PERCEPTION SYSTEMS AND METHODS FOR IDENTIFYING AND PROCESSING A VARIETY OF OBJECTS

• US 20170173638A1
• Filed: 08/04/2016
• Published: 06/22/2017
• Est. Priority Date: 12/18/2015
• Status: Active Grant

• Current Assignee: Berkshire Grey Operating Co., Inc. (SoftBank Group Corp.)
• Original Assignee: Berkshire Grey Inc (SoftBank Group Corp.)
• Inventors: AHEARN, Kevin, DAWSON-HAGGERTY, Michael, GEYER, Christopher, KOLETSCHKA, Thomas, MARONEY, Kyle, MASON, Matthew T., PRICE, Gene Temple, ROMANO, Joseph, SMITH, Daniel, SRINIVASA, Siddhartha, VELAGAPUDI, Prasanna, ALLEN, Thomas, WAGNER, Thomas, Cohen, Benjamin
• Granted Patent: US 9,937,532 B2
• Time in Patent Office: Days
• CPC Class Codes: B07C 2301/0016 RFID-tags
• CPC Class Codes: B07C 5/3412 according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication sorting according to size measured by light-responsive means B07C5/10; sorting according to optical properties B07C5/342; for packages B65D79/02; for information carriers G06K7/00
• CPC Class Codes: G01B 11/245 using a plurality of fixed, simultaneously operating transducers G01B11/2408 - G01B11/2425, G01B11/255 take precedence
• CPC Class Codes: G05B 19/4183 characterised by data acquisition, e.g. workpiece identification
• CPC Class Codes: G05B 2219/36371 Barcode reader
• CPC Class Codes: G05B 2219/45045 Maintenance, automatic storage and retrieval system
• CPC Class Codes: G05B 2219/45047 Sorting
• CPC Class Codes: G06K 19/06028 using bar codes
• CPC Class Codes: G06K 7/10693 for omnidirectional scanning
• CPC Class Codes: G06K 7/10732 Light sources
• CPC Class Codes: G06K 7/10881 constructional details of hand-held scanners
• CPC Class Codes: G06K 7/1413 1D bar codes
• CPC Class Codes: G06V 20/80 Recognising image objects characterised by unique random patterns
• CPC Class Codes: G06V 2201/06 Recognition of objects for industrial automation
• CPC Class Codes: H04N 23/56 provided with illuminating means
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A drop perception system is disclosed that includes an open housing structure having an internal volume, an open top and an open bottom, and a plurality of perception units positioned to capture perception data within the internal volume at a plurality of locations between the open top and the open bottom of the open housing.

Claims

1. A drop perception system comprising:

an open housing structure having an internal volume, an open top and an open bottom; and

a plurality of perception units positioned to capture perception data within the internal volume at a plurality of locations between the open top and the open bottom of the open housing.

2. The drop perception system as claimed in claim 1, wherein the plurality of perception units includes a plurality of cameras.

7. The drop perception system as claimed in claim 1, wherein the perception system further includes a plurality of illumination sources.

8. The drop perception system as claimed in claim 7, wherein the plurality of illumination sources include a plurality of LEDs.

9. The drop perception system as claimed in claim 1, wherein the perception system further includes an interrupter element that is engageable by an object falling through the perception system for altering a position or orientation of the falling object.

3. The drop perception system as claimed in claim 3, wherein the plurality of perception units includes a plurality of scanners.

4. The drop perception system as claimed in claim 3, wherein the plurality of scanners are radio frequency ID scanners.

5. The drop perception system as claimed in claim 3, wherein the plurality of scanners are barcode scanners.

6. The drop perception system as claimed in claim 5 wherein each of the plurality of scanners is a laser reflectivity scanner.

10. A perception system for assisting in identifying an object, said perception system comprising a plurality of perception units that are each positioned to be directed toward different portions of an object path that an object takes as the object travels through the perception system without assistance by any mechanical conveyance system in contact with the object.

11. The perception system as claimed in claim 10, wherein the plurality of perception units include a plurality of cameras.

12. The perception system as claimed in claim 10, wherein the plurality of perception units include a plurality of scanners.

13. The perception system as claimed in claim 10, wherein the drop perception system includes at least one sensor system for detecting whether an object has enter the detection unit.

14. The perception system as claimed in claim 10, wherein the plurality of perception units include perception units at least at the bottom and central regions of the perception system.

15. The perception system as claimed in claim 10, wherein the plurality of perception units includes at least one perception unit that includes a mirror positioned to permit the at least one perception unit to effectively be directed substantially along the object path.

16. The perception system as claimed in claim 10, wherein the perception system is coupled to a sortation controller for assigning a routing path for the object responsive to perception data provided by the perception units.

17. A drop perception system for identifying an object, said drop perception system comprising a plurality of perception units that are each positioned to be directed toward different portions of an object path that an object may take as the object falls through the drop perception system, and each perception unit being engageable to provide perception data regarding the object.

18. The drop perception system as claimed in claim 17, wherein the drop perception system is coupled to a sortation controller for assigning a routing path for the object responsive to the perception data.

19. The drop perception system as claimed in claim 18, wherein the sortation controller includes a sortation conveyance unit that is positioned to receive the object from the drop perception system, the conveyance unit being adapted to move the object to one of a plurality of locations.

20. The drop perception system as claimed in claim 17, wherein said perception system includes multiple-object detection means for detecting whether multiple objects are dropped through the drop perception system at the same time.

21. A method of sorting objects, said method comprising the steps of:

dropping an object into a perception system that includes a plurality of perception units that are each positioned to be directed toward different portions of a path that the object may take as the object falls through the perception system; and

engaging the perception units to capture perception data associated with the object.

22. The method as claimed in claim 21, wherein the method further includes the step of providing illumination within the perception unit toward the different portions of the path that the object may take as the object falls through the perception unit.

23. The method as claimed in claim 21, wherein the step of engaging the perception units to capture perception data and the step of providing illumination, are provided such that different perception units are engaged at discrete times, and different illumination sources provide illumination at the discrete times associated with the different perception units.

24. The method as claimed in claim 23, wherein the discrete times provide that successive sets of perceived data are captured from perception units around the interior of the perception system as the object falls through the perception system.

25. The method as claimed in claim 21, wherein the method further includes the step of assigning a routing path for the object responsive to the perception data.

26. The method as claimed in claim 25, wherein the method further includes the steps of:

receiving the object from the perception system at a sortation conveyance unit; and

moving the object by the sortation conveyance unit to one of a plurality of locations