Robotic systems and methods for identifying and processing a variety of objects

Patent metadata

Field	Value
Publication number	US-10621402-B2
Application number	US-201815982238-A
Country	US
Kind code	B2
Filing date	May 17, 2018
Priority date	Sep 11, 2015
Publication date	Apr 14, 2020
Grant date	Apr 14, 2020

Abstract

A robotic system is disclosed that include an articulated arm and a first perception system for inspecting an object, as well as a plurality of additional perception systems, each of which is arranged to be directed toward a common area in which an object may be positioned by the robotic arm such that a plurality of views within the common area may be obtained by the plurality of additional perception systems.

First claim

What is claimed is:

1. An object processing system for identifying objects, said object processing system comprising:
a first identity capturing device for providing first identity data regarding a first view of an object at a first location; and
a plurality of additional identity capturing devices, each of which is arranged to be directed toward a perception area for providing further identity data regarding a plurality of views within the perception area, said first view and said plurality of views providing views of all surfaces of the object;
said plurality of additional identity capturing devices being provided in a drop perception unit that includes an open top and an open bottom, through which an object may be dropped;
a pick-and-place system including an articulated arm and an end effector that picks up the object from the first location and drops the object through the drop perception unit to provide further identity data;
a processor that determines an identification of the object based on any of the first identity data and the further identity data by at least one of:
(i) determining the identification of the object based on the first identity data provided by the first identity capturing device and confirming the identification of the object based on the further identity data provided by the plurality of additional identity capturing devices included in the drop perception unit, and
(ii) determining the identification of the object based on the further identity data provided by the plurality of additional identity capturing devices included in the drop perception unit when the processor fails to identify the object based on the first identity data provided by the first identity capturing device; and

a routine system for receiving the object from the drop perception unit and for directing the object toward one of a plurality of destination locations based on any of the first identity data and the further identity data,
wherein the object is directed along a first path in a first linear direction and subsequently along one of a plurality of second paths selected based on one or more of the first identity data and the further identity data, each of the plural second paths extending in a linear direction that is not parallel to the first path.

2. The object processing system as claimed in claim 1 , wherein the first identity capturing device includes a camera that is positioned above an area into which the objects are provided for identification and processing by the object processing system.

3. The object processing system as claimed in claim 1 , wherein the plurality of additional identity capturing devices include a plurality of cameras.

4. The object processing system as claimed in claim 1 , wherein the first identity capturing device provides the first identity data regarding a unique object identifier, and wherein the plurality of additional identity capturing devices provide the further identity data that enables the processor to perform any of confirming the unique object identifier or any additional object identifiers.

5. The object processing system as claimed in claim 1 , wherein the routing system includes a reciprocating carriage system for receiving the object and for directing the object toward one of the plurality of destination locations based on any of the first identity data and the further identity data.

6. The object processing system as claimed in claim 1 , wherein one or more of the plural second paths are orthogonal to the first path.

7. The object processing system as claimed in claim 1 , wherein the plural second paths are parallel to each other.

8. The object processing system as claimed in claim 1 , wherein the first identity capturing device includes a scanner that is positioned above an area into which the objects are provided for identification and processing by the object processing system.

9. The object processing system as claimed in claim 8 , wherein the scanner is a laser reflectivity scanner.

10. The object processing system as claimed in claim 8 , wherein the scanner is a radio frequency ID scanner.

11. The object processing system as claimed in claim 1 , wherein the plurality of additional identity capturing devices include a plurality of scanners.

12. The object processing system as claimed in claim 11 , wherein each of the plurality of scanners is a laser reflectivity scanner.

13. The object processing system as claimed in claim 11 , wherein each of the plurality of scanners is a radio frequency ID scanner.

14. The object processing system as claimed in claim 1 , wherein the routing system includes a reciprocating carriage.

15. The object processing system a claimed in claim 14 , wherein the routing system includes a plurality of reciprocating carriages.

16. The object processing system as claimed in claim 15 , wherein one of the plurality of reciprocating carriages moves along the first path, and other of the plurality of reciprocating carriages each move along a respective one of the plural second paths.

17. An object processing system for identifying objects, said object processing system comprising:
a first identity capturing device for providing first identity data regarding a first view of an object at a first location;
a plurality of additional identity capturing devices provided in a drop perception unit, each of the plurality of additional identity capturing devices being arranged to be directed toward a perception area within the drop perception unit for providing further identity data regarding a plurality of views within the perception area, said first view and said plurality of views providing views of all surfaces of the object; and
a routing system for receiving the object and for directing the object toward one of a plurality of destination locations based on any of the first identity data and the further identity data,
wherein the object is directed along a first path in a first linear direction and subsequently along one of plural second paths selected based on one or more of the first identity data and the further identity data, each of the plural second paths extending in a linear direction not parallel to the first path.

18. The object processing system as claimed in claim 17 , wherein the first identity capturing device includes a camera that is positioned above an area into which the objects are provided for identification and processing by the object processing system.

19. The object processing system as claimed in claim 17 , wherein one or more of the plural second paths are orthogonal to the first path.

20. The object processing system as claimed in claim 17 , wherein the plural second paths are parallel to each other.

21. The object processing system as claimed in claim 17 , wherein the routing system includes a reciprocating carriage.

22. The object processing system as claimed in claim 21 , wherein the plurality of destination locations includes two rows of destination bins, and wherein the reciprocating carriage travels between the two rows of destination bins.

23. The object processing system as claimed in claim 17 , wherein the first identity capturing device includes a scanner that is positioned above an area into which the objects are provided for identification and processing by the object processing system.

24. The object processing system as claimed in claim 23 , wherein the scanner is a laser reflectivity scanner.

25. The object

Assignees

• Berkshire Grey Inc

Inventors

• Wagner Thomas
• Ahearn Kevin
• Cohen Benjamin
• DAWSON-HAGGERTY Michael
• GEYER Christopher
• Koletschka Thomas
• MARONEY Kyle
• Mason Matthew T
• Price Gene Temple
• Romano Joseph
• Smith Daniel
• SRINIVASA Siddhartha
• Velagapudi Prasanna
• Allen Thomas

Classifications

• B25J19/022

  using lasers · CPC title

• G06K7/1404

  Methods for optical code recognition · CPC title

• G06K7/1443 Primary

  locating of the code in an image · CPC title

• G05B19/124

  using tapes, cards or discs with optically sensed marks or codes (G05B19/128, G05B19/14 take precedence) · CPC title

• G05B2219/45045

  Maintenance, automatic storage and retrieval system · CPC title