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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：US20200002107A1
公开(公告)日：2020-01-02
申请号：US16506636
申请日：2019-07-09
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：US20240223880A1
公开(公告)日：2024-07-04
申请号：US18398326
申请日：2023-12-28
申请人： Symbotic Canada, ULC
发明人： Simon Tremblay , Christian Simon
摘要： A logistics imaging module, for reading logistic iconography on containers of goods of different sizes, including a frame, a conveyor coupled to the frame to transport each container through the frame at a predetermined continuous throughput rate, at least one source of illumination connected to the frame and configured to illuminate the container with diffuse light, at least one camera, with a fixed depth of field, disposed to image the container transported substantially coincident with the illumination of the container. A controller is connected to the conveyor to determine a pose of the container transported relative to the frame. The controller is configured to trigger the at least one camera and the at least one source of illumination to image the container based on the determined pose being an optimum pose for imaging parameters of the at least one camera.
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公开(公告)号：US11584595B2
公开(公告)日：2023-02-21
申请号：US17645377
申请日：2021-12-21
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：US20220306407A1
公开(公告)日：2022-09-29
申请号：US17806864
申请日：2022-06-14
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：US11449978B2
公开(公告)日：2022-09-20
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：US11358811B2
公开(公告)日：2022-06-14
申请号：US17235692
申请日：2021-04-20
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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