Stretch wrapping machine with automated determination of load stability by subjecting a load to a disturbance
A method, apparatus and program product may determine load stability for a load to be wrapped based upon sensing the response or reaction of the load to a disturbance applied to the load, e.g., through intentionally moving, shaking, tilting, pushing, impacting or otherwise applying an input force to the load and sensing the response using one or more sensors. The sensed response may then be used to determine a load stability parameter that may be used in the control of a load wrapping apparatus when wrapping the load.
1. A method of controlling a load wrapping apparatus of type configured to wrap a load on a load support with packaging material dispensed from a packaging material dispenser through relative rotation between the packaging material dispenser and the load support, the method comprising:
subjecting a load to a disturbance;
sensing a response of the load to the disturbance using one or more sensors, wherein subjecting the load to the disturbance and sensing the response of the load to the disturbance are performed prior to wrapping the load;
determining a load stability parameter based upon the sensed response; and
controlling the load wrapping apparatus when wrapping the load using the determined load stability parameter.
2. The method of claim 1 , further comprising determining a wrap force control parameter and a minimum layer control parameter based upon the determined load stability parameter, wherein controlling the load wrapping apparatus using the determined load stability parameter includes controlling the load wrapping apparatus using the determined wrap force and minimum layer control parameters.
3. The method of claim 1 , wherein subjecting the load to the disturbance includes starting or stopping the load support.
4. The method of claim 1 , wherein subjecting the load to the disturbance includes starting or stopping a conveyor upon which the load is supported.
5. The method of claim 1 , wherein subjecting the load to the disturbance includes pushing or impacting a side of the load.
6. The method of claim 1 , wherein subjecting the load to the disturbance includes vibrating the load, rocking the load, tilting the load, shaking the load, or lifting the load.
7. The method of claim 1 , wherein subjecting the load to the disturbance is performed while the load is supported by the load support.
8. The method of claim 1 , wherein subjecting the load to the disturbance is performed prior to placement of the load on the load support.
9. The method of claim 8 , wherein subjecting the load to the disturbance is performed while the load is supported on a conveyor.
10. The method of claim 1 , wherein sensing the response includes sensing movement of the load over time using one or more image sensors.
11. The method of claim 1 , wherein sensing the response includes sensing movement of the load over time using one or more distance sensors configured to sense a distance to a side of the load at one or more elevations.
12. The method of claim 1 , wherein sensing the response includes sensing movement of the load over time using one or more force sensors.
13. The method of claim 12 , wherein the one or more force sensors includes a plurality of load cells coupled to a structure upon which the load is supported when the load is subjected to the disturbance, the plurality of load cells positioned to sense forces at a plurality of locations within or proximate a footprint of the load when the load is subjected to the disturbance, wherein sensing the response includes sensing forces at the plurality of locations with the plurality of load cells.
14. The method of claim 13 , further comprising sensing a weight of the load using at least one of the plurality of load cells, wherein controlling the load wrapping apparatus when wrapping the load further includes using the sensed weight.
15. The method of claim 1 , further comprising varying a magnitude of the disturbance based upon a characteristic of the load.
16. The method of claim 1 , wherein determining the load stability parameter based upon the sensed response includes determining the load stability parameter based upon a maximum value, a frequency value, a time-related value and/or a decay-related value from the sensed response.
17. The method of claim 1 , wherein controlling the load wrapping apparatus when wrapping the load using the determined load stability parameter includes determining a containment force requirement for the load based upon the determined load stability parameter.
18. The method of claim 1 , wherein controlling the load wrapping apparatus when wrapping the load using the determined load stability parameter includes determining a wrap force or a number of layers of packaging material to be applied to the load based upon the determined load stability parameter.
19. An apparatus for wrapping a load with packaging material, the apparatus comprising:
a packaging material dispenser configured to dispense packaging material to the load;
a drive mechanism configured to provide relative rotation between the packaging material dispenser and the load about an axis of rotation; and
a controller configured to determine a load stability parameter for the load based upon a response of the load to a disturbance to which the load is subjected and sensed by one or more sensors prior to wrapping the load, and control the apparatus when wrapping the load using the determined load stability parameter.
20. The apparatus of claim 19 , wherein the controller is further configured to determine a wrap force control parameter and a minimum layer control parameter based upon the determined load stability parameter, and wherein the controller is configured to control the load wrapping apparatus using the determined load stability parameter by controlling the load wrapping apparatus using the determined wrap force and minimum layer control parameters.
21. The apparatus of claim 19 , wherein the disturbance includes starting or stopping the load support.
22. The apparatus of claim 19 , wherein the disturbance includes starting or stopping a conveyor upon which the load is supported.
23. The apparatus of claim 19 , wherein the disturbance includes pushing or impacting a side of the load.
24. The apparatus of claim 19 , wherein the disturbance includes vibrating the load, rocking the load, tilting the load, shaking the load, or lifting the load.
25. The apparatus of claim 19 , wherein the load is subjected to the disturbance while the load is supported by the load support.
26. The apparatus of claim 19 , wherein the load is subjected to the disturbance prior to placement of the load on the load support.
27. The apparatus of claim 26 , wherein the load is subjected to the disturbance while the load is supported on a conveyor.
28. The apparatus of claim 19 , wherein the one or more sensors includes one or more image sensors configured to sense movement of the load over time.
29. The apparatus of claim 19 , wherein the one or more sensors includes one or more distance sensors configured to sense movement of the load over time by sensing a distance to a side of the load at one or more elevations.
30. The apparatus of claim 19 , wherein the one or more sensors includes one or more force sensors configured to sense movement of the load over time.
31. The apparatus of claim 30 , wherein the one or more force sensors includes a plurality of load cells coupled to a structure upon which the load is supported when the load is subjected to the disturbance, the plurality of load cells positioned to sense forces at a plurality of locations within or proximate a footprint of the load when the load is subjected to the disturbance.
32. The apparatus of claim 31 , wherein the controller is further configured to sense a weight of the load using at least one of the plurality of load cells, and wherein the controller is configured to control the load wrapping apparatus when wrapping the load further using the sensed weight.
33. The apparatus of claim 19 , wherein the controller is configured to determine the load stability parameter based upon a maximum value, a frequency value, a time-related value and/or a decay-related value from the sensed response.
34. The apparatus of claim 19 , wherein the controller is configured to control the load wrapping apparatus when wrapping the load using the determined load stability parameter by determining a containment force requirement for the load based upon the determined load stability parameter.
35. The apparatus of claim 19 , wherein the controller is configured to control the load wrapping apparatus when wrapping the load using the determined load stability parameter by determining a wrap force or a number of layers of packaging material to be applied to the load based upon the determined load stability parameter.
36. A program product, comprising:
a non-transitory computer readable medium; and
program code stored on the non-transitory computer readable medium and configured to control a load wrapping apparatus of the type configured to wrap a load with packaging material dispensed from a packaging material dispenser through relative rotation between the packaging material dispenser and the load, wherein the program code is configured to control the load wrapping apparatus by:
determining a load stability parameter for the load based upon a response of the load to a disturbance to which the load is subjected and sensed by one or more sensors prior to wrapping the load; and
controlling the load wrapping apparatus when wrapping the load using the determined load stability parameter.