Time-varying control of a controllable air stream

Patent metadata

Field	Value
Publication number	US-12343765-B2
Application number	US-202418598751-A
Country	US
Kind code	B2
Filing date	Mar 7, 2024
Priority date	Mar 8, 2023
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

Time-varying control of a controllable air stream is disclosed, including: a set of image sensors configured to capture image data showing a target object being conveyed by a conveyor device along a Y-direction; an array of air jets located along an X-direction, wherein the X-direction crosses the Y-direction; and a processor configured to: receive the image data from the set of image sensors; determine a classification of the target object within the image data; and modify a two-dimensional firing polygon of air to be directed by the array of air jets on the target object based at least in part on the classification of the target object; and wherein the array of air jets is configured to perform a sorting operation on the target object as the target object is translated across the array of air jets based at least in part on the modified two-dimensional firing polygon.

First claim

What is claimed is:

1. A sorting system, comprising:
a set of image sensors configured to capture image data showing a target object being conveyed by a conveyor device along a Y-direction;
an array of air jets located along an X-direction, wherein the X-direction crosses the Y-direction; and
a processor configured to:
receive the image data from the set of image sensors;
determine a classification of the target object within the image data; and
modify a two-dimensional firing polygon of air to be directed by the array of air jets on the target object based at least in part on the classification of the target object, wherein to modify the two-dimensional firing polygon based at least in part on the classification of the target object comprises to shift a subset of air jets to activate along the X-direction at one or more points in time to accommodate a location of the target object; and

wherein the array of air jets is configured to perform a sorting operation on the target object as the target object is translated across the array of air jets based at least in part on the modified two-dimensional firing polygon.

2. The sorting system of claim 1 , wherein the classification comprises a set of attributes of the target object.

3. The sorting system of claim 2 , wherein the set of attributes includes one or more of the following: a material type, a shape, a size, dimensions, a mass, a density, a priority, a condition, a form factor, a color, a polymer, and a brand.

4. The sorting system of claim 1 , wherein the classification comprises a proximity degree between the target object and a neighbor non-target object.

5. The sorting system of claim 4 , wherein the proximity degree between the target object and the neighbor non-target object comprises a distance between the target object and the neighbor non-target object or an overlap amount between the target object and the neighbor non-target object.

6. The sorting system of claim 1 , wherein the two-dimensional firing polygon describes at each of a series of points in time one or more of the following: a specified subset of air jets to activate, specified air pressures at which the specified subset of air jets should be activated, and specified dwell times for which the specified subset of air jets should be activated.

7. The sorting system of claim 6 , wherein the specified subset of air jets includes contiguous air jets.

8. The sorting system of claim 6 , wherein the specified subset of air jets includes non-contiguous air jets.

9. The sorting system of claim 1 , wherein to modify the two-dimensional firing polygon based at least in part on the classification of the target object comprises to increase the subset of air jets to activate at the one or more points in time to scale up a two-dimensional area defined by the two-dimensional firing polygon to accommodate a size of the target object.

10. The sorting system of claim 1 , wherein to modify the two-dimensional firing polygon based at least in part on the classification of the target object further comprises to decrease the subset of air jets to activate at the one or more points in time to scale down a two-dimensional area defined by the two-dimensional firing polygon to accommodate a size of the target object.

11. The sorting system of claim 1 , wherein to modify the two-dimensional firing polygon based at least in part on the classification of the target object further comprises to decrease the subset of air jets to activate at the one or more points in time to avoid firing air on a neighbor non-target object.

12. The sorting system of claim 1 , wherein to modify the two-dimensional firing polygon based at least in part on the classification of the target object further comprises to add additional air jets to activate at the one or more points in time to push away a neighbor non-target object from an intended trajectory of the target object.

13. The sorting system of claim 1 , wherein to modify the two-dimensional firing polygon based at least in part on the classification of the target object further comprises to decrease the subset of air jets to activate at the one or more points in time based on an economic function that considers a first value of the target object and a second value of a neighbor non-target object.

14. The sorting system of claim 1 , wherein to modify the two-dimensional firing polygon based at least in part on the classification of the target object is based at least in part on a confidence score associated with the classification.

15. The sorting system of claim 1 , wherein the processor is further configured to determine a start time at which the target object is to start being translated across the array of air jets based at least in part on a speed of the conveyor device.

16. The sorting system of claim 1 , wherein the processor is configured to send to the array of air jets one or more jet commands to execute the modified two-dimensional firing polygon over a network.

17. The sorting system of claim 1 , wherein the processor is configured to send control signals related to the modified two-dimensional firing polygon over a network and wherein an embedded controller located at the array of air jets is configured to locally generate one or more jet commands to execute the modified two-dimensional firing polygon.

18. The sorting system of claim 1 , wherein the set of image sensors comprises a first image sensor and a second image sensor, and wherein the first image sensor maps to a first subset of air jets within the array of air jets and the second image sensor maps to a second subset of air jets within the array of air jets.

19. The sorting system of claim 1 , wherein the processor is further configured to determine whether the sorting operation was successful based at least in part on a first captured image showing the performance of the sorting operation on the target object by the array of air jets or a second captured image showing objects downstream of the array of air jets.

20. The sorting system of claim 19 , wherein whether the sorting operation was successful is used to determine whether the two-dimensional firing polygon should be updated.

21. A sorting system, comprising:
a set of image sensors configured to capture image data showing a target object being conveyed by a conveyor device along a Y-direction;
an array of air jets located along an X-direction, wherein the X-direction crosses the Y-direction; and
a processor configured to:
receive the image data from the set of image sensors;
determine a classification of the target object within the image data; and
modify a two-dimensional firing polygon of air to be directed by the array of air jets on the target object based at least in part on the classification of the target object, wherein to modify the two-dimensional firing polygon based at least in part on the classification of the target object further comprises to decrease a subset of air jets to activate at one or more points in time based on an economic function that considers a first value of the target object and a second value of a neighbor non-target object; and

wherein the array of air jets is configured to perform a sorting operation on the target object as the target object is translated across the array of air jets based at least in part on the modified two-dimensional firing polygon.

22. A sorting system, comprising:
a set of image sensors configured to capture image data showing a target object being conveyed by a

Assignees

• Amp Robotics Corp

Inventors

• Fitzgerald Jacob
• Calaiaro Jason M
• Schultz Carter J
• Douglas Cameron D
• Koos Matthew J
• Potter Carson C
• Marrs Amanda M
• Horowitz Matanya B

Classifications

• B65G43/08

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

• B65G2203/041

  Camera · CPC title

• B07C5/3422

  using video scanning devices, e.g. TV-cameras · CPC title

• B07C2501/0054

  Sorting of waste or refuse · CPC title

• B65G47/525

  using fluid jets · CPC title