Systems and methods for providing singulation of objects for processing

1. A method of providing singulation of objects, comprising:

moving objects to be sorted from an infeed hopper along an upward direction on an input conveyor to a primary conveyor;

detecting the objects moving on the primary conveyor;

selecting certain objects for removal from the primary conveyor to provide a singulated stream of objects on the primary conveyor; and

removing the certain selected objects from the primary conveyor to the infeed hopper.

2. The method as claimed in claim 1 , wherein the input conveyor is a cleated conveyor.

3. The method as claimed in claim 1 , wherein the primary conveyor is a cleated conveyor.

4. The method as claimed in claim 1 , wherein the primary conveyor is an adjustable speed conveyor.

5. The method as claimed in claim 1 , wherein the primary conveyor moves in increments.

6. The method as claimed in claim 1 , wherein the singulated stream of objects includes heterogeneous objects.

7. The method as claimed in claim 1 , wherein removing the certain selected objects from the primary conveyor to the infeed hopper comprises moving the certain selected objects from the primary conveyor to a chute that leads in a downward direction back toward the infeed hopper.

8. The method as claimed in claim 7 , wherein moving the certain selected objects from the primary conveyor to the chute that leads back toward the infeed hopper comprises pulling the certain selected objects, without lifting the certain selected objects, from the primary conveyor onto the chute using a diverter having an actuatable pull element.

9. The method as claimed in claim 7 , wherein moving the certain selected objects from the primary conveyor to the chute that leads back toward the infeed hopper comprises pushing the certain selected objects from the primary conveyor onto the chute using a diverter having an actuatable push element.

10. The method as claimed in claim 7 , wherein moving the certain selected objects from the primary conveyor to the chute that leads back toward the infeed hopper comprises lifting the certain selected objects from the primary conveyor and placing the certain selected objects onto the chute using an end effector of a robotic arm.

11. The method as claimed in claim 1 , further comprising:

dropping the singulated stream of objects, one object at a time, from the primary conveyor through an opening defined in a drop perception system, the drop perception system including a plurality of perception units; and

detecting identifying indicia located on a surface on an object using the plurality of perception units as the object falls through the opening of the drop perception system.

12. The method as claimed in claim 11 , wherein dropping the singulated stream of objects comprises dropping the singulated stream of objects, one object at a time, through the opening of the drop perception system onto a secondary conveyor, the method further comprising:

urging an object off the secondary conveyor into a carriage that moves reciprocally along a track between two rows of destination bins;

moving the carriage in a first direction along the track to a position adjacent to a destination bin selected based on the identifying indicia of the object;

tilting the carriage towards one side of the track to drop the object into the selected destination bin in one of the two rows of destination bins; and

moving the carriage in an reverse direction along the track to return to a load position adjacent to the secondary conveyor.

13. The method as claimed in claim 11 , wherein dropping the singulated stream of objects comprises dropping the singulated stream of objects, one object at a time, through the opening of the drop perception system into a carriage that moves reciprocally along a track between two rows of destination bins, the method further comprising:

moving the carriage in a first direction along the track to a position adjacent to a destination bin selected based on the identifying indicia of the object;

tilting the carriage towards one side of the track to drop the object into the selected destination bin in one of the two rows of destination bins; and

moving the carriage in an reverse direction along the track to return to a load position below the drop perception system.

14. A method of providing singulation of objects, comprising:

moving objects to be sorted from a source area along a first direction on a primary conveyor;

detecting objects on the primary conveyor;

selecting certain selected objects for removal from the primary conveyor;

removing the certain selected objects from the primary conveyor to generate a singulated stream of objects;

dropping the singulated stream of objects, one object at a time, from the primary conveyor onto a secondary conveyor;

urging an object off the secondary conveyor into a carriage that moves reciprocally along a track between two rows of destination bins;

moving the carriage in a first direction along the track to a position adjacent to a selected destination bin;

tilting the carriage towards one side of the track to drop the object into the selected destination bin in one of the two rows of destination bins; and

moving the carriage in an reverse direction along the track to return to a load position adjacent to the secondary conveyor.

15. The method as claimed in claim 14 , wherein the source area includes a contained area from which objects are drawn by an input conveyor.

16. The method as claimed in claim 15 , wherein removing the certain selected objects includes returning the certain selected objects to the source area.

17. The method as claimed in claim 16 , wherein the certain selected objects are returned to the source area by use of a chute.

18. The method as claimed in claim 14 , wherein the input conveyor is a cleated conveyor.

19. The method as claimed in claim 14 , wherein the primary conveyor is a cleated conveyor.

20. The method as claimed in claim 14 , wherein the primary conveyor moves in increments.

21. The method as claimed in claim 14 , wherein the singulated stream of objects is a singulated stream of heterogeneous objects.

22. The method as claimed in claim 14 , wherein removing the certain selected objects from the conveying system comprises sliding the certain selected objects from the primary conveyor.

23. The method as claimed in claim 22 , wherein sliding the certain selected objects comprises sliding the certain selected objects without lifting the certain selected objects from the primary conveyor.

24. The method as claimed in claim 22 , wherein sliding the certain selected objects comprises pushing the certain selected objects from the primary conveyor.

25. The method as claimed in claim 22 , wherein sliding the certain selected objects comprises pulling the certain selected objects from the primary conveyor.

26. A method of providing singulation of objects, comprising:

moving objects to be sorted from a source area along a first direction on a primary conveyor;

detecting the objects on the primary conveyor;

selecting certain selected objects for removal from the primary conveyor;

removing the certain selected objects from the primary conveyor to provide a singulated stream of objects by returning the certain selected objects to the source area;

dropping the singulated stream of objects, one object at a time, from the primary conveyor into a carriage that moves reciprocally along a track between two rows of destination bins;

moving the carriage in a first direction along the track to a position adjacent to a selected destination bin;

tilting the carriage towards one side of the track to drop the object into the selected destination bin in one of the two rows of destination bins; and

moving the carriage in an reverse direction along the track to return to a load position below the primary conveyor.

27. The method as claimed in claim 26 , wherein the source area includes a contained area from which objects are drawn by an input conveyor.

28. The method as claimed in claim 27 , wherein the input conveyor is a cleated conveyor.

29. The method as claimed in claim 26 , wherein the step of moving objects involves the use of a cleated conveyor.

30. The method as claimed in claim 26 , wherein the primary conveyor moves in increments.

31. The method as claimed in claim 26 , wherein the singulated stream of objects is a singulated stream of heterogeneous objects.

32. The method as claimed in claim 26 , wherein removing the certain selected objects from the conveying system includes sliding the certain selected objects from the primary conveyor.

33. The method as claimed in claim 32 , wherein sliding the certain selected objects includes sliding the certain selected objects without lifting the certain selected objects from the primary conveyor.

34. The method as claimed in claim 32 , wherein sliding the certain selected objects includes pushing the certain selected objects from the conveying system.

35. The method as claimed in claim 32 , wherein sliding the certain selected objects includes pulling the certain selected objects from the conveying system.