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公开(公告)号：US20230010402A1
公开(公告)日：2023-01-12
申请号：US17933671
申请日：2022-09-20
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：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
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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Patent Agency Ranking
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
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.
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公开(公告)号：US20250026593A1
公开(公告)日：2025-01-23
申请号：US18903823
申请日：2024-10-01
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.
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公开(公告)号：US20210139257A1
公开(公告)日：2021-05-13
申请号：US17151761
申请日：2021-01-19
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：US20190016543A1
公开(公告)日：2019-01-17
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：US20170213334A1
公开(公告)日：2017-07-27
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
CPC classification number: G06T7/0004 , B65G15/00 , G01B11/04 , G06T5/50 , G06T7/0006 , G06T7/62 , G06T7/70 , G06T2207/10016 , G06T2207/30164 , H04N5/04 , H04N5/2256
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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