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公开(公告)号：US11535463B2
公开(公告)日：2022-12-27
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
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.
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公开(公告)号：US10370199B2
公开(公告)日：2019-08-06
申请号：US15235254
申请日：2016-08-12
Applicant: SYMBOTIC CANADA ULC
Inventor： Marc Ducharme , Jean-Francois Forget , Robert Jodoin , Cédric Kessler , Régis Métivier , Sylvain-Paul Morency
Abstract: A palletizing elevator is provided that lowers gradually a pallet thereon from an upper level as it is filled with products, and by providing an empty pallet infeed system that moves empty pallets towards the palletizing elevator simultaneously to the palletizing of products thereon. The empty pallet infeed system includes an empty pallet elevator for raising empty pallets to the upper level and a conveying system between the empty pallet elevator and the palletizing elevator for moving the empty pallets of from the empty pallet elevator at the upper level to the palletizing elevator while a pallet is moved by the palletizing elevator during its filling.
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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：US10457502B2
公开(公告)日：2019-10-29
申请号：US14720089
申请日：2015-05-22
Applicant: SYMBOTIC CANADA ULC
Inventor： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Tristan Pashley , Francis Levesque , Jean-Francois Forget
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.
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Patent Agency Ranking
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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公开(公告)号：US11970348B2
公开(公告)日：2024-04-30
申请号：US17823354
申请日：2022-08-30
Applicant: Symbotic Canada, ULC
Inventor： Marc Ducharme , Jean-Francois Forget , Robert Jodoin , Cédric Kessler , Régis Métivier , Sylvain-Paul Morency
CPC classification number: B65G57/035 , B65G57/00 , B65G61/00 , B65G2201/0267
Abstract: A palletizing elevator is provided that lowers gradually a pallet thereon from an upper level as it is filled with products, and by providing an empty pallet infeed system that moves empty pallets towards the palletizing elevator simultaneously to the palletizing of products thereon. The empty pallet infeed system includes an empty pallet elevator for raising empty pallets to the upper level and a conveying system between the empty pallet elevator and the palletizing elevator for moving the empty pallets of from the empty pallet elevator at the upper level to the palletizing elevator while a pallet is moved by the palletizing elevator during its filling.
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