公开(公告)号：US12187553B2

公开(公告)日：2025-01-07

申请号：US18047918

申请日：2022-10-19

Applicant: Symbotic Canada, ULC

Inventor： Sylvain Paul Morency ,  Louis Philippe Beaudoin ,  Matt Brecher ,  Christian Simon ,  Salah Mellal ,  Rene Alexander Vides Ramirez ,  Philippe Ambeault ,  Guillaume Lemelin ,  William Legare

IPC: B65G59/00 ,  B65G59/02 ,  B65G59/12

Abstract: A layer destacking system, for destacking a layer from a stacked layer pallet load, including a layer seating platform configured so as to seat the destacked layer on the layer seating platform, a slip sheet detection sensor arranged to sense a slip sheet in contact with the seated destacked layer, a slip sheet pickup removal mechanism, and a controller that receives a signal from the slip sheet detection sensor identifying presence of the slip sheet. The controller is operably connected to the slip sheet pickup removal mechanism so as to actuate the slip sheet pickup removal mechanism effecting discharge of the slip sheet off the layer seating platform.

公开(公告)号：US12103792B2

公开(公告)日：2024-10-01

申请号：US18346357

申请日：2023-07-03

Applicant: Symbotic Canada, ULC

Inventor： Patrice Turpin ,  William Légaré ,  Benoit Larouche ,  Christian Simon ,  Régis Métivier ,  Sylvain-Paul Morency ,  Robert Jodoin

IPC: G06F7/00 ,  B25J9/00 ,  B25J9/16 ,  B65G57/03 ,  B65G59/02 ,  B65G61/00 ,  G06Q10/04 ,  G06Q10/087

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：US11878873B2

公开(公告)日：2024-01-23

申请号：US17648171

申请日：2022-01-17

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：US20230278221A1

公开(公告)日：2023-09-07

申请号：US18168315

申请日：2023-02-13

Applicant: SYMBOTIC CANADA, ULC

Inventor： Christian Simon ,  William Légaré ,  Tristan Bouchard ,  Yannick Delisle

IPC: B25J9/16

CPC classification number: B25J9/1687 ,  B25J9/1692 ,  B25J9/1697

Abstract: 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.

公开(公告)号：US11691830B2

公开(公告)日：2023-07-04

申请号：US17151761

申请日：2021-01-19

Applicant: Symbotic Canada, ULC

Inventor： Patrice Turpin ,  William Legaré ,  Benoit Larouche ,  Christian Simon ,  Régis Métivier ,  Sylvain-Paul Morency ,  Robert Jodoin

IPC: G06F7/00 ,  B65G57/03 ,  B25J9/16 ,  B25J9/00 ,  B65G59/02 ,  B65G61/00 ,  G06Q10/04 ,  G06Q10/087

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 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.