Granted Patent B2

US 12,462,126 · App. 18/818,837 · Granted Nov 4, 2025

Inventors: Thomas Wagner (Concord, MA); Matthew T. Mason (Atlanta, GA); Christopher Geyer (Arlington, MA); John Richard Amend, Jr. (Arlington, MA); Kyle Maroney (Saunderstown, RI); Joseph Romano (Arlington, MA); Victoria Hinchey (Winchester, MA); Jeffrey Kittredge (Lexington, MA); Andrew Gauthier (Melrose, MA); Lakshman Kumar (Billerica, MA); Prasanna Velagapudi (Pittsburgh, PA)

Assignee: Berkshire Grey Operating Company, Inc.

G06K7/10693B07C5/3412B65G1/1378B65G25/04B65G47/12B65G47/18B65G47/46B65G47/962B65G2203/041

Abstract

Claims (41)

1 . An object induction system for inducting objects to an object processing system, said object induction system comprising:

a transport conveyor section with an upper surface at a transport conveyor height for providing an object to an evaluation section;

a first perturbation roller with an upper surface that has a first perturbation roller highest elevation that is higher than the transport conveyor height;

a second perturbation roller with an upper surface that has a second perturbation roller highest elevation that is higher than the transport conveyor height; and

a perception system that is directed toward the first perturbation roller and the second perturbation roller, said perception system providing an evaluated characteristic regarding an object while passing over the first perturbation roller and the second perturbation roller.

2 . The object induction system as claimed in claim 1 , wherein the first perturbation roller has a rotational velocity that is faster than a velocity of the transport conveyor section.

3 . The object induction system as claimed in claim 2 , wherein the second perturbation roller has a rotational velocity that is faster than a velocity of the transport conveyor section.

4 . The object induction system as claimed in claim 1 , wherein the evaluated characteristic includes any of a weight, mass, volume or density.

5 . The object induction system as claimed in claim 1 , wherein the evaluated characteristic includes non-rigid object data regarding whether the object is non-rigid.

6 . The object induction system as claimed in claim 5 , wherein the evaluated characteristic identifies whether the object is a collapsible bag.

7 . The object induction system as claimed in claim 1 , wherein the evaluated characteristic identifies whether the object includes more than one object.

8 . The object induction system as claimed in claim 1 , wherein the first perturbation roller and the second perturbation roller are separated by an intermediate transportation roller with an intermediate transportation roller upper surface that is lower than both the first perturbation roller highest elevation and the second perturbation roller highest elevation.

9 . The object induction system as claimed in claim 1 , wherein the object induction system includes a plurality of sets of destination locations, each set of destination locations being associated with one of a plurality of object processing stations.

10 . The object induction system as claimed in claim 9 , wherein the plurality of object processing stations includes at least one automated object processing station and at least one manual object processing station.

11 . An object induction system for inducting objects to an object processing system, said object induction system comprising:

a transport conveyor section with an upper surface at a transport conveyor height for providing an object to an evaluation section;

a plurality of perturbation rollers, each perturbation roller with an upper surface that is at a perturbation roller highest elevation that is higher than the transport conveyor height; and

a perception system that is directed toward the plurality of perturbation rollers, said perception system providing an evaluated characteristic regarding an object while passing over the plurality of perturbation rollers.

12 . The object induction system as claimed in claim 11 , wherein each of the plurality of perturbation rollers has a rotational velocity that is faster than a velocity of the transport conveyor section.

13 . The object induction system as claimed in claim 11 , wherein the transport conveyor section includes conveyor rollers.

14 . The object induction system as claimed in claim 11 , wherein the evaluated characteristic includes any of a weight, mass, volume or density.

15 . The object induction system as claimed in claim 11 , wherein the evaluated characteristic includes non-rigid object data regarding whether the object is non-rigid.

16 . The object induction system as claimed in claim 15 , wherein the evaluated characteristic identifies whether the object is a collapsible bag.

17 . The object induction system as claimed in claim 11 , wherein the evaluated characteristic identifies whether the object includes more than one object.

18 . The object induction system as claimed in claim 11 , wherein the object induction system further includes a routing system for routing the object in one of a plurality of directions responsive to the evaluated characteristic.

19 . The object induction system as claimed in claim 11 , wherein the object induction system includes a plurality of sets of destination locations, each set of destination locations being associated with one of a plurality of object processing stations.

20 . The object induction system as claimed in claim 19 , wherein the plurality of object processing stations includes at least one automated object processing station and at least one manual object processing station.

21 . A method of inducting objects to an object processing system, said method comprising:

passing the object over a conveyor section and a first perturbation roller with a first perturbation roller upper surface that is higher than a conveyor height of the conveyor section;

passing the object over a second perturbation roller with a second perturbation roller upper surface that is higher than the conveyor height of the conveyor section; and

obtaining perception data regarding an evaluated characteristic of an object while passing over the first perturbation roller and the second perturbation roller.

22 . The method as claimed in claim 21 , wherein the first perturbation roller and the second perturbation roller have rotational velocities that are higher than a velocity of movement of the conveyor section.

23 . The method as claimed in claim 21 , wherein the conveyor section includes conveyor rollers.

24 . The method as claimed in claim 23 , wherein each of the first perturbation roller and the second perturbation roller has a diameter that is larger than a diameter of the conveyor rollers.

25 . The method as claimed in claim 21 , wherein the evaluated characteristic includes any of a weight, mass, volume or density.

26 . The method as claimed in claim 21 , wherein the evaluated characteristic includes non-rigid object data regarding whether the object is non-rigid.

27 . The method as claimed in claim 26 , wherein the evaluated characteristic identifies whether the object is a collapsible bag.

28 . The method as claimed in claim 21 , wherein the evaluated characteristic identifies whether the object includes more than one object.

29 . The method as claimed in claim 21 , wherein the method further includes moving the object in one of three selectable directions on a three-way conveyor.

30 . The method as claimed in claim 21 , wherein the object processing system includes a plurality of sets of destination locations, each set of destination locations being associated with one of a plurality of object processing stations.

31 . The method as claimed in claim 30 , wherein the plurality of object processing stations includes at least one automated object processing station and at least one manual object processing station.

Assignments (1)

Continuity (11)

References Cited (400)