System and method for dynamic processing of objects using data verification

Abstract

A processing system for processing objects is disclosed, the processing system comprising a plurality of receiving stations for receiving a plurality of objects, each object being associated with pre-recorded data; and a plurality of processing stations, each of the plurality of processing stations being in communication with at least one processing station. Each processing station comprises a sensing device for sensing data regarding the identity of any one of the objects or a container of the objects; and a capturing device for capturing characteristic data regarding the objects to provide captured data. Each processing station further comprises a comparing device for comparing the captured data with the pre-recorded data to provide comparison data; and a plurality of distribution stations, each of the plurality of distribution stations being in communication with at least one processing station for receiving an object from the at least one processing station in response to the comparison data.

Description

[0001] priority

[0002] This application claims U.S. Provisional Patent Application Serial No. 62 / 749,509 filed on October 23, 2018 and U.S. Provisional Patent Application Serial No. 62 / 884,351 filed on August 8, 2019, the disclosures of which are incorporated herein by reference in their entirety. Background Art

[0003] The present invention relates generally to object handling systems and, more particularly, to a shipping system that accommodates orders from a sending entity and provides distribution and shipping services to a destination entity.

[0004] Current object handling systems typically involve the processing of large quantities of objects, where the objects are received in organized or unorganized batches and must be routed to a desired destination based on a manifest or specific address (eg, in a mail system) on the object.

[0005] For example, current distribution center sorting systems typically assume an inflexible sequence of operations whereby an unorganized stream of incoming objects is first divided into a single stream of individual objects, presented one at a time to a scanner that identifies the objects. An induction element (e.g., a conveyor, tilting pallet, or manually movable bins) transports the objects to a desired destination location or further processing station, which may be a bin, chute, bag, or conveyor, among others.

[0006] In a typical package sorting system, human workers or automated systems usually pick up packages in the order they arrive and sort each package or object into a collection bin based on a given heuristic. For example, all objects of a similar type may go to a collection bin, or all objects in a single customer order, or all objects destined for the same shipping destination, etc. Human workers or automated systems are required to receive the objects and move each object to their assigned collection bin. If the number of input (received) objects of different types is large, a large number of collection bins are required.

[0007] Current state-of-the-art sorting systems also rely to some extent on human labor. Most solutions rely on a worker who is doing the sorting, by scanning objects from an induction area (chute, table, etc.) and placing the objects in a staging location, conveyor, or collection bin. When the container is full or the control software system determines that the container needs to be emptied, another worker empties the bin into a bag, box, or other container, which is then sent to the next processing step. Such systems have limitations in throughput (i.e., how quickly a human worker can sort or empty bins in this manner) and transfer count (i.e., for a given bin size, only so many bins can be placed within the reach of a human worker).

[0008] In addition to these challenges, some objects may have information about the object incorrectly entered into the manifest or shipping label. For example, if the manifest at the distribution center includes incorrect dimensions or weights for the object (e.g., due to incorrect manual entry), or if the shipping consignor enters incorrect dimensions or weights on the shipping label, the processing system may reject the object as unknown. Additionally, with respect to incorrect information on the shipping label, the consignor may be undercharged due to the incorrect information, for example, if the consignor entered incorrect dimensions or weights.

[0009] There remains a need for a more efficient and cost-effective object handling system that handles objects of varying sizes and weights into appropriate collection bins or boxes and is efficient in handling such objects of varying sizes and weights. Summary of the invention

[0010] According to an embodiment, the present invention provides a processing system for processing objects. The processing system includes a plurality of receiving stations for receiving a plurality of objects, each object being associated with pre-recorded data; and a plurality of processing stations, each of which communicates with at least one processing station. Each processing station includes a sensing device for sensing data about the identity of any one of the objects or the cargo box of the object, and a capturing device for capturing characteristic data about the object to provide captured data. Each processing station further includes a comparing device for comparing the captured data with the pre-recorded data to provide comparison data; and a plurality of distribution stations, each of which communicates with at least one processing station for receiving an object from the at least one processing station in response to the comparison data.

[0011] According to another embodiment, the present invention provides a method for processing an object. The method includes receiving a plurality of objects, each object being associated with pre-recorded data; providing a plurality of processing stations, each of the plurality of processing stations communicating with at least one processing station, including sensing data about the identity of any one of the objects or the container of the object, and capturing characteristic data about the object to provide captured data; comparing the captured data with the pre-recorded data to provide comparative data; and providing a plurality of delivery stations, each of the plurality of delivery stations communicating with at least one processing station for receiving an object from the at least one processing station in response to the comparative data.

[0012] According to a further embodiment, the present invention provides an object handling verification system, which includes a data repository for storing information related to the object, the information including: identification information, object weight, object volume and destination information; a first detection system, which detects the identification information associated with the object; a second detection system, which detects the volume associated with the object; a third detection system, which detects the weight associated with the object; a computer processing system, which compares the detected identification information, volume and weight with the volume and weight of the identified object stored in the data repository; and an object transportation system, which routes the object to a forward destination if the detected volume and weight of the object match the stored volume and weight; and routes the object to an inspection destination if the detected volume and weight do not sufficiently match the stored volume and weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The following description may be further understood with reference to the accompanying drawings, in which:

[0014] Figure 1 An illustrative diagrammatic view of an object handling system including an object handling system according to an embodiment of the present invention is shown;

[0015] Figure 2 An illustrative diagrammatic view of an object handling system involving vehicle-to-vehicle handling in accordance with an embodiment of the present invention is shown;

[0016] Figure 3 Shows Figure 2 An illustrative diagrammatic view of a receiving station of an object handling system;

[0017] Figure 4 Shows Figure 2 An illustrative diagrammatic view of a delivery station of an object handling system;

[0018] Figure 5 Shows Figure 2 An illustrative diagrammatic view of a processing station of an object processing system;

[0019] Figure 6 Shows Figure 5 An illustrative diagrammatic bottom view of a detection system and a capture system of a processing station;

[0020] Figures 7A-7D It is shown that before the analysis ( Fig. 7A ), before picking up the object ( Figure 7B ), after picking up the object ( Figure 7C ) and isolating the volume of the picked object from the container volume ( Fig.7D), an illustrative diagrammatic plan view of a cargo box undergoing volume and / or density analysis of homogeneous objects;

[0021] Figure 8 An illustrative diagrammatic view of a plurality of sensing units positioned around a scanning volume is shown;

[0022] Fig. 9 Shows the Figure 8 a diagrammatic view of a plurality of sensing units of the invention, wherein pairs of sensing units and illumination sources are engaged;

[0023] Fig.10 Shows Figure 8 An illustrative diagrammatic side view of a pair of sensing units and an illumination source;

[0024] Fig.11 Shows Fig.10 An illustrative diagrammatic side view of a pair of sensing units and an illumination source pair engaged;

[0025] Fig.12 An illustrative diagrammatic view of an object from a first perceptual unit is shown;

[0026] Fig.13 shows the signal from the second sensor unit Fig.12 illustrative diagrammatic views of objects;

[0027] Fig.14 shows the signal from the third sensor unit Fig.12 illustrative diagrammatic views of objects;

[0028] Fig.15 shows the signal from the third sensor unit Fig.12 illustrative diagrammatic views of objects;

[0029] Fig.16 An illustrative diagrammatic view showing a 3D scanner and scanning field used in a system according to an embodiment of the present invention;

[0030] Figures 17A-17D 3D scanners ( Fig.17A ) and an isometric view of a system of three 3D scanners at multiple heights ( Fig. 17B )、Top view( Fig. 17C ) and side view ( Fig.17D ) is an illustrative diagrammatic view of a ;

[0031] Fig.18 shows an illustrative diagrammatic view of a 3D scanning system used in accordance with an embodiment of the present invention, the 3D scanning system scanning an object and a portion of an end effector grasping the object;

[0032] Fig.19 an illustrative diagrammatic side view showing a scanned object and a scanned portion of an end effector to be subtracted from the overall scan volume;

[0033] Fig. 20 shows an illustrative diagrammatic view of an end effector system used in accordance with an embodiment of the present invention, the end effector system including sensors for detecting potential errors in grasping (such as, for example, multiple picks);

[0034] Fig.21 shows an illustrative diagrammatic view of a weight sensing bracket for use in a system according to an embodiment of the present invention;

[0035] Fig. 22 Shows Fig.21 An illustrative diagrammatic side view of a weight sensing bracket;

[0036] Fig.23 Shows Fig.21 An illustrative diagrammatic top view of a weight sensing bracket;

[0037] Fig.24 Shows Fig.21 illustrative diagrammatic end view of a weight sensing bracket;

[0038] Fig.25 Shown is a tilted to empty the contents of the tray Fig.24 illustrative diagrammatic end view of a weight sensing bracket;

[0039] Fig.26 shows an illustrative diagrammatic view of another weight sensing bracket for use in a system according to another embodiment of the present invention;

[0040] Fig. 27 Shows Fig.26 An illustrative diagrammatic side view of a weight sensing bracket;

[0041] Fig.28 showing an illustrative diagrammatic view of a further weight sensing bracket for use in the system according to a further embodiment of the present invention;

[0042] Fig.29 Shows Fig.28 An illustrative diagrammatic view of a weight sensing bracket of , wherein the V-shaped plate is removed for ease of illustration;

[0043] Fig.30 Shows Fig.28 an illustrative diagrammatic end view of a weight sensing bracket of with an end wall removed for ease of illustration;

[0044] Fig.31showing an illustrative diagrammatic view of a still further weight sensing bracket system for use in a system according to a further embodiment of the present invention;

[0045] Fig.32 Shows Fig.31 an illustrative diagrammatic view of a portion of a weight sensing bracket system;

[0046] Fig.33 shows an illustrative diagrammatic view of another processing station used in the system according to another embodiment of the present invention;

[0047] Fig.34 Shows that it is passing Fig.33 An illustrative diagrammatic view of an object dropped by a drop scanner of a processing station;

[0048] Fig.35A –35D shows that before analysis ( Fig.35A ), before picking up the object ( Fig.35B ), after picking up the object ( Fig.35C ) and isolating the volume of the picked object from the container volume ( Fig.35D ) is undergoing volume and / or density analysis for dissimilar objects;

[0049] Fig.36 shows an illustrative diagrammatic front view of a drop scanner used in accordance with an embodiment of the present invention;

[0050] Fig.37 Shows Fig.36 An illustrative diagrammatic rear view of a drop scanner;

[0051] Fig.38 The embodiment according to the present invention is shown Figure 4 An illustrative diagrammatic view of a portion of a distribution station;

[0052] Fig.39 Shows Fig.38 An illustrative diagrammatic view of a portion of a delivery station shown in , wherein a carriage moves along a track and is tilted to allow objects to fall from the carriage;

[0053] Fig.40 Shows Fig.38 An illustrative diagrammatic view of a portion of a delivery station shown in FIG. 6 , wherein an output box has been moved to an output conveyor 66 ;

[0054] Fig.41 shows an illustrative diagrammatic view of a processing system according to a further embodiment of the present invention, the processing system including a U-shaped conveyor and a programmable motion system;

[0055] Fig.42 Shows Fig.41 an illustrative diagrammatic view of a portion of a processing system;

[0056] Fig.43 Shows Fig.42 An illustrative diagrammatic view of the bottom portion of a perceptual unit;

[0057] Fig.44 Shown include Fig.41 an illustrative diagrammatic view of a system of a plurality of processing systems;

[0058] Fig.45 An illustrative diagrammatic view of a processing system according to a further embodiment of the present invention is shown, the processing system including a programmable motion device located between an endless input conveyor and a reciprocating shuttle system;

[0059] Fig.46 Shows Fig.45 An illustrative diagrammatic view of a handling system of wherein a shuttle carriage moves along tracks between rows of output containers;

[0060] Fig.47 Shows Fig.45 An illustrative diagrammatic top view of a system;

[0061] Fig.48 Shows Fig.46 an illustrative diagrammatic top view of a system of; and

[0062] Fig.49 An illustrative diagrammatic view of a system according to a further embodiment is shown, the system comprising Fig.45 Multiple processing stations are shown.

[0063] The drawings shown are for illustrative purposes only. DETAILED DESCRIPTION

[0064] According to an embodiment, the present invention provides an object handling system that not only tracks objects (e.g., packages, envelopes, boxes, etc.), but also detects data about the objects at multiple points during handling, for example, for pick-up verification and placement verification. The detected data is checked against a set of reference pre-recorded data provided by a (manually or automatically generated) manifest or shipping label, etc. Although the detected data may represent an estimated mass, weight, size, or volume, if a significant discrepancy is found, the object may be held until the discrepancy is resolved, or the object may be rerouted to return to its original sender.

[0065] More specifically, the system can determine the identity of the object and access previously recorded data about the object. The previously recorded data can be provided by a manifest that provides unique identity data, its mass or weight and its dimensions or volume or density, and its distribution information, such as a delivery address or destination location, for each object. An identification tag (such as a barcode, QR code, or RFID tag) representing the identity data is applied to the object. The previously recorded data can also be provided by the sender, for example, if the sender (or shipping company personnel) provides data about the mass or weight or dimensions or volume, density, etc. of the object. The shipping company personnel can then assign unique identity data to the object and apply an identification tag, such as a barcode, QR code, or RFID tag representing the identity data. The destination information (such as an address or destination location) is then associated with the identity data of the object.

[0066] During processing, the system will determine the object's identity data and will then determine the object's mass, weight, size, volume, density, etc. The system will then compare the determined data (e.g., mass, weight, size, or volume) to previously recorded data associated with the object's identity. If a difference is found (e.g., more than 2%-5% or 10%), the object will be rerouted internally to a holding station until the difference is resolved. The difference can be resolved by having the shipping network contact the sender via the shipping company to credit or debit the sender's billing account information with the correct amount to make up the difference. If the difference is not resolved, the object can be returned to the sender, for example, by assigning the sender's address as the destination address associated with the object's identity data. In this case, the system can overwrite the pre-recorded data and assign the sender's address as the destination address of the object. This will provide that the object is subsequently returned to the sender and may further include an explanation of the reason for the return, for example, by including a stamp or adhesive label reporting the determined mass, weight, size, or volume.

[0067] According to certain embodiments, the system may update the manifest if it is determined that the captured data more accurately reflects the characteristics of the object. For example, the system may record known dimensions and weights of the same object, and after encountering the object multiple times, the system may know that the sensed data is more accurate than the original data in the manifest. For example, the system may employ learning, in the sense of improving over time. The performance of picking as objects, picking stations, and processing parameters change may not be known a priori. In addition, objects that have not been picked up will be encountered periodically. However, it is possible that new objects are similar to previously picked items and will have similar performance characteristics. For example, object X may be a type of shampoo in a twenty-ounce bottle, and object Y may be a conditioner in a twenty-ounce bottle. If distributed by the same company, the shape of the bottles may be the same. The system includes the following processes: using observations of past performance of similar objects to predict future performance; and learning what characteristics of objects available to the system are reliable predictors of future performance. Learning is specifically a learning process that (a) extrapolates the performance of newly seen objects and (b) continuously updates the data it learns to extrapolate in order to continuously improve performance.

[0068] Figure 1 A system 10 according to an embodiment of the present invention is shown, wherein a sender 12 of a package, box, or flat object fills out information about the package on a shipping form 14 and pays for the shipping charges via the sender's billing account 16. The information provided may include the mass and / or weight and / or dimensions and / or volume of the object, etc., as well as the shipping address or destination location of the object. The package is then delivered to a shipping company 18, where it is received and labeled with an identification mark associated with the object's identity data, which in turn is associated with the information provided by the sender (previously recorded data). The object is then provided to a shipping network 20 for processing and distribution.

[0069] During this process, data about the package is captured and recorded. If the data is incorrect (e.g., the package weight is much heavier or the volume is larger than originally recorded), the sender will be notified (via the shipping company) and further charges will be charged to the sender's billing account 16. In an embodiment, the package is not initially returned, but is only provided to the delivery company 22 when the account 16 is paid in full (or credited if an overpayment) and the difference is made up. The package is then provided to the recipient 24 by the delivery company 22. If the difference is not made up (e.g., within 24 hours), the object will be returned to the sender's address (e.g., by assigning the sender's address to the shipping address).

[0070] The shipping network can include various distribution systems, such as Figure 2The distribution system 30 shown. The distribution system 30 includes: a plurality of receiving stations 32 for receiving, for example, boxes of items from vehicles 34; a plurality of processing stations 36 that can process items from the boxes of items from the receiving stations 32; and a plurality of delivery stations 38 that can subsequently provide the processed items in the boxes to vehicles 40. The system can be controlled by one or more computer processing systems 42. Boxes and boxes can be loaded into and removed from the vehicle by racks provided in the vehicle (e.g., a group of three racks with five layers of rollers) and ramps from the vehicle to the receiving stations and from the delivery stations 38 to the vehicle. The receiving stations 32 and the delivery stations 38 also include racks for receiving and supporting boxes and boxes, and conveyors for moving boxes and boxes.

[0071] For example, Figure 3 A receiving station 32 is shown that includes a plurality of storage racks 44 (which may be provided as conveyors) for receiving a plurality of cartons 46 containing objects to be processed. According to an embodiment, the order of the cartons on each conveyor may be known, and the contents of each carton may be known. The receiving station 32 also includes a plurality of source conveyors 48 that provide selected cartons to the processing station 34 via a directional routing station 52 that routes cartons between levels of the receiving station 36 (e.g., via elevators or ramps) so that the cartons can be provided to the processing conveyors 54. Thus, the source conveyors 48 may each serve more than one row of cartons. For example, Figure 3 Three source conveyors 48 are shown serving two groups of two rows of cartons 46. Each group of multiple rows of cartons also includes a carton displacement mechanism 50 adapted to be displaced along a group of two rows of cartons and adapted to selectively displace cartons onto adjacent source conveyors 48. In this way, selected cartons are provided to source conveyors 48 and processing conveyors 54 via directional routing stations 52.

[0072] refer to Figure 4 , the processing station 36 includes a processing conveyor 54 and a programmable motion device 56. The cargo box from the receiving station 32 is provided to the programmable motion device 56, and the programmable motion device 56 picks up the items from the cargo box 46 and places the items into a first bracket 58, which is mounted on an XY movable table 60 of the distribution station 38. The order of each of the boxes 64 on the rack or conveyor 65 is known. The first bracket 58 is then moved to the selected layer, and the second bracket 62 is located at the processing end of a group of multiple rows of boxes 64 (as shown, the boxes are set on the conveyor 65). The destination station 38 also includes a plurality of output conveyors 66 for again by using a displacement mechanism (for example, as described above with reference to Figure 3The boxes are selectively displaced onto an adjacent output conveyor 66 to provide the boxes from multiple groups of two rows of boxes to a delivery end 68 of the destination station 38.

[0073] like Figure 5 As shown, the programmable motion device 56 (e.g., a mechanical articulated arm) of the processing station 36 includes an end effector 70 (e.g., a vacuum cup, a gripping fixture, or other retaining device) and a detection system 72. As further described in Figure 6 As shown in FIG. 1 , the detection system may include a light 74 and one or more sensing units 76 (e.g., a scanner or camera) for detecting any identification marks (e.g., barcodes, QR codes, RFID, tags, etc.) on the objects in the cargo box 46 and for guiding the programmable motion device 56 to grasp the objects in the cargo box with the end effector 70 ( Figure 5 ). Through the system, the selected object is retrieved from the tote and transported to the desired box 64 via carrier 58 and then via carrier 62.

[0074] Such robotic pickers are used in many different types of applications for material handling. In one case, a robotic picker can be used to pick up a single object from a collection of objects of the same type and then transfer the picked object to a container or conveyor or other destination location. In some cases, the robotic picking technology uses cameras and 3D scanners to sense and analyze the picking surface before it automatically selects the best position to pick up the object based on various criteria. In some cases, the robotic picking system may mistakenly pick up two or more objects. This is undesirable behavior because it affects the accounting of the goods at the receiver and causes an incorrect count of the goods when tracking the number of objects remaining in the inventory. It is desirable that the method senses whether the robot has picked up more than one object before the object is placed in the output container or conveyor, or after the object is placed, to prevent the transfer of multiple objects so that the inventory count can be updated. In certain further embodiments, similarly, such as when the robotic picker picks from a tote of homogeneous objects, the system can route the double pick to an output destination that is planned to receive two such objects when a double pick is detected.

[0075] The processing unit 36 ​​also includes a capture system 78, which includes scanning and receiving units 80, 82, and an edge detection unit 84 for capturing various characteristics of selected objects throughout the container. Fig. 7A A view from a capture system 78 is shown, which may include a group of similar or dissimilar objects 90 , 92 , 94 , 96 , 98 , depending on the embodiment. Figure 7B and Figure 7C The volume difference between the scans shown in is the estimated volume V of the removed object 94 94The volume is compared with recorded data or recorded object data concerning the object identified by the identification mark provided by the detection system 72 .

[0076] In particular, before removing objects from the cargo box 46, a volume scan of the contents of the cargo box is performed, such as Figure 7B As shown, and after removing the object 94 from the cargo box 46, the contents of the cargo box are scanned volumetrically, as shown in FIG. Figure 7C As shown. Volume scanning can be accomplished using scanning and receiving units 80, 82 that send and receive signals (e.g., infrared signals) and processing system 42. According to an embodiment, from Figure 7B The volume captured in Figure 7C , and the difference is evaluated as the estimated volume (V 94 According to other embodiments, the system that knows that object 94 is about to be retrieved can do so while object 94 is still in the container (e.g. Figure 7B ) while capturing volume data about the object 94. This can replace the ( Figure 7B and Figure 7C According to a further embodiment, the scanning and receiving units 80, 82 can also be used to determine the density D of the object by knowing the mass and volume of the object. 94 The volumetric data may be obtained, for example, using any of a Light Detection and Ranging (LIDAR) scanner, a pulsed time-of-flight camera, a continuous wave time-of-flight camera, a structured light camera, or a passive stereo camera.

[0077] According to further embodiments, the system may additionally employ an edge detection sensor 84 that (again in conjunction with the processing system 42) is used to detect the edges of any object in the container, for example, using data regarding any of intensity, shadow detection, or echo detection, and may, for example, be used to determine any of size, shape, and / or contour, such as Fig.7D The system can also change the illumination source position to assist edge detection by, for example, cycling through the lights 74 on the detection system 72 to highlight different edges, or using volume scanning or surface scanning to measure depth or surface discontinuities.

[0078] If the captured data (e.g., volume, density, dimensions, etc.) is thus confirmed to be within a reliable tolerance range, the object will continue to be processed according to the manifest or shipping label. However, if it is not, the object may be directed to a holding location (e.g., a box designated as a holding location) where it may remain until the difference is resolved. For example, in some embodiments, a weight measurement may be provided by a certified postal weight, which will have a high reliability value and can be trusted for rerouting decisions for measurements near a tolerance threshold. On the other hand, for similar measurements near a tolerance threshold using less reliable weight measurements (such as measurements made with a machine that may not be calibrated by the certified post), the object will have to be rerouted for manual verification of the weight (and appropriate further charges).

[0079] Reference again Figure 5 , the object is placed in the bracket 58 and delivered to any one of the brackets 62 by moving the bracket 58 along the XY movable stage 60 and then tilting the bracket 58 to allow the object to fall into the bracket 62 .

[0080] According to further embodiments, the system can estimate the volume of the object while the object is held by the end effector. Although for some types of object handling systems (e.g., package sorting for shipping / mailing), volume may not be helpful (e.g., when transporting deformable plastic bags), volume scanning will be very valuable in other systems (such as store replenishment or e-commerce applications). In particular, the system can estimate the volume of the picked up object(s) while the picked up object(s) are held by the end effector and compare the estimated volume to the known volume. To capture the estimated volume, in an embodiment, one or more perception units (e.g., cameras or 3D scanners) are placed around the scanned volume to capture volumetric data.

[0081] refer to Figure 8 and Fig. 9 , one or more sensing units 152, 154, 156, 158 (e.g., cameras or 3D scanners) are placed around the scan volume (including end effector 70 and object 94), each sensing unit is positioned opposite an illumination source 162, 164, 166, 168 and optionally includes a diffuser screen 172, 174, 176, 178. Fig. 9 As shown in , the illumination source and sensing unit pairs (e.g., 158, 168, and 178) can be engaged simultaneously. Fig.10 and Fig.11 Opposite each sensing unit is an illumination source 162, 164, 166, 168 and optionally a diffuser screen 172, 174, 176, 178 in front of the corresponding illumination source.

[0082] like Fig.11 As shown in , perception data about an object 94 backlit by an illumination source (e.g., 168) and a diffuser (e.g., 178) will be captured by each perception unit (e.g., 158). Fig.12 A view of object 94 from camera 158 is shown showing the rear lower end; Fig.13 A view of the object from camera 154 is shown, the view showing the front lower end; Fig.14 shows a view of the object from camera 152, the view showing the lower left side; and Fig.15 A view of the object from camera 156 is shown, showing the lower right side. According to various embodiments, three perception units may be used, spaced 120 degrees apart, and according to further embodiments, fewer perception units (e.g., one or two) may be used, and the object may be rotated between data acquisition captures.

[0083] The scan volume can be the volume above the area from which the object is picked up; or the scan volume can be strategically placed between the pick-up location and the drop location to minimize travel time. Within the scan volume, the system takes a snapshot of the volume of the object held by the fixture. As discussed above, the volume can be estimated in a variety of ways depending on the sensor type.

[0084] For example, if the sensors are cameras, two or more cameras may be placed in a ring around the volume and facing slightly upward toward a backlit screen (as discussed above), which may be in the shape of a cross-section of a donut, with the clamping volume held between all the cameras and a brightly lit white screen. The brightly lit screen backlight illuminates one or more held objects, causing the interior volume to appear black. Each sensing unit and associated illumination source may be activated in sequence, such that no two illumination sources are on at the same time. This allows easy segmentation of the held volume in the image.

[0085] Objects can be illuminated with ambient light, which can be provided as specific wavelengths not present in the room, the ambient light can be modulated and the detector can demodulate the received sensory data so that only illumination from the associated source is provided. The black areas, once projected back into space, become frustums and the objects are known to be located in the stereoscopic viewing cone. Each camera generates a separate viewing cone with the property that the volume of the object is a subset of all viewing cones. The intersection of all viewing cones produces the upper boundary of the volume of the (multiple) objects. The addition of cameras improves the accuracy of the volume estimate. The fixture can be visible within the camera and since its position and size are known, its volume can be subtracted from the viewing cone or volume estimate.

[0086] In contrast, if a 3D scanner is acquired that acquires a 3D image of the scanned volume, a volume estimate is obtained in a similar manner by fusing together the point clouds received from each sensor, but without the need to segment the image from the background using backlighting. Each 3D scanner returns a 3D image and, for each pixel in the image, a depth.

[0087] According to other embodiments, a 3D scanner that acquires a 3D image of the scanned volume may be used, and then a volume estimate is obtained in a similar manner by fusing the point clouds received from each sensor together, but without the need to segment the image from the background using backlighting. Each 3D scanner returns a 3D image, returning a depth for each pixel in the image, and again any of a light detection and ranging (LIDAR) scanner, a pulsed time-of-flight camera, a continuous wave time-of-flight camera, a structured light camera, or a passive stereo camera, etc., may be used.

[0088] Thus, the system can compare the volume of the object to the difference in volume of the pick area before and after the pick. Another approach is to use a 3D scanner to analyze the pick or place volume or both the pick and place volumes and then estimate the amount of additional or subtracted volume observed in the perception area. For example, first, the pick area is scanned using a 3D scanner, which recovers a 3D point cloud of the area. Second, a robotic picker picks up the object with the intent of picking up a single object. Third, the pick area is rescanned and an estimate of how much volume was taken away from the pick area is formed. Fourth, as described above, using the volume estimate, a decision is made based on one or more defined thresholds as to whether the volume difference is considered to exceed a predetermined threshold for the volume of a single number of objects.

[0089] According to a further embodiment, the system can scan the pick-up volume before and after picking up, and compare the estimated volumes. In this case, the volume of the pick-up or placement area can be estimated in the following manner. Assume that the 3D scanner is roughly looking down at the pick-up area, or looking at the pick-up area at a small angle. The 3D scanner provides an image of the area, and for each pixel in the image, provides the range of the geometric structure in the pixel direction. This array measured using the range can form a point cloud. The point cloud represents points in three-dimensional space that are estimated to be on the top surface of the pick-up surface, where the pick-up surface is the topmost surface of the object to be picked up. The area of ​​the pick-up surface can be discretized into a grid of vertical columns, and for each vertical column, an estimate of the height of the geometric structure within the vertical column can be obtained by taking the maximum, average, median, minimum, or some other robust statistics of the height of the points located in the column. Then, the volume of the pick-up area is the sum of the values ​​of the height values ​​estimated for each vertical column.

[0090] Due to various reasons, such as resolution, reflection or transparency, some vertical columns may not have any point cloud points. In this case, the resolution can be adaptively changed so that the vertical columns are wide enough and no column has no point cloud points. Various types of statistics can be obtained to determine the boundaries of the volume, such as taking the variance of the height of the points within the column to obtain the overall variance of the volume of the picking area. In this way, an estimate of the difference volume can be obtained in the picking area. If a single object is indeed picked up, the volume of the area will be reduced by a single pick; or, if a single object is indeed placed, the volume of the area will be increased by a single pick; or, the difference volume of the pick and place can be estimated and combined to prevent noise and errors in the estimate.

[0091] For example, Fig.16 A structured light 3D scanner 182 is shown projecting a grid 188 onto a field of view. The 3D scanner 182 may be used in conjunction with one, two, or three other 3D scanners (two more are shown at 184, 186). Fig.17A 1 is used in the system 180 shown in . The 3D scanners are pointed at a common volume in which the object 94 is positioned while being attached to the end effector 70. With three such 3D scanners, the scanners can be positioned 120 degrees apart (90 degrees apart if four are used; and opposite each other if only two are used). Figure 17B-Figure 17D A system 189 is shown having upper sensing units 183a, 185a, 187a located above the object 94 held by the end effector 70 and lower sensing units 183b, 185b, 187b located below the object 94 held by the end effector 70 to provide further perspective and greater reliability of the volume estimates provided to the system. Fig. 17C As shown in , the upper and lower sensing units are set at different angles to capture more data points about the item being held. Fig.17D The vertical separation and different viewing angles of the upper and lower sensing units 183a and 187b are shown. Although the system 189 is shown with 6 sensing units, a single sensing unit, or a single upper and a single lower sensing unit, may be used if rotating around the object to view all sides.

[0092] refer to Fig.18 and Fig.19, each 3D scanner (e.g., 182) captures 3D data about an object. When a grid is displayed on the object, the lines will become distorted when viewed from different perspectives. The distorted views can then be used for geometric reconstruction to determine the surface contours of the object. Once the volume of the end effector is identified during reconstruction, the volume can be removed from the captured data. The displayed grid or other line pattern can be provided as coherent laser or incoherent light and have a static or dynamic pattern.

[0093] In either or any method of obtaining a volume estimate, the volume estimate is then compared to the known volume of the object. Because the sensor data can be noisy, and because the various algorithms used to estimate the volume can result in small errors, the threshold used to decide whether more than one pick has occurred is adjusted, depending on the application, to balance the number of false positives (pickups are estimated to contain more than one object, but in fact only one object is held) and false negatives (pickups are estimated to contain a single object, but in fact more than one object is held). The adjusted threshold may also depend on the object in question, and each object may have its own threshold. If it is determined that the threshold has been exceeded, the objects may be placed back in the area where they were picked so that the robot can try to pick up a single object again.

[0094] According to further embodiments, the system can detect multiple pick-ups by automatically sensing leaks from flow or pressure data. Fig. 20 , the system may use an end effector 170 that includes a sensor 160 (such as a flow sensor or a pressure sensor). For example, the system may detect a much larger flow rate (or increase in vacuum pressure) than predicted for object 94, which may be due to grasping two objects (92, 94), causing a large amount of air to be drawn into the end effector 170 from between the two objects.

[0095] Thus, the system can detect multiple picks by automatically sensing leaks from flow or pressure data. Another approach is to calculate statistics based on the observed values ​​of flow and pressure when holding an object to compare it with the statistics collected when the same object was previously collected. In a further embodiment, the system can calculate variance and other statistics based on the time series data of flow and / or pressure when holding an object to compare it with the statistics when the same object or similar objects were previously clamped. In a further embodiment, the system can also compare the acquired values, and if the difference exceeds a certain threshold, the system can specify it as an instance of picking up more than one object. In a further embodiment, the system can use a linear classifier, a support vector machine, or other machine learning based classifier to distinguish between single or multiple picks using flow or pressure data. Additionally, the system can combine any subset of the above methods. The system can also use a performance model of any of the above, where the system knows the probability of single or multiple picks given the output of the detection, and can then combine any or all of the above methods.

[0096] In certain applications, such as picking from a homogeneous tote of objects, the system may identify an activation sequence (e.g., from a manifest) that requires two such objects (and does not already have a total number of such objects that requires at least two or more). The system may then route the identified double pick to the identified location, noting that two such objects have been delivered to the identified location. However, such a system must maintain active monitoring of the grasps and may learn over time which types of objects may be more likely to result in multiple picks and which such multiple picks may be reliably delivered by the end effector and further may be further processed together in the processing system. In particular, if a shuttle carriage is used, the system must know that two such objects will be loaded into the carriage at the same time. If the shuttle carriage includes weight sensing, the presence of two such object picks will be confirmed, as described herein with reference to FIG. Figure 21-32 As discussed. Because the system can not only learn the types of objects that can be handled as multi-pick, the system can also learn the types of grasps that can be reliably handled as multi-pick (e.g., double pick).

[0097] According to further embodiments, the system can compare the weight held or transmitted with a known object weight. In such systems, the method is to measure the weight of the picked object and compare the measured weight with the a priori known weight of the object. Weighing of the object can be achieved in any of a variety of ways, including at the fixture, through a force or load sensing mechanism in the fixture, at the pick-up or placement area, or in the pick-up area container or conveyor below by continuous weighing through a scale to measure the weight change before and after picking or placing, or on an auxiliary transport mechanism (such as a shuttle that transports a single picked object to another location), or on a temporary weighing mechanism within the workspace of a robotic picking unit, where the robot places one or more objects on a holding pallet, where the objects are then weighed and the robot picks up the objects again.

[0098] Figure 21-Figure 25 A cradle 100 (e.g., any of cradles 58, 62) is shown including a generally V-shaped body 103 for receiving an object, and a beam break transmitter and receiver pair 102, 104 (e.g., an infrared transmitter and receiver) for detecting when an object enters or leaves the body 103 in accordance with an embodiment of the present invention. Fig.21 The carriage also includes a support frame 106 for supporting the body 103, and an actuator for moving the carriage along the track and selectively tilting the carriage to allow the contents of the carriage to fall into another carriage, box or other container. The drive can be any of a pneumatic or electrical control system 108, and the communication to and from the carriage can be wireless communication from an electronic processing system 110 (such as Fig. 22 ).

[0099] The carriage also includes a pair of load cells 112, 114 coupled to the frame 106, and the carriage body 103 is mounted to (and suspended by) the load cells. By positioning the load cells on the body of the carriage in close proximity to the object(s) held therein, a highly reliable weight measurement can be obtained. Once an object is detected, for example by the beam break transmitter and receiver pair 102, 104, the system will determine the weight of the object. According to an embodiment, the system adds the weight values ​​(W1, W2) of the two load cells and subtracts the weight of the body 100. In this way, the weight of the object can also be obtained and checked using the manifest or shipping information (within a tolerance range of, for example, 2% to 5%). According to other embodiments, the load cells themselves can register changes indicating that the carriage has received or discharged an object.

[0100] The carrier body 103 is adapted to be rotatable about an axis 117 (to empty its contents), and is attached to the top 119 of the load cells 112 , 114 above the axis of rotation 117 . Fig.23 shows a top view of the bracket, Fig.24 An end view of the side of the carriage opposite the actuation system 108 is shown. Fig.25 The tray is shown being tilted (rotated about axis 117) to empty its contents, and this movement can continue until stop plate 115 contacts stop member 116 (eg, Fig.21 shown).

[0101] The detection of weight is very important for many industrial tasks. If the object in the carrier has a weight that is significantly different from the weight in the manifest or shipping label, the object can be held until resolved (e.g., to handle additional charges) as discussed above. According to other embodiments, the carrier can be used to transport multiple objects that are objects of the same weight. In the case of known identical weights, the number of objects in the carrier can be determined by dividing the measured total weight by the known object weight.

[0102] Fig.26 and Fig. 27 (with Fig.21 and Fig. 22 Similar view) shows the Figure 21-Figure 25 The embodiment shown is similar to another embodiment of the present invention, the bracket 100' having a body 103', the body 103' including a higher rear wall 101, against which the object can be redirected into the generally V-shaped body of the bracket. In particular, especially for the bracket 62, the first bracket 58 can allow the object to fall into the bracket having the body 100', so that the first bracket 58 is located Fig.26 and Fig. 27 On the side of the bracket 100 ′ opposite to the higher rear wall 101 .

[0103] The carriage 100' is similarly mounted on the frame 106 via load cells 112, 114, and its movement along the track and tilting is controlled by the actuation system 108. The electronic processing and communication system 110 ( Fig. 27 Again, the load cells 112, 114 can be used to determine the weight of the contents of the tray, as described above with reference to Figure 21-Figure 25 For example, once the beam break transmitter and receiver pair 102, 104 detects an object, a system according to an embodiment adds the weight values ​​of the two load cells (W1, W2) and subtracts the weight of the body 103'. According to other embodiments, the load cells themselves may register a change indicating that the carriage has received or ejected an object.

[0104] Figure 28-Figure 30A bracket 120 according to another embodiment of the present invention is shown. The bracket 120 includes a main body 122 and a V-shaped plate 124 (eg, Fig.29 The V-shaped plates are removed). Each load cell 126 can obtain weight data from the other four load cells, for example, Fig.26 W3, W4, W5, W6, and W7, W8, W9, W 10 . Fig.30 A bracket 120 is shown, which includes Fig.29 Not shown and also from Fig.28 The remainder of the carriage 120 is as discussed above, including a support frame for movement along the track, as well as an actuation system and an electronic processing and communication system. Again, as discussed above, the load cells 126 can be used to determine the weight of the contents of the carriage. For example, once it is detected (e.g., by a beam break transmitter and receiver pair as discussed above) that an object has entered the carriage 120, a system according to an embodiment will store the weight values ​​of the eight load cells (W3, -W4, -W5, -W6, -W7, -W8, -W9, -W10, -W11, -W12, -W13, -W14, -W15, -W16, -W17, -W18, -W19, -W20, -W21, -W22, -W23, -W24, -W25, -W26, -W37, -W19, -W27, -W38, -W19, -W28, -W29, -W39, -W40, -W50, -W61, -W71, -W8 10 ) and subtract the weight of the V-shaped plate 124.

[0105] Fig.31 and Fig.32 A bracket 140 according to another embodiment of the present invention is shown, which includes a body 142 and a mounting bracket 144 mounted to a support frame 146 via load cells 148. Each load cell 148 can acquire weight data, such as Fig.31 W shown in 11 , W 12 . Fig.32 An enlarged view of a load cell 148 coupled between the carriage mounting bracket 144 and the support frame 146 is shown. The remainder of the carriage 120 is as discussed above, including the remainder of the support frame for movement along the track, and an actuation system and electronic processing and communication systems for selectively rotating the carriage body about axis 145. Again, as discussed above, the load cell 148 can be used to determine the weight of the contents of the carriage. For example, once it is detected (e.g., by a beam break transmitter and receiver pair as discussed above) that an object has entered the carriage 140, a system according to an embodiment may store the weight values ​​(W) of the two load cells. 11 , -W 12 ) and subtract the combined weight of the main body 142 and the two bracket mounting brackets 144.

[0106] Fig.33A processing station 36' according to another embodiment of the present invention is shown, which includes a drop sensing system 200 by which an object (e.g., 194) can be dropped into a first bracket 58 mounted on an XY movable stage 60. The object (194) is identified by a sensing device (e.g., a camera or scanner) that detects any identification mark (e.g., a barcode, QR code, RFID, etc.) on the object. Further reference Fig.34 , the object then falls through the drop scanner 200 via the guide 202 and lands in the first carriage 58 via the chute 204. As described above, the carriage 58 includes an object detection system (such as a load cell or a beam break detection system, etc.) that detects when the carriage 58 receives the object, and the carriage 58 then moves to the appropriate row and carriage 62 based on the detected markings.

[0107] The processing unit 36 ​​also includes a capture system 78, which includes scanning and receiving units 80, 82, and an edge detection unit 84 (as described above with reference to Figure 6 discussed), used to capture various characteristics of selected objects or the entire container. Fig.35A 1 shows a view from a volume detection system 78, which may include a set of similar or dissimilar objects 190, 192, 194, 196, 198, depending on the embodiment. Fig.35B As shown in FIG. 1 , before removing the object from the cargo box 46, the contents of the cargo box are volume scanned by the scanning and receiving units 80, 82, and as shown in FIG. Fig.35C As shown in , after the object 194 is removed from the cargo box 46, a volume scan of the contents in the cargo box is performed.

[0108] According to an embodiment, from Fig.35B The volume captured in Fig.35C , and the difference is evaluated as the volume of the removed object 194 (V 194 According to other embodiments, the system, knowing that object 194 is about to be collected, can capture volumetric data about object 194 while object 194 is still in the container (e.g., Fig.35B This can replace the above discussion ( Fig.35B and Fig.35C According to a further embodiment, the scanning and receiving units 80, 82 can also be used to determine the density D of the object by knowing the mass and volume of the object. 194 .

[0109] Fig.35B and Fig.35C The volume difference between the scans shown in is the volume V of the object 194 removed.194 The volume is compared to recorded data or recorded data regarding the object identified by the identification mark provided by the perception system 200. If the volume is determined to be within tolerance, then the object continues to be processed in accordance with the manifest or shipping label. However, if the volume is not within tolerance, then the object may be directed to a holding location (e.g., a box designated as a holding location) where the object may be retained until the difference is resolved. As discussed above, again with reference to Figure 5 , by moving the carriage 58 along the XY movable stage 60 and then tilting the carriage 58 to allow the object to fall into the carriage 58 , the object falls into the carriage 58 and is delivered to any one of the carriages 62 .

[0110] According to a further embodiment and with reference to Fig.35D The system may additionally employ an edge detection sensor 84 that (again in conjunction with the processing system 42) is used to detect the edges of any object in the container, for example using images of any of intensity data, shadow detection, or echo detection, etc. This information may be used to determine or verify any of the identity, location, orientation, size, shape, and / or contour of the object. For example, edge detection may be performed before or after a volume scan, and thereafter a volume may be calculated for each identified object within the container.

[0111] Fig.36 and Fig.37The fall sensing system 200 is shown in more detail. In particular, the fall sensing system 200 includes a structure 242 having a top opening 244 and a bottom opening 246, and may be covered by an enclosing material 248 (e.g., a colored cover such as orange plastic) to protect humans from potentially dangerous bright lights within the auxiliary sensing system. The structure 242 includes multiple rows of sources (e.g., lighting sources such as LEDs) 250 and multiple image sensing units (e.g., cameras) 252. The sources 250 are arranged in a row and each is pointed at the center of the opening. The sensing units 252 are also generally pointed at the opening, although some are pointed horizontally, others are pointed upward, and some are pointed downward. The system 228 also includes an entry source (e.g., an infrared source) 254 and an entry detector (e.g., an infrared beam interruption detector 256) for detecting when an object enters the sensing system 228. Thus, the LEDs and cameras surround the interior of the structure 242, and the sensing units are positioned to view the interior through a window that may include a glass or plastic cover (e.g., 258). The sensing unit may include a camera (e.g., 2D or 3D) or a scanner (e.g., a light reflectance or radio frequency scanner), and the processing system 20 may include associated software to process the sensing data. The scanner looks for various codes, such as markings (e.g., barcodes, radio frequency tags, stock keeping units (SKUs), universal product codes (UPCs), digital identification DW codes (Digimarc DWCodes), etc.).

[0112] Figure 38-Figure 40 A representative set of two rows of output boxes 64 are shown adjacent to the output conveyor 66 of the destination station 38. In particular, as discussed above and as shown in FIG. Fig.38 As shown in FIG. 1 , each of the brackets 62 receives an object 160 from the first bracket 58 and each of the brackets 62 is reciprocally movable between the output boxes 64. Fig.39 As further shown in FIG. 1 , each carriage 62 moves along a track 170 and can be actuated to drop an object 160 into a desired output box 64 by tilting as shown.

[0113] The output boxes may be disposed in a conveyor (e.g., rollers or belts) and may be biased (e.g., by gravity) to push all destination boxes toward one end 680, as shown. Fig.40When an output box 64 is selected for removal (e.g., because the container is full or otherwise ready for further processing), the system will push the completed box onto an output conveyor 66 to be taken to a further processing or shipping station. This can be achieved, for example, using a displacement mechanism 50 as discussed above. The conveyor 66 can be biased (e.g., by gravity or power) so that any container on the conveyor is taken to an output position at a second end 682 opposite the first end 680. The destination container can be configured as a box or container or any other type of device that can receive and hold an object, including a box pallet assembly.

[0114] After the boxes are shifted onto the conveyor, each of the output boxes can be pushed together and the system will record the change in position of any of the boxes moved. In this way, new empty boxes can be added at the end and the system will record the correct position of each of the destination bins and the identified handling details.

[0115] Each of the above detection systems for detecting or estimating any of weight, size, mass, volume, density, etc. can be used with various object handling systems. For example, Fig.41 A processing system 302 is shown that includes a programmable motion system 300. The programmable motion system 302 includes an articulated arm 304 and an end effector 306. The system 300 can pick objects from a tote 310 disposed on a conveyor 312 and place the picked objects in a reciprocating carriage 314 that travels along a track 316 between rows of boxes 320. The completed boxes can be pushed onto an output conveyor 322 that directs the completed boxes to a collection output conveyor 324.

[0116] System 302 includes a sensing unit 308, and further reference is made to Fig.42 and Fig.43 , the perception unit 308 combines the functionality of the detection system 72 and the capture system 78 discussed above, and includes a light 374 and a perception unit 376, a scanning and receiving unit 380, 382, ​​and an edge detection unit 384. Each perception unit 308 can therefore capture identification markers and provide a volumetric 3D scan as discussed above.

[0117] The bracket 314 may be the Figure 21-Figure 32 Any of the discussed racks can thus determine the estimated weight or mass of the object(s) in the rack. The system can also check all of the detected / estimated data against the manifest or original shipping record and process the object as discussed above, selecting an appropriate box 320 into which to place the object in response to the data. Fig.44As shown in , the system can be scaled so that multiple programmable motion systems 302 can handle objects into multiple racks 314 and output boxes 320.

[0118] also, Fig.45 A processing system 400 is shown that includes a programmable motion system 402. The programmable motion system 402 includes an articulated arm 404 and an end effector 406. Fig.46 Shows Fig.45 The system 400 can pick up objects from a tote 410 disposed on a conveyor 412 and place the picked up objects in a reciprocating carriage 414 that travels along a track 416 between multiple rows of boxes 420, such as Fig.47 (Shown with Fig.45 Similar views) and Fig.48 (Shown with Fig.46 The tote 410 may be provided by a conveyor 424 and an endless conveyor 430 that use one or more diverters 432 to provide the tote 410. The completed boxes may be pushed onto an output conveyor 422 that directs the completed boxes to an output conveyor 424 where they are collected.

[0119] The system 402 includes a perception unit 408 that is identical to the perception unit 308 discussed above that combines the functionality of the detection system 72 and the capture system 78, and includes a light and perception unit, a scanning and receiving unit, and an edge detection unit. Each perception unit 408 can therefore capture identification marks and provide a volumetric 3D scan as discussed above.

[0120] Bracket 414 may be the Figure 21-Figure 32 Any of the discussed racks can be located in the box 420 and the estimated weight or mass of the object(s) in the rack can be determined accordingly. The system can also check all detected / estimated data against the manifest or original shipping record and process the object as discussed above, selecting the appropriate box 420 into which to place the object in response to the data. Fig.49 As shown in , the system can be scaled so that multiple programmable motion systems 402 can handle objects into multiple carriers 414 and output boxes 420.

[0121] Those skilled in the art will appreciate that various modifications and variations can be made to the embodiments disclosed above without departing from the spirit and scope of the present invention.

Claims

1. A processing system for processing an object, the processing system comprising: a plurality of receiving stations for receiving a plurality of objects, each object being associated with pre-recorded data; A plurality of processing stations, each of which comprises: a sensing device for sensing data regarding the identity of any one of the objects or the container of the objects, and a capture device for capturing characteristic data about the object to provide captured data; comparison means for comparing the captured data with the pre-recorded data to provide comparison data; and a plurality of delivery stations, each of the plurality of delivery stations being in communication with at least one of the plurality of processing stations for receiving an object from at least one processing station in response to the comparison data, The capture device includes a weight detection system, which includes a plurality of load cells mounted on a reciprocating carriage to detect the weight of the objects located therein, wherein the reciprocating carriage is suitable for selectively discharging any of the objects.

2. The processing system according to claim 1, characterized in that The pre-recorded data is provided by the sender of the object.

3. The processing system according to claim 1, characterized in that The pre-recorded data is provided by the distribution system manifest.

4. The processing system according to claim 1, characterized in that The captured data further includes data regarding any of size, volume, density, and shape.

5. The processing system according to claim 1, characterized in that The capture device further includes a volume scanner.

6. The processing system according to claim 1, characterized in that The capture device further includes an edge detection system.

7. A method for processing an object, the method comprising: receiving a plurality of objects, each object being associated with pre-recorded data; providing a plurality of processing stations, each of the plurality of processing stations sensing data regarding the identity of any one of the objects or the container of the objects, and capturing characteristic data regarding the objects using a capture device to provide captured data; comparing the captured data to the pre-recorded data to provide comparative data; providing a plurality of delivery stations, each of the plurality of delivery stations in communication with at least one processing station for receiving an object from the at least one processing station in response to the comparison data; The capture device includes a weight detection system, which includes a plurality of load cells mounted on a reciprocating carriage to detect the weight of the objects located therein, wherein the reciprocating carriage is suitable for selectively discharging any of the objects.

8. The method according to claim 7, characterized in that The pre-recorded data is provided by the sender of the object.

9. The method according to claim 7, characterized in that The pre-recorded data is provided by the distribution system manifest.

10. The method according to claim 7, characterized in that Capturing the characteristic data further includes capturing data regarding any one of size, volume, density, and shape.

11. The method according to claim 7, characterized in that Capturing the characteristic data further includes capturing data regarding a volume of the object using a volume scanner.

12. The method according to claim 7, characterized in that Capturing the characteristic data further includes capturing data regarding the shape of the object using an edge detection system.

13. An object processing verification system, comprising: a data repository for storing information related to the object, the information including identification information, object weight, object volume, and destination information; a first detection system, the first detection system detecting identification information associated with the object; a second detection system that detects a volume associated with the object; a third detection system that detects a weight associated with the object, wherein the third detection system includes a shuttle having an object holding area that holds the object and at least one load cell disposed on the shuttle for detecting the weight of the object held in the holding area; a computer processing system for comparing the detected identification information, volume, and weight with the volume and weight of the identified object stored in the data repository; as well as Wherein, if the detected volume and weight of the object match the stored volume and weight of the object, the shuttle routes the object to the forward destination; and if the detected volume and weight of the object do not match the stored volume and weight of the object, the object is routed to the inspection destination.

14. The object handling verification system according to claim 13, wherein: The computer processing system calculates the volume of the object by detecting a first volume before removing the object from a volume detection location, detecting a second volume after removing the object from the volume detection location, and subtracting the second volume from the first volume.

15. The object handling verification system according to claim 13, wherein: The shuttle has an object base that supports the object holding area and moves the shuttle to the forward destination or the inspection destination.

16. The object handling verification system according to claim 15, characterized in that: The at least one load unit is located on the base of the shuttle.

17. The object handling verification system according to claim 15, characterized in that: The object holding area is hinged about a pivot to allow the object held therein to be dropped from a shuttle into a destination area, wherein the at least one load unit is located between the pivot and the object holding area.

18. The object handling verification system of claim 15, wherein: The object holding area includes a weigh plate and a floor, wherein the object is held on the floor, and the at least one load cell is located between the weigh plate and the floor.

19. The object handling verification system of claim 13, wherein: The first detection system detects one or more of a shape, a barcode, and an RFID tag of the object.

20. The object handling verification system of claim 13, wherein: The data repository further stores information regarding the source, price, packaging, and padding of the object.

21. The object handling verification system of claim 20, wherein: The detected volume is used to determine the package size required to ship the object, and the amount of cushioning to secure the object in a package of that package size.

22. The object handling verification system of claim 20, wherein: The detected weight and volume are used to determine the accuracy of the object's price, shipping cost from a source, shipping cost to a destination, or packaging and dunnage costs.

23. The object handling verification system of claim 13, further comprising a multiple pick identification system for identifying whether a pick includes more than one object.

24. The object handling verification system of claim 23, wherein: The multiple pick identification system uses a vacuum sensor to determine if the pick includes more than one object.

25. The object handling verification system of claim 23, wherein: The multiple pick identification system uses air flow sensors to determine if the pick includes more than one object.

26. The object handling verification system of claim 23, wherein: The multiple pick identification system uses weight detection to determine if the pick includes more than one object.

27. The object handling verification system of claim 23, wherein: The multiple pick identification system uses image processing of an image of a volume of objects to determine if the pick includes more than one object.

28. The object handling verification system of claim 23, wherein: The multiple pick identification system determines whether the pick includes more than one object and determines whether the more than one objects can be processed together as a unit.

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