Systems and methods for providing singulation of objects for processing using object movement redistribution

Patent metadata

Field	Value
Publication number	US-10792706-B2
Application number	US-201815961294-A
Country	US
Kind code	B2
Filing date	Apr 24, 2018
Priority date	Apr 24, 2017
Publication date	Oct 6, 2020
Grant date	Oct 6, 2020

Abstract

A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be processed from a source area along a first direction, a detection system for detecting objects at the conveying system, and for selecting certain selected objects for redistribution on the conveying system, and a movement redistribution system for redistributing the certain selected objects on the conveying system for providing a singulated stream of objects.

First claim

What is claimed is:

1. A processing system including a singulation system, the singulation system comprising:
a conveying system for moving objects to be processed from a source area along a first direction;
a detection system for detecting objects at the conveying system, and for selecting certain selected objects for redistribution on the conveying system; and
a movement redistribution system for redistributing the certain selected objects on the conveying system for providing a singulated stream of objects,
wherein the conveying system includes a conveyor;
wherein the conveyor includes a plurality of zones of a defined distance; and
wherein the movement redistribution system redistributes the certain selected objects such that at least one object is removed from each zone of the conveyor that includes two or more objects to generate a singulated stream of objects with at most one object in each of the plurality of zones;
wherein the processing system further comprises a further conveying system for receiving the singulated stream of objects, a plurality of destination areas along the further conveying system, and a plurality of urging members for urging objects on the further conveying system into a movable carriage that is configured to move to any of the plurality of destination areas.

2. The processing system as claimed in claim 1 , wherein the conveyor is a high speed conveyor.

3. The processing system as claimed in claim 1 , wherein the source area includes a contained area from which an in-feed cleated conveyor draws objects to the conveying system.

4. The processing system as claimed in claim 1 , wherein the conveyor is a cleated conveyor and the movement redistribution system provides one object per cleated area on the cleated conveyor.

5. The processing system as claimed in claim 1 , wherein the conveyor moves in increments defined by the processing system.

6. The processing system as claimed in claim 1 , wherein the movement redistribution system includes a robotic arm and an end effector for grasping the certain selected objects.

7. The processing system as claimed in claim 1 , wherein the processing system includes a perception system that includes a drop scanner for providing perception data, and wherein the conveying system moves the singulated stream of objects towards the perception system and drops the singulated stream of objects, one object at a time, through an opening in the drop scanner.

8. The processing system as claimed in claim 1 , wherein the plurality of urging members comprises a plurality of diverters that push the objects from the further conveying system into the movable carriage.

9. The processing system as claimed in claim 1 , wherein the plurality of urging members comprises a plurality of diverters that pull the objects from the further conveying system into the movable carriage.

10. The processing system as claimed in claim 1 , wherein the plurality of destination areas includes opposing rows of processing bins for receiving the objects.

11. The processing system as claimed in claim 10 , wherein the movable carriage is reciprocally movable along a track between the opposing rows of processing bins for transporting the objects to one or more of the processing bins.

12. A singulation system comprising:
a conveying system that includes a conveyor for moving objects to be sorted from a source area of the conveyor along a first direction;
a selection system for selecting certain selected objects for redistribution on the conveyor; and
a movement redistribution system for redistributing the certain selected objects on the conveyor, wherein the certain selected objects vary in one of size, weight, and geometry;
wherein the conveyor includes a plurality of zones of a defined distance;
wherein the movement redistribution system redistributes the certain selected objects on the conveyor by returning the certain selected objects to the source area of the conveyor; and
wherein the certain selected objects are returned from one or more of the plurality of zones that include two or more objects to generate a singulated stream of objects that is-provided to an object processing system with at most one object in each of the plurality of zones; and
wherein the singulation system further comprises a plurality of destination areas along a further section of the conveying system and a plurality of urging members for urging objects on the conveying system into any of the plurality of destination areas.

13. The singulation system as claimed in claim 12 , wherein the source area includes a contained area from which a cleated conveyor draws objects.

14. The singulation system as claimed in claim 12 , wherein the conveyor is a cleated conveyor and the movement redistribution system provides one object per cleated area on the cleated conveyor.

15. The singulation system as claimed in claim 12 , wherein the conveying system includes a plurality of conveyors.

16. The singulation system as claimed in claim 12 , wherein the conveyor moves in increments defined by the processing system.

17. The singulation system as claimed in claim 12 , wherein the movement redistribution system includes a robotic arm and an end effector for grasping the certain selected objects.

18. The singulation system as claimed in claim 12 , further comprising a perception system that includes a drop scanner for providing perception data, and wherein the conveying system moves the singulated stream of objects towards the perception system and drops the singulated stream of objects, one object at a time, through an opening in the drop scanner.

19. The processing system as claimed in claim 12 , wherein the plurality of destination areas includes a plurality of movable carriages, wherein each of the plurality of movable carriages is reciprocally movable along a track between opposing rows of processing bins for receiving the objects.

20. The processing system as claimed in claim 19 , wherein the plurality of urging members comprises a plurality of diverters that push the objects from the further conveying system into the plurality of movable carriages.

21. The processing system as claimed in claim 19 , wherein the plurality of urging members comprises a plurality of diverters that pull the objects from the further conveying system into the plurality of movable carriages.

22. A method of providing singulation of objects, said method comprising:
moving objects to be sorted from a source area along a first direction of a conveying system;
detecting objects on the conveying system;
selecting certain objects for redistribution on the conveying system;
redistributing the certain selected objects on the conveying system to provide a singulated stream of objects;
passing the singulated stream of objects through a perception system towards a further conveying system, the perception system including a plurality of perception units that provide perception data for identifying each object in the singulated stream of objects; and
urging an object among the singulated stream of objects from the further conveying system based on the perception data;
wherein the conveying system includes a plurality of zones of a defined distance;
wherein redistributing the certain selected objects on the conveying system comprises moving the certain selected objects from one or more of the plurality of zones of the conveying system that include two or more objects;
wherein the certain selected objects being mo

Assignees

• Berkshire Grey Inc

Inventors

• Wagner Thomas
• Ahearn Kevin
• Amend Jr John Richard
• Cohen Benjamin
• DAWSON-HAGGERTY Michael
• Fort William Hartman
• GEYER Christopher
• King Jennifer Eileen
• Koletschka Thomas
• Koval Michael Cap
• MARONEY Kyle
• Mason Matthew T
• McMahan William Chu-Hyon
• Price Gene Temple
• Romano Joseph
• Smith Daniel
• SRINIVASA Siddhartha
• Velagapudi Prasanna
• Allen Thomas

Classifications

• B07C3/08

  using arrangements of conveyors {(transport of sheets B65H; transport in general B65G)} · CPC title

• B07C2501/0063

  Using robots · CPC title

• B07C3/20

  Arrangements for facilitating the visual reading of addresses, e.g. display arrangements {coding stations} · CPC title

• B07C3/18

  Devices or arrangements for indicating destination, e.g. by code marks {(applying data to information carriers G06K1/12)} · CPC title

• B07C3/14

  using light-responsive detecting means {(for information carriers G06K7/14)} · CPC title