SYSTEMS AND METHODS FOR AUTOMATED PACKAGING AND PROCESSING FOR SHIPPING WITH CONTAINER ALIGNMENT
An automated packing system is disclosed for placing a plurality of objects into a shipping container. The system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, a destination container location assessment system for positioning a destination container, a detection system for detecting a plurality of objects within the supply bin responsive to the position of the supply bin on the receiving conveyor as aligned by the alignment system, an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container, and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station, and for placing the selected object into the shipping container in a selected orientation.
1 .- 28 . (canceled)
29 . An automated packing system for placing a plurality of objects into a shipping container, said automated packing system comprising:
a programmable motion device that includes an end effector coupled to an articulated arm;
a supply bin conveyor that delivers a supply bin to a first location proximate the articulated arm, the supply bin containing at least one object of the plurality of objects;
a shipping container conveyor that delivers a shipping container to a second location proximate the articulated arm, the shipping container being a destination for the at least one object;
a container alignment system that includes a movable brace bar and a brace rail, wherein the movable brace bar urges the shipping container into a known position against the brace rail at the second location proximate the articulated arm; and
a grasp detection system for identifying characteristics of the object after it is grasped by the end effector;
wherein the end effector places the selected object into the shipping container in a selected orientation using the characteristics of the object while the shipping container is maintained in the known position between the movable brace bar and the brace rail.
30 . The automated packing system as claimed in claim 29 , wherein the characteristics include an amount of swinging motion the object exhibits as it is grasped by the end effector.
31 . The automated packing system as claimed in claim 30 , wherein the end effector includes a compliant vacuum cup, and the amount of swinging motion is thresholded from movement of the compliant vacuum cup.
32 . The automated packing system as claimed in claim 29 , wherein the characteristics include a pose and orientation relative to the end effector.
33 . The automated packing system as claimed in claim 29 , wherein the characteristics include a volumetric assessment of the object.
34 . The automated packing system as claimed in claim 29 , wherein the shipping container is a cardboard box.
35 . The automated packing system as claimed in claim 29 , wherein the shipping container is a shipping tray.
36 . The automated packing system as claimed in claim 29 , wherein the plurality of objects are homogenous.
37 . An automated packing system for placing a plurality of objects into a shipping container, said automated packing system comprising:
a programmable motion device that includes an end effector coupled to an articulated arm;
a shipping container conveyor that delivers a shipping container to a location proximate the articulated arm;
a container alignment system that includes a movable brace bar and a brace rail for aligning the shipping container at the location proximate the articulated arm, wherein the movable brace bar urges the shipping container in a direction that is substantially transverse to a direction of movement of the shipping container conveyor against the brace rail in a known position; and
an object selection system for selecting a selected object from among a plurality of objects to be placed into the shipping container; and
a perception system for identifying characteristics of the object after it is grasped by the end effector;
wherein the end effector of the articulated arm grasps and acquires the selected object from the plurality of objects, and wherein the end effector places the selected object into the shipping container in a selected orientation and pose responsive to the characteristics while the shipping container is maintained in the known position between the movable brace bar and the brace rail.
38 . The automated packing system as claimed in claim 37 , wherein the characteristics include an amount of swinging motion the object exhibits as it is grasped by the end effector.
39 . The automated packing system as claimed in claim 38 , wherein the end effector includes a compliant vacuum cup, and the amount of swinging motion is thresholded from movement of the compliant vacuum cup.
40 . The automated packing system as claimed in claim 37 , wherein the characteristics include a pose and orientation relative to the end effector.
41 . The automated packing system as claimed in claim 37 , wherein the characteristics include a volumetric assessment of the object.
42 . The automated packing system as claimed in claim 37 , wherein the shipping container is a cardboard box.
43 . The automated packing system as claimed in claim 37 , wherein the shipping container is a shipping tray.
44 . An automated method of placing a plurality of objects into a shipping container, said method comprising:
delivering a supply bin on a supply bin conveyor to a first location proximate an articulated arm having an end effector;
detecting objects within the supply bin;
delivering a shipping container on a shipping container conveyor to a second location proximate the articulated arm;
aligning the shipping container at the second location proximate the articulated arm using a container alignment system that includes a movable brace bar and a brace rail, wherein the movable brace bar urges the shipping container into a known position against the brace rail at the second location proximate the articulated arm;
selecting a selected object from the plurality of objects to be placed into the shipping container;
grasping and acquiring the selected object from the plurality of objects within the supply bin using the end effector of the articulated arm;
detecting characteristics of the selected object as it is grasped by the end effector; and
placing the selected object into the shipping container in a selected orientation with the end effector using the detected characteristics while the shipping container is maintained in the known position between the movable brace bar and the brace rail.
45 . The method as claimed in claim 44 , wherein the characteristics include an amount of swinging motion the object exhibits as it is grasped by the end effector.
46 . The method as claimed in claim 45 , wherein the end effector includes a compliant vacuum cup, and the amount of swinging motion is thresholded from movement of the compliant vacuum cup.
47 . The method as claimed in claim 44 , wherein the characteristics include pose authority data regarding whether the selected object is deformable and likely to change shape when placed in the shipping container.
48 . The method as claimed in claim 44 , wherein the characteristics include pose authority data regarding whether the selected object is likely to move after being placed in the shipping container.