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公开(公告)号：US20210327044A1
公开(公告)日：2021-10-21
申请号：US17216803
申请日：2021-03-30
申请人： Symbotic Canada ULC
摘要： A method of inspecting cased goods includes advancing at least one case of goods on a conveyor, generating an illumination sheet of parallel illuminating rays with at least one electromagnetic source, and capturing an image, formed by the illumination sheet passing through a diffuser with at least one camera located so as to capture illumination from diffused parallel rays of the light sheet, where the image case embodies a goods image that is generated by the case goods moving between the light source and the at least one camera, where part of the parallel sheet of light is at least partially blocked by the case of goods, thus generating a gray level image.
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公开(公告)号：US20200062518A1
公开(公告)日：2020-02-27
申请号：US16667744
申请日：2019-10-29
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul MORENCY , Marc DUCHARME , Robert JODOIN , Tristan PASHLEY , Francis LEVESQUE , Jean-Francois FORGET
摘要： The problem of potentially damaging a pallet layer that is gripped by clamps of a depalletizing tool is solved i) by detecting the real position of the layer using a pad on the tool that is movable with the clamps towards the pallet layer and whose detected stopping position determines the real position of the layer, and ii) while the layer is gripped by the clamp, by inserting under the layer curtains; the pressure on the layer by the clamps being adapted to the ease to go underneath the layer.
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公开(公告)号：US10343857B2
公开(公告)日：2019-07-09
申请号：US14602537
申请日：2015-01-22
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Philippe Hakier , Christian Simon , Jean-François Forget
摘要： A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.
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公开(公告)号：US10239210B2
公开(公告)日：2019-03-26
申请号：US14682955
申请日：2015-04-09
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Christian Simon , Jonathan Fournier , Sebastien Lemay
摘要： The problem of picking tightly-pack generally uniformed products such as rubber bales in a bin is solved by sequentially selecting each one of the products based on the products depths in the bin, using a robot with a tool to grip each selected product, and moving on an output station each gripped product considering its position relative to the gripping tool. A first sensor system is used to determine the product depths in the bin. The sensor system can be mounted on the robot tool or be positioned above the bin. The position of each gripped product in the gripping tool is achieved by analyzing an image of the gripped product in the gripping tool.
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公开(公告)号：US20170305692A1
公开(公告)日：2017-10-26
申请号：US15645840
申请日：2017-07-10
申请人： Symbotic Canada, ULC
发明人： Sylvain-Paul MORENCY , Marc DUCHARME , Robert JODOIN , Regis METIVIER , Jean-François FORGET , Maxime LAMY-POIRIER , Eric LAJOIE
CPC分类号： B65G61/00 , B25J11/00 , B25J15/0014 , B65G47/82 , B65G47/90 , B65G47/905 , B65G57/03 , B65G63/002 , B65G2201/025
摘要： The problem of the lag time in picking and dropping mixed load products during a palletization process is solved by using a tool having i) a gripping member that can be partially closed in a first fast movement while it is moved by a robot towards a product and then closed onto the product in a second shorter movement and ii) a product abutting plate that is movable in unison with the tool in opposite direction thereof as the tool is moved by a robot towards and away the mixed load pallet.
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公开(公告)号：US12103792B2
公开(公告)日：2024-10-01
申请号：US18346357
申请日：2023-07-03
申请人： Symbotic Canada, ULC
发明人： Patrice Turpin , William Légaré , Benoit Larouche , Christian Simon , Régis Métivier , Sylvain-Paul Morency , Robert Jodoin
CPC分类号： B65G57/03 , B25J9/0093 , B25J9/1661 , B25J9/1687 , B25J9/1697 , B65G59/02 , B65G61/00 , G06Q10/043 , G06Q10/087 , B65G2201/025 , B65G2201/0267 , B65G2203/041 , G05B2219/40006 , G05B2219/40609 , G05B2219/45083
摘要： A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time.
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公开(公告)号：US20240166450A1
公开(公告)日：2024-05-23
申请号：US18420218
申请日：2024-01-23
申请人： Symbotic Canada, ULC
发明人： Christian SIMON , William LÉGARÉ , Samy METARI , Alexandre DUMAIS
IPC分类号： B65G43/08
CPC分类号： B65G43/08 , B65G2201/0238 , B65G2203/0233 , B65G2203/041
摘要： An inspection apparatus, for inspection of cased goods, includes at least one conveyor, at least one camera for capturing case image data of each of the cased goods advanced with the at least one conveyor past the inspection apparatus, and a processor configured to receive the case image data from the at least one camera. The processor is configured to characterize, from the case image data, a case exterior protrusion of the case good as a case flap in open condition, wherein the processor is configured to resolve the case image data and determine the case exterior protrusion is a coherent planar surface, and is programmed with a parameter array of physical characteristic parameters that describe case flap coherency attributes determinative of the coherent planar surface defining an open case flap condition.
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公开(公告)号：US20240132304A1
公开(公告)日：2024-04-25
申请号：US18537004
申请日：2023-12-12
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul MORENCY , Marc DUCHARME , Robert JODOIN , Philippe HAKIER , Christian SIMON , Jean-François FORGET
摘要： A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.
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公开(公告)号：US11878873B2
公开(公告)日：2024-01-23
申请号：US17648171
申请日：2022-01-17
申请人： Symbotic Canada, ULC
发明人： Christian Simon , William Légaré , Samy Metari , Alexandre Dumais
IPC分类号： B65G43/08
CPC分类号： B65G43/08 , B65G2201/0238 , B65G2203/0233 , B65G2203/041
摘要： An inspection apparatus, for inspection of cased goods, includes at least one conveyor, at least one camera for capturing case image data of each of the cased goods advanced with the at least one conveyor past the inspection apparatus, and a processor configured to receive the case image data from the at least one camera. The processor is configured to characterize, from the case image data, a case exterior protrusion of the case good as a case flap in open condition, wherein the processor is configured to resolve the case image data and determine the case exterior protrusion is a coherent planar surface, and is programmed with a parameter array of physical characteristic parameters that describe case flap coherency attributes determinative of the coherent planar surface defining an open case flap condition.
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公开(公告)号：US20230365356A1
公开(公告)日：2023-11-16
申请号：US18346357
申请日：2023-07-03
申请人： Symbotic Canada, ULC
发明人： Patrice TURPIN , William LÉGARÉ , Benoit LAROUCHE , Christian SIMON , Rêgis MÉTIVIER , Sylvain-Paul MORENCY , Robert JODOIN
CPC分类号： B65G57/03 , B25J9/0093 , B25J9/1661 , B25J9/1687 , B25J9/1697 , B65G59/02 , B65G61/00 , G06Q10/043 , G06Q10/087 , B65G2201/025 , B65G2201/0267 , B65G2203/041 , G05B2219/40006 , G05B2219/40609 , G05B2219/45083
摘要： A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time.
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