US 12,153,994 B2
Systems and methods for processing objects including space efficient distribution stations and automated output processing
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); John Richard Amend, Jr., Belmont, MA (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); William Hartman Fort, Stratham, NH (US); Christopher Geyer, Arlington, MA (US); Victoria Hinchey, Winchester, MA (US); Jennifer Eileen King, Oakmont, PA (US); Thomas Koletschka, Cambridge, MA (US); Michael Cap Koval, Mountain View, CA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); William Chu-Hyon McMahan, Cambridge, MA (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 Oct. 5, 2023, as Appl. No. 18/376,939.
Application 18/376,939 is a continuation of application No. 17/395,180, filed on Aug. 5, 2021, granted, now 11,842,248.
Application 17/395,180 is a continuation of application No. 16/867,127, filed on May 5, 2020, granted, now 11,126,807, issued on Sep. 21, 2021.
Application 16/867,127 is a continuation of application No. 16/543,105, filed on Aug. 16, 2019, granted, now 10,796,116, issued on Oct. 6, 2020.
Application 16/543,105 is a continuation of application No. 15/956,442, filed on Apr. 18, 2018, granted, now 10,438,034, issued on Oct. 8, 2019.
Claims priority of provisional application 62/486,783, filed on Apr. 18, 2017.
Prior Publication US 2024/0037353 A1, Feb. 1, 2024
Int. Cl. G06K 7/10 (2006.01); B07C 5/34 (2006.01); B65G 1/137 (2006.01); B65G 25/04 (2006.01); B65G 47/12 (2006.01); B65G 47/18 (2006.01); B65G 47/46 (2006.01); B65G 47/96 (2006.01)
CPC G06K 7/10693 (2013.01) [B07C 5/3412 (2013.01); B65G 1/1378 (2013.01); B65G 25/04 (2013.01); B65G 47/12 (2013.01); B65G 47/18 (2013.01); B65G 47/46 (2013.01); B65G 47/962 (2013.01); B65G 2203/041 (2013.01)] 30 Claims
OG exemplary drawing
 
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.