# US 12,182,656 B2 · Systems and methods for separating objects using drop conveyors with one or more object processing systems

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- Number: US 12,182,656 B2
- Document ID: US12182656B2
- Status: Granted
- Kind: B2
- Application number: 18/221,671
- Filed: 2023-07-13
- Published: 2023-12-14
- Granted: 2024-12-31
- Earliest claimed: 2018-04-18
- Assignees: Berkshire Grey Operating Company, Inc.
- Applicants: Berkshire Grey Operating Company, Inc.
- Inventors: Thomas Wagner; Matthew T. Mason; Christopher Geyer; John Richard Amend, Jr.; Kyle Maroney; Joseph Romano; Victoria Hinchey; Jeffrey Kittredge; Andrew Gauthier; Lakshman Kumar; Prasanna Velagapudi
- Web page: https://patentgrep.com/patent/US12182656B2

## CPC

- B07C 5/36: Sorting apparatus characterised by the means used for distribution {(sorting according to destination B07C3/003, B07C3/02)}
- G06K 7/10693: {for omnidirectional scanning}
- B07C 5/3412: {according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication (sorting according to size measured by light-responsive means B07C5/10; sorting according to optical properties B07C5/342; for packages B65D79/02; for information carriers G06K7/00)}
- B07C 5/342: according to optical properties, e.g. colour {(according to radiation transmittivity B07C5/3416)}
- B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas}
- B65G 25/04: the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G 47/12: from disorderly-arranged article piles or from loose assemblages of articles
- B65G 47/18: Arrangements or applications of hoppers or chutes
- B65G 47/38: by dumping, tripping, or releasing load carriers (by flexing or tilting travelling structures B65G47/94)
- B65G 47/46: and distributing, e.g. automatically, to desired points (in tube mail systems B65G51/36)
- B65G 47/53: between conveyors which cross one another
- B65G 47/82: Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels {(means for pushing glass articles onto a conveyor C03B9/453)}
- B65G 47/91: incorporating pneumatic, e.g. suction, grippers
- B65G 47/962: {tilting about an axis substantially parallel to the conveying direction}
- B65G 2203/041: Camera
- 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)
- G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- 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)

## Abstract

A distribution system is disclosed for use with an induction system with an object processing system. The distribution system provides distribution of dissimilar objects into one of a plurality of receiving units. The distribution system includes an urging system for urging an object on a conveyor from the conveyor to a chute that includes at least one actuatable door for selectively dropping the object through the at least one actuable door, said chute leading to a first receiving station with a second receiving station being positioned below the at least one actuable door.

## Claims

### Claim 1

A distribution system for providing dissimilar objects into one of a plurality of receiving stations, said distribution system comprising:
an urging system for urging an object on a first conveyor moving in a first direction from the conveyor to a second conveyor moving in a second direction that is generally orthogonal to the first direction, the second conveyor including at least one actuatable door therein that is positioned above a third conveyor, the third conveyor being directed toward an object processing station; and
a control system for selectively urging the object from the first conveyor to the second conveyor, and for selectively opening the at least one actuatable door of the second conveyor to drop the object to the third conveyor.

### Claim 2 (depends on 1)

The distribution system as claimed in claim 1, wherein the first conveyor includes a weight sensing conveyor section, said weight sensing conveyor section providing weight sensing data information to the control system.

### Claim 3 (depends on 1)

The distribution system as claimed in claim 1, wherein the urging system includes belts that run in the second direction that is generally orthogonal to the first direction.

### Claim 4 (depends on 1)

The distribution system as claimed in claim 1, wherein the urging system includes actuatable paddles.

### Claim 5 (depends on 1)

The distribution system as claimed in claim 1, wherein the distribution system further includes a perception system for providing perception data regarding a perceived object under the perception system, and wherein the control system selectively urges the object from the first conveyor to the second conveyor, and selectively opens the at least one actuatable door to drop the object to the third conveyor further responsive to the perception data.

### Claim 6 (depends on 1)

The distribution system as claimed in claim 1, wherein the object processing station includes a drop scanner through which the object is dropped and scanned.

### Claim 7 (depends on 5)

The distribution system as claimed in claim 5, wherein the object processing station further includes a programmable motion device that drops the object into the drop scanner.

### Claim 8 (depends on 1)

The distribution system as claimed in claim 1, wherein the object processing system further includes at least one reciprocating carriage that moves the object to a selected destination location of the plurality of destination locations, and selectively drops the object from the reciprocating carriage into the selected destination location.

### Claim 9 (depends on 1)

The distribution system as claimed in claim 1, wherein the object processing station is provided as one a plurality of object processing stations in communication with the third conveyor.

### Claim 10

A distribution system for providing dissimilar objects into one of a plurality of destination locations, said distribution system comprising a weight sensing system for providing weight sensing data regarding an object thereon, a first conveyor for receiving the object, an urging system for urging the object on the first conveyor moving in a first direction from the first conveyor to a second conveyor moving in a second direction that is generally orthogonal to the first direction, said second conveyor including at least one actuatable door therein that is positioned above a lower conveyor, said lower conveyor being directed toward an object processing station, and a control system for selectively urging the object from the first conveyor to the second conveyor, and for selectively opening the at least one actuatable door to drop the object to the lower conveyor.

### Claim 11 (depends on 10)

The distribution system as claimed in claim 10, wherein the distribution system further includes a perception system for providing perception data regarding the object under the perception system, and wherein the control system selectively urges the object from the first conveyor to the second conveyor, and selectively opens the at least one actuatable door to drop the object to the lower conveyor further responsive to the perception data.

### Claim 12 (depends on 10)

The distribution system as claimed in claim 10, wherein the urging system includes belts that run in the second direction.

### Claim 13 (depends on 10)

The distribution system as claimed in claim 10, wherein the object processing station includes a drop scanner through which the object is dropped and scanned.

### Claim 14 (depends on 13)

The distribution system as claimed in claim 13, wherein the object processing station further includes a programmable motion device that drops the object into the drop scanner.

### Claim 15 (depends on 10)

The distribution system as claimed in claim 10, wherein the object processing system further includes at least one reciprocating carriage that moves the object to a selected destination location of the plurality of destination locations, and selectively drops the object from the reciprocating carriage into the selected destination location.

### Claim 16 (depends on 10)

The distribution system as claimed in claim 10, wherein the object processing station is provided as one a plurality of object processing stations in communication with the lower conveyor.

### Claim 17

A method of distributing dissimilar objects into one of a plurality of receiving stations, said method comprising:
moving an object on a first conveyor in a first direction;
perceiving perception data regarding the object;
urging the object from the first conveyor to a second conveyor moving in a second direction that is generally orthogonal to the first direction, the second conveyor including at least one actuatable door therein that is positioned above a third conveyor; and
actuating the at least one actuatable door of the second conveyor to drop the object therethrough to the third conveyor, the third conveyor being directed toward an object processing system.

### Claim 18 (depends on 17)

The method of claim 17, wherein the perceiving data includes weight data from a weight sensing conveyor section of the first conveyor.

### Claim 19 (depends on 17)

The method of claim 17, wherein urging the object from the first conveyor moving in the first direction to the second conveyor moving in the second direction includes actuating belts that run in the second direction.

### Claim 20 (depends on 17)

The method of claim 17, wherein urging the object from the first conveyor moving in the first direction to the second conveyor moving in the second direction includes actuating paddles that move in the second direction.