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公开(公告)号：US20230010402A1
公开(公告)日：2023-01-12
申请号：US17933671
申请日：2022-09-20
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：US20220411208A1
公开(公告)日：2022-12-29
申请号：US17823354
申请日：2022-08-30
申请人： Symbotic Canada, ULC
发明人： Marc DUCHARME , Jean-Francois FORGET , Robert JODOIN , Cédric KESSLER , Régis MÉTIVIER , Sylvain-Paul MORENCY
摘要： A palletizing elevator is provided that lowers gradually a pallet thereon from an upper level as it is filled with products, and by providing an empty pallet infeed system that moves empty pallets towards the palletizing elevator simultaneously to the palletizing of products thereon. The empty pallet infeed system includes an empty pallet elevator for raising empty pallets to the upper level and a conveying system between the empty pallet elevator and the palletizing elevator for moving the empty pallets of from the empty pallet elevator at the upper level to the palletizing elevator while a pallet is moved by the palletizing elevator during its filling.
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公开(公告)号：US11535463B2
公开(公告)日：2022-12-27
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：US11203492B2
公开(公告)日：2021-12-21
申请号：US17118475
申请日：2020-12-10
申请人： Symbotic Canada, ULC
摘要： A case orienting system comprising a frame having a reference datum a traverse transport pivotally coupled to the frame about a traverse pivot axis, the traverse transport including a substantially continuous movable platform configured to support and transport at least one case in a case traverse direction along a traverse axis. The substantially continuous movable platform pivots about the traverse pivot axis to orient the case traverse direction to another traverse direction and a bias support disposed adjacent to and opposing the traverse transport and being movably coupled to the frame to move relative to the frame in opposition to the traverse transport, the bias support being configured to engage and seat against a seating surface of the at least one case to support the at least one case in a first orientation relative to the reference datum.
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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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公开(公告)号：US20230278221A1
公开(公告)日：2023-09-07
申请号：US18168315
申请日：2023-02-13
申请人： SYMBOTIC CANADA, ULC
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , B25J9/1692 , B25J9/1697
摘要： A pallet building apparatus, for automatically building a pallet load of pallet load article units onto a pallet support, includes a frame defining a pallet station with a pallet building base for the pallet support, an articulated robot connected to the frame, at least one three-dimensional camera, connected to the frame separate and distinct of the articulated robot, and disposed to generate three-dimensional imaging of the pallet support on the pallet building base and of a pallet load build on the pallet support, a controller operably connected to the at least one articulated robot and the at least one three-dimensional camera, and an automatic calibration system for calibrating the articulated robot, the controller being communicably connected to the automatic calibration system, and being configured to automatically calibrate the articulated robot, from a substantially uncalibrated state, and automatically teach the articulated robot a location of the pallet station.
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