Robotic systems and methods for identifying and processing a variety of objects

A drop perception unit for acquiring an identity of an object, the drop perception unit comprising:

• a frame having a top surface and a bottom surface;
• a cylindrical member having a central path, the cylindrical member mounted in the frame with the central path passing through the top surface and the bottom surface, the frame and cylindrical member positioned to orient the central path in a vertical position;
• a first set of detection units arranged around a periphery of the cylindrical member near the top surface, each of the first set of detection units having a field of view including the central path;
• a second set of detection units arranged around a periphery of the cylindrical member near the bottom surface, each of the second set of detection units having a field of view including the central path;
• and
• a third set of detection units arranged around a periphery of the cylindrical member at a midpoint between the top surface and the bottom surface, each of the third set of detection units having a field of view including the central path.

A perception unit comprising:

• a cylindrical tunnel oriented in a vertical position with a frame for integration in an object processing system, the cylindrical tunnel having a top portion, a bottom portion, a mid portion, and a central path therethrough;
• a first plurality of detection units arranged at the top portion, each of the detection units of the first plurality of detection units pointed toward the central path;
• a second plurality of detection units arranged at the mid portion, each of the detection units of the second plurality of detection units pointed toward the central path;
• and
• a third plurality of detection units arranged at the bottom portion, each of the detection units of the third plurality of detection units pointed toward the central path;
• wherein, each of the first plurality of detection units, the second plurality of perception units, and the third plurality of detection units provide perception data of an object as it falls through the cylindrical tunnel in the central path.

An object processing system comprising:

• a carriage on a track, the carriage moveable between a first sortation stage and a second sortation stage on the track;
• and
• a drop perception unit comprising;
• a frame having a top surface and a bottom surface;
• a cylindrical member having a central path, the cylindrical member mounted in the frame with the central path passing through the top surface and the bottom surface, the frame and cylindrical member positioned to orient the central path in a vertical position;
• a first set of detection units arranged around a periphery of the cylindrical member near the top surface, each of the first set of detection units having a field of view including the central path;
• a second set of detection units arranged around a periphery of the cylindrical member near the bottom surface, each of the second set of detection units having a field of view including the central path;
• and
• a third set of detection units arranged around a periphery of the cylindrical member at a midpoint between the top surface and the bottom surface, each of the third set of detection units having a field of view including the central path;
• the carriage positioned under the drop perception unit to receive an object dropped through the cylindrical member, the carriage moving the object to one of the first sortation stage and the second sortation stage responsive to an identity of the object provided by at least one of the first set of detection units, the second set of detection units and the third set of detection units.