公开(公告)号：US20220306407A1

公开(公告)日：2022-09-29

申请号：US17806864

申请日：2022-06-14

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.

公开(公告)号：US20210327044A1

公开(公告)日：2021-10-21

申请号：US17216803

申请日：2021-03-30

Applicant: Symbotic Canada ULC

Inventor： Marc DUCHARME ,  Robert JODOIN ,  Benoit LAROUCHE ,  Sylvain-Paul MORENCY ,  Christian SIMON

IPC: G06T7/00 ,  G01B11/04 ,  G06T7/62 ,  G06T7/70 ,  B65G15/00 ,  G06T5/50 ,  H04N5/225

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：US20200062518A1

公开(公告)日：2020-02-27

申请号：US16667744

申请日：2019-10-29

Applicant: SYMBOTIC CANADA ULC

Inventor： Sylvain-Paul MORENCY ,  Marc DUCHARME ,  Robert JODOIN ,  Tristan PASHLEY ,  Francis LEVESQUE ,  Jean-Francois FORGET

IPC: B65G59/02 ,  B65G63/00 ,  B66C1/10 ,  B66C1/32

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.

公开(公告)号：US20170305692A1

公开(公告)日：2017-10-26

申请号：US15645840

申请日：2017-07-10

Applicant: Symbotic Canada, ULC

Inventor： Sylvain-Paul MORENCY ,  Marc DUCHARME ,  Robert JODOIN ,  Regis METIVIER ,  Jean-François FORGET ,  Maxime LAMY-POIRIER ,  Eric LAJOIE

IPC: B65G61/00 ,  B65G63/00 ,  B25J15/00 ,  B25J11/00 ,  B65G47/90 ,  B65G47/82 ,  B65G57/03

CPC classification number: B65G61/00 ,  B25J11/00 ,  B25J15/0014 ,  B65G47/82 ,  B65G47/90 ,  B65G47/905 ,  B65G57/03 ,  B65G63/002 ,  B65G2201/025

Abstract: The problem of the lag time in picking and dropping mixed load products during a palletization process is solved by using a tool having i) a gripping member that can be partially closed in a first fast movement while it is moved by a robot towards a product and then closed onto the product in a second shorter movement and ii) a product abutting plate that is movable in unison with the tool in opposite direction thereof as the tool is moved by a robot towards and away the mixed load pallet.

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：US20230125374A1

公开(公告)日：2023-04-27

申请号：US18068800

申请日：2022-12-20

Applicant: SYMBOTIC CANADA ULC

Inventor： Sylvain-Paul MORENCY ,  Marc DUCHARME ,  Robert JODOIN ,  Tristan PASHLEY ,  Francis LEVESQUE ,  Jean-Francois FORGET

IPC: B65G59/02 ,  B66C1/32 ,  B65G63/00 ,  B66C1/10

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.

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.