Systems and methods for providing detection processing with velocity matching

Patent metadata

Field	Value
Publication number	US-12552013-B2
Application number	US-202217964661-A
Country	US
Kind code	B2
Filing date	Oct 12, 2022
Priority date	Oct 15, 2021
Publication date	Feb 17, 2026
Grant date	Feb 17, 2026

Abstract

A dynamic movement analytics system is disclosed that includes a programmable motion device including an end-effector, and a perception transfer system for receiving an object from the end-effector and for moving the object toward a distribution conveyance system moving in a first direction at a first speed. The perception transfer system includes at least one perception system for providing perception data regarding any of weight, shape, pose authority, position authority or identity information regarding the object and for moving the object along the first direction at the first speed for transferring the object to the distribution conveyance system.

First claim

What is claimed is:

1 . A dynamic movement analytics system, comprising:
a programmable motion device including an end-effector; a tilt-tray conveyor comprising a plurality of tilt-trays; a perception transfer system including a plurality of conveyors for receiving an object from the end-effector and for moving the object toward the tilt-tray conveyor moving in a first direction at a first speed, the plurality of conveyors of said perception transfer system including a perception conveyor, a transfer conveyor, and a buffer conveyor disposed between the perception conveyor and the transfer conveyor,
the perception conveyor including at least one perception unit for providing perception data regarding any of weight, shape, pose authority, position authority or identity information regarding the object,
the buffer conveyor receiving the object from the perception conveyor and selectively providing the object to the transfer conveyor,
the transfer conveyor including a differentially belted conveyor section having a plurality of varying length belt conveyors, wherein each of the plurality of varying length belt conveyors is operated to move the object in a direction at a speed that matches the first direction at the first speed of the tilt-tray conveyor for transferring the object to a designated tilt-tray among the plurality of tilt-trays;

and
a plurality of perception units for monitoring a position of the object on the buffer conveyor and the designated tilt-tray, wherein the buffer conveyor selectively provides the object to the transfer conveyor by moving the object onto the differentially belted conveyor section of the transfer conveyor once the designated tilt-tray is aligned with the position of the object on the buffer conveyor.

2 . The dynamic movement analytics system as claimed in claim 1 , wherein at least one perception unit of the perception conveyor includes at least one optical perception unit and at least one weight detection sensor that together provide perception information regarding any of weight data, 3D information, barcode information, RFID information, label information, color, color combinations, and shapes.

3 . The dynamic movement analytics system as claimed in claim 1 , wherein the at least one perception unit of the perception conveyor includes a weight detecting sensor.

4 . The dynamic movement analytics system as claimed in claim 1 , wherein each of the plurality of conveyors is operable at independently variable speeds.

5 . The dynamic movement analytics system as claimed in claim 1 , wherein the tilt-tray conveyor includes weight sensing tilt-trays.

6 . The dynamic movement analytics system as claimed in claim 1 , wherein the tilt-tray conveyor leads to a plurality of destination locations, each destination location including at least one associated guide wall for guiding the object from the designated tilt-tray into a selected destination location.

7 . A dynamic movement analytics system, comprising;
a programmable motion device including an end-effector; a tilt-tray conveyor comprising a plurality of tilt-trays; a perception transfer system including a plurality of conveyors for receiving an object from the end-effector and for moving the object toward the tilt-tray conveyor moving in a first direction at a first speed, the plurality of conveyors of said perception transfer system including a weight sensing conveyor, a transfer conveyor, and a buffer conveyor between the weight sensing conveyor and the transfer conveyor,
the weight sensing conveyor including a plurality of weight detection sensors for determining any of weight, footprint, center of mass, position authority, or pose authority of the object,
the buffer conveyor receiving the object from the weight sensing conveyor and selectively providing the object to the transfer conveyor, and
the transfer conveyor being operated to move the object in a direction at a speed that matches the first direction at the first speed of the tilt-tray conveyor for transferring the object to a designated tilt-tray among the plurality of tilt-trays; and
a plurality of perception units for monitoring a position of the object on the buffer conveyor and the designated tilt-tray, wherein the buffer conveyor selectively provides the object to the transfer conveyor by moving the object onto the transfer conveyor once the designated tilt-tray is aligned with the position of the object on the buffer conveyor.

8 . The dynamic movement analytics system as claimed in claim 7 , further comprising at least one optical perception unit and the at least one weight detection sensor together provide perception information regarding any of weight data, 3D information, barcode information, RFID information, label information, color, color combinations, and shapes.

9 . The dynamic movement analytics system as claimed in claim 7 , wherein each of the plurality of conveyors is operable at independently variable speeds.

10 . The dynamic movement analytics system as claimed in claim 7 , wherein the tilt-tray conveyor includes weight sensing tilt-trays.

11 . The dynamic movement analytics system as claimed in claim 7 , wherein the transfer conveyor includes a plurality of transfer conveyor belts, each of the plurality of transfer conveyor belts having a different length.

12 . The dynamic movement analytics system as claimed in claim 7 , wherein the transfer conveyor includes a guide for urging objects from the transfer conveyor onto the tilt-tray conveyor.

13 . The dynamic movement analytics system as claimed in claim 7 , wherein the tilt-tray conveyor leads to a plurality of destination locations, each destination location including at least one associated guide wall for guiding an object from the object from the designated tilt tray into a selected destination location.

14 . A dynamic movement analytics system, comprising;
a programmable motion device including an end-effector; a conveyor loop that leads to a plurality of destination locations; a perception transfer system including a plurality of conveyors for receiving an object from the end-effector and for moving the object toward the conveyor loop moving in a first direction at a first speed, the plurality of conveyors of said perception transfer system including a perception conveyor, a transfer conveyor, and a buffer conveyor between the perception conveyor and the transfer conveyor,
the perception conveyor including a perception unit for providing perception data regarding the object,
the buffer conveyor receiving the object from the perception conveyor and selectively providing the object to the transfer conveyor, and
the transfer conveyor being operated to move the object in a direction at a speed that matches the first direction at the first speed of the conveyor loop for transferring the object to a designated section of the conveyor loop;

and
a plurality of perception units for monitoring a position of the object on the buffer conveyor and the designated section of the conveyor loop, wherein the buffer conveyor moves the object onto the transfer conveyor once the designated section of the conveyor loop is aligned with the position of the object on the buffer conveyor.

15 . The dynamic movement analytics system as claimed in claim 14 , wherein the perception unit of the perception conveyor includes at least one optical perception unit and at least one weight detection sensor that together provide perception information regarding any of weight data, 3D information, barcode information, RFID information, label information, color, color combination

Assignees

• Berkshire Grey Operating Company Inc

Inventors

• Allen Thomas

Classifications

• B07C3/08

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

• B07C3/06

  Linear sorting machines in which articles are removed from a stream at selected points · CPC title

• G05B2219/45047

  Sorting · CPC title

• B07C5/36

  Sorting apparatus characterised by the means used for distribution {(sorting according to destination B07C3/003, B07C3/02)} · CPC title

• B07C2501/0063

  Using robots · CPC title