HMI-based pattern modification for robotic palletizing

1. A method of creating a multidrop pattern of articles for robotic placement in layers on a pallet, the method comprising:

receiving a first user input indicating a first placement position of a first subset of more than one article for placement on the pallet;

receiving a second user input indicating a second placement position of a second subset, which is mutually exclusive of the first subset, of the more than one article; and

converting the first and second user inputs into a place sequence of robotic control operations to perform a multidrop operation of the more than one article by a robotic arm.

2. The method of claim 1 , wherein receiving the first and second user inputs comprises receiving a drag and drop input via a user interface.

3. The method of claim 1 , wherein receiving the first and second user inputs comprises receiving numeric values.

4. The method of claim 1 , further comprising:

presenting on a user interface a case conveyor depiction of a case conveyor and the more than one article arrayed on the case conveyor,

presenting on the user interface an end effector depiction of independently controllable zones of an end effector;

receiving a third user input indicating a superimposed position of the independently controllable zones on the case conveyor;

receiving a fourth user input indicating an engagement status of each independently controllable zone to engage a respective one or more of the more than one article; and

converting the third and fourth user inputs into a pick sequence of robotic control operations to perform the multidrop operation by the robotic arm.

5. The method of claim 4 , further comprising:

presenting a control interface, wherein presenting the control interface comprises soliciting a position for a zone gap relative to the more than one article;

receiving a fifth user input indicating the relative position for the zone gap; and

converting the third, fourth and fifth user inputs into the pick sequence.

6. The method of claim 4 , further comprising:

moving the end effector to a pick approach position;

moving the end effector to a pick offset position;

moving the end effector to a pick position;

actuating selected ones of the independently controllable zones of the end effector to engage the more than one article;

moving the end effector to a first pick depart position;

moving the end effector to a first place approach position;

moving the end effector to a first place tuck position;

moving the end effector to a first place position;

deactuating one or more independently controllable zones that correspond to the first subset of more than one article;

moving to a second place depart position;

moving to second place approach position;

moving the end effector to a second place tuck position;

moving the end effector to a second place position; and

deactuating one or more independently controllable zones that correspond to the second subset of more than one article to place.

7. The method of claim 4 , wherein presenting the end effector depiction comprises presenting pairs of clamps.

8. The method of claim 4 , wherein presenting the end effector depiction comprises presenting vacuum zones.

9. A controller comprising:

a user interface device;

a device interface in communication with a robotic arm having an end effector, and

a processor subsystem in communication with the user interface device and device interface to:

receive a first user input indicating a first placement position of a first subset of more than one article;

receive a second user input indicating a second placement position of a second subset, which is mutually exclusive of the first subset, of the more than one article; and

convert the first and second user inputs into a place sequence of robotic control operations to perform a multidrop operation of the more than one article by the robotic arm.

10. The controller of claim 9 , wherein the processor subsystem receives the first and second user inputs as a drag and drop input via the user interface device.

11. The method of claim 9 , wherein the processor subsystem receives the first and second user inputs as numeric values via the user interface device.

12. The controller of claim 9 , wherein the processor subsystem:

presents on the user interface device a case conveyor depiction of a case conveyor and the more than one article arrayed on the case conveyor;

presents on the user interface device an end effector depiction of independently controllable zones of the end effector;

receives a third user input indicating a superimposed position of the independently controllable zones on the case conveyor,

receives a fourth user input indicating an engagement status of each independently controllable zone to engage a respective one or more of the more than one article; and

converts the third and fourth into a pick sequence of robotic control operations to perform the multidrop operation by the robotic arm.

13. The controller of claim 12 , wherein the processor subsystem:

presents a control interface, wherein presenting the control interface comprises soliciting a position for a zone gap relative to the more than one article;

receives a fifth user input indicating the relative position for the zone gap; and

converts the third, fourth and fifth user inputs into the pick sequence.

14. The controller of claim 12 , wherein the processor subsystem via the device interface executes the pick and place sequences of robotic control operations by:

moving the end effector to a pick approach position;

moving the end effector to a pick offset position;

moving the end effector to a pick position;

actuating selected ones of the independently controllable zones of the end effector to engage the more than one article;

moving the end effector to a first pick depart position;

moving the end effector to a first place approach position;

moving the end effector to a first place tuck position;

moving the end effector to a first place position;

deactuating one or more independently controllable zones that correspond to the first subset of more than one article;

moving to a second place depart position;

moving to second place approach position;

moving the end effector to a second place tuck position;

moving the end effector to a second place position; and

deactuating one or more independently controllable zones that correspond to the second subset of more than one article to place.

15. The controller of claim 12 , wherein the processor subsystem presents the end effector depiction as pairs of clamps on the user interface device.

16. The controller of claim 12 , wherein the processor subsystem presents the end effector depiction as vacuum zones on the user interface device.

17. A material handling system comprising:

a robotic arm having an end effector for placing more than one article on a pallet;

a user interface device;

a controller in communication with the robotic arm having the end effector; and

a processor subsystem in communication with the user interface device and the controller to:

receive a first user input indicating a first placement position of a first subset of more than one article;

receive a second user input indicating a second placement position of a second subset, which is mutually exclusive of the first subset, of the more than one article; and

convert the first and second user inputs into a place sequence of robotic control operations to perform a multidrop operation of the more than one article by the robotic arm.

18. The material handling system of claim 17 , wherein the controller:

presents on the user interface device a case conveyor depiction of a case conveyor and the more than one article arrayed on the case conveyor;

presents on the user interface device an end effector depiction of independently controllable zones of the end effector,

receives a third user input indicating a superimposed position of the independently controllable zones on the case conveyor;

receives a fourth user input indicating an engagement status of each independently controllable zone to engage a respective one or more of the more than one article;

solicits a position for a zone gap relative to the more than one article; and

receives a fifth user input indicating the relative position for the zone gap; and

converts the third, fourth and fifth user inputs into a pick sequence of robotic control operations to perform the multidrop operation by the robotic arm.

19. The material handling system of claim 17 , wherein the controller executes the pick and place sequences of robotic control operations by:

moving the end effector to a pick approach position;

moving the end effector to a pick offset position;

moving the end effector to a pick position;

actuating selected ones of the independently controllable zones of the end effector to engage the more than one article;

moving the end effector to a first pick depart position;

moving the end effector to a first place approach position;

moving the end effector to a first place tuck position;

moving the end effector to a first place position;

deactuating one or more independently controllable zones that correspond to the first subset of more than one article;

moving to a second place depart position;

moving to second place approach position;

moving the end effector to a second place tuck position;

moving the end effector to a second place position; and

deactuating one or more independently controllable zones that correspond to the second subset of more than one article to place.

20. The material handling system of claim 17 , wherein:

the end effector is selectably configurable with a selected one of: (i) an end effector having pairs of clamps; and (ii) an end effector having vacuum actuators; and

the controller:

presents a control interface to configure a depicted end effector as a selected one of the end effector having the pairs of claims and the end effector having the vacuum actuators; and

presents the control interface to select a number of independently controllable zones.