Object processing systems and methods with pick verification
AssigneeBerkshire Grey Operating Company, Inc.
InventorsJeremy Saslaw, Abhijeet Tallavajhula, Vitalii Russinkovskii
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Abstract
An object processing system including 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 a selected object of the plurality of objects, and a perception system for detecting the unexpected appearance of any of the plurality of objects that is not associated with the end-effector of the programmable motion device.
Claims33
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 a selected object of the plurality of objects;
- and
- a perception system for detecting the unexpected appearance of any of the plurality of objects that is not associated with the end-effector of the programmable motion device.
An object processing system comprising:
- an input area for receiving a plurality of objects to be processed, the input area including an input weight sensing conveyor section and 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;
- 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;
- and
- a perception system for detecting whether any of the plurality of objects on the weight sensing conveyor section are not within the at least one input container on the weight sensing conveyor section.
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;
- and
- a perception system 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 a portion of a floor of the object processing system as well as for detecting a number of any of the plurality of objects that fall toward the floor of the portion of the object processing system.
A method of processing objects comprising:
- providing a plurality of objects in a container on a first weight sensing conveyor section;
- grasping a selected object of the plurality of objects for movement to a destination container using a programmable motion device;
- and
- monitoring whether any of the plurality of objects other than the selected object become dropped or displaced using a perception system.
Dependencies are inferred from the claim text.