US 12,145,811 B2
Systems and methods for controlling the disgorging of objects in containers by vibratory motion
Christopher Geyer, Arlington, MA (US); Joseph Romano, Arlington, MA (US); Matthew T. Mason, Pittsburgh, PA (US); Alexander Paxson, Acton, MA (US); John Richard Amend, Jr., Belmont, MA (US); and Thomas Wagner, Concord, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Jan. 25, 2022, as Appl. No. 17/583,528.
Application 17/583,528 is a continuation of application No. 16/802,817, filed on Feb. 27, 2020, granted, now 11,267,662.
Claims priority of provisional application 62/811,306, filed on Feb. 27, 2019.
Prior Publication US 2022/0144561 A1, May 12, 2022
Int. Cl. B65G 65/23 (2006.01); B65B 69/00 (2006.01); B65G 47/14 (2006.01); B65G 47/42 (2006.01)
CPC B65G 65/23 (2013.01) [B65B 69/005 (2013.01); B65G 47/1421 (2013.01); B65G 47/42 (2013.01); B65G 2203/0225 (2013.01); B65G 2203/041 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A method of controlling disgorgement of objects, said method comprising:
lifting a container that contains objects to be disgorged;
rotating the container to a first disgorgement angle;
capturing movement image data regarding any movement of objects within the container;
imparting vibrational movement to the container at a first frequency; and
adjusting any of the first disgorgement angle and the first frequency responsive to the movement image data such that said objects are disgorged from the container at a controlled rate of disgorgement.