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

IPC: B65G57/03 ,  B25J9/16 ,  B25J9/00 ,  B65G59/02

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.

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

IPC: G06T7/00 ,  G06T5/50 ,  B65G15/00 ,  G06T7/62 ,  G06T7/70 ,  H04N5/225 ,  H04N5/04

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.

公开(公告)号：US20240166450A1

公开(公告)日：2024-05-23

申请号：US18420218

申请日：2024-01-23

Applicant: Symbotic Canada, ULC

Inventor： Christian SIMON ,  William LÉGARÉ ,  Samy METARI ,  Alexandre DUMAIS

IPC: B65G43/08

CPC classification number: B65G43/08 ,  B65G2201/0238 ,  B65G2203/0233 ,  B65G2203/041

Abstract: 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.

公开(公告)号：US20240132304A1

公开(公告)日：2024-04-25

申请号：US18537004

申请日：2023-12-12

Applicant: SYMBOTIC CANADA ULC

Inventor： Sylvain-Paul MORENCY ,  Marc DUCHARME ,  Robert JODOIN ,  Philippe HAKIER ,  Christian SIMON ,  Jean-François FORGET

IPC: B65G61/00 ,  B65G59/02

CPC classification number: B65G61/00 ,  B65G59/02

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.

公开(公告)号：US20230365356A1

公开(公告)日：2023-11-16

申请号：US18346357

申请日：2023-07-03

Applicant: Symbotic Canada, ULC

Inventor： Patrice TURPIN ,  William LÉGARÉ ,  Benoit LAROUCHE ,  Christian SIMON ,  Rêgis MÉTIVIER ,  Sylvain-Paul MORENCY ,  Robert JODOIN

IPC: B65G57/03 ,  B65G61/00 ,  G06Q10/04 ,  B25J9/00 ,  B25J9/16 ,  B65G59/02

CPC classification number: 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

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.

公开(公告)号：US20210237990A1

公开(公告)日：2021-08-05

申请号：US17235692

申请日：2021-04-20

Applicant: SYMBOTIC CANADA, ULC

Inventor： Sylvain-Paul MORENCY ,  Marc DUCHARME ,  Robert JODOIN ,  Philippe HAKIER ,  Christian SIMON ,  Jean-François FORGET

IPC: B65G61/00 ,  B65G59/02

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.