Granted Patent B2

US 12,350,713 · App. 18/384,875 · Granted Jul 8, 2025

Inventors: Thomas Wagner (Concord, MA); Kevin Ahearn (Nebo, NC); Benjamin Cohen (White Plains, NY); Michael Dawson-Haggerty (White Plains, MA); Christopher Geyer (Arlington, MA); Thomas Koletschka (Somerville, MA); Kyle Maroney (Saunderstown, RI); Matthew T. Mason (Atlanta, GA); Gene Temple Price (Somerville, MA); Joseph Romano (Arlington, MA); Daniel Smith (Wexford, PA); Siddhartha Srinivasa (Seattle, WA); Prasanna Velagapudi (Pittsburgh, PA); Thomas Allen (Reading, MA)

Assignee: Berkshire Grey Operating Company, Inc.

B07C5/3412G01B11/245G05B19/4183G06K7/10693G06K7/10732G06K7/10881G06K7/1413G06K19/06028G06V20/80H04N23/56H04N23/90B07C2301/0016G05B2219/36371G05B2219/45045G05B2219/45047G06V2201/06Y02P90/02

Abstract

Claims (45)

1. A method of processing one or more objects, said method comprising:

providing a structure including an open path extending between a top and a bottom;

capturing a first plurality of images with at least a first perception unit that is directed toward a first area of the open path between the top and bottom of the structure;

sending the first plurality of images to a computer processing system;

capturing a second plurality of images with at least a second perception unit that is directed toward a second area of the open path between the top and bottom of the structure;

sending the second plurality of images to the computer processing system;

capturing a third plurality of images with at least a third perception unit that is directed toward a third area of the open path between the top and bottom of the structure;

sending the third plurality of images to the computer processing system; and

processing each of the first plurality of images, the second plurality of images and the third plurality of images using the computer processing system to determine all object identifying codes captured in the first plurality of images, the second plurality of images and the third plurality of images; and wherein the computer processing system determines whether more than one object, or more than one bar code, passes through the open path at the same time.

2. The method of claim 1 , wherein the method further includes detecting an object falling through the top of the structure.

3. The method of claim 1 , wherein the method further includes illuminating the first area using a first set of illumination sources during the step of capturing the first plurality of images with the first perception unit that is directed toward the first area of the open path between the top and bottom of the structure.

4. The method of claim 3 , wherein the method further includes illuminating the second area using a second set of illumination sources during the step of capturing the second plurality of images with the second perception unit that is directed toward the second area of the open path between the top and bottom of the structure.

5. The method of claim 4 , wherein the method further includes illuminating the third area using a third set of illumination sources during the step of capturing the third plurality of images with the third perception unit that is directed toward the third area of the open path between the top and bottom of the structure.

6. The method of claim 1 , wherein the method further includes determining whether more than one object identifying code is captured in the first plurality of images, the second plurality of images and the third plurality of images.

7. The method of claim 1 , wherein the first plurality of images, the second plurality of images and the third plurality of images are among a first set of images, and wherein the method further includes capturing multiple sets of images from each of the first perception unit, the second perception unit and the third perception unit.

8. An object processing system comprising:

a structure including an open path extending between a top and a bottom;

a first perception unit for capturing a first plurality of images, the first perception unit being directed toward a first area of the open path between the top and bottom of the structure;

a first perception unit controller for sending the first plurality of images to a computer processing system;

a second perception unit for capturing a second plurality of images, the second perception unit being directed toward a second area of the open path between the top and bottom of the structure;

a second perception unit controller for sending the second plurality of images to the computer processing system;

a third perception unit for capturing a third plurality of images, the third perception unit being directed toward a third area of the open path between the top and bottom of the structure;

a third perception unit controller for sending the third plurality of images to the computer processing system; and

wherein the computer processing system provides all object identifying codes captured in the first plurality of images, the second plurality of images and the third plurality of images; and wherein the computer processing system determines whether more than one object, or more than one bar code, passes through the open path at the same time.

9. The object processing system of claim 8 , wherein the object processing system further includes an entry detector for detecting an object falling through the top of the structure.

10. The object processing system of claim 8 , wherein the object processing system further includes a first set of illumination sources for illuminating the first area during the step of capturing the first plurality of images with the first perception unit that is directed toward the first area of the open path between the top and bottom of the structure.

11. The object processing system of claim 10 , wherein the object processing system further includes a second set of illumination sources for illuminating the second area while capturing the second plurality of images with the second perception unit that is directed toward the second area of the open path between the top and bottom of the structure.

12. The object processing system of claim 11 , wherein the object processing system further includes a third set of illumination sources for illuminating the third area while capturing the third plurality of images with the third perception unit that is directed toward the third area of the open path between the top and bottom of the structure.

13. The object processing system of claim 8 , wherein the computer processing system further determines whether more than one object identifying code is captured in the first plurality of images, the second plurality of images and the third plurality of images.

14. The object processing system of claim 8 , wherein the object processing system further includes an exit detector for detecting an object falling through the bottom of the structure.

15. An object processing system comprising:

a structure including an open path extending between a top and a bottom;

a first perception unit for capturing a first plurality of images, the first perception unit being directed toward a first area of the open path between the top and bottom of the structure;

a first perception unit controller for sending the first plurality of images to a first core processor;

a second perception unit for capturing a second plurality of images, the second perception unit being directed toward a second area of the open path between the top and bottom of the structure;

a second perception unit controller for sending the second plurality of images to a second core processor;

a third perception unit for capturing a third plurality of images, the third perception unit being directed toward a third area of the open path between the top and bottom of the structure;

a third perception unit controller for sending the third plurality of images to a third core processor; and

an output identification unit in communication with the first core processor, the second core processor and the third core processor for providing all object identifying codes captured in the first plurality of images, the second plurality of images and the third plurality of images; and wherein the computer processing system determines whether more than one object, or more than one bar code, passes through the open path at the same time.

16. The object processing system of claim 15 , wherein the object processing system further includes an entry detector for detecting an object falling through the top of the structure.

17. The object processing system of claim 15 , wherein the object processing system further includes a first set of illumination sources for illuminating the first area while capturing the first plurality of images with the first perception unit that is directed toward the first area of the open path between the top and bottom of the structure.

18. The object processing system of claim 17 , wherein the object processing system further includes a second set of illumination sources for illuminating the second area while capturing the second plurality of images with the second perception unit that is directed toward the second area of the open path between the top and bottom of the structure.

19. The object processing system of claim 18 , wherein the object processing system further includes a third set of illumination sources for illuminating the third area while capturing the third plurality of images with the third perception unit that is directed toward the third area of the open path between the top and bottom of the structure.

20. The object processing system of claim 15 , wherein the first, second and third perception unit controllers are part of a computer processing system that further determines whether more than one object identifying code is captured in the first plurality of images, the second plurality of images and the third plurality of images.

21. The object processing system of claim 15 , wherein the object processing system further includes an exit detector for detecting an object falling through the bottom of the structure.

Assignments (1)

Continuity (7)

References Cited (303)