Patent Publication Number: US-2021179366-A1

Title: Suction gripper cluster device for material sorting and other applications

Description:
CROSS REFERENCE TO OTHER APPLICATIONS 
     This application claims priority to U.S. Provisional Patent Application No. 62/948,397 entitled SYSTEMS AND METHODS FOR MULTIPLE-HEADED AIRFLOW MOTIVATED MATERIAL SORTING filed Dec. 16, 2019 which is incorporated herein by reference for all purposes. 
    
    
     BACKGROUND OF THE INVENTION 
     Within many industrial facilities, objects are transported on conveyor belts from one location to another. Often a conveyor belt will carry an unsorted mixture of various objects and materials. Within recycling and waste management facilities for example, some of the conveyed objects may be considered desirable (e.g., valuable) materials while others may be considered undesirable contaminants. For example, the random and unsorted contents of a collection truck may be unloaded at the facility onto a conveyor belt. Although sorting personnel may be stationed to manually sort materials as it is transported on the belt, the use of sorting personnel is limiting because they can vary in their speed, accuracy, and efficiency and can suffer from fatigue over the period of a shift. Human sorters also require specific working conditions, compensation, and belt speeds. Production time is lost to training the many new employees that enter as sorters, and operation costs increase as injuries and accidents occur. 
     For the reasons stated above and for other reasons stated below which will become apparent to those skilled in the art upon reading and understanding the specification, there is a need in the art for systems and methods for multiple-headed airflow motivated material sorting. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various embodiments of the invention are disclosed in the following detailed description and the accompanying drawings. 
       Embodiments of the present disclosure can be more easily understood and further advantages and uses thereof more readily apparent, when considered in view of the description of the preferred embodiments and the following figures in which: 
         FIG. 1  is a diagram of an embodiment of a suction gripper cluster device. 
         FIGS. 1A and 1B  are diagrams illustrating example suction gripper cluster configurations in accordance with some embodiments. 
         FIG. 1C  is a diagram illustrating another example suction gripper cluster configuration in accordance with some embodiments. 
         FIG. 1D  is a diagram illustrating another example suction gripper cluster configuration in accordance with some embodiments. 
         FIGS. 2 and 2A  are diagrams illustrating example material sorting systems in accordance with some embodiments. 
         FIG. 2B  is a diagram illustrating an example sorting control logic and electronics. 
         FIG. 3  is a diagram illustrating an example of an air conveyor device that may be used to provide airflows to a suction gripper mechanism in accordance with some embodiments. 
         FIGS. 4, 4A, 4B, 4C and 4D  are cross-sectional illustrations of an example air conveyor device in accordance with some embodiments. 
         FIG. 5  illustrates example interconnections between an example pneumatic control system and with first and second airflow generators of suction gripper mechanisms of a suction gripper cluster. 
         FIGS. 6 and 7  are diagrams illustrating example mechanical material ejector mechanisms in accordance with some embodiments. 
         FIG. 8  is a diagram illustrating an example of a suction gripper cluster coupled to an example positioning actuator mechanism in accordance with some embodiments. 
         FIG. 9  is a flow diagram showing an embodiment of a process for using a suction gripper cluster to capture and eject a target object. 
         FIG. 10  is a flow diagram showing another embodiment of a process for using a suction gripper cluster to capture and eject a target object. 
         FIG. 11  is a flow diagram showing an example of a process for using a suction gripper cluster to perform a capture action on a target object. 
     
    
    
     In accordance with common practice, the various described features are not drawn to scale but are drawn to emphasize features relevant to the present disclosure. Reference characters denote like elements throughout figures and text. 
     DETAILED DESCRIPTION 
     The invention can be implemented in numerous ways, including as a process; an apparatus; a system; a composition of matter; a computer program product embodied on a computer readable storage medium; and/or a processor, such as a processor configured to execute instructions stored on and/or provided by a memory coupled to the processor. In this specification, these implementations, or any other form that the invention may take, may be referred to as techniques. In general, the order of the steps of disclosed processes may be altered within the scope of the invention. Unless stated otherwise, a component such as a processor or a memory described as being configured to perform a task may be implemented as a general component that is temporarily configured to perform the task at a given time or a specific component that is manufactured to perform the task. As used herein, the term ‘processor’ refers to one or more devices, circuits, and/or processing cores configured to process data, such as computer program instructions. 
     A detailed description of one or more embodiments of the invention is provided below along with accompanying figures that illustrate the principles of the invention. The invention is described in connection with such embodiments, but the invention is not limited to any embodiment. The scope of the invention is limited only by the claims and the invention encompasses numerous alternatives, modifications and equivalents. Numerous specific details are set forth in the following description in order to provide a thorough understanding of the invention. These details are provided for the purpose of example and the invention may be practiced according to the claims without some or all of these specific details. For the purpose of clarity, technical material that is known in the technical fields related to the invention has not been described in detail so that the invention is not unnecessarily obscured. 
     The introduction of sorting systems (such as robotic systems, for example) for sorting materials has led to increased productivity and decreased contamination for Material Recovery Facilities (MRFs). Robots and similar systems have been utilized as a viable replacement, or supplement, for human sorters due to their speed, reliability, and durability. The objective of sorting systems is to recover the specific target material(s) and eject them into bunkers without introducing other materials (contaminants) into the sorted bunkers. A common technique used by these sorting systems to grasp target materials involves the use of a dynamically positioned suction gripper. Suction grippers are mechanisms used to pick up and move objects by applying a concentrated vacuum to a portion of an object&#39;s surface with sufficient vacuumed strength to capture an object and hold the object to the gripper. For example, a suction gripper can apply a substantial suction force to a target object so as to capture a target object off from a conveyor belt. Once the object is captured, the suction gripper can be repositioned and operated to release the object into a material deposit location. 
     As would be appreciated particularly for waste and material recovery facilities, the target objects which need to be removed from the conveyer belt can be dirty, crushed, and/or folded, making it difficult for a suction gripper to create a good seal on the object to allow it to secure and lift the target object off from the conveyer belt. Moreover, target objects can be expected to be arranged on the conveyor mechanisms in arbitrary orientations. As such, when a suction gripper is actuated and attempts to apply its suction force onto the target object, the surface region of the object that the suction gripper engages with may, or may not, be well suited to sufficiently react to the suction force in order to be captured by the suction gripper for sorting. 
     Embodiments of a suction gripper cluster device for material sorting are described herein. In some embodiments, airflows are caused to be generated by a plurality of airflow generators of one or more air conveyor devices and the airflows are provided to a respective plurality of suction gripper mechanisms included in a suction gripper cluster. In some embodiments, the airflows are to enter respective intake ports of the plurality of suction gripper mechanisms and exit respective outlet ports of the plurality of suction gripper mechanisms. A target object (e.g., that is being transported by a conveyor belt) is caused to be captured by the suction gripper cluster using the airflows. In some embodiments, a “suction gripper cluster” is a device that comprises two or more suction gripper mechanisms and the two or more suction gripper mechanisms are configured to emit vacuum/suction airflows that enable the two or more suction gripper mechanisms to collectively capture (e.g., pick up) a target object. A positioning actuator mechanism is activated to position the suction gripper cluster. In some embodiments, after the target object has been captured (e.g., held onto by the suction gripper cluster by the vacuum/suction airflows), the position (e.g., comprising the orientation, location, and/or height) of the suction gripper cluster is adjusted by a positioning actuator mechanism coupled to the suction gripper cluster to facilitate the ejection of the target object or a reversal of airflow from vacuum pressure to forcibly expel the target object. After the suction gripper cluster has been positioned, the target object is caused to be ejected from the suction gripper cluster. 
     Sorting machinery that utilizes multiple-headed airflow motivated material sorting as described herein has the advantage of being able to engage with the exposed surface of a target object using multiple suction grippers at multiple locations. Such embodiments can quickly and efficiently remove materials from a moving conveyor mechanism in an efficient and effective manner by applying multiple suction streams that interact with different regions of a surface of a target object. The application of multiple suction streams increases the likelihood that the force of suction from at least one of the suction streams will be sufficient to capture the target object (e.g., hold onto the target object), or alternatively, that the composite low pressure region formed by the multiple vacuum streams will be sufficient to capture the target object (e.g., hold onto the target object). Additionally, because each suction gripper mechanism is designed to move independently of the other suction gripper mechanisms within a single suction gripper, the suction gripper mechanisms can flexibly comply against the surface of the target object, which also helps to increase the likelihood that the suction gripper cluster device will successfully capture the target object. In some embodiments, an external control system and object recognition system may be utilized in combination with one or more suction gripper clusters in order to identify target objects, identify the contours of the target objects (e.g., to identify optimal suction gripper cluster placement), control material capture operations, and to activate material ejection operations to deliver captured target items into one or more designated deposit locations. 
       FIG. 1  is a diagram of an embodiment of a suction gripper cluster device. In some embodiments, a “suction gripper cluster” device is also sometimes referred to as a “multiple-headed airflow motivated gripper” device. In the example shown in  FIG. 1 , suction gripper cluster  100  comprises a plurality of suction gripper mechanisms  101 , where each suction gripper mechanism is mounted within mounting assembly  103 . Each of suction gripper mechanisms  101  is coupled to mounting assembly  103  by a corresponding linear bearing component  109 . Mounting assembly  103  may be rigidly secured around linear bearing component  109  for each of suction gripper mechanisms  101 . In one embodiment, for each of suction gripper mechanisms  101 , mounting assembly  103  comprises a through hole through which a corresponding linear bearing component  109  is positioned and securely attached. In some embodiments, mounting assembly  103  and linear bearing component  109  may be rigidly coupled together such as through a weld or mechanical fastener. In some embodiments, mounting assembly  103  and linear bearing component  109  may comprise a single integrated part. Mounting assembly  103  may further comprise one or more mounting points  104  via which mounting assembly  103  may be pivotally coupled to a positioning actuator mechanism, such as an actuator, rotator, arm of a sorting robot, or the like as further described herein. 
     Each of suction gripper mechanisms  101  further comprises a corresponding linear shaft element  105  secured within its respective linear bearing  109  and having a freedom to travel axially up and down with respect to the axis of a corresponding linear bearing  109 . As such, each suction gripper mechanism of suction gripper mechanisms  101  can move axially up and down with respect to the axis of a corresponding linear bearing  109  independently of each other. Each linear shaft  105  comprises internal airflow passage  120  configured to communicate an airflow (having either a positive or negative air pressure) between first port  106  positioned at a first end of each of suction gripper mechanisms  101  and second port  107  positioned at the opposing second end of each of suction gripper mechanisms  101  (and linear shaft  105 ). Put another way, each linear shaft  105  is a hollow tube through which an airflow can pass through. As illustrated in  FIG. 1 , attachment  116  can be attached to first port  106 , such as, but not limited to a suction cup assembly (for example a flexible cup element which may be a rubber, latex, or other flexible material). Attachments to aid in material grasp (shown at  116 ) may be coupled to linear shaft  105  by removable coupler  118  that is attached to first port  106 . As mentioned above, linear shaft  105  is free to travel axially up and down within a corresponding linear bearing  109 . In some embodiments, spring mechanism  108  may be positioned between mounting assembly  103  and stop device  112  located on first port  106  of each of suction gripper mechanisms  101 . Spring mechanism  108  exerts a force against stop device  112  to extend linear shaft  105  such that first port  106  is in a fully extended position, absent the presence of any counteracting force, and may compress to permit linear shaft  105  to retract during a capture action to prevent shock or damage to suction gripper cluster  100  due to impact with the target object. 
     In some embodiments, each of suction gripper mechanisms  101  comprises a corresponding independent air conveyor device  122  that is controllable to generate an airflow through internal airflow passage  120  of respective linear shaft  105 . As described in greater detail below, airflows generated through internal airflow passage  120  are utilized to perform target object capture actions, and in some embodiments, ejection actions. 
     Each air conveyor device  122  can be coupled to respective linear shaft  105  in various ways. In some embodiments, air conveyor device  122  may be an integrated component of linear shaft  105  itself. In another embodiment, air conveyor device  122  may be coupled to either end of linear shaft  105 . Air conveyor device  122  may be fastened to linear shaft  105  by a threaded connection, twist lock connection, by a welded connection, or other fastening techniques, for example. In any case, internal airflow passage  120  defines a common air channel through air conveyor device  122  and linear shaft  105  for passing airflows generated by air conveyor device  122 .  FIG. 1  discloses one configuration where each air conveyor device  122  is positioned proximate to first port  106  at the first (lower) end of linear shaft  105 .  FIG. 1A  discloses a possible alternate configuration where each air conveyor device is positioned proximate to second port  107  at the second (upper) end of linear shaft  105 . In still other embodiments, each of air conveyor devices  122  on suction cluster gripper  100  may be arranged on either side of mounting assembly  103  as illustrated by comparison of  FIGS. 1B and 1C . 
     It should be understood that suction gripper cluster  100  may comprise any number of two or more suction gripper mechanisms  101  arranged in any arbitrary configuration or alignment with respect to each other. For example,  FIGS. 1B and 1C  illustrate one optional configuration of suction gripper cluster  100  comprising three suction gripper mechanisms  101  arranged in a triangular configuration within mounting assembly  103   
       FIG. 1D  is a diagram illustrating another example suction gripper cluster configuration in accordance with some embodiments. In the example suction gripper cluster configuration shown in  FIG. 1D , air conveyor devices still provide airflows (e.g., vacuum air flows or ejection airflows) to suction gripper mechanisms  101  but the air conveyor devices are located remote to suction gripper cluster  100 . Unlike the example suction gripper cluster configurations that are shown in  FIGS. 1, 1A, 1B, and 1C  in which each air conveyor device  122  is integrated with linear shaft  105  of each suction gripper mechanism  101 , air conveyor devices  122  of the example suction gripper cluster configuration shown in  FIG. 1D  are not integrated with linear shafts  105  of suction gripper mechanisms  101 . Moreover, in the example suction gripper cluster configuration shown in  FIG. 1D , air conveyor devices  122  (not shown in  FIG. 1D ) are also not directly coupled to mounting assembly  103 . Rather, in the example suction gripper cluster configuration shown in  FIG. 1D , air conveyor devices  122  are located elsewhere in the pneumatic control system and the pressurized airflows (e.g., vacuum and ejection) that are generated by air conveyor devices  122  are transferred to suction gripper mechanisms  101  via air connections  130 . For example, air connections  130  comprises one or more tubes. For example, one tube of air connections  130  connects each suction gripper mechanism  101  to a corresponding remote air conveyor device  122 . In another example, one tube of air connections  130  connects one remote air conveyor devices to one or more suction gripper mechanisms  101 . As will be shown in an example material sorting system of  FIG. 2A , below, remote air conveyor devices  122  that provide airflows to suction gripper mechanisms  101  may be located proximate or in a manner coupled to a pneumatic control system. 
       FIG. 2  is a diagram illustrating an example material sorting system in accordance with some embodiments. In the example of  FIG. 2 , sorting system  200  includes at least one suction gripper cluster  100  to capture material identified for removal from conveyor mechanism  50 . For example, conveyor mechanism  50  is a conveyor belt. Material identified for removal from the conveyor mechanism  50  are referred to herein as “target objects.” For example, an object may be identified for removal if it is identified to be of a target material type. Although waste products travelling on a conveyor belt are used as example target objects in the example embodiments described herein, it should be understood that in alternate implementations of these embodiments, the target objects need not be waste materials but may comprise any type of material for which it may be desired to sort and/or segregate. Moreover, although a conveyor belt is used as an example conveyance mechanism for transporting the target objects within reach of suction gripper cluster  100 , it should be understood that in alternate implementations of these embodiments, other conveyance mechanisms may be employed. For example, for any of the embodiments described below, in place of an active conveyance mechanism such as a conveyor belt, an alternate conveyance mechanism may comprise a chute, slide, or other passive conveyance mechanisms through and/or from which material tumbles, falls, or otherwise is gravity fed as it passes by the imaging device. In some embodiments, conveyor mechanism  50  may include features (shown at  51 ) that increase airflow available as intake into suction gripper cluster  100 . For example, features  51  such as holes, cleats, treads, or other raised or recessed surface features in, or on, conveyor mechanism  50  may be included in various alternative implementations. 
     In sorting system  200  shown in  FIG. 2 , suction gripper cluster  100  is mounted to a positioning actuator mechanism, sorting robot  250 . More particularly, suction gripper cluster  100  is pivotally mounted to one or more arms  251  of sorting robot  250 . However, it should be understood that the suction gripper clusters disclosed herein are not limited to use only with sorting robot  250  as shown in  FIG. 2 , but may be used with other controllable positioning apparatuses and mechanisms. 
     Sorting system  200  supplies airflow to air conveyor devices  122  of suction gripper cluster  100  via pneumatic control system  240 . Pneumatic control system  240  may be further pneumatically coupled to, or include, air source  245 . In alternate implementations, air source  245  may comprise, for example, a blower, an air compressor, a compressed air storage tank, or some combination thereof or other component that provides pressurized air. Although this disclosure may refer to “air” with regards to “airflow,” “air compressor,” and other elements, it should be understood that the term “air” is used in a generic sense to refer to any compressible gas or mixture of gasses. It should also be understood that the terms “pressurized air” and “compressed air” are used herein synonymously and generally used to refer to air having a pressure that is greater than atmospheric pressure as would be understood by one of ordinary skilled in the art. Sorting robot  250  and pneumatic control system  240  are coupled to and controlled by sorting control logic and electronics  260 . To communicate control signals, sorting control logic and electronics  260  may further comprise elements to generate electrical and/or pneumatic control signals to sorting robot  250  and/or pneumatic control system  240 . 
     In some embodiments, sorting robot  250  comprises robotic actuator  252  that controls the position of robotic arms  251  based on position control signals  261  received from sorting control logic and electronics  260 . Sorting robot  250  is instructed by position control signal  261  to control the position (e.g., location, orientation, and/or height) of suction gripper cluster  100 . The distal end of robotic arms  251  can each be configured to engage with mounting points  104  of mounting assembly  103  to secure suction gripper cluster  100  to robotic arms  251 . In one such embodiment, mounting assembly  103  may be constructed to fit into a Delta-style of robot, as shown in  FIG. 2 . In other embodiments, other style robots may be utilized. Although sorting robot  250  in  FIG. 2  is shown as comprising three robotic arms  251 , it should be appreciated that in other implementations, sorting robot  250  may comprise either a greater, or fewer, number of robotic arms  251 . 
     In some embodiments, mounting assembly  103  may be configured in a center-mount configuration, meaning that it positions suction gripper cluster  100  in a center position between the plurality of robotic arms  251 . In some embodiments, mounting assembly  103  may comprise a plurality of ball-shaped mounting points  104  positioned around the circumference of mounting element  103 , each compatible to mate with complementary socket elements at the distal ends of robotic arms  251  such that each define a ball-and-socket coupling joint securing mounting assembly  103  to robotic arms  251 . The ball-and-socket coupling joints allow sufficient freedom for robotic arms  251  to pivot around suction gripper cluster  100  in multiple directions with sufficient clearance to avoid interferences while positioning and operating suction gripper cluster  100  during a capture action. The center-mount configuration also allows a respective linear shaft  105  of each suction gripper mechanism  101  to travel freely to extend up through its respective linear bearing  109  above mounting assembly  103  without interfering with the freedom of motion of robotic arms  251 . In one embodiment, each robotic arm  251  is secured to mounting assembly  103  by a set, or pair, of ball and socket coupling points each arranged within a plane oriented normal to linear shaft  105 &#39;s direction within linear bearing  109 . 
     Material sorting system  200  further comprises at least one object recognition device  270  which is utilized to capture information about objects on conveyor mechanism  50  in order to discern target objects  55  from non-target objects. Object recognition device  270  may comprise an image capturing device (such as, for example, an infrared camera, visual spectrum camera, volumetric sensing or some combination thereof) directed at conveyor mechanism  50 . However, it should be understood that an image capturing device for object recognition device  270  is presented as an example implementation. In other embodiments, object recognition device  270  may comprise any other type of sensor that can detect and/or measure characteristics of objects on conveyor mechanism  50 . For example, object recognition device  270  may utilize any form of a sensor technology for detecting non-visible electromagnetic radiation (such as a hyperspectral camera, infrared, or ultraviolet), a magnetic sensor, a capacitive sensor, or other sensors commonly used in the field of industrial automation. In some embodiments, object recognition device  270  is directed towards conveyor mechanism  50  in order to capture object information from an overhead view of the materials being transported by conveyor mechanism  50 . Object recognition device  270  produces a signal that is delivered to sorting control logic and electronics  260 . The signal that is delivered to sorting control logic and electronics  260  from object recognition device  270  may comprise, but is not necessarily, a visual image signal. In the embodiment shown in  FIG. 2 , object recognition device  270  produces a signal that is delivered to sorting control logic and electronics  260  and which may be used by sorting control logic and electronics  260  to send airflow control signals  262  to pneumatic control system  240  in order to initiate material capture and ejection actions. 
       FIG. 2A  is a diagram illustrating another example material sorting system in accordance with some embodiments. While the example material sorting system shown in  FIG. 2A  is very similar to the example material sorting system shown and described with  FIG. 2 , the example of  FIG. 2A  differs from the example shown in  FIG. 2  in that, in  FIG. 2A , air conveyor devices  122  are located remote to suction gripper cluster  100 . In the example of  FIG. 2A , suction gripper cluster  100  may be implemented using the suction gripper configuration that was described in  FIG. 1D , above. In the example of  FIG. 2A , air conveyor devices  122  are not integrated with the linear shafts of the suction gripper mechanisms of suction gripper cluster  100  and nor are they coupled to the mounting assembly of suction gripper cluster  100 . Instead, air conveyor devices  122  are located proximate to and/or coupled to pneumatic control system  240 . In the example of  FIG. 2A , air conveyor devices  122  still receive air input from pneumatic control system  240  and use the input air to generate either vacuum or ejection airflows (using corresponding airflow generators) but air conveyor devices  122  deliver the generated vacuum or ejection airflows to the suction gripper mechanisms of suction gripper cluster  100  via air connections  130 . For example, each tube of air connections  130  may transfer pressurized airflows from one air conveyor device  122  to one suction gripper mechanism of suction gripper cluster  100 . In another example, each tube of air connections  130  may transfer pressurized airflows from one air conveyor device  122  to more than one suction gripper mechanism of suction gripper cluster  100 . 
     In one example shown in  FIG. 2B , sorting control logic and electronics  260  comprises one or more neural processing units  264 , neural network parameter set  265  (which stores learned parameters utilized by neural processing units  264 ), and data storage  266  that stores, for example, object data received from object recognition device  270 , processed object data comprising labeled data, and/or may further be used to store other data such as material characterization data generated by neural processing units  264 . Sorting control logic and electronics  260  may determine from generated material characterization data that target object  55  has a certain characteristic (for example, size, shape, orientation, material type or composition, or any other characteristic or distinguishing properties discernible by sorting control logic and electronics  260 ). 
     Neural network parameter set  265  and data storage  266  may either be implemented together on a common physical non-transient memory device, or on separate physical non-transient memory devices. In some embodiments, data storage  266  may comprise a removable storage media. In various embodiments, sorting control logic and electronics  260  may be implemented using a microprocessor coupled to a memory that is programmed to execute code to carry out the functions of sorting control logic and electronics  260  described herein. In other embodiments, sorting control logic and electronics  260  may additionally, or alternately, be implemented using an application specific integrated circuit (ASIC) or field programmable gate array (FPGA) that has been adapted for machine learning. 
     In some embodiments, within sorting control logic and electronics  260 , raw object data (which in the case of camera sensor may comprise image frames, for example) is provided as input to one or more neural network and artificial intelligence algorithms of neural processing units  264  to locate and identify material appearing within the image frames that are potentially target object  55 . As the term is used herein, an “image frame” is intended to refer to a collection or collected set of object data captured by object recognition device  270  that may be used to capture the spatial context of one or more potential target objects on conveyor mechanism  50  along with characteristics about the object itself. A feed of image frames captured by object recognition device  270  is fed, for example, to a machine learning inference algorithm implemented by neural processing units  264 . The sequence of captured image frames may be processed by multiple processing layers, or neurons, of neural processing units  264  to evaluate the correlation of specific features with features of objects that it has previously learned. Alternative algorithms to detect objects within an image include Fully Convolutional Neural Network, Multibox, Region-based Fully Convolutional Networks (R-FCN), Faster R-CNN, and other techniques commonly known to those skilled in the art as object detection, instance-aware segmentation, or semantic segmentation algorithms described in available literature. 
     Based on the input raw object data (e.g., image frames) that is provided by object recognition device  270 , sorting control logic and electronics  260  is configured to determine information related to target objects that are being transported by conveyor mechanism  50 . In some embodiments, the information related to target objects that are determined by sorting control logic and electronics  260  includes attribute information. For example, attribute information includes one or more of, but not limited to, the following: a material type associated with each target object, an approximate mass associated with each target object, an associated geometry associated with each target object, dimensions (e.g., height and width/area) associated with each target object, a designated deposit location associated with each target object, and an orientation associated with each target object. In some embodiments, attribute information associated with a target object that can be determined by sorting control logic and electronics  260  further includes the contours of the target object. For example, the contours of the target object may include the shape and/or texture of one or more surfaces of the target object. For example, the contours of the target object may be used to determine an (e.g., optimal) placement of suction gripper cluster  100  on the target object by selecting the surface of the target object on which to place suction gripper cluster  100  which has contours that match closest to a set of predetermined contour features. In a specific example, the set of predetermined contour features describe a flat surface, which would be an optimal surface to place suction gripper cluster  100 . In some embodiments, the information related to target objects that are determined by sorting control logic and electronics  260  includes location information. For example, location information includes one or more coordinates (e.g., along the X and Y axes as shown in  FIG. 2 ) at which each target object was located in the image frame(s) that were input into sorting control logic and electronics  260 . In a specific example, the location information of each target object is the coordinate of the centroid of the target object. 
     Using the attribute information and/or location information associated with each target object, sorting control logic and electronics  260  is configured to select a target object, from conveyor mechanism  50 , on which to perform a capture action. In various embodiments, performing a “capture action” on a target object comprises using suction gripper cluster  100  to emit a vacuum force/airflow from each of suction gripper mechanisms  101  that will pull a target object towards suction gripper cluster  100  and off of conveyor mechanism  50 . In some embodiments, which target object is selected for suction gripper cluster  100  to capture next is determined as a function of one or more, but not limited to the following: the current location of suction gripper cluster  100 , the current location of the target object, the deposit location corresponding to the target object, the speed of conveyor mechanism  50 , and/or an approximated (e.g., resale) value of the target object. In some embodiments, sorting control logic and electronics  260  is configured to select a target object to capture based on the attribute information associated with the target object and/or the location information associated with the target object. In a first example, a target object is selected to be captured because its current location on conveyor mechanism  50  is close to the current location of suction gripper cluster  100 , which means suction gripper cluster  100  can reach the target object without being repositioned. In a second example, a target object is selected because, based on its material type, dimensions (e.g., area), and/or mass, the target object is determined to be of a higher (e.g., resale) value. In a third example, a target object is selected because its current location is close to the location of its corresponding deposit location (e.g., the corresponding deposit location is determined based on the material type associated with the target object). 
     In some embodiments, given the target object that had been selected by sorting control logic and electronics  260  to capture, sorting control logic and electronics  260  is configured to select at least a subset of suction gripper mechanisms  101  of suction gripper cluster  100  to use to emit a vacuum force during a capture action on the selected target object. In some embodiments, sorting control logic and electronics  260  is configured to select one or more of suction gripper mechanisms  101  to emit a vacuum force during a capture action on a target object based on the attribute information associated with the target object and/or the location information associated with the target object. In a first example, one or more suction gripper mechanisms  101  of suction gripper cluster  100  are selected to perform a capture action on a target object because the collective width of those suction gripper mechanisms is large enough to accommodate the dimensions (e.g., size, width, length, area) of the target object. In a second example, more than one or more suction gripper mechanisms  101  of suction gripper cluster  100  are selected to perform a capture action on a target object because the large dimensions (e.g., size, width, length, area) of the target object cannot be accommodated by the vacuum force of a single suction gripper mechanism. In a third example, one or more suction gripper mechanisms  101  of suction gripper cluster  100  are selected to perform a capture action on a target object because the current position(s) of those suction gripper mechanisms within suction gripper cluster  100  are close to (e.g., within a predetermined distance of) the current position of the target object. In a specific example, the Y-coordinate of the centroid of Target Object A is determined by sorting control logic and electronics  260  to be at Y1 of the Y-axis as shown in  FIG. 2  as Target Object A is transported along the X-axis as shown in  FIG. 2 . The one or more of suction gripper mechanism  101  that are selected to perform a capture action on Target Object A may be those that are currently positioned at a Y-coordinate along the Y-axis that is closest to Y1, which is the Y-coordinate of Target Object A. 
     After the target object to capture has been selected, sorting control logic and electronics  260  is configured to send a position control signal to sorting robot  250  that is to actuate suction gripper cluster  100  to enable suction gripper cluster  100  to perform a “capture action” or a “pick” on the selected target object (e.g., target object  55 ). Sorting control logic and electronics  260  may be programmed to operate both robotic arms  251  and pneumatic control system  240  to perform the capture action on target object  55 . In some embodiments, in operation, a capture action comprises positioning suction gripper cluster  100  over target object  55  (e.g., by moving suction gripper cluster  100  across one or more both X and Y axes as shown in  FIG. 2 ) based on the position control signal, activating pneumatic control system  240 , and controlling sorting robot  250  to lower suction gripper cluster  100  towards target object  55 . In some embodiments, one or more of suction gripper mechanisms  101  of suction gripper cluster  100  make contact with target object  55  while it is still on conveyor mechanism  50 , while applying a vacuum force to capture target object  55 . In embodiments, suction gripper mechanisms  101  of the suction gripper cluster  100  may exert enough vacuum/suction force to lift target object  55  from conveyor mechanism  50  before contact is made to capture target object  55 . In some embodiments, while sorting robot  250  lowers the entire suction gripper cluster  100  towards target object  55 , sorting control logic and electronics  260  causes only the selected subset of suction gripper mechanisms  101  of suction gripper cluster  100  to emit a vacuum/suction force. The subset of suction gripper mechanisms  101  can be selected as described above. In some embodiments, while sorting robot  250  lowers the entire suction gripper cluster  100  towards target object  55 , sorting control logic and electronics  260  causes all suction gripper mechanisms  101  of suction gripper cluster  100  to emit a vacuum/suction force. Including multiple suction gripper mechanisms  101  within suction gripper cluster  100  increases the points of contact and sources of suction force between suction gripper cluster  100  and target object  55 , thereby increasing the likelihood that target object  55  will be successfully captured. In various embodiments, target object  55  is successfully captured if it is lifted/picked up from conveyor mechanism  50  and adhered/held by suction gripper cluster  100 . 
     After or concurrent with sorting control logic and electronics  260  sending the position control signal, sorting control logic and electronics  260  is configured to send an airflow control signal to pneumatic control system  240 . In response to the airflow control signal, pneumatic control system  240  is configured to cause suction gripper cluster  100  to perform the capture action on the corresponding target object. The airflow control signal is configured to instruct pneumatic control system  140  to supply an airflow to a respective air input port of (e.g., selected) suction gripper mechanisms  101  of suction gripper cluster  100 , as will be described in further detail below, where a corresponding airflow generator within each suction gripper mechanism is configured to direct the airflow into a vacuum airflow/force that flows from the intake port to the outlet port of that suction gripper mechanism. The vacuum airflow that flows through each instance of the suction gripper mechanism will therefore enable a capture action to be collectively performed by suction gripper cluster  100  by drawing the target object off of conveyor mechanism  50  and towards suction gripper cluster  100 . In some embodiments, the airflow control signal sent by sorting control logic and electronics  260  is a variable control signal that includes a parameter that dictates the pressure of the airflow to be supplied by pneumatic control system  240 . The variable control signal will determine the pressure of pneumatic airflow and therefore, the amount of vacuum force that will be applied to the target object. In some embodiments, sorting control logic and electronics  260  is configured to instruct a static/fixed pressure for a pneumatic airflow (and therefore, static vacuum force) for each capture action. In some embodiments, sorting control logic and electronics  260  is configured to dynamically determine a pressure for a pneumatic airflow for each capture action. For example, the pressure of pneumatic airflow can be dynamically determined based at least in part on the weight or mass of the target object, the size of the target object, the material type of the target object, and the speed of conveyor mechanism  50 . If a capture action is successful, a target object is picked up off conveyor mechanism  50  by suction gripper cluster  100 . In some embodiments, a successful capture action can be determined by detecting a change (e.g., matching a predetermined signature) in pressure within at least some suction gripper mechanisms  101  of suction gripper cluster  100  (e.g., as detected by a material obstruction sensor associated with at least some of suction gripper mechanisms  101  of suction gripper cluster  100 ), the motor associated with sorting robot  250 , and/or in a current that is drawn by sorting robot  250 . 
     In some embodiments, although sorting control logic and electronics  260  may have some sense of how tall target object  55  is (e.g., the height of target object  55  relative to the surface of conveyor mechanism  50 ) (for example, by processing data such as an image captured by object recognition device  270  or data from another sensor) before it attempts a pick (e.g., via sending an airflow control signal to pneumatic control system  240 ), sorting robot  250  is not certain of exactly how tall target object  55  is. For this reason, suction gripper mechanisms  101  can be configured as shown in  FIG. 1 , for reasons as follows: When at least some of suction gripper mechanisms  101  makes contact with target object  55 , the force of contact will cause the bottom end of linear shaft  105  to slide up into linear bearing  109  (which will correspondingly cause the opposing top end of linear shaft  105  to slide out from linear bearing  109 ) and cause spring mechanism  108  to compress. As such, due to the suspension provided by spring mechanism  108 , suction gripper mechanisms  101  can be pushed upwards relative to the surface of conveyor mechanism  50  and therefore provide compliance with respect to the contacted target object  55 . Furthermore, each of suction gripper mechanisms  101  can move independently of each other due to its respective linear shaft  105  and linear bearing  109  within mounting assembly  103 . In this way, target objects of various dimensions can be accommodated without causing damage to components of sorting robot  250  or suction gripper mechanisms  101  from the force of impact. When the capture action is complete and the airflow deactivated by sorting control logic and electronics  260 , spring mechanism  108  will extend linear shaft  105  back to its fully extended position. In some embodiments, detection of contact with target object  55  may be detected, for example, through a sensor providing feedback to sorting control logic and electronics  260 , and based on that detection, further motion of suction gripper mechanisms  101  in the z-direction (e.g., further downwards towards object  55 ) may be inhibited by sorting control logic and electronics  260  to protect against potential damage to suction gripper mechanisms  101 . In some embodiments, at the completion of each capture action, sorting control logic and electronics  260  controls pneumatic control system  240  to optionally reverse the airflow through suction gripper cluster  100  so that a positive air is flowing out from first port  106 . Airflow reversal may serve not only to release and/or propel target object  55  from the grasp of suction gripper mechanisms  101 , but also purge dust from pneumatic control system  240  as well as expel other undesirable materials (such as plastic bags or wraps) that were drawn into internal airflow passage  120  of suction gripper mechanisms  101 . 
       FIG. 3  is a diagram illustrating an example of an air conveyor device that may be used to provide airflows to a suction gripper mechanism in accordance with some embodiments. In some embodiments, each of suction gripper mechanisms  101  included in suction gripper cluster  100  of  FIG. 1  may be provided pressurized airflows from an instance of air conveyor device  122  as described in  FIG. 2 . As shown in  FIG. 3 , air conveyor device  122  comprises a body or housing  312  that includes internal through-passage  313 . As mentioned above, in some embodiments, internal through-passage  313  of air conveyor device  122  may define a portion of internal airflow passage  120  through a suction gripper mechanism of suction gripper mechanisms  101 . That is, internal through-passage  313  may directly lead to and be in communication with internal airflow passage  120  of linear shaft  105 . Air conveyor device  122  may selectively generate a negative pressure airflow pulled into internal through-passage  313  from intake port  314  of housing  312  to outlet port  316  of housing  312  (e.g., during a capture action), or a positive pressure airflow through passage  313  that is pulled in from outlet port  316  and out from intake port  314  (e.g., during an ejection action). 
     Air conveyor gripper device  122  comprises at least a pair of airflow generators (shown at  320  and  322  and in greater detail in  FIGS. 4 and 4A-5D ). First airflow generator  320 , which may be referred to herein as object capture airflow generator  320 , generates the negative pressure airflow intake (i.e., a suction air flow) at intake port  314  of air conveyor device  122 . This airflow intake results in a force of airflow (i.e., a vacuum or negative pressure force) into first port  106  of each one of suction gripper mechanisms  101  that extracts target object  55  from conveyor mechanism  50  and holds it at first port  106 . Second airflow generator  322 , which may be referred to herein as object ejection airflow generator  322 , generates positive pressure airflow (at this, an outflow) at first port  106  of each one of suction gripper mechanisms  101 . This positive pressure airflow flows through internal airflow passage  120  and out from intake first port  106  to eject captured objects from each one of suction gripper mechanisms  101 . 
     In some embodiments, each of first and second airflow generators  320 ,  322  may incorporate the structure of a Venturi and/or Coanda-based technology, or similar technology, to generate their respective airflows. That is, the motive forces that create the airflows through suction gripper cluster  100  are the result of a flow of compressed air streams supplied by air source  245  of pneumatic control system  240 . As further discussed in detail below, coupling pressurized air input port  321  of first airflow generator  320  to pressurized air source  245  will activate first airflow generator  320  to generate the airflow into first port  106  of a corresponding one of suction gripper mechanisms  101 . Coupling pressurized air input port  323  of second airflow generator  322  to pressurized air source  245  will activate second airflow generator  322  to generate the airflow out of first port  106  of a corresponding one of suction gripper mechanisms  101 . 
       FIGS. 4 and 4A-4D  are figures depicting cut-away views of an example air conveyor device in accordance with some embodiments.  FIG. 4  provides a cut-away side view illustrating the internal structure of two airflow generators  320 ,  322 .  FIGS. 4A and 4B  provide cross-sectional top views of object capture airflow generator  320  for cross-sections A-A and B-B.  FIGS. 4C and 4D  provide cross-sectional top views of object ejection airflow generator  322  for cross-sections C-C and D-D. In some embodiments, air conveyor device  122  of  FIGS. 1, 1B, 1C, and 3  may be implemented using the examples described in  FIGS. 4 and 4A-4D . In some embodiments, each of suction gripper mechanisms  101  included in suction gripper cluster  100  of  FIG. 1  may be implemented with an instance of air conveyor device  122  as described in  FIGS. 4 and 4A-4D . In some embodiments, each of suction gripper mechanisms  101  included in suction gripper cluster  100  of  FIG. 1D  may be provided airflows from an instance of air conveyor device  122  as described in  FIGS. 4 and 4A-4D . 
     With respect to object capture airflow generator  320 , pressurized air input port  321  is communicatively coupled to first high-pressure air distribution ring  410  that is disposed within housing  312 . Air distribution ring  410  at least partially encircles internal through-passage  313 . A plurality of air ejector nozzles (shown at  412 ) is coupled to the first air distribution ring  410  and positioned around the ring. Air ejector nozzles  412  are positioned to direct compressed air entering the first air distribution ring  410  (from pressurized air input port  321 ) into internal through-passage  313  in a direction away from intake port  314  and towards outlet port  316 . In some embodiments, a tapered shape of air ejector nozzles  412  may be utilized to further compress the air ejected into internal through-passage  313 . The air enters internal through-passage  313  at high speeds and rapidly expands upon entry to create a relative low pressure region within housing  312  of air conveyor device  122  that draws an airflow in from intake port  314  and out from outlet port  316 . The orientation of air ejector nozzles  412 , which directs the expanding compressed air away from intake port  314  and towards outlet port  316 , establishes the directionality of the airflow through air conveyor device  122  to be in from intake port  314  and out from outlet port  316  so that materials (e.g., target objects  55 ) may be captured by suction gripper mechanisms  101 . The force of the airflow generated by object capture airflow generator  320  may be controlled as a function of the pressure and/or volume of air delivered to pressured air input port  321  and/or the design (e.g., the taper) of air ejector nozzles  412 , at least. 
     With respect to object ejector airflow generator  322 , pressurized air input port  323  is communicatively coupled to the second high-pressure air distribution ring  440  disposed within housing  312 . Air distribution ring  440  at least partially encircles internal through-passage  313 . A plurality of air ejector nozzles (shown at  442 ) is coupled to the second air distribution ring  440  and positioned around the ring. Air ejector nozzles  442  are positioned to direct compressed air entering the second air distribution ring  440  (from pressurized air input port  323 ) into internal through-passage  313  in a direction towards intake port  314  and away from outlet port  316 . In some embodiments, a tapered shape of air ejector nozzles  442  may be utilized to further compress the air ejected into internal through-passage  313 . The air therefore enters internal through-passage  313  at high speeds and rapidly expands upon entry to create a relative low pressure region within housing  312  of air conveyor device  122  that draws an airflow in from outlet port  316  and out from intake port  314 . The orientation of air ejector nozzles  442  that directs the expanding compressed air away from outlet port  316  and towards intake port  314  at a high velocity establishes the directionality of the airflow through air conveyor device  122  to be in from outlet port  316  and out from intake port  314  so that obstructions may be ejected from air conveyor device  122 . The force of the airflow generated by object ejector airflow generator  322  may be controlled as a function of the pressure and/or volume of air delivered to pressurized air input port  323  and/or the design (e.g., the taper) of air ejector nozzles  442 , at least. 
       FIG. 5  illustrates example interconnections between an example pneumatic control system and with first and second airflow generators of suction gripper mechanisms of a suction gripper cluster. In some embodiments, the interconnections between pneumatic control system  240  of  FIG. 2  and first and second airflow generators  320  and  322  of  FIG. 3  may be implemented using the example interconnections that are described in  FIG. 5 . Pneumatic control system  240  provides an air supply for selectively operating and controlling both airflow generators  320  and  322  for each suction gripper mechanism of suction gripper mechanisms  101  of suction gripper cluster  100  of  FIGS. 1, 1A, 1B, and 1C . In some embodiments, such as shown in  FIG. 5 , pneumatic control system  240  comprises pneumatic switch  510  coupled to air source  245 . Pneumatic control system  240  is also coupled to sorting control logic and electronics  260  from which it receives airflow control signal  262 . 
     In response to airflow control signal  262 , pneumatic control system  240  may selectively direct pressurized air to either first airflow generator  320  or second airflow generator  322  of each air conveyor device  122  associated with suction gripper mechanisms  101 . In  FIG. 5 , first compressed air output port  512  of pneumatic switch  510  is coupled to first manifold  514  that is coupled to pressurized air input port  321  of object capture airflow generator  320  of each air conveyor device  122  associated with suction gripper mechanisms  101  of suction gripper cluster  100 . Similarly, second compressed air output port  522  of pneumatic switch  510  is coupled to second manifold  524  that is coupled to pressurized air input port  323  of object ejection airflow generator  322  of air conveyor device  122  associated with suction gripper mechanisms  101  of suction gripper cluster  100 . Pressurized air input ports  321  and  323  may be coupled to their respective manifolds  514  and  524  using flexible tubing (shown at  530 ), rotatable couplings, and/or other components that accommodate the dynamic movements of suction gripper cluster  100  during capture and ejection actions. It should be understood that the functions and operations attributed to pneumatic switch  510  in this disclosure may be implemented in any number of ways. For example, pneumatic switch  510  may be implemented using a combination of manifolds, controllable valves, and/or sets of pneumatic switches or other technology for selectively controlling the distribution of compressed air. 
     When pneumatic switch  510  receives airflow control signal  262  from sorting control logic and electronics  260  to perform a capture action, pneumatic switch  510  controls an output of first output port  512  to supply pressurized air to pressurized air input port  321  of object capture airflow generator  320  of each air conveyor device  122  associated with suction gripper mechanisms  101  of suction gripper cluster  100 . In some embodiments, sorting control logic and electronics  260  may output a binary on/off control signal so that pneumatic switch  510  either turns the pressurized air to pressurized air input port  321  of object capture airflow generator  320  of each air conveyor device  122  associated with suction gripper mechanisms  101  of suction gripper cluster  100  on or off. In other embodiments, sorting control logic and electronics  260  may output a (e.g., dynamically determined) variable control signal to pneumatic switch  510  that indicates an amount of pneumatic airflow to be applied to pressured air input port  321  of object capture airflow generator  320  of each air conveyor device  122  associated with suction gripper mechanisms  101  of suction gripper cluster  100 . The dynamically determined variable level of force may be based, for example, on the weight or mass of target object  55 , the size of target object  55 , the material type of target object  55 , and the speed of conveyor mechanism  50 . In this way, sorting control logic and electronics  260  can variably control the vacuum force applied by suction gripper mechanisms  101  of suction gripper cluster  100  to target object  55  during a capture action. 
     Although this disclosure may refer generally to a receptacle as an example for material deposit location  235 , it should be understood that material deposit location  235  may comprise any form of a holding bin, tank, bunker, or other receptacle, conveyor mechanism, or chute where extracted objects can be deposited. The particular destination for items removed from the conveyor mechanism may depend upon whether they are contaminants or desired materials. In some embodiments, receptacle  235  may comprise a cargo area of a truck or other vehicle so that removed objects are directly loaded onto the vehicle for transport. In other embodiments, receptacle  235  may comprise another conveyor mechanism to transport the removed objects to another location in the facility. 
     The timing of position control signal  261  and airflow control signal  262  sent by sorting control logic and electronics  260  may be timed so that the activation of object capture airflow generators  320  on suction gripper cluster  100  occurs at a point in time where target object  55  becomes within reach of suction gripper cluster  100 . For example, object capture airflow generators  320  can be activated at the point where target object  55  is close enough that the vacuum force of suction gripper cluster  100 &#39;s object capture airflow generators  320  is effectively strong enough to capture target object  55 . 
     Once target object  55  is captured by at least one of suction gripper mechanisms  101  of suction gripper cluster  100 , object capture airflow generators  320  may be deactivated and suction gripper cluster  100  operated to eject or discharge target object  55  to a material deposit location (shown at  235  in  FIG. 2 ). When pneumatic switch  510  receives airflow control signal  262  from sorting control logic and electronics  260  to perform an ejection action, pneumatic switch  510  controls an output of second output port  522  to supply pressurized air to pressurized air input port  323  of object ejection airflow generator  322  of each air conveyor device  122  associated with suction gripper mechanisms  101  of suction gripper cluster  100 . In some embodiments, sorting control logic and electronics  260  may output a binary on/off control signal so that pneumatic switch  510  either turns the compressed air to pressurized air input port  323  or object ejection airflow generator  322  on or off. In other embodiments, sorting control logic and electronics  260  may output a (e.g., dynamically determined) variable control signal to pneumatic switch  510 , where the variable control signal indicates an amount of pneumatic airflow to be supplied to pressurized air input port  323  of object ejection airflow generator  322  of each air conveyor device  122  associated with suction gripper mechanisms  101  of suction gripper cluster  100 . The dynamically determined variable level of force may be based, for example, on the weight or mass of target object  55 , the size of target object  55 , the material type of target object  55 , and the distance from the current position of suction gripper cluster  100  to designated material deposit location  235 . In this way, sorting control logic and electronics  260  can variably control the positive pressure (e.g., ejection) force applied by suction gripper mechanisms  101  of suction gripper cluster  100  to target object  55  during an ejection action to eject a captured target object into a deposit location or an obstruction out of suction gripper mechanisms  101  of suction gripper cluster  100 . 
     In some embodiments, while pneumatic switch  510  provides pressurized air to both air input ports  321  and  323  of air conveyor device  122  associated with suction gripper mechanisms  101 , pneumatic switch  510  does not control the direction or type of pressure (e.g., positive or negative) of the airflow that flows through suction gripper mechanisms  101 . Rather, a respective set of physical features (which are sometimes referred as an “airflow generator”) corresponding to each of air input ports  321  and  323  within the interior of each of suction gripper mechanisms  101  (e.g., where each comprises air conveyor device  122 ) is configured to generate either a negative or positive pressure based on the supplied pressurized air. Specifically, object capture airflow generator  320  corresponding to air input port  321  is configured to generate a negative pressure airflow (e.g., to allow air conveyor device  122  to perform a capture action) when pneumatic switch  510  is controlled to supply pressurized air into air input port  321 . Furthermore, object ejection airflow generator  322  corresponding to air input port  323  is configured to generate a positive pressure airflow (e.g., to eject content out of or away from air conveyor device  122 ) when pneumatic switch  510  is controlled to supply pressurized air into air input port  323 , as described herein. 
     While  FIG. 5  shows a single pneumatic switch, pneumatic switch  510 , that is configured to supply pressurized air to both air input ports  321  and  323  of each of suction gripper mechanisms  101  (e.g., each comprising air conveyor device  122 ), in some embodiments, a separate pneumatic switch can supply pressurized air to each of air input ports  321  and  323  of each of suction gripper mechanisms  101  (e.g., each comprising air conveyor device  122 ). 
     In some embodiments, each suction gripper mechanism  101  (e.g., comprising air conveyor gripper device  122 ) of suction gripper cluster  100  or suction gripper cluster  100  as a whole may include a respective material obstruction sensor  350  (for example, at outlet port  316 ) that sends feedback signal  263  to sorting control logic and electronics  260  to indicate when a captured object has become an obstruction. Material obstruction sensor  350  is not limited to any particular technology, and may comprise, for example, a pressure sensor, airflow sensor, ultrasonic sensor, infrared sensor, image sensor, opacity sensor, or the like. In some embodiments, when material obstruction sensor  350  detects an obstruction, sorting control logic and electronics  260  may respond with a control signal to operate pneumatic switch  510  to deactivate object capture airflow generator  320 , and instead activate object ejection airflow generator  322  to clear the obstruction from suction gripper mechanisms  101 . In some embodiments, material obstruction sensor  350  is used to detect whether a capture action on target object  55  has been successful. For example, material obstruction sensor  350  can detect that a capture action on target object  55  has been successful where material obstruction sensor  350  determines that after a negative pressure (e.g., vacuum) force is applied on target object  55 , the pressure that is detected by material obstruction sensor  350  drops by at least a predetermined amount. In some embodiments, when feedback signal  263  indicates a successful capture action where target object  55  has been captured at (e.g., is adhering to) intake port  314  or attachment  116  of air conveyor device  122  that form each of at least some of suction gripper mechanisms  101 , sorting control logic and electronics  260  may respond with an airflow control signal to operate pneumatic switch  510  to deactivate supplying pressurized air to object capture airflow generator  320  via air input port  321 . Alternatively, if material obstruction sensor  350  detects an obstruction, sorting control logic and electronics  260  may respond with an airflow control signal to operate pneumatic switch  510  to deactivate supplying pressurized air to object capture airflow generator  320  via air input port  321 , and instead activate supplying pressurized air to object ejection airflow generator  322  via air input port  323  to eject the obstruction from air conveyor device  122  that forms each of at least some of suction gripper mechanisms  101  using a positive pressure, ejection airflow. 
     It should also be understood that activation and deactivation of either object capture airflow generator  320  or object ejection airflow generator  322  may also, in some embodiments, be controlled manually by an operator (either locally or remotely) in addition to being controlled by sorting control logic and electronics  260 . In some embodiments, sorting control logic and electronics  260  instead, or in addition, periodically activate object ejection airflow generator  322  even in the absence of a detected obstruction at the elapse of each ejection period (for example, every 5 minutes) to purge the system of clogs or accumulating particulates. 
     As alternative implementations of any of the embodiments described herein, the ejection force generated by object ejection airflow generator  322  may be augmented (or in some embodiments, even replaced) by utilizing mechanical assisted ejection. That is, a mechanical material ejector mechanism may be coupled to the housing of one or more of suction gripper mechanisms  101  that applies an outward force onto target object  55  during ejection actions to propel target object  55  away from suction gripper mechanisms  101 . Such a mechanical material ejector mechanism may be actuated in addition to (e.g., to supplement) activation of object ejection airflow generator  322 , or selectively instead of activating object ejection airflow generator  322 . 
       FIG. 6  is a diagram illustrating an example of a mechanical material ejector mechanism in accordance with some embodiments. In the example of  FIG. 6 , mechanical material ejector mechanism  610  is coupled to each of at least some of suction gripper mechanisms  101  of suction gripper cluster  100  such as described herein. In some embodiments, each of at least some of suction gripper mechanisms  101  of suction gripper cluster  100  may comprise mechanical material ejector mechanism  610 . In other embodiments, at least one, but fewer than all, of suction gripper mechanisms  101  of suction gripper cluster  100  may comprise mechanical material ejector mechanism  610 .  FIG. 6  illustrates an example mechanical material ejector mechanism  610  with a partial cut-away view of a lower portion of one of suction gripper mechanisms  101  proximate to first port  106 . In this particular illustration, a cut-away view of optional converging cone attachment  116  coupled to first port  106  is shown. In this embodiment, mechanical material ejector mechanism  610  comprises actuator  612  coupled to extendable strike member  614 . Actuator  612  may be either electrically or pneumatically controlled by mechanical ejector controller  620 . When actuated, actuator  612  quickly projects extendable strike member  614  out from first port  106  to strike the surface of any target object  55  that may have been captured. In some embodiments, where attachment  116  is coupled to first port  106 , extendable strike member  614  may have sufficient length to extend out beyond the length of any attachment  116 . The force of the striking action results in a disengagement of target object  55  from suction gripper cluster  100  and propels target object  55  to the desired material deposit location as explained above. In some embodiments, actuator  612  may be implemented using a solenoid and extendable strike member  614  by a sliding piston that extends from the solenoid when the solenoid is activated, and return to a retracted position when the solenoid is deactivated. In other embodiments, actuator  612  may instead comprise a pneumatic linear actuator that extends a sliding piston when the pneumatic linear actuator is activated, and returns to a retracted position when the pneumatic linear actuator is deactivated. In some embodiments, mechanical material ejector mechanism  610  may include a spring that functions to retract extendable strike member  614  when actuator  612  is deactivated. Mechanical ejector controller  620  may be responsive to object ejection control signals initiated by sorting control logic and electronics  260 . Mechanical ejector controller  620  may operate in coordinated conjunction with pneumatic switch  510 , or operated by sorting control logic and electronics  260  independently from pneumatic switch  510 . In other embodiments, mechanical ejector controller  620  may be an integral component of either sorting control logic and electronics  260  or pneumatic switch  510 . Although mechanical material ejector mechanism  610  is shown as being secured within internal airflow passage  120 , this is for illustrative purposes and other mounting locations may be used. 
       FIG. 7  is a diagram illustrating another example of a mechanical material ejector mechanism. In the example of  FIG. 7 , mechanical material ejector mechanism  710  is coupled to each of at least some of suction gripper mechanisms  101  of suction gripper cluster  100  such as described herein.  FIG. 7  also illustrates a partial cut-away view of a lower portion of each of at least some of suction gripper mechanisms  101  proximate to first port  106 , with a cut-away view of an optional converging cone attachment  116  coupled to first port  106 . In this embodiment, mechanical material ejector mechanism  710  is secured to each of at least some of suction gripper mechanisms  101  within internal airflow passage  120 . Mechanical material ejector mechanism  710  comprises actuator  712  coupled to extendable strike member  714 . Actuator  712  may be either electrically or pneumatically controlled by mechanical ejector controller  720 . When actuated, actuator  712  quickly projects extendable strike member  714  out from first port  106  to strike the surface of any target object  55  that may have been captured. In some embodiments, where attachment  116  is coupled to first port  106 , extendable strike member  714  may have sufficient length to extend out beyond the length of attachment  116 . The force of the striking action results in a disengagement of target object  55  from suction gripper cluster  100  and propels target object  55  to the desired material deposit location as explained above. As was the case in  FIG. 6 , actuator  712  may be implemented using a solenoid and extendable strike member  714  by a sliding piston that extends from the solenoid when the solenoid is activated, and returns to a retracted position when the solenoid is deactivated. In other embodiments, actuator  712  may instead comprise a pneumatic linear actuator that extends a sliding piston when the pneumatic linear actuator is activated, and returns to a retracted position when the pneumatic linear actuator is deactivated. In some embodiments, mechanical material ejector mechanism  710  may include a spring that functions to retract extendable strike member  714  when actuator  712  is deactivated. A feature distinguishing mechanical material ejector mechanism  710  from mechanical material ejector mechanism  610  of  FIG. 6  is that extendable strike member  714  of  FIG. 7  is a hollow member having sides that surround internal airflow passage  120  so that the airflow (whether positive or negative) flowing through internal airflow passage  120  accordingly flows through extendable strike member  714 . Mechanical ejector controller  720  may be responsive to object ejection control signals initiated by sorting control logic and electronics  260 . Mechanical ejector controller  720  may operate in coordinated conjunction with pneumatic switch  510 , or operated by sorting control logic and electronics  260  independently from pneumatic switch  510 . In other embodiments, mechanical ejector controller  720  may be an integral component of either sorting control logic and electronics  260  or pneumatic switch  510 . 
     It should be understood that the present disclosure expressly conveys within its scope alternative embodiments where one or more of suction gripper mechanisms  101  of suction gripper cluster  100  may comprise object capture airflow generator  320 , but not necessarily also comprise object ejection airflow generator  322 . That is, any of the embodiments described herein may instead include suction gripper mechanisms  101  that comprise alternative unidirectional air conveyor gripper devices having an object capture airflow generator  320 , without object ejection airflow generator  322 . In such alternative embodiments, object ejection action may be performed by including a mechanical material ejector mechanism (such as the example mechanical material ejector mechanisms shown in  FIGS. 6 and 7 ) or through momentum assisted ejections such as described above. 
     It should also be understood that the robot examples of  FIGS. 2 and 2A  present an example of one embodiment for utilizing and/or positioning suction gripper cluster  100  in conjunction with implementing material sorting system  200 . Other embodiments may utilize other positioning actuator mechanisms to control the position of suction gripper cluster  100  during either object capture or ejection actions. For example,  FIG. 8  discloses yet another example of a suction gripper cluster coupled to an example positioning actuator mechanism in accordance with some embodiments. As shown in  FIG. 8 , positioning actuator mechanisms  810  may comprise combinations of one or more different actuators and/or articulating members under the control of sorting control logic and electronics  260 . As such, positioning actuator mechanism  810  may comprise rotational positioning mechanisms, linear positioning mechanisms, or combinations thereof. For example, positioning actuator mechanism  810  may optionally include rotator actuator  812  where suction gripper cluster  100  is pivotally coupled to rotator actuator  812  by positioning shaft  813 . In some embodiments, positioning actuator mechanism  810  may be rigidly fixed to a frame or support member of material sorting system  200 . In other embodiments, positioning actuator mechanism  810  may be secured to movable carrier  816  that provides linear positioning with respect to an axis or plane. In some embodiments, rotator actuator  812  may be directly mounted to movable carrier  816 . In still other embodiments, one or more articulating members  814  may be used for positioning actuator mechanism  810  together with rotator actuator  812  and/or movable carrier  816  to further add additional degrees of freedom for position suction gripper cluster  100  during capture and ejection actions. 
       FIG. 9  is a flow diagram showing an embodiment of a process for using a suction gripper cluster to capture and eject a target object. In some embodiments, process  900  is implemented by sorting control logic and electronics  260  of  FIG. 2  with the suction gripper cluster configuration shown in  FIG. 1 . It should be understood that the features and elements described herein with respect to the method  900  shown in  FIG. 9  and the accompanying description may be used in conjunction with, in combination with, or substituted for elements of any of the other embodiments discussed with respect to the other figures, or elsewhere herein, and vice versa. Further, it should be understood that the functions, structures, and other descriptions of elements associated with embodiments of  FIG. 9  may apply to like named or described elements for any of the other figures and embodiments and vice versa. 
     At  902 , airflows are caused to be generated by a plurality of airflow generators of a respective plurality of suction gripper mechanisms included in a suction gripper cluster device, wherein the plurality of airflow generators is configured to cause the airflows to enter respective intake ports of the plurality of suction gripper mechanisms and exit respective outlet ports of the plurality of suction gripper mechanisms in response to receiving air at respective air input ports of the plurality of suction gripper mechanisms. In some embodiments, objects being transported by a conveyor mechanism are identified (e.g., their attribute information including material type and where they are located on the conveyor mechanism are determined). For example, objects are designated as being “target objects” if they are identified to be of a target material type and objects are designated as being “non-target objects” if they are identified to be of a material type that is not a target material type. Once a target object is identified, the sorting control logic and electronics is configured to send an airflow control signal to a pneumatic control system. In response to receiving the airflow control signal, the pneumatic control system is configured to supply pressurized air into (e.g., a selected) at least a subset of the suction gripper mechanisms that are included in a suction gripper cluster device that is located above the conveyor mechanism. In some embodiments, each of at least some of the suction gripper mechanisms of the suction gripper cluster device comprises an air conveyor device. In some embodiments, the airflow control signal indicates for example, which air input port of each one or more of the air conveyor devices of the suction gripper cluster device to which the pneumatic control system is to supply air and/or the amount of air to supply. The air supplied to the indicated air input port of the air conveyor device(s) is connected to corresponding airflow generator(s), which will channel the supplied pressurized air into a negative pressure, vacuum/suction airflow that will flow from the intake port of the air conveyor device(s) to the outlet port of the air conveyor device(s). 
     At  904 , a target object is caused to be captured by the suction gripper cluster device using the airflows. As the target object is transported by the conveyor mechanism below the suction gripper cluster device, the generated vacuum/suction force will lift the target object off of the conveyor mechanism and towards the suction gripper mechanisms(s) of the suction gripper cluster device. The target object may become adhered to the intake port(s) (or a corresponding attachment(s) such as suction cup(s)) of suction gripper mechanisms(s). Each suction gripper mechanism (e.g., comprising a corresponding air conveyor device) comprises an independent point of contact with the target object and given that the suction gripper cluster device includes multiple suction gripper mechanisms (e.g., comprising air conveyor devices), there are multiple independent points of contact between the suction gripper cluster device and the target object. The multiple independent points of contact between the suction gripper cluster device and the target object all serve to increase the likelihood that the suction gripper cluster device will successfully capture the target object (e.g., remove the target object off of the conveyor mechanism). Additionally, because each suction gripper mechanism is designed to move independently of the other suction gripper mechanisms within a single suction gripper, the suction gripper mechanisms can flexibly comply against the surface of the target object, which also helps to increase the likelihood that the suction gripper cluster device will successfully capture the target object. 
     At  906 , a positioning actuator mechanism is activated to position the suction gripper cluster device. After the target object has been captured by the suction gripper mechanisms(s) of the suction gripper cluster device, the sorting control logic and electronics is configured to send a position control signal to the positioning actuator mechanism that is coupled to the suction gripper cluster device. For example, the positioning actuator mechanism comprises a rotator actuator, a movable carrier, a robot, one or more articulating members, or a combination thereof. In response to the position control signal, the positioning actuator mechanism is configured to adjust, if appropriate, the current position of the suction gripper cluster device to facilitate the ejection of the captured target object into a corresponding deposit location. For example, adjusting the position of the suction gripper cluster device includes using the robotic arms of a sorting robot to place the suction gripper cluster device directly over or near (e.g., within a predetermined distance) a corresponding deposit location. For example, the corresponding deposit location of a target object is determined to correspond to the material type of the target object. 
     At  908 , the target object is caused to be ejected from the suction gripper cluster device. The sorting control logic and electronics is configured to send an ejection control signal and/or another airflow control signal to cause suction gripper mechanism(s) to eject the target object into its corresponding deposit location. In some embodiments, where the air conveyor devices of the suction gripper cluster device comprise a respective second airflow generator that is configured to generate a positive pressure ejection airflow that flows from the outlet port of the air conveyor device to the intake port of the air conveyor device, the sorting control logic and electronics is configured to send a second airflow control signal to the pneumatic control system to cause the pneumatic control system to supply pressurized air into a respective second air input port of air conveyor devices that are connected to this second airflow generator. The ejection airflows that are then created by these second airflow generators are configured to eject the target object. In some embodiments, where each of at least some of the suction gripper mechanisms of the suction gripper cluster device comprises a mechanical material ejector mechanism, the sorting control logic and electronics is configured to send an ejection control signal to the suction gripper mechanisms to cause the respective mechanical material ejector mechanisms to extend respective strike members outward from the respective intake ports of the suction gripper mechanisms to strike the surface of the target object and therefore eject it into a corresponding deposit location. In some embodiments, the suction gripper mechanisms of the suction gripper cluster device comprise both respective second airflow generators and the mechanical material ejector mechanisms, in which the sorting control logic and electronics may be configured to send control signals to activate both the respective second airflow generators and the mechanical material ejector mechanisms to eject the target object into a corresponding deposit location. 
       FIG. 10  is a flow diagram showing another embodiment of a process for using a suction gripper cluster to capture and eject a target object. In some embodiments, process  1000  is implemented by sorting control logic and electronics  260  of  FIG. 2A  with the suction gripper cluster configuration shown in  FIG. 1D . It should be understood that the features and elements described herein with respect to the method  1000  shown in  FIG. 10  and the accompanying description may be used in conjunction with, in combination with, or substituted for elements of any of the other embodiments discussed with respect to the other figures, or elsewhere herein, and vice versa. Further, it should be understood that the functions, structures, and other descriptions of elements associated with embodiments of  FIG. 10  may apply to like named or described elements for any of the other figures and embodiments and vice versa. 
     At  1002 , airflow generators of one or more air conveyor devices are caused to generate airflows, wherein the airflows are transferred to a plurality of suction gripper mechanisms included in a suction gripper cluster device. In some embodiments, objects being transported by a conveyor mechanism are identified (e.g., their attribute information including material type and where they are located on the conveyor mechanism are determined). For example, objects are designated as being “target objects” if they are identified to be of a target material type and objects are designated as being “non-target objects” if they are identified to be of a material type that is not a target material type. Once a target object is identified, the sorting control logic and electronics is configured to send an airflow control signal to a pneumatic control system. In response to receiving the airflow control signal, the pneumatic control system is configured to supply pressurized air into (e.g., a selected) at least a subset of the one or more air conveyor devices that are coupled to the pneumatic control system. The vacuum airflows that are generated by the one or more air conveyor devices are then transferred, via air connections such as tubes, to the suction gripper mechanisms that are included in a suction gripper cluster device that is located above the conveyor mechanism. As such, in some embodiments, an air conveyor device that provides airflow to each of at least some of the suction gripper mechanisms of the suction gripper cluster device is located remote from the suction gripper cluster device. In some embodiments, the airflow control signal indicates for example, which air input port of each one or more of the air conveyor devices to which the pneumatic control system is to supply air and/or the amount of air to supply. The air supplied to the indicated air input port of the air conveyor device(s) is connected to corresponding airflow generator(s), which will channel the supplied pressurized air into a negative pressure, vacuum/suction airflow that will flow from the intake port of the air conveyor device(s) to the outlet port of the air conveyor device(s). 
     At  1004 , a target object is caused to be captured by the suction gripper cluster device using the airflows. As the target object is transported by the conveyor mechanism below the suction gripper cluster device, the generated vacuum/suction force will lift the target object off of the conveyor mechanism and towards the suction gripper cluster device. The target object may become adhered to the intake port(s) (or a corresponding attachment(s) such as suction cup(s)) of the suction gripper mechanisms. Each suction gripper mechanism comprises an independent point of contact with the target object and given that the suction gripper cluster device includes multiple suction gripper mechanisms, there are multiple independent points of contact between the suction gripper cluster device and the target object. The multiple independent points of contact between the suction gripper cluster device and the target object all serve to increase the likelihood that the suction gripper cluster device will successfully capture the target object (e.g., remove the target object off of the conveyor mechanism). Additionally, because each suction gripper mechanism is designed to move independently of the other suction gripper mechanisms within a single suction gripper, the suction gripper mechanisms can flexibly comply against the surface of the target object, which also helps to increase the likelihood that the suction gripper cluster device will successfully capture the target object. 
     At  1006 , a positioning actuator mechanism is activated to position the suction gripper cluster device. After the target object has been captured by suction gripper mechanism(s) of the suction gripper cluster device, the sorting control logic and electronics is configured to send a position control signal to the positioning actuator mechanism that is coupled to the suction gripper cluster device. For example, the positioning actuator mechanism comprises a rotator actuator, a movable carrier, a robot, one or more articulating members, or a combination thereof. In response to the position control signal, the positioning actuator mechanism is configured to adjust, if appropriate, the current position of the suction gripper cluster device to facilitate the ejection of the captured target object into a corresponding deposit location. For example, adjusting the position of the suction gripper cluster device includes using the robotic arms of a sorting robot to place the suction gripper cluster device directly over or near (e.g., within a predetermined distance) a corresponding deposit location. For example, the corresponding deposit location of a target object is determined to correspond to the material type of the target object. 
     At  1008 , the target object is caused to be ejected from the suction gripper cluster device. The sorting control logic and electronics is configured to send an ejection control signal and/or another airflow control signal to cause the air conveyor device(s) to eject the target object into its corresponding deposit location. In some embodiments, where the air conveyor devices comprise a respective second airflow generator that is configured to generate a positive pressure ejection airflow that flows from the outlet port of the air conveyor device to the intake port of the air conveyor device, the sorting control logic and electronics is configured to send a second airflow control signal to the pneumatic control system to cause the pneumatic control system to supply pressurized air into a respective second air input port of air conveyor devices that are connected to this second airflow generator. The ejection airflows that are then created by these second airflow generators are delivered to the suction gripper mechanisms and used to eject the target object. In some embodiments, where each of at least some of the suction gripper mechanisms of the suction gripper cluster device comprises a mechanical material ejector mechanism, the sorting control logic and electronics is configured to send an ejection control signal to the suction gripper mechanisms to cause the respective mechanical material ejector mechanisms to extend respective strike members outward from the respective intake ports of the suction gripper mechanisms to strike the surface of the target object and therefore eject it into a corresponding deposit location. In some embodiments, the suction gripper mechanisms of the suction gripper cluster device are operable to provide both the ejection airflow and the mechanical material ejector mechanisms, in which the sorting control logic and electronics may be configured to send control signals to activate both the respective second airflow generators and the mechanical material ejector mechanisms to eject the target object into a corresponding deposit location. 
       FIG. 11  is a flow diagram showing an example of a process for using a suction gripper cluster device to perform a capture action on a target object. In some embodiments, process  1100  is implemented by sorting control logic and electronics  260  of  FIG. 2  or  FIG. 2A . In some embodiments, steps  902  and  904  of process  900  of  FIG. 9  may be implemented using, at least in part, process  1000 . In some embodiments, steps  1002  and  1004  of process  1000  of  FIG. 10  may be implemented using, at least in part, process  1100 . 
     At  1102 , target object information including respective locations of one or more target objects on a conveyor mechanism and respective attributes associated with the one or more target objects is determined based at least in part on an input signal. For example, based on one or more images of objects that are being transported by a conveyor mechanism, those objects that are target objects and their locations on the conveyor mechanism are determined. The attributes of the target objects, such as, for example, the dimensions and material type of the target objects are also determined. 
     At  1104 , at least a subset of a plurality of suction gripper mechanisms that are included in a suction gripper cluster device is selected to emit a vacuum force with respect to a capture action on a target object based at least in part on the target object information. While the entire suction gripper cluster device is actuated (e.g., lowered) towards a target object during a capture action, in some embodiments, only a subset of the suction gripper mechanisms (e.g., each comprising an air conveyor device or receiving airflows provided by one or more air conveyor devices) that are included in a suction gripper cluster device is selected to perform a capture action on at least one of the identified target objects. In some embodiments, the suction gripper mechanisms(s) are selected for a target object based on, for example: the current location(s) of suction gripper mechanisms(s) over the conveyor mechanism, the location arrangement of the suction gripper mechanisms(s) among the arrangement of all suction gripper mechanisms within the suction gripper cluster device, the location of the target object on the conveyor mechanism, the shape(s)/size(s) of the suction gripper mechanisms(s), the shape/size of the target object, and/or the material type of the target object. 
     At  1106 , a positioning mechanism actuator coupled to the suction gripper cluster device is activated to move the suction gripper cluster device to facilitate the capture action on the target object. The positioning mechanism actuator that is coupled to the suction gripper cluster device is instructed by a position control signal from the sorting control logic and electronics to move the suction gripper cluster device closer to the target object and/or the suction gripper cluster in a manner that will allow the suction gripper cluster device to be better aligned with the target object (e.g., such that the suction gripper cluster device will be directly over the target object) to capture the target object. For example, the position control signal may include parameters such as a desired angle to which to rotate the suction gripper cluster device, a destination coordinate to which the suction gripper cluster device is to be moved, and/or a desired height over the surface of the conveyor mechanism to which the suction gripper cluster device is to be moved. After the suction gripper cluster device is repositioned, the suction gripper cluster device may be lowered towards the target object at least concurrently with the selected suction gripper mechanisms emitting a vacuum airflow to capture the target object. 
     It should be understood that components, elements and features of any of the embodiments described herein may be used in combination. Moreover, it should be understood that in some embodiments, material sorting system  200  may be used in combination or in conjunction with other sorting system technologies. As such, other embodiments are intended to include sorting systems that may comprise combinations of suction grippers, vacuum extraction devices, and other material sorting technologies. 
     Although the foregoing embodiments have been described in some detail for purposes of clarity of understanding, the invention is not limited to the details provided. There are many alternative ways of implementing the invention. The disclosed embodiments are illustrative and not restrictive.