Systems and methods for processing objects including space efficient distribution stations and automated output processing

Patent metadata

Field	Value
Publication number	US-12153994-B2
Application number	US-202318376939-A
Country	US
Kind code	B2
Filing date	Oct 5, 2023
Priority date	Apr 18, 2017
Publication date	Nov 26, 2024
Grant date	Nov 26, 2024

Abstract

A space efficient automated processing system for processing objects is disclosed. The processing system includes an input conveyance system for moving objects from an input area in at least an input conveyance vector that includes an input conveyance horizontal direction component and an input conveyance vertical direction component, a perception system for receiving objects from the input conveyance system and for providing perception data regarding an object, a primary transport system for receiving the object from the perception system and for providing transport of the object along at least a primary transport vector including an primary transport horizontal component and a primary transport vertical component that is generally opposite the input conveyance horizontal direction component, and at least two secondary transport systems, each of which receives the object from the primary transport system and moves the object in either of reciprocal directions.

First claim

What is claimed is:

1. A method of processing objects, said method comprising:
receiving a plurality of objects at an in-feed area at which the plurality of objects may be indiscriminately received at the in-feed area;
lifting a subset of the plurality of objects from the in-feed area using an input conveyance system toward a perception system in an input conveyance vector that includes an input conveyance horizontal direction component and an input conveyance vertical direction component, said input conveyance system including engagement features for engaging the subset of the plurality of objects;
providing a singulated stream of the subset of the plurality of objects;
receiving the singulated stream of the subset of the plurality of objects at a perception system, said perception system being adapted to provide perception data regarding each of the subset of the plurality of objects;
assigning for each of the subset of the plurality of objects a selected destination location of a plurality of destination locations based on the perception data for each of the subset of the plurality of objects;
moving each of the subset of the plurality of objects along a processing conveyance vector that includes a processing horizontal direction component that is generally opposite the input conveyance horizontal direction component; and
diverting each of the subset of the plurality of objects to each selected destination location of the plurality of processing locations in a diverter direction that includes a diverter horizontal direction component that is generally orthogonal to the input conveyance horizontal direction component.

2. The method of claim 1 , wherein the in-feed area includes an in-feed conveyor section with side walls to facilitate containing the plurality of objects on the in-feed conveyor section.

3. The method of claim 2 , wherein the in-feed conveyor section is a cleated conveyor.

4. The method of claim 1 , wherein the input conveyance system includes a cleated conveyor.

5. The method of claim 1 , wherein the providing the singulated stream of the subset of the plurality of objects includes using a programmable motion device to individually select each of the subset of the plurality of objects from the in-feed conveyance system.

6. The method of claim 5 , wherein the programmable motion device includes an associated in-feed perception system for providing in-feed perception data regarding the subset of the plurality of objects.

7. The method of claim 1 , wherein the input conveyance system operates at a speed that is controlled responsive to the in-feed perception data.

8. The method of claim 1 , wherein the diverting each of the subset of the plurality of objects to each selected destination location of the plurality of processing locations includes using an orthogonal diverter that diverts each respective object from a destination processing conveyor of the processing conveyance vector along a diverting direction that is generally orthogonal to the input conveyance horizontal direction component.

9. The method of claim 8 , wherein a return selected destination of the plurality of destination locations is the input area such that a return object of the subset of the plurality of objects may be returned from the destination processing conveyor to the input area.

10. The method of claim 8 , wherein each of the plurality of destination locations may be dynamically assigned to each of the subset of the plurality of objects.

11. A method of processing objects, said method comprising:
receiving a plurality of objects at an in-feed area at which the plurality of objects may be indiscriminately received at the in-feed area;
lifting a subset of the plurality of objects from the in-feed area using an input conveyance system toward a perception system in an input conveyance vector that includes an input conveyance horizontal direction component and an input conveyance vertical direction component, said input conveyance system including engagement features for engaging the subset of the plurality of objects;
receiving the subset of the plurality of objects at a perception system, said perception system being adapted to provide perception data regarding each of the subset of the plurality of objects;
assigning for each of the subset of the plurality of objects a selected destination location of a plurality of destination locations based on the perception data for each of the subset of the plurality of objects;
moving each of the subset of the plurality of objects in a singulated stream of the subset of the plurality of objects along a processing conveyance vector that includes a processing horizontal direction component that is generally opposite the input conveyance horizontal direction component;
diverting each of the subset of the plurality of objects to each selected destination location of the plurality of processing locations in a diverter direction that includes a diverter horizontal direction component that is generally orthogonal to the input conveyance horizontal direction component; and
receiving each of the subset of the plurality of objects at each respective destination location.

12. The method of claim 11 , wherein the in-feed area includes an in-feed conveyor section with side walls to facilitate containing the plurality of objects on the in-feed conveyor section.

13. The method of claim 12 , wherein the in-feed conveyor section is a cleated conveyor.

14. The method of claim 11 , wherein the input conveyance system includes a cleated conveyor.

15. The method of claim 11 , wherein the receiving the subset of the plurality of objects from the perception system includes using a programmable motion device to individually select each of the subset of the plurality of objects from the input conveyance system and provide them to the perception system.

16. The method of claim 15 , wherein the programmable motion device includes an associated in-feed perception system for providing in-feed perception data regarding the subset of the plurality of objects.

17. The method of claim 11 , wherein the input conveyance system operates at a speed that is controlled responsive to the in-feed perception data.

18. The method of claim 11 , wherein the diverting each of the subset of the plurality of objects to each selected destination location of the plurality of processing locations includes using an orthogonal diverter that diverts each respective object from a destination processing conveyor of the processing conveyance vector along a diverting direction that is generally orthogonal to the input conveyance horizontal direction component.

19. The method of claim 18 , wherein a return selected destination of the plurality of destination locations is the input area such that a return object of the subset of the plurality of objects may be returned from the destination processing conveyor to the input area.

20. The method of claim 18 , wherein each of the plurality of destination locations may be dynamically assigned to each of the subset of the plurality of objects.

21. An object processing system comprising:
an in-feed area at which a plurality of objects may be indiscriminately received, said in-feed area including at least one wall for facilitating retaining the plurality of objects at the in-feed area;
an input conveyance system for lifting a subset of the plurality of objects from the in-feed area toward a perception system in an input conveyance vector that includes an input conveyance horizont

Assignees

• Berkshire Grey Operating Company Inc

Inventors

• Wagner Thomas
• Ahearn Kevin
• Amend Jr John Richard
• Cohen Benjamin
• DAWSON-HAGGERTY Michael
• Fort William Hartman
• GEYER Christopher
• Hinchey Victoria
• 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

• B65G47/46

  and distributing, e.g. automatically, to desired points (in tube mail systems B65G51/36) · CPC title

• B65G47/18

  Arrangements or applications of hoppers or chutes · CPC title

• B65G47/12

  from disorderly-arranged article piles or from loose assemblages of articles · CPC title

• B65G25/04

  the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors · CPC title

• B07C5/3412

  according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication (sorting according to size measured by light-responsive means B07C5/10; sorting according to optical properties B07C5/342; for packages B65D79/02; for information carriers G06K7/00) · CPC title