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公开(公告)号：US11905125B1
公开(公告)日：2024-02-20
申请号：US17213554
申请日：2021-03-26
Applicant: Material Handling Systems, Inc.
Inventor： Brandon Wayne Coats , Jon Todd Fuchs , Errin Whitney Gnadinger , Thomas Anthony Hillerich, Jr. , Nicholas Anderson Moore , Madhav Devidas Patil , Jonathan Dean Terrell , Joshua Alan Wiley
CPC classification number: B65G47/493 , B65G47/71 , B65G67/04 , B65G2203/0216 , B65G2203/041
Abstract: A parcel cart loading system includes: a conveyor; parcel carts for receiving parcels offloaded from the conveyor; a loading station where parcels are offloaded to the parcel carts; and a vision and control subsystem that is operably connected to a plurality of mobile robots. The vision and control subsystem acquires one or more images of parcel carts within a loading area of the loading station and determines if any of the parcel carts are fully loaded based on the image data. Each parcel cart determined to be fully loaded is autonomously transported out of the loading area and to its intended destination by one of the mobile robots within the system. Each parcel cart transported out of the loading area is replaced by another parcel cart from a queue area of the loading station by another mobile robot of the system.
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公开(公告)号：US10994309B2
公开(公告)日：2021-05-04
申请号：US16828113
申请日：2020-03-24
Applicant: Material Handling Systems, Inc.
Inventor： Thomas Anthony Hillerich, Jr. , Michael Alan McCue , Gregory Robert Sturm , David W. Caldwell, II , Derek Robert Sturm
Abstract: A system for identifying and transferring parcels includes a robot singulator configured to engage and transfer individual parcels in a bulk flow of multiple parcels on a first conveyor to a singulated stream of parcels on a second conveyor. The system further includes a vision and control subsystem, with a first camera for acquiring image data of the bulk flow of multiple parcels, and a computer that receives and processes the image data to identify and segment individual parcels, and then communicates instructions to the robot singulator to engage and transfer each of the individual parcels to the second conveyor. The system may further include a second camera for acquiring image data of the individual parcels to confirm placement on the second conveyor. The system may further include first and second indexing conveyors controlled by the vision and control subsystem for delivering parcels to the robot singulator.
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公开(公告)号：US12059803B2
公开(公告)日：2024-08-13
申请号：US17941735
申请日：2022-09-09
Applicant: Material Handling Systems, Inc.
Inventor： Varun Gandhi Mukesh Gandhi , Thomas Anthony Hillerich, Jr. , Madhav Devidas Patil , Paul Receveur , Jonathan Dean Terrell
CPC classification number: B25J9/0093 , B25J9/1682 , B25J9/1697 , B25J13/08 , B65G43/08 , B65G47/31 , B65G47/90 , B65G47/905
Abstract: A conveyor system includes a first robot singulator, a second robot singulator, and a picking area from which parcels of a bulk flow of parcels can be engaged and transferred by the first robot singulator or the second robot singulator. The conveyor system further includes a first place conveyor positioned downstream of the picking area and configured to receive parcels transferred by the first robot singulator. The conveyor system further includes a second place conveyor positioned downstream of the picking area and the first place conveyor, the second place conveyor configured to receive parcels transferred by the second robot singulator and to receive parcels from the first place conveyor. A buffering conveyor is positioned between the first place conveyor and the second place conveyor for regulating a rate at which parcels offloaded by the first place conveyor are transferred to the second place conveyor.
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Patent Agency Ranking
公开(公告)号：US11753256B2
公开(公告)日：2023-09-12
申请号：US17325719
申请日：2021-05-20
Applicant: Material Handling Systems, Inc.
Inventor： Madhav Devidas Patil , Michael Alan McCue , Brandon Wayne Coats , Thomas Anthony Hillerich, Jr. , Varun Gandhi Mukesh Gandhi
CPC classification number: B65G47/905 , B25J9/0087 , B25J9/0093 , B25J9/1679 , B25J9/1697 , B65G47/53 , B65G47/907 , B65G2201/0285 , B65G2203/041
Abstract: A conveyor system includes: a pick conveyor defining a picking area for a bulk flow of parcels; a place conveyor positioned downstream of the picking area; a first robot singulator and a second robot singulator, which work in parallel to transfer parcels within a picking area of the pick conveyor to the place conveyor; and a vision and control subsystem that communicates instructions to control operation of some or all of the foregoing components. The vision and control subsystem includes a target camera for acquiring one or more images of the picking area, which are processed within the system to determine the location of parcels positioned within the picking area. The vision and control subsystem can execute one or more routines or subroutines to reduce system downtime associated with image acquisition and processing, parcel transfer to the place conveyor, and/or parcel delivery to the picking area.
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公开(公告)号：US11192145B2
公开(公告)日：2021-12-07
申请号：US16590812
申请日：2019-10-02
Applicant: Material Handling Systems, Inc.
Inventor： Gregory Robert Sturm , Jonathan Dean Terrell , Thomas Anthony Hillerich, Jr. , Michael Alan McCue , David W. Caldwell, II , Derek Robert Sturm
Abstract: A singulating system for parcels comprises: an inner wall; a first section comprised of a series of driven rollers, which are skewed relative to a longitudinal direction of travel, so that the parcels are conveyed not only in the longitudinal direction of travel, but also toward the inner wall; a second section for receiving the parcels from the first section, and then identifying and moving parcels in a side-by-side arrangement and/or parcels with an irregular shape; and a third section for receiving the parcels from the second section. In some embodiments, the singulating system also includes a visioning subsystem, including a camera for acquiring image data of the parcels as the parcels move toward or into the second section, and a computer to receive and analyze the image data from the camera to identify parcels in a side-by-side arrangement and/or parcels with an irregular shape.
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公开(公告)号：US11851293B2
公开(公告)日：2023-12-26
申请号：US17748479
申请日：2022-05-19
Applicant: Material Handling Systems, Inc.
Inventor： Carl David Graston , Thomas Anthony Hillerich, Jr. , Paul Receveur
CPC classification number: B65G47/96 , B07C5/362 , B65G43/08 , B65G47/78 , B65G2201/0285 , B65G2203/0208 , B65G2203/041
Abstract: A trapdoor rejection subsystem includes one or more trapdoor rejection mechanisms. Each trapdoor rejection mechanism is configured to be selectively transitioned between a closed position to support parcels and an open position to allow parcels identified as unconveyable to pass through the trapdoor rejection mechanism. Each trapdoor rejection mechanism includes a first door, a second door, and one or more actuators which can be selectively actuated to rotate the first door and the second door and transition the trapdoor rejection mechanism between the closed position and the open position. The trapdoor rejection subsystem can be utilized in a conveyor system in combination with one or more robot singulators, an upstream conveyor, a place conveyor, and a vision and control subsystem. Detection of unconveyable parcels and the transition of each trapdoor rejection mechanism of the trapdoor rejection subsystem is controlled by the vision and control subsystem.
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公开(公告)号：US11524403B2
公开(公告)日：2022-12-13
申请号：US16793902
申请日：2020-02-18
Applicant: Material Handling Systems, Inc.
Inventor： Josiah Douglas , Kurt Michael Wittmer , Michael Alan McCue , David W. Caldwell, II , Gregory Robert Sturm , Derek Robert Sturm , Thomas Anthony Hillerich, Jr.
Abstract: A vacuum-based end effector for engaging parcels includes a base plate, one or more vacuum cups of a first type, and one or more vacuum cups of a second type. Each vacuum cup of the vacuum-based end effector is configured to be placed in fluid communication with a vacuum source to provide the vacuum cup with a suction force which can be used to engage and grasp parcels. Each vacuum cup includes a bellows defining a pathway for a flow of air and a lip connected to the bellows. Each lip of the one or more vacuum cups of the first type comprises a foam lip, and each lip of the one or more vacuum cups of the second type comprises an elastomeric lip. The vacuum-based end effector can be combined with a robot to provide an improved system for engaging parcels.
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公开(公告)号：US10646898B2
公开(公告)日：2020-05-12
申请号：US16001010
申请日：2018-06-06
Applicant: Material Handling Systems, Inc.
Inventor： Thomas Anthony Hillerich, Jr. , Michael Alan McCue , Gregory Robert Sturm , David W. Caldwell, II , Derek Robert Sturm
Abstract: A system for identifying and transferring parcels includes a robot singulator configured to engage and transfer individual parcels in a bulk flow of multiple parcels on a first conveyor to a singulated stream of parcels on a second conveyor. The system further includes a vision and control subsystem, with a first camera for acquiring image data of the bulk flow of multiple parcels, and a computer that receives and processes the image data to identify and segment individual parcels, and then communicates instructions to the robot singulator to engage and transfer each of the individual parcels to the second conveyor. The system may further include a second camera for acquiring image data of the individual parcels to confirm placement on the second conveyor. The system may further include first and second indexing conveyors controlled by the vision and control subsystem for delivering parcels to the robot singulator.
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