Systems and methods for providing singulation of objects for processing

Patent metadata

Field	Value
Publication number	US-10913614-B2
Application number	US-201916703540-A
Country	US
Kind code	B2
Filing date	Dec 4, 2019
Priority date	Nov 28, 2016
Publication date	Feb 9, 2021
Grant date	Feb 9, 2021

Abstract

A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be sorted 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 removal from the conveying system, and a removal system for removing the certain selected objects from the conveying system for providing a singulated stream of objects.

First claim

What is claimed is:

1. An object processing system comprising:
an input source area providing objects to be sorted;
an input conveying system for moving the objects to be sorted to a primary conveying system source area;
a primary conveying system including the primary conveying system source area and a primary conveyor for moving the objects to be sorted from the primary conveying system source area along a primary conveyor direction;
a detection and selection system including at least one perception unit and at least one computer processing system for detecting objects on the primary conveyor, and for selecting certain selected objects for removal from the primary conveyor;
removal means for removing the certain selected objects from the primary conveyor for providing a singulated stream of objects in the primary conveyor direction, wherein the removal means provides that the certain selected objects are returned to the input source area; and
a secondary conveying system positioned below an end of the primary conveyor, the secondary conveying system including a carriage that moves reciprocally along a track between two rows of destination bins,
wherein the singulated stream of objects are dropped one at a time from the primary conveyor into the carriage of the secondary conveying system that delivers the object to one of the destination bins.

2. The object processing system as claimed in claim 1 , wherein the input conveying system moves the objects to be sorted in a direction that is at least partially upward.

3. The object processing system as claimed in claim 1 , wherein the input source area includes an input hopper and the input conveying system includes a cleated conveyor that moves objects from the input hopper to the primary conveying source area.

4. The object processing system as claimed in claim 1 , wherein the removal means includes a robotic arm and an end effector for acquiring the certain selected objects.

5. The object processing system as claimed in claim 1 , wherein the removal means includes an urging member for urging the certain selected object from the primary conveyor.

6. The object processing system as claimed in claim 5 , wherein the urging member is a push member for pushing the certain selected object from the primary conveyor.

7. The object processing system as claimed in claim 5 , wherein the urging member is a pull member for pulling the certain selected object from the primary conveyor.

8. The object processing system as claimed in claim 1 , wherein the removal system includes a chute that leads back toward the input source area.

9. The object processing system as claimed in claim 1 , further comprising a drop scanner, and wherein the primary conveyor leads to an area that is higher than the drop scanner, and wherein the singulated stream of objects are dropped one at a time from the primary conveyor, through the drop scanner, and into the carriage of the secondary conveying system.

10. An object processing system comprising:
an input source area providing objects to be sorted;
a conveyance system that includes an input conveyor and a primary conveyor, wherein the input conveyor moves the objects to be sorted from the input source area to a detection area on the primary conveyor of the conveyance system;
a detection and selection system including at least one perception unit at the detection area and at least one computer processing system for detecting objects at on the primary conveyor in the detection area, and for selecting certain selected objects for removal from the primary conveyor; and
removal means for removing the certain selected objects from the primary conveyor for providing a singulated stream of objects, wherein the removal means provides that the certain selected objects are returned to the input source area;
the conveyance system further including a secondary conveyor and a plurality of urging members disposed along a side of the secondary conveyor, and
a plurality of shuttle sections positioned along an opposing side of the secondary conveyor, each shuttle section including a carriage that moves reciprocally along a track between two rows of destination bins, and
wherein the singulated stream of objects are dropped one at a time from the primary conveyor onto the secondary conveyor, and wherein one of the plurality of urging members pushes an object from the secondary conveyor into the carriage of the at least one shuttle section to deliver the object to one of the destination bins.

11. The object processing system as claimed in claim 10 , wherein the input conveyor of the conveyance system moves the objects to be sorted in a direction that is at least partially upward.

12. The object processing system as claimed in claim 10 , wherein the input source area includes an input hopper and the input conveyor of the conveyance system includes a cleated conveyor that moves objects from the input hopper to the primary conveyor of the conveyance system.

13. The object processing system as claimed in claim 10 , wherein the removal means includes a robotic arm and an end effector for acquiring the certain selected objects.

14. The object processing system as claimed in claim 10 , wherein the removal means includes an urging member for urging the certain selected object from the primary conveyor.

15. The object processing system as claimed in claim 14 , wherein the urging member is a push member for pushing the certain selected object from the primary conveyor.

16. The object processing system as claimed in claim 14 , wherein the urging member is a pull member for pulling the certain selected object from the primary conveyor.

17. The object processing system as claimed in claim 10 , wherein the removal system includes a chute that leads back toward the input source area.

18. The object processing system as claimed in claim 10 , wherein the object processing system further includes a drop scanner, and wherein the primary conveyor leads to an area that is higher than the drop scanner.

19. The object processing system as claimed in claim 18 , wherein the singulated stream of objects are dropped one at a time from the primary conveyor, through the drop scanner, and onto the secondary conveyor.

20. The object processing system as claimed in claim 10 , wherein the plurality of shuttle sections extend perpendicular to the secondary conveyor.

21. The object processing system as claimed in claim 10 , wherein the plurality of shuttle sections extend in parallel with the secondary conveyor.

22. The object processing system as claimed in claim 10 , wherein the carriage moves along the track of the shuttle section to return to the secondary conveyor after delivering the object to the destination bin.

23. The object processing system as claimed in claim 10 , wherein the carriage tilts towards the destination bin in one of the two rows of destination bin to drop the object into the destination bin.

24. An object processing system comprising:
an input source area providing objects to be sorted;
a conveyance system for moving the objects to be sorted from the input source area to a detection area on a primary conveyor of the conveyance system;
a detection and selection system including at least one perception unit at the detection area and at least one computer processing system for detecting objects at on the primary conveyor in the detection area, and for selecting certain selected objects for removal fr

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

• B65G2203/041

  Camera · CPC title

• B65G47/915

  provided with drive systems with rotary movements only · CPC title

• B65G47/1471

  Movement in one direction, substantially outwards · CPC title

• B65G43/08 Primary

  Control devices operated by article or material being fed, conveyed or discharged {(and controlling the discharging devices B65G47/42)} · CPC title

• B65G15/42

  having ribs, ridges, or other surface projections · CPC title