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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
Applicant: Symbotic Canada ULC
Inventor： Marc DUCHARME , Robert JODOIN , Benoit LAROUCHE , Sylvain-Paul MORENCY , Christian SIMON
Abstract: 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
Applicant: Symbotic Canada, ULC
Inventor： Marc DUCHARME , Jean-Francois FORGET , Robert JODOIN , Cédric KESSLER , Régis MÉTIVIER , Sylvain-Paul MORENCY
Abstract: 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：US20200002107A1
公开(公告)日：2020-01-02
申请号：US16506636
申请日：2019-07-09
Applicant: SYMBOTIC CANADA ULC
Inventor： Sylvain-Paul MORENCY , Marc DUCHARME , Robert JODOIN , Philippe HAKIER , Christian SIMON , Jean-François FORGET
Abstract: 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：US20240116723A1
公开(公告)日：2024-04-11
申请号：US18545414
申请日：2023-12-19
Applicant: SYMBOTIC CANADA ULC
Inventor： Sylvain-Paul MORENCY , Marc DUCHARME , Robert JODOIN , Tristan PASHLEY , Francis LEVESQUE , Jean-Francois FORGET
CPC classification number: B65G59/023 , B65G59/02 , B65G63/002 , B66C1/10 , B66C1/32 , B65G2201/025 , B65G2814/031
Abstract: 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：US20210114826A1
公开(公告)日：2021-04-22
申请号：US17070753
申请日：2020-10-14
Applicant: Symbotic Canada, ULC
Inventor： Christian SIMON , Sylvain-Paul MORENCY , William LÉGARÉ , Benoît LAROUCHE , Robert JODOIN , Juergen CONRAD
Abstract: A depalletizer having a pallet station for receiving a pallet load of cases disposed in pallet load layers, a robot with an end effector having a grip to grip and pick at least one of the layers and having a grip engagement interface defining a predetermined layer engagement position and orientation for the layer(s), relative to the depalletizing end effector, a vision system to image the pallet load of cases and generate at least one image of a top portion of the layer(s) independent of robot motion, and a controller that receives the image(s) and effects determination of a layer position and orientation of the layer(s) relative to the predetermined layer engagement position and orientation of the grip engagement interface, and the controller is operably coupled to the robot so as to position the grip and capture and hold the layer(s) with the grip at the grip engagement interface.
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Patent Agency Ranking
公开(公告)号：US20170043986A1
公开(公告)日：2017-02-16
申请号：US15235254
申请日：2016-08-12
Applicant: SYMBOTIC CANADA ULC
Inventor： Marc DUCHARME , Jean-Francois FORGET , Robert JODOIN , Cédric KESSLER , Régis MÉTIVIER , Sylvain-Paul MORENCY
CPC classification number: B65G57/035 , B65G57/00 , B65G61/00 , B65G2201/0267
Abstract: 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.
Abstract translation: 提供码垛式升降机，当货物被充满产品时，从上层逐渐降低托盘，并提供一个空的托盘进料系统，将空托盘朝向码垛机同时移动到其上的产品堆垛。 空托盘进料系统包括用于将空托盘提升到上层的空托盘升降机和空托盘升降机与码垛升降机之间的输送系统，用于将上层空托盘升降机的空托盘移动到码垛电梯 而托盘在填充期间由码垛电梯移动。
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公开(公告)号：US20250026593A1
公开(公告)日：2025-01-23
申请号：US18903823
申请日：2024-10-01
Applicant: Symbotic Canada, ULC
Inventor： Patrice TURPIN , William LÉGARÉ , Benoit LAROUCHE , Christian SIMON , Régis MÉTIVIER , Sylvain-Paul MORENCY , Robert JODOIN
Abstract: 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：US20210139257A1
公开(公告)日：2021-05-13
申请号：US17151761
申请日：2021-01-19
Applicant: Symbotic Canada, ULC
Inventor： Patrice TURPIN , William LÉGARÉ , Benoit LAROUCHE , Christian SIMON , Régis MÉTIVIER , Sylvain-Paul MORENCY , Robert JODOIN
Abstract: 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 by the at least one articulated robot between placement of at least one pallet load article unit and a serially consecutive pallet load article unit enabling substantially continuous building of the pallet load build.
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公开(公告)号：US20190016543A1
公开(公告)日：2019-01-17
申请号：US16035204
申请日：2018-07-13
Applicant: Symbotic Canada, ULC
Inventor： Patrice TURPIN , William LÉGARÉ , Benoit LAROUCHE , Christian SIMON , Régis MÉTIVIER , Sylvain-Paul MORENCY , Robert JODOIN
Abstract: 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 by the at least one articulated robot between placement of at least one pallet load article unit and a serially consecutive pallet load article unit enabling substantially continuous building of the pallet load build.
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公开(公告)号：US20170213334A1
公开(公告)日：2017-07-27
申请号：US15416922
申请日：2017-01-26
Applicant: Symbotic Canada ULC
Inventor： Marc DUCHARME , Robert JODOIN , Benoit LAROUCHE , Sylvain-Paul MORENCY , Christian SIMON
CPC classification number: G06T7/0004 , B65G15/00 , G01B11/04 , G06T5/50 , G06T7/0006 , G06T7/62 , G06T7/70 , G06T2207/10016 , G06T2207/30164 , H04N5/04 , H04N5/2256
Abstract: 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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