Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

Methods and systems for recognizing machine-readable information on three-dimensional (3D) objects are described. A robotic manipulator may move at least one physical object through a designated area in space. As the at least one physical object is being moved through the designated area, one or more optical sensors may determine a location of a machine-readable code on the at least one physical object and, based on the determined location, scan the machine-readable code so as to determine information associated with the at least one physical object encoded in the machine-readable code. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. The robotic manipulator may then be directed to place the at least one physical object at the respective location.

Methods and systems for detecting and reconstructing environments to facilitate robotic interaction with such environments are described. An example method may involve determining a three-dimensional (3D) virtual environment representative of a physical environment of the robotic manipulator including a plurality of 3D virtual objects corresponding to respective physical objects in the physical environment. The method may then involve determining two-dimensional (2D) images of the virtual environment including 2D depth maps. The method may then involve determining portions of the 2D images that correspond to a given one or more physical objects. The method may then involve determining, based on the portions and the 2D depth maps, 3D models corresponding to the portions. The method may then involve, based on the 3D models, selecting a physical object from the given one or more physical objects. The method may then involve providing an instruction to the robotic manipulator to move that object.

Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.

Disclosed is an automatic creel loading apparatus. The automatic creel loading apparatus is configured to unload creels, around which wires for use in manufacturing a tire are wound and which are stacked in multiple layers and multiple rows on a loading pallet, from the loading pallet and to carry and load the creels onto loading shafts of a creel stand, in order to supply the wires to the tire manufacturing process. The apparatus includes a loading base, on which the loading pallet loaded with the creels is disposed, an unmanned transport cart for reciprocatingly moving the loading base along transport rails, and a multi-axis rotational loading robot mounted to the loading base in order to unload the creels from the loading pallet and to carry and load each of the creels onto a corresponding one of the loading shafts of the creel stand.

Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

A creel assembly having an outer wall defines an interior space, a plurality of yarn package engagement locations distributed within the interior space, a gantry that is movable secured within the interior space, and at least one processor. The gantry is positioned to selectively engage yarn packages within the interior space. In use, the gantry can selectively access the plurality of yarn package engagement locations. The processor is communicatively coupled to the gantry and receives an input corresponding to a selected action by the gantry. Modular creel systems can be formed from a plurality of the disclosed creel assemblies. Methods of using and assembling the disclosed creel assemblies and modular creel systems are also disclosed.

A creel assembly having an outer wall defines an interior space, a plurality of yarn package engagement locations distributed within the interior space, a gantry that is movable secured within the interior space, and at least one processor. The gantry is positioned to selectively engage yarn packages within the interior space. In use, the gantry can selectively access the plurality of yarn package engagement locations. The processor is communicatively coupled to the gantry and receives an input corresponding to a selected action by the gantry. Modular creel systems can be formed from a plurality of the disclosed creel assemblies. Methods of using and assembling the disclosed creel assemblies and modular creel systems are also disclosed.

Disclosed is a system for the loading of yarn packages on a creel assembly. The system may include a creel assembly with at least one lateral face having a plurality of receiving bullhorns arranged outwardly according to a horizontal axis to engage a respective yarn package, and a loading device movable along a path arranged along the creel assembly. The loading device may include a detection means to identify an empty receiving bullhorn of the creel assembly, a positioning means to adjust a bullhorn carrying a yarn package to be loaded onto the creel assembly so that the free end of this bullhorn is placed in front of the free end of the empty receiving bullhorn of the creel assembly, and a transfer mechanism for the effecting translation of the yarn package to the empty receiving bullhorn of the creel assembly.

System for handling cardboard reels to feed machines that produce cardboard tubes, comprising a station (P) for picking up the superimposed cardboard reels (1), a reel unwinding station (1) comprising at least one unwinding unit (UU) capable of supporting the reels to be unwound, in the unwinding station (U) being also provided splicing means configured to splice a tail portion (TY) of a reel (1 Y) being exhausted with a new reel (1W), and handling means (D) for moving the reels (1) along a predetermined path between the reel pick-up station (P) and the unwinding station (U). Said at least one unwinding unit (UU) comprises several supports (403; 404) mounted on a vertical axis carousel structure (G).