操纵系统包括盒子托盘,该盒子托盘包括用于接纳盒子的凹入区域,并且该凹入区域包括用于接纳容纳要处理的物体的盒子的多个底板和边缘部分。(A cassette handling system for use in an object handling system is disclosed. The cassette handling system includes a cassette tray including a recessed area for receiving a cassette, and the recessed area includes a plurality of bottom panels and edge portions for receiving a cassette containing objects to be processed.)

1. A cassette handling system for use in an object handling system, the cassette handling system comprising a cassette tray comprising a recessed area for receiving a cassette, the recessed area comprising a plurality of floors and edge portions for receiving a cassette containing objects to be handled.

2. The cassette handling system of claim 1, wherein the cassette handling system includes an air escape channel for allowing air to escape from between the cassette tray and the cassette when the cassette is engaged with the cassette tray.

3. A cassette handling system according to claim 1, wherein the cassette trays include contact areas that can be contacted to push the cassette trays off of one transport system to another transport system.

4. A cassette handling system according to claim 1 wherein the cassette trays can be transported by a transport system which cannot transport the cassettes individually due to the relatively low mass of the cassettes when empty, but on which the cassette trays and empty cassettes can be transported.

5. The cassette handling system of claim 1, wherein the cassette tray includes a bottom having a patterned embossed surface that helps provide friction between the cassette tray bottom and a transport system.

6. A cassette handling system according to claim 1 wherein the cassette trays include bottom sides having portions sufficiently coextensive so that no portion of the bottom obstructs movement of the cassette trays as they can be pushed away from one conveyor system onto another conveyor system.

7. The cassette handling system of claim 1, wherein the cassette tray includes a recessed area for receiving a unique identification mark.

8. The cassette handling system of claim 1, wherein the cassette tray includes a recessed area that can be used as a handle to lift the cassette tray.

9. The cassette handling system of claim 1, wherein the cassette tray includes corner tabs for facilitating stacking of a plurality of cassette trays when not in use.

10. The cassette handling system of claim 1, wherein the cassette trays include side wall portions that are received by corner tabs of adjacent cassette trays when a plurality of cassette trays are stacked together.

11. A cassette handling system for use in an object handling system, the cassette handling system comprising a cassette tray comprising a recessed area for receiving a cassette, the recessed area comprising a plurality of floors and edge portions for receiving a cassette containing objects to be handled; and, the cassette handling system further comprises an identification mark on at least one of the cassette and the cassette tray, the identification mark uniquely identifying the cassette tray handling system.

12. The cassette handling system of claim 11, further comprising a processing system that associates the identifying indicia with a defined set of objects.

13. The cassette handling system of claim 12, wherein the processing system is responsive to a sensing output from a sensing unit for analyzing the identifying indicia.

14. A cassette handling system according to claim 12 wherein said defined groups of objects are homogeneous.

15. A cassette handling system according to claim 12 wherein said defined set of objects are heterogeneous.

16. The cassette handling system of claim 11, wherein the cassette tray is disposed on a conveyor system.

17. The cassette handling system of claim 11, wherein the cassette handling system includes an adjustable stop to limit movement of at least one cassette tray in a first direction.

18. The box handling system of claim 11, wherein the box handling system comprises a box cover for placing over the box when the box is open such that an exterior flap of the box can be held in an open position, and wherein the box cover comprises an open top portion that allows access to the box through the box cover.

19. A cassette handling system according to claim 11, wherein each cassette tray includes attachment means for attracting adjacent cassette trays toward each other.

20. A cassette handling system for use in an object handling system, the cassette handling system comprising a cassette tray, the cassette tray comprising:

a recessed area for receiving a cassette, the recessed area including a plurality of floors and edge portions for receiving a cassette containing objects to be processed;

the cassette tray includes exterior width and length dimensions that dictate that a plurality of such cassette trays, when adjacently aligned, provide at least one of a total width and a total length of the plurality of such cassette trays such that at least one of the total width or the total length of the plurality of such cassette trays provides a defined position of each of the plurality of such cassette trays within the cassette handling system.

21. The cassette handling system of claim 20, wherein the cassette tray is disposed on a conveyor system.

22. The cassette handling system of claim 20, comprising an adjustable stop to limit movement of at least one cassette tray in a first direction.

23. The cassette handling system of claim 20, wherein each cassette tray includes an identification mark that uniquely identifies the cassette tray.

24. The cassette handling system of claim 20, wherein each cassette includes an identification mark that uniquely identifies the cassette.

25. The cassette handling system of claim 24, further comprising a processing system that associates each identifying indicia with a defined set of objects.

26. A cassette handling system according to claim 25 wherein said defined groups of objects are homogeneous.

27. The cassette handling system of claim 25, wherein the defined set of objects are heterogeneous.

28. The cassette handling system of claim 23, wherein the processing system is responsive to a sensing output from a sensing unit for analyzing the identifying indicia.

29. The box handling system of claim 20, wherein the box handling system comprises a box cover for placing over the box when the box is open such that an exterior flap of the box can be held in an open position, and wherein the box cover comprises an open top portion that allows access to the box through the box cover.

30. A cassette handling system according to claim 20 wherein each cassette tray includes attachment means for attracting adjacent cassette trays toward each other.

31. A cassette handling system according to claim 20, wherein each cassette tray includes a rigid portion that is accessible by the kicker assembly to push the cassette tray and associated cassette tray assembly away from the conveyor.

32. The cassette handling system of claim 31, further comprising a kicker assembly comprising an actuatable pushing device movable along a track.

33. A cassette handling system for use in an object handling system, the cassette handling system comprising a cassette tray assembly, the cassette tray assembly comprising:

a tray for containing a cassette, the tray comprising a recessed area for receiving the cassette, wherein the recessed area comprises a plurality of floors and edge portions for receiving the cassette; and

a box cover for placement over an open box such that the exterior flaps of the box can be retained in an open position, and wherein the box cover includes an open top portion that allows access to the box.

34. A cassette handling system according to claim 33 wherein the cassette trays are disposed on a transport system.

35. The cassette handling system of claim 33, wherein the cassette handling system includes an adjustable stop to limit movement of at least one cassette tray in a first direction.

36. The cassette handling system of claim 33, wherein each cassette tray includes an identification mark that uniquely identifies the cassette tray.

37. The cassette handling system of claim 33, wherein each cassette includes an identification mark that uniquely identifies the cassette.

38. The cassette handling system of claim 36, further comprising a handling system that associates each identifying indicia with a defined set of objects.

39. The cassette handling system of claim 38, wherein the defined group of objects are homogeneous.

40. The cassette handling system of claim 38, wherein the defined set of objects are heterogeneous.

41. The cassette handling system of claim 36, wherein the processing system is responsive to a sensing output from a sensing unit for analyzing the identifying indicia.

42. A cassette handling system according to claim 33 wherein each cassette tray includes alignment means for aligning adjacent cassette trays.

43. A cassette handling system according to claim 33 wherein each cassette tray includes attachment means for attracting adjacent cassette trays toward each other.

44. The cassette handling system of claim 33, wherein the cassette cover includes a recessed area, the identifying indicia being located in the recessed area.

45. The cassette handling system of claim 44, wherein the unique identification indicia of the cassette cover is paired with the unique identification indicia of the cassette tray to provide a secure unique identification of the cassette handling system.

46. The cassette handling system of claim 33, wherein the cassette cover includes side wall portions that are received by corner tabs of adjacent cassette covers when a plurality of cassette covers are stacked together.

47. A box handling system according to claim 33 wherein the box lid is arranged to hold the exterior flaps of boxes of a plurality of sizes in an open position.

48. The box handling system of claim 33, wherein the box cover is configured to hold multiple sizes of exterior flaps of a box in an open position.

49. The cassette handling system of claim 33, wherein the cassette cover is configured such that the cassette can be filled to a level above a height of the cassette.

50. The cassette handling system of claim 33, further comprising a kicker assembly including an actuatable pushing device movable along the track, the actuatable pushing device actuatable to selectively remove the cassette tray assembly from the conveyor.

Background

The present invention relates generally to automated sorting and other processing systems, and in certain embodiments to programmable motion control, e.g., robotic systems for processing (e.g., sorting) objects such as packages, items, goods, and the like.

For example, current distribution center sortation systems typically assume that the sequence of operations is inflexible, whereby a worker first separates a cluttered input object stream into a single isolated object stream, which is presented to the worker one at a time by a scanner that identifies the objects. The objects are then loaded onto one or more conveyors directed to the diverter, which then transport the objects to a desired destination, which may be a box, chute, bag, or destination conveyor.

Such systems have inherent inefficiencies and flexibility as the desired goal is to match incoming objects with the distributed collection bin. Such systems may in part require a large number of collection bins (and thus a large amount of physical space, a large amount of capital cost, and a large amount of operating cost), as it is not always most efficient to uniformly sort all objects.

Disclosure of Invention

According to one embodiment, the present invention provides a cassette handling system for use in an object handling system. The cassette handling system includes a cassette tray including a recessed area for receiving a cassette, and the recessed area includes a plurality of bottom panels and edge portions for receiving a cassette containing objects to be processed.

According to another embodiment, the present invention provides a cassette handling system for use in an object handling system, wherein the cassette handling system comprises a cassette tray comprising a recessed area for receiving a cassette, the recessed area comprising a plurality of floors and edge portions for receiving a cassette containing objects to be handled. The cassette handling system further includes an identification mark on at least one of the cassette and the cassette tray, and the identification mark uniquely identifies the cassette tray handling system.

According to another embodiment, the present invention provides a cassette handling system for use in an object handling system, wherein the cassette handling system comprises a cassette tray comprising a recessed area for receiving cassettes, the recessed area comprising a plurality of floors and edge portions for receiving cassettes containing objects to be handled. The cassette tray includes exterior width and length dimensions that provide that a plurality of such cassette trays, when adjacently aligned, provide at least one of an overall width and an overall length of the plurality of such cassette trays such that at least one of the overall width or the overall length of the plurality of such cassette trays provides a defined position of each of the plurality of such cassette trays within the cassette handling system.

According to yet another embodiment, the present invention provides a cassette handling system for use in an object handling system, wherein the cassette handling system comprises a cassette tray assembly comprising a tray for receiving a cassette and a cassette lid, the tray comprising a recessed area for receiving a cassette, wherein the recessed area comprises a plurality of bottom panels and edge portions for receiving a cassette, the cassette lid for placing over an open cassette such that exterior flaps of the cassette may be held in an open position, and wherein the cassette lid comprises an open top portion allowing access to the cassette.

Drawings

The following description may be further understood with reference to the accompanying drawings, in which:

FIG. 1 shows a schematic isometric view of a cassette handling system for object handling according to an embodiment of the present invention;

FIG. 2 shows a schematic isometric view of two cassette trays of the cassette handling system of FIG. 1;

FIG. 3 shows a schematic plan view of a plurality of cassette trays of the cassette handling system of FIG. 1;

FIG. 4 shows a schematic plan view of the processing of homogeneous objects into heterogeneous objects using the cassette handling system of FIG. 1;

FIG. 5 shows a schematic plan view of the processing of heterogeneous objects into homogeneous objects using the cassette handling system of FIG. 1;

FIG. 6 shows a schematic exploded view of the cassette tray assembly, cassette and cassette cover of the cassette handling system of FIG. 1;

FIG. 7 shows a schematic end view of the cassette tray assembly of FIG. 6;

FIG. 8 shows a schematic side view of the cassette tray assembly of FIG. 6;

FIGS. 9A-9C show schematic isometric views of the cassette tray assembly of FIG. 6 (FIG. 9A) and cassette tray assemblies (FIGS. 9B and 9C) according to further embodiments of the present invention;

FIGS. 10A and 10B show schematic isometric views of a box tray assembly relating to boxes having various flap arrangements according to further embodiments of the present invention;

FIG. 11 shows an illustrative schematic view of the cassette and cassette tray of FIG. 6 showing air venting when the cassette is positioned in the cassette tray;

FIG. 12 illustrates a schematic isometric view of a cassette tray of the cassette tray of FIG. 6 showing indicia disposed in the recessed area in accordance with an embodiment of the present invention;

FIG. 13 shows a schematic end view of the cassette tray of FIG. 12;

FIG. 14 shows a schematic side view of the cassette tray of FIG. 12;

FIG. 15 shows a schematic top view of the cassette tray of FIG. 12;

FIG. 16 shows a schematic bottom view of the cassette tray of FIG. 12;

FIG. 17 shows a schematic isometric view of a plurality of stacked cassette trays;

FIG. 18 illustrates a schematic isometric view of a cassette lid of the cassette tray of FIG. 6 showing indicia disposed in the recessed area in accordance with an embodiment of the present invention;

FIG. 19 shows a schematic end view of the cassette cover of FIG. 18;

FIG. 20 shows a schematic side view of the cassette lid of FIG. 18;

FIG. 21 shows a schematic top view of the cassette lid of FIG. 18;

FIG. 22 shows a schematic bottom view of the cassette cover of FIG. 18;

FIG. 23 shows a schematic isometric view of a plurality of stacked cassette lids;

FIGS. 24A-24D show schematic views of a box tray assembly transitioning from one conveyor to another according to embodiments of the present invention.

Figures 25A and 25B show schematic isometric views of a cassette handling system including a cassette kicker assembly according to embodiments of the present invention;

26A-26D show schematic isometric views of a cassette handling system including a cassette kicker assembly according to another embodiment of the present invention;

27A and 27B show schematic top views of cassette trays in a cassette handling system including an attraction system for attracting adjacent cassette trays toward each other in a side-to-side manner in accordance with an embodiment of the present invention; and

fig. 28A and 28B show schematic top views of cassette trays in a cassette handling system including an attraction system for attracting adjacent cassette trays toward each other in an end-to-end manner according to another embodiment of the present invention.

The drawings are shown for illustrative purposes only.

Detailed Description

According to various embodiments, the present invention provides a cassette handling system for use in an object handling system. The cassette handling system includes a cassette tray including a recessed area for receiving a cassette. The recessed area includes a plurality of floors and edge portions for receiving a cassette containing objects to be processed. According to another embodiment, a cassette handling system includes a cassette tray including a recessed area for receiving a cassette, and the recessed area includes a plurality of floors and edge portions for receiving a cassette containing objects to be processed. The cassette handling system further includes an identification mark on at least one of the cassette tray and the cassette, and the identification mark uniquely identifies the cassette tray. According to another embodiment, the cassette tray further comprises exterior width and length dimensions that specify that a plurality of such cassette trays, when adjacently aligned, provide at least one of a total width and a total length of the plurality of such cassette trays, such that at least one of the total width or the total length of the plurality of such cassette trays provides a defined location and place for each of the plurality of such cassette trays within the cassette handling system. According to a further embodiment, the box tray further comprises a box cover for placing over an open box such that the exterior flaps of the box can be held in an open position, and wherein the box cover comprises an open top portion allowing access to the box.

FIG. 1 illustrates a cassette handling system 10 for use in object handling according to an embodiment of the present invention. The system 10 includes a programmable motion device 12, such as a robotic system having an end effector 14 (e.g., a vacuum gripper or gripper actuator) positioned between two conveyors 16, 18 on which cassettes 20 are placed on a cassette tray assembly. The system 10 also includes two sets of overhead image collection units 22, 24 for obtaining image data regarding the contents of the cassettes of the cassette tray assemblies 20 of the two conveyors 16, 18. Each cassette tray assembly 20 also includes identification indicia 26 on the cassette tray and identification indicia 25 on the cassette cover. In other embodiments, the cassette itself may include identifying indicia 27, as discussed in more detail below with reference to fig. 2. The system 10 may include sensing units 28 and 29 for sensing sensed data (e.g., image data or scan data) about the identification indicia 25, 26 as each cassette tray assembly 20 passes by the sensing units 28, 29. The system can record the identification indicia for each respective cassette tray and cassette lid combination, providing reliable information about each cassette tray assembly. Typically, as each cassette tray assembly passes the sensing units 28, 29, both indicia 25, 26 are read and checked to confirm that the detected cassette lid corresponds to the detected cassette tray. In other embodiments, the inspected cassette cover and the inspected cassette tray are now assigned to correspond to each other during processing of the cassette held by the cassette tray and the cassette cover.

In response to such cassette dispensing by sensing data, processing system 30 instructs the programmable motion device to move the contents of the cassette tray assembly on one conveyor to the cassette tray assembly 20 on the other conveyor. Any number of programmable motion devices 12 may be provided between adjacent rows of cassette tray assemblies 20 to further scale the automated process. In one embodiment, the system knows what is in the box associated with each identifying indicia (e.g., 26), and the system knows which items are to be moved from one conveyor 16 to the box tray assembly on the other conveyor 18. Because the distance of each cassette tray assembly from stop 17 is known, the system knows where each cassette is positioned on conveyors 16, 18 because each cassette tray has the same known width, and because the cassette tray assembly is pushed toward the stop, either by gravity feeding the conveyor or by having the conveyor continue to push the cassette tray assembly in a direction toward stop 17.

With further reference to FIG. 2, each cassette tray assembly 20 may include a cassette 32 received by a cassette tray 34, with a cassette cover 36 placed on top of the cassette 32. Also, each conveyor 16, 18 may include an actuatable stop 17 for selectively stopping movement of the cassette tray assembly along each conveyor. The outer edges of the cassette trays 34 are designed to abut each other along their length or width sides (as shown at a) so that the distance between the cassettes (as shown at B) and the location of the opening of each cassette tray assembly (as shown at C) is known, as also shown in fig. 3. As also shown in FIG. 2, either or both of the cassette lid 36 or the cassette tray 34 or the cassette 32 may include identifying indicia 25, 26, 27. Thus, during processing, as the cassette tray assembly 20 passes in front of the sensing units 28, 29, 31, the processing system 30 records the identity of each successive cassette tray assembly, cassette, and cassette cover. Because the cassette tray assemblies are of equal width (or length if aligned in the longitudinal direction), and because the position of the stop 17 is known, the position of each cassette tray assembly, and the position (and identity) of the contents within each cassette, is known.

This provides significant consistency to the system 10, greatly facilitating automated processing of objects. The stops 17 may be actuated for a limited time to process the objects thus received in the vicinity of the programmable motion device 12 and then released to allow the cassette tray assembly 20 to pass through and allow a new set of cassette tray assemblies (and associated new objects) and/or a new set of target cassette tray assemblies to be presented in the vicinity of the programmable motion device. As also shown in fig. 2, the indicia 26 may be disposed in a recessed area 46 on the cassette tray, which recessed area 46 protects the indicia 26 from damage or peeling due to rubbing or other contact with other moving or non-moving structures, and may provide a convenient handle for a person to grasp the cassette tray (particularly when another similar recessed area is provided on the opposite side of the cassette tray). Similarly, the indicia 25 may be disposed in a recessed area 45 on the cassette cover 36, the recessed area 45 protecting the indicia 25 from damage or peeling due to rubbing or other contact with other moving or non-moving structures.

For example, FIG. 4 illustrates the processing of objects from a cassette tray assembly 20' in which the contents of each cassette are homogeneous to a cassette tray assembly 20 "in which the contents of each cassette are heterogeneous. Fig. 5 illustrates the processing of objects from a box tray assembly 20 '"in which the contents of each box are heterogeneous to a box tray assembly 20'" in which the contents of each box are homogeneous in some respects. Such object handling may provide for traditional sorting of similar products, or may be used to produce collections or objects destined for a common transportation premises, for example, or selected to provide a package of debris to be delivered to a premises for decomposition, particularly in a predefined manner (such as offering merchandise for a common island (isle) at a retail store).

Fig. 6 shows an exploded view of the cassette tray assembly 20. As shown, box 32 (e.g., a standard shipping size cardboard box) may include a bottom edge 31 and side edges 33 that are received by a top surface 35 and an inner side 37 of box tray 34. As also shown in FIG. 6, the carton 30 may include a top flap 38, which when opened as shown, the top flap 38 is held open by an inner surface 40 of the carton lid 36. The cassette cover 36 may also have a defined rim opening 42 and corner elements 44. Thus, the box 32 is securely held within the box tray 34, and the box cover 36 holds the flaps 38 down the exterior of the box, allowing access to the interior of the box through the opening 42 in the box cover 36. As described above, the recessed area 45 of the cassette cover 36 may include identification indicia, and the recessed area 46 of the cassette tray 34 may also include identification indicia. Fig. 7 shows a width side view of the cassette tray assembly 20 (while fig. 8 shows a length side view) with the cassette 32 securely seated within the cassette tray 34 and the cassette lid holding the flaps 38 of the cassette 32 open.

Fig. 9A shows an isometric view of the cassette tray assembly 20 with the cassette 32 resting in the cassette tray 34 and the cassette top 36 holding the cassette flaps 38 open. Referring to fig. 9B and 9C, the same cassette tray 34 and cassette cover 36 can be used with cassettes 32' and 32 "of different heights, thereby allowing the cassette tray 34 and cassette cover 36 to be used on a variety of cassettes. Similarly, and with reference to fig. 10A and 10B, the same box tray 34 and box lid 36 can be used on boxes 39, 41 having different sized box flaps 43, even less than four flaps 45 (e.g., one or two flaps), as shown. In addition, in the event that the contents may later settle, the contents of the box may extend above the box lid, enabling the box to be closed later, in particular, the sides of the lid may help support the contents of the box above the box opening.

Fig. 11 shows the cassette 32 lowered into the cassette tray 34 in the direction shown at D. As shown at E in fig. 11, when the cassette 32 is near the base of the cassette tray 34, air can pass through the corner openings 19 (also shown in fig. 15). By using such openings, the dimensions of the box (length and width, not height) can fit snugly into the interior of the box tray. According to further embodiments, the cassette tray may include locking stop features to secure the cassette to the cassette tray, such as moving one or more sides 37 inward to engage the cassette sides. The use of such a cassette tray for transporting cassettes may be particularly beneficial when using a conveyor that cannot easily transport empty cassettes individually due to their light weight. For example, if a roller conveyor is used, the rollers may rotate under an empty cassette without actually moving the cassette in the desired direction. The mass of the cassette tray is (slightly) greater than the mass of an empty cassette and will ensure that the cassette tray can be easily transported by the transport system. This is also facilitated by features in the bottom of the cassette tray, as will be discussed in detail below.

Fig. 12-16 show additional views of the cassette tray 34 in detail. In particular, fig. 12 shows an isometric view of the cassette tray 34. FIG. 13 shows a width side view of the cassette tray 34 (having a width W as shown)_{Base part}) While FIG. 14 shows the length of the cassette tray 34Side view (with length L as shown in the figure)_{Base part}). Fig. 15 shows a top view of the cassette tray 34, and fig. 16 shows a bottom view of the cassette tray 34. The inner side 37 of the cassette tray 34 and the bottom 35 of the cassette tray 34 in which the cassette 32 is received are further illustrated in fig. 9 and 12. The cassette tray 34 also includes a recess 46 (shown in fig. 12 and 13) into which indicia can be placed, and optionally one can lift the cassette tray (and any cassettes thereon) through the recess 46. As shown in fig. 16, the cassette tray 34 also includes a patterned emboss structure 48 on the underside of the cassette tray 34. This feature 48 is also flush with the bottom edge of the cassette tray. This structure 48 ensures that the bottom of the cassette tray provides sufficient friction to move on the conveyor, but is also sufficiently flat on the bottom so that the cassette tray can be kicked onto an adjacent conveyor (as discussed in more detail below). Fig. 12 also shows a box kick area 51 of the box tray that may be contacted by an automatic box kick as discussed in more detail below.

FIG. 17 shows a plurality of cassette trays 34 stacked on top of one another, showing that the cassette trays can nest with one another for stacking. In particular, wall corners 53 in a cassette tray may receive alignment features 55 of an adjacently stacked cassette tray. Also, as shown, the box kick 51 may be nested inside the side wall of an adjacent box tray. In this way, a plurality of box trays may be bagged on top of each other for ease of transport (on the conveyor) and storage.

Fig. 18-22 show additional views of the cassette cover 36 in detail. In particular, the box lid 36 includes an engagement wall 56, which engagement wall 56 (on the inside) engages an open flap at the top of the box. The cassette cover 36 also includes an opening wall 58, the opening wall 58 defining an opening for removing or inserting objects from or into the cassette. The opening wall 58 is mounted on a base portion including a shoulder corner 57 which aligns with the tabs 44 of other adjacent box lids when a plurality of box lids are stacked, as shown in fig. 23. Fig. 18 shows an isometric view of the cassette lid 36. FIG. 19 shows a side view of the width of the cassette lid 36, showing the width of the lid (W)_{Cover for portable electronic device}) While FIG. 20 shows a side view of the length of the cassette lid 36, showing the lid length (L)_{Cover for portable electronic device})。

Fig. 21 shows a top view of the cassette cover 36, and fig. 22 shows a bottom view of the cassette cover 36. According to one embodiment, the width (W) of the cover_{Cover for portable electronic device}) Less than the width (W) of the box tray_{Base part}) And length (L) of the cover_{Cover for portable electronic device}) Less than the length (L) of the box tray_{Base part}). In other embodiments, the width of the cassette cover may be the same as the width of the cassette tray, and the length of the cover may be the same as the length of the cassette tray. In other embodiments, the size of the lid (W)_{Cover for portable electronic device}、L_{Cover for portable electronic device}) May be larger than the size of the box tray and the size of the lid may determine the location of each box rather than the size of the base (W) used_{Base part}、L_{Base part}). FIG. 23 shows a plurality of cassette lids 36 stacked on top of one another, showing that the cassette lids can be nested within one another for stacking. In particular, the tabs 44 are shown aligned with the shoulder corners 57 of adjacently stacked cassette lids.

FIG. 24A illustrates a portion of a system according to another embodiment of the present invention, wherein the cassette tray assembly 20 is disposed on a conveyor 72 (e.g., 16 or 18 shown in FIG. 1) and an additional conveyor 70 is shown disposed adjacent to the conveyor 72. Referring to FIG. 24B, cassette tray assembly 120 can be selectively moved (or kicked) from conveyor 72 onto conveyor 70 in the direction F shown. Once the cassette 120 is removed from the carrier 72, the remaining cassette tray assembly on the carrier 72 is then moved in the direction shown at G in FIG. 24C to fill the space left by the removed cassette tray assembly 120. Referring to FIG. 24D, the removed cassette tray assembly 120 may then be advanced along the conveyor 70, as shown at H, for further processing.

Fig. 25A and 25B show rear views of the system of fig. 24A-24D. In particular, fig. 25A shows that the cassette kicker assembly 74 can travel along a track 76 behind the cassette tray assembly 20, and referring to fig. 25B, the cassette kicker assembly can be selectively engaged to facilitate removal of the cassette tray assembly from the conveyor. In particular, the cassette kickers may include an actuatable (e.g., by a solenoid) post 78, the post 78 designed to contact the kick plate portion 51 of the cassette tray to push the cassette tray assembly onto the conveyor 70. Such a system may be used to provide that empty or completely unloaded cassettes may be removed (e.g., from conveyor 16) or full or completely loaded cassettes may be removed (e.g., from conveyor 18). Operational control of the system is provided by one or more processing systems 30.

Referring to fig. 26A-26D, a cassette kicker 84 according to another embodiment of the present invention may be suspended by and travel along a track 86 and may include a rotatable arm 88 and a roller 90 at the end of the arm. Referring to FIGS. 26B-26D, as rollers 90 contact kick plate 51 of a cassette tray (of cassette tray assembly 180), arm 88 continues to rotate, pushing cassette tray assembly 180 from first conveyor 82 to second conveyor 80. In particular, when roller 90 contacts kick plate 51 of a cassette tray, rotation of arm 88 causes the cassette tray to move linearly, and roller 90 may contact plate 51 at a single location on plate 51 until the cassette tray assembly moves away from roller 90. Likewise, the rollers are designed to contact the kick plate portion 51 of the cassette tray to push the cassette tray assembly onto the conveyor 80. Such a system may be used to provide that empty or completely unloaded cassettes may be removed (e.g., from conveyor 16) or full or completely loaded cassettes may be removed (e.g., from conveyor 18). According to some embodiments, cassette kickers 84 may be positioned between two rows of cassettes in the cassette tray assembly, and the cassette kickers may be actuated to push the cassette tray assemblies on either side of the two rows onto the output conveyor).

In each of the above systems, a controller 30 (e.g., one or more computer processors) (wireless or wired) may be employed to monitor the location of each cassette tray assembly on the conveyor and to control the processing of the objects by the programmable motion device and to maintain status information regarding the processing stage of each cassette in the cassette tray assembly.

Fig. 27A and 27B show a cassette tray 50 according to another embodiment of the present invention that includes a positive outward positioned magnet 52 and a negative outward positioned magnet 54. When adjacent cassette trays are brought into close proximity (as shown in fig. 27B), each magnet pair (52, 54) creates an attractive force that pulls the cassette trays together lengthwise and helps to keep the cassette trays aligned lengthwise. The cassette tray 50 may be used as discussed above with respect to the cassette tray 34.

As shown in fig. 28A and 28B, according to another embodiment of the present invention, a cassette tray 60 may be provided that includes a positively outwardly positioned magnet 62 and a negatively outwardly positioned magnet 64. When adjacent cassette trays are brought into close proximity (as shown in fig. 28B), each magnet pair (62, 64) creates an attractive force that pulls the cassette trays together in the width direction and helps to keep the cassette trays aligned in the width direction. The cassette tray 60 may include magnets 62, 64 along both the length and width, and the cassette tray 60 may be used as discussed above with respect to the cassette tray 34.

Those skilled in the art will appreciate that numerous modifications and variations may be made to the above disclosed embodiments without departing from the spirit and scope of the invention.