# US 12,180,011 B2 · Systems and methods for processing objects including semi-autonomous stations and automated output processing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,180,011 B2 - Document ID: US12180011B2 - Status: Granted - Kind: B2 - Application number: 18/381,947 - Filed: 2023-10-19 - Published: 2024-02-15 - Granted: 2024-12-31 - Earliest claimed: 2018-10-30 - Assignees: Berkshire Grey Operating Company, Inc. - Applicants: Berkshire Grey Operating Company, Inc. - Inventors: Thomas Wagner; Thomas Allen; William Hartman Fort; Kyle Maroney; Samuel Naseef; Andrew Gauthier; Kevin Ahearn; John Richard Amend, Jr.; Benjamin Cohen; Michael Dawson-Haggerty; Christopher Geyer; Jennifer Eileen King; Thomas Koletschka; Matthew T. Mason; William Chu-Hyon McMahan; Gene Temple Price; Joseph Romano; Daniel Smith; Siddhartha Srinivasa; Prasanna Velagapudi - Web page: https://patentgrep.com/patent/US12180011B2 ## CPC - B65G 43/10: Sequence control of conveyors operating in combination - B65G 47/962: {tilting about an axis substantially parallel to the conveying direction} - B07C 3/08: using arrangements of conveyors {(transport of sheets B65H; transport in general B65G)} - B07C 7/005: {Computer assisted manual sorting, e.g. for mail} - B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas} - B65G 43/08: Control devices operated by article or material being fed, conveyed or discharged {(and controlling the discharging devices B65G47/42)} - B65G 2209/04: Indication location means - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B07C: POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING (specially adapted for a specific purpose covered by another class, see the relevant place, e.g. A43D33/06, B23Q7/12) ## Abstract A semi-autonomous processing system for processing objects is disclosed. The semi-autonomous processing system includes an input conveyance system for moving objects to a presentation area, a perception system including perception units that are directed toward a detection area for providing perception data regarding an object in the presentation area, at least two transport systems, each of which is adapted to receive the object and move the object in either of reciprocal directions, and a manual workstation area between the perception area the at least two transport systems. ## Claims ### Claim 1 A method for providing semi-autonomous processing of objects, said method comprising: moving an object of a plurality of objects on an input conveyance system to a presentation area; lifting the object in the presentation area to a perception area that includes a plurality of perception units, the perception area being above the presentation area; providing perception data regarding the object in the perception area by at least one of the plurality of perception units; providing an indication on a selected transport system of a plurality of transport systems responsive to the perception data; receiving the object in the selected transport system; moving the object in at least a linear direction toward a selected destination location of a plurality of destination locations; and dropping the object into the selected destination location of the plurality of destination locations. ### Claim 2 (depends on 1) The method as claimed in claim 1, wherein the method further includes moving a chair responsive to the perception data. ### Claim 3 (depends on 1) The method as claimed in claim 1, wherein the method further includes providing depth data from a depth detection system. ### Claim 4 (depends on 1) The method as claimed in claim 1, where the method further includes identifying the object as the object is moving closer to the plurality of perception units. ### Claim 5 (depends on 1) The method as claimed in claim 1, wherein the method further includes triggering the at least one of the plurality of perception units to provide the perception data regarding the object in the perception area. ### Claim 6 (depends on 5) The method as claimed in claim 5, wherein the at least one of the plurality of perception units is triggered using beam breaks. ### Claim 7 (depends on 5) The method as claimed in claim 5, wherein the at least one of the plurality of perception units is triggered using depth detection. ### Claim 8 (depends on 1) The method as claimed in claim 1, wherein the method further includes discharging the selected destination location from the plurality of destination locations. ### Claim 9 (depends on 8) The method as claimed in claim 8, wherein discharging the selected destination location includes removing the selected destination location on a pull-out drawer. ### Claim 10 (depends on 9) The method as claimed in claim 9, wherein the pull-out drawer includes the selected destination location and at least one further destination location. ### Claim 11 A method for providing semi-autonomous processing of objects, said method comprising: moving an object of a plurality of objects on an input conveyance system to a presentation area; lifting the object in the presentation area to a perception area that includes a plurality of perception units, the perception area being above the presentation area; triggering at least one of the plurality of perception units to capture perception data regarding the object in the perception area; providing the captured perception data to a control system; providing an indication on a selected transport system of a plurality of transport systems responsive to the perception data; receiving the object in the selected transport system; and moving the object in at least a linear direction toward a selected destination location of a plurality of destination locations. ### Claim 12 (depends on 11) The method as claimed in claim 11, wherein the method further includes moving a chair responsive to the captured perception data. ### Claim 13 (depends on 11) The method as claimed in claim 11, wherein the method further includes providing depth data from a depth detection system. ### Claim 14 (depends on 11) The method as claimed in claim 11, where the method further includes identifying the object as the object is moving closer to the plurality of perception units. ### Claim 15 (depends on 11) The method as claimed in claim 11, wherein the at least one of the plurality of perception units is triggered using beam breaks. ### Claim 16 (depends on 11) The method as claimed in claim 11, wherein the at least one of the plurality of perception units is triggered using depth detection. ### Claim 17 (depends on 11) The method as claimed in claim 11, wherein the method further includes dropping the object into the selected destination location of the plurality of destination locations. ### Claim 18 (depends on 11) The method as claimed in claim 11, wherein the method further includes discharging the selected destination location from the plurality of destination locations. ### Claim 19 (depends on 18) The method as claimed in claim 18, wherein discharging the selected destination location from the plurality of destination locations includes removing the selected destination location on a pull-out drawer. ### Claim 20 (depends on 19) The method as claimed in claim 19, wherein the pull-out drawer includes the selected destination location and at least one further destination location. ### Claim 21 A semi-autonomous processing system for processing objects, said semi-autonomous processing system comprising: an input conveyance system for moving an object of a plurality of objects to a presentation area; a triggering system that detects motion of the object within the presentation area and identifies whether the object is being lifted from the presentation area into a perception area above the presentation area; and a plurality of perception units that are directed toward the perception area, at least one of the plurality of perception units providing perception data regarding the motion of the object responsive to the triggering system identifying that the object is being lifted from the presentation area into the perception area; and a processing system including at least two transport systems, one of which is selected to receive the object from an operator and move the object in one of a plurality of directions responsive to the perception data provided by the at least one of the plurality of perception units. ### Claim 22 (depends on 21) The semi-autonomous processing system as claimed in claim 21, wherein the semi-autonomous processing system further includes a movable chair. ### Claim 23 (depends on 22) The semi-autonomous processing system as claimed in claim 22, wherein the movable chair is movable responsive to the perception data. ### Claim 24 (depends on 21) The semi-autonomous processing system as claimed in claim 21, wherein the triggering system includes at least one beam break system. ### Claim 25 (depends on 21) The semi-autonomous processing system as claimed in claim 21, wherein the triggering system includes a depth detection system that provides depth detection data. ### Claim 26 (depends on 21) The semi-autonomous processing system as claimed in claim 21, wherein each of the at least two transport systems includes a reciprocating carriage. ### Claim 27 (depends on 26) The semi-autonomous processing system as claimed in claim 26, wherein each reciprocating carriage of each transport system is configured to deliver the object to one of a plurality of destination stations. ### Claim 28 (depends on 27) The semi-autonomous processing system as claimed in claim 27, wherein the plurality of destination stations associated with each of the transport systems is provided as two rows of containers or boxes on either side of each of the at least two transport systems. ### Claim 29 (depends on 28) The semi-autonomous processing system as claimed in claim 28, wherein each of the plurality of containers or boxes is provided on an input conveyor. ### Claim 30 (depends on 29) The semi-autonomous processing system as claimed in claim 29, wherein the input conveyor is gravity biased to urge the plurality of containers or boxes on the input conveyor to one side of the input conveyor. ### Claim 31 (depends on 30) The semi-autonomous processing system as claimed in claim 30, wherein the system includes a plurality of output conveyors, and at least one displacement mechanism, wherein the at least one displacement mechanism selectively urges a container or box of the plurality of containers or boxes onto one of the plurality of output conveyors. ### Claim 32 (depends on 31) The semi-autonomous processing system as claimed in claim 31, wherein each output conveyor of the plurality of output conveyors is gravity biased to urge any of the plurality of containers or boxes on a respective output conveyor to one end of the respective output conveyor.