US 11,986,859 B2
Perception systems and methods for identifying and processing a variety of objects
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Prasanna Velagapudi, Pittsburgh, PA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Apr. 26, 2022, as Appl. No. 17/729,952.
Application 17/729,952 is a continuation of application No. 16/900,158, filed on Jun. 12, 2020, granted, now 11,351,575, issued on Jun. 7, 2022.
Application 16/900,158 is a continuation of application No. 16/407,965, filed on May 9, 2019, granted, now 10,737,299, issued on Aug. 11, 2020.
Application 16/407,965 is a continuation of application No. 15/901,656, filed on Feb. 21, 2018, granted, now 10,730,077, issued on Aug. 4, 2020.
Application 15/901,656 is a continuation of application No. 15/228,692, filed on Aug. 4, 2016, granted, now 9,937,532, issued on Apr. 10, 2018.
Claims priority of provisional application 62/269,640, filed on Dec. 18, 2015.
Prior Publication US 2022/0250121 A1, Aug. 11, 2022
Int. Cl. B07C 5/34 (2006.01); G01B 11/245 (2006.01); G05B 19/418 (2006.01); G06K 7/10 (2006.01); G06K 7/14 (2006.01); G06K 19/06 (2006.01); G06V 20/80 (2022.01); H04N 23/56 (2023.01); H04N 23/90 (2023.01)
CPC B07C 5/3412 (2013.01) [G01B 11/245 (2013.01); G05B 19/4183 (2013.01); G06K 7/10693 (2013.01); G06K 7/10732 (2013.01); G06K 7/10881 (2013.01); G06K 7/1413 (2013.01); G06K 19/06028 (2013.01); G06V 20/80 (2022.01); H04N 23/56 (2023.01); H04N 23/90 (2023.01); B07C 2301/0016 (2013.01); G05B 2219/36371 (2013.01); G05B 2219/45045 (2013.01); G05B 2219/45047 (2013.01); G06V 2201/06 (2022.01); Y02P 90/02 (2015.11)] 40 Claims
OG exemplary drawing
 
1. A perception system for processing one or more objects, said perception system comprising:
a structure including an open path extending between a top and a bottom;
a first plurality of perception units that substantially surround a first upper portion of the open path;
a second plurality of perception units that substantially surround a second lower portion of the open path;
a processor for processing perception data from each of the first plurality of perception units and the second plurality of perception units, and for determining whether more than one object identifying code are among the perception data from each of the first plurality of perception units and the second plurality of perception units; and
a routing system for, if it is determined that more than one object identifying codes are among the perception data from each of the first plurality of perception units and the second plurality of perception units, directing the more than one objects to any of a return path or a manual sort path.