US 12,168,577 B2
Systems and methods for providing singulation of objects for processing
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (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 Sep. 29, 2023, as Appl. No. 18/374,713.
Application 18/374,713 is a continuation of application No. 17/950,892, filed on Sep. 22, 2022, granted, now 11,820,605.
Application 17/950,892 is a continuation of application No. 17/124,992, filed on Dec. 17, 2020, granted, now 11,492,210, issued on Nov. 8, 2022.
Application 17/124,992 is a continuation of application No. 16/703,540, filed on Dec. 4, 2019, granted, now 10,913,614, issued on Feb. 9, 2021.
Application 16/703,540 is a continuation of application No. 15/824,009, filed on Nov. 28, 2017, granted, now 10,538,394, issued on Jan. 21, 2020.
Claims priority of provisional application 62/426,913, filed on Nov. 28, 2016.
Prior Publication US 2024/0025662 A1, Jan. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 47/49 (2006.01); B65G 47/12 (2006.01); B65G 47/22 (2006.01); B65G 47/256 (2006.01); B65G 47/44 (2006.01); B65G 47/82 (2006.01); B65G 47/90 (2006.01)
CPC B65G 47/49 (2013.01) [B65G 47/12 (2013.01); B65G 47/22 (2013.01); B65G 47/256 (2013.01); B65G 47/44 (2013.01); B65G 47/82 (2013.01); B65G 47/902 (2013.01); B65G 2201/0285 (2013.01); B65G 2203/044 (2013.01); B65G 2203/046 (2013.01)] 52 Claims
OG exemplary drawing
 
1. A method of processing objects comprising:
providing a plurality of objects from an infeed area to an object conveyance system that is moving in a first direction;
perceiving perception data from a perception system regarding the plurality of objects on the object conveyance system as the objects are moved in the first direction, said perception data being representative of locations of the plurality of objects on the object conveyance system and potential identification information regarding each of the plurality of objects;
selecting certain objects from the plurality of objects using a computer processing system, said selected certain objects being selected to be removed from the object conveyance system based, at least in part, on the perception data and the potential identification information regarding at least one of the objects; and
returning the selected certain objects from the object conveyance system to the infeed area such that remaining objects of the plurality of objects that remain on the object conveyance system form a singulated stream of objects spaced apart from one another on the object conveyance system.