Object processing systems and methods with pick verification

An object processing system comprising:

• an input area for receiving a plurality of objects to be processed, the plurality of objects being provided within at least one input container;
• an output area including a plurality of destination containers for receiving any of the plurality of objects, the output area including an output weight sensing conveyor section on which a destination container is provided;
• a programmable motion device proximate the input area and the output area, the programmable motion device including an end-effector for grasping a selected object of the plurality of objects from the at least one input container and attempting to place the selected object into the destination container on the output weight sensing conveyor section of the output area;
• and
• a perception system including any of a camera system or a scanning system,
• wherein the output weight sensing conveyor section is weighed before and after the end-effector attempts to place the selected object into the destination container to determine a weight delta, the weight delta being compared against an expected weight of the selected object,
• wherein the perception system is configured to detect whether the selected object or any other object is dropped or displaced outside of the destination container on the output weight sensing conveyor section of the output area in response to the weight delta being within a tolerance of the expected weight of the selected object, and
• wherein the programmable motion device is configured to retrieve the selected object or the other object detected outside of the destination container from the output weight sensing conveyor section of the output area.

An object processing system comprising:

• an input area for receiving a plurality of objects to be processed;
• an output area including a plurality of destination containers for receiving any of the plurality of objects;
• a programmable motion device proximate the input area and the output area, the programmable motion device including an end-effector for grasping any of the plurality of objects for delivery to any of the plurality of destination containers;
• and
• a floor-based catch bin for receiving any of the plurality of objects dropped by the end-effector of the programmable motion device prior to delivery to any of the plurality of destination containers, the floor-catch bin including at least one camera system and a plurality of scanning systems for detecting any identifying indicia on any of the plurality of objects that fall toward the floor-based catch bin, and for detecting a number of any of the plurality of objects that fall toward the floor-based catch bin.

A method of processing objects comprising:

• providing a plurality of objects in an input container on a first weight sensing conveyor section;
• obtaining a first weight from the first weight sensing conveyor section before a selected object is grasped from the input container;
• grasping the selected object of the plurality of objects from the input container for movement to a destination container by the end-effector of the programmable motion device;
• obtaining a second weight from the first weight sensing conveyor section after the selected object is grasped from the input container;
• determining a weight delta between the first weight and the second weight obtained from the first weight sensing conveyor section;
• verifying that the selected object is displaced from the input container by comparing the weight delta obtained from the first weight sensing conveyor section against an expected weight of the selected object;
• detecting by a perception system whether any of the plurality of objects other than the selected object are dropped or displaced on the first weight sensing conveyor section outside of the input container in response to the weight delta being within a tolerance of the expected weight of the selected object, the perception system including any of a camera system or a scanning system;
• and
• retrieving any object, detected by the perception system outside of the input container, from the first weight sensing conveyor section by the end-effector of the programmable motion device.