US 12,344,488 B2
Vision-assisted robotized depalletizer
Christian Simon, Laval (CA); Sylvain-Paul Morency, Laval (CA); William Légaré, Montréal (CA); Benoît Larouche, Montréal (CA); Robert Jodoin, Mont Tremblant (CA); and Juergen Conrad, North Andover, MA (US)
Assigned to Symbotic Canada, ULC, (CA)
Filed by Symbotic Canada, ULC, Montreal (CA)
Filed on Oct. 14, 2020, as Appl. No. 17/070,753.
Claims priority of provisional application 62/916,080, filed on Oct. 16, 2019.
Prior Publication US 2021/0114826 A1, Apr. 22, 2021
Int. Cl. B65G 61/00 (2006.01); B25J 9/16 (2006.01)
CPC B65G 61/00 (2013.01) [B25J 9/1697 (2013.01); B65G 2201/0267 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A depalletizer comprising:
a pallet unloading station configured for receiving a pallet load of cases disposed in pallet load layers, each of the pallet load layers being formed of more than one cases juxtaposed at a common level over an area of the pallet load;
a robot equipped with a depalletizing end effector having a grip configured to grip and pick therewith at least one of the pallet load layers so as to transport the at least one pallet load layer from the pallet load at the pallet unloading station to an output station, the grip having a grip engagement interface that defines a predetermined layer engagement position and orientation for the at least one of the pallet load layers, relative to the depalletizing end effector, so as to repeatably effect capture and stable holding of the at least one of the pallet load layers with the grip;
a vision system disposed so as to image the pallet load of cases at the pallet unloading station, and configured so as to generate at least one image of a top portion of the at least one of the pallet load layers independent of robot motion; and
a controller operably coupled to the vision system so as to receive the at least one image from the vision system and configured to effect determination, based on the at least one image, of a layer position and orientation of the at least one of the pallet load layers relative to the predetermined layer engagement position and orientation of the grip engagement interface, wherein the controller is operably coupled to the robot so as to position the grip and capture and hold the at least one of the pallet load layers with the grip at the grip engagement interface.