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公开(公告)号：US12202679B2
公开(公告)日：2025-01-21
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
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.
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公开(公告)号：US10981736B2
公开(公告)日：2021-04-20
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：US10964007B2
公开(公告)日：2021-03-30
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
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：US10894676B2
公开(公告)日：2021-01-19
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：US11840411B2
公开(公告)日：2023-12-12
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
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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Patent Agency Ranking
公开(公告)号：US20240223880A1
公开(公告)日：2024-07-04
申请号：US18398326
申请日：2023-12-28
Applicant: Symbotic Canada, ULC
Inventor： Simon Tremblay , Christian Simon
Abstract: A logistics imaging module, for reading logistic iconography on containers of goods of different sizes, including a frame, a conveyor coupled to the frame to transport each container through the frame at a predetermined continuous throughput rate, at least one source of illumination connected to the frame and configured to illuminate the container with diffuse light, at least one camera, with a fixed depth of field, disposed to image the container transported substantially coincident with the illumination of the container. A controller is connected to the conveyor to determine a pose of the container transported relative to the frame. The controller is configured to trigger the at least one camera and the at least one source of illumination to image the container based on the determined pose being an optimum pose for imaging parameters of the at least one camera.
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公开(公告)号：US11449978B2
公开(公告)日：2022-09-20
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
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：US11358811B2
公开(公告)日：2022-06-14
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
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：US10343857B2
公开(公告)日：2019-07-09
申请号：US14602537
申请日：2015-01-22
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：US10239210B2
公开(公告)日：2019-03-26
申请号：US14682955
申请日：2015-04-09
Applicant: SYMBOTIC CANADA ULC
Inventor： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Christian Simon , Jonathan Fournier , Sebastien Lemay
Abstract: The problem of picking tightly-pack generally uniformed products such as rubber bales in a bin is solved by sequentially selecting each one of the products based on the products depths in the bin, using a robot with a tool to grip each selected product, and moving on an output station each gripped product considering its position relative to the gripping tool. A first sensor system is used to determine the product depths in the bin. The sensor system can be mounted on the robot tool or be positioned above the bin. The position of each gripped product in the gripping tool is achieved by analyzing an image of the gripped product in the gripping tool.
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