HMI-based pattern modification for robotic palletizing

{
  "publication_number": "US11079925B2",
  "country": "US",
  "kind": "B2",
  "title": "HMI-based pattern modification for robotic palletizing",
  "abstract": "A controller of a material handling system performs a method of creating a multidrop pattern of articles for robotic placement in layers on a pallet. A pattern is presented on a user interface of any currently positioned representations of articles on a pallet. A control affordance for inputting drag'n'drop and numeric inputs is presented on the user interface for robotic control operations to perform a multidrop of the more than one article in an end effector of a robotic arm for placement of the more than one article. User inputs are received that indicate placement position of a first subset of the more than one article. User inputs are received that indicate placement position of a second subset, which is mutually exclusive of the first subset, of the more than one article. The user inputs are converted into a place sequence of robotic control operations to perform a multidrop of the articles by the robotic arm.",
  "claims": [
    "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."
  ],
  "description_excerpt": "The present disclosure relates in general to material handling systems that include robotic palletizing of cartons onto a pallet, and more particularly to systems that allow customizing of a palletizing pattern via a human-machine interface (HMI) for a robotic palletizer.\n\nIn working environments, like warehouses, factories, or distribution centers, manually placing boxes on pallets is time consuming, complex, and expensive. Further, there is always a risk of damaging, wear and tear associated with dropping of items in manual placement. Thus, conventionally, material handling systems are largely utilized for automating various tasks and handling various items. In this regard, existing material handling systems are able to sort and organize items (e.g. cartons, cases, etc.) stored in such working environments, at high speeds. Typically, this is achieved using both software and hardware support of material handling technology, for instance, by using software or hardwired programmable logic controllers (PLCs) or computing systems that handles and drives hardware robotic palletizing arms that automates picking and placing of the items. Palletizer systems have been developed to facilitate stacking of various items on different stages of pallets from either the conveyer belts or from another locations in an inventory. Some generally-known palletizer systems utilize robotic arms which are driven based on the commands provided by controllers, such as PLCs for picking items and positioning the items on various locations on a pallet.",
  "cpc": [
    "G06F 3/0486",
    "B25J 13/006",
    "B25J 13/06",
    "B25J 9/1671",
    "B25J 9/1687",
    "G05B 19/409",
    "G05B 2219/39106",
    "G05B 2219/40006",
    "G05B 2219/40007",
    "G05B 2219/40099",
    "G06F 3/0488"
  ],
  "ipc": [
    "B25J 13/00",
    "B25J 13/06",
    "B25J 9/16",
    "G05B 19/409",
    "G06F 3/0486",
    "G06F 3/0488"
  ],
  "assignees": [
    "Intelligrated Headquarters LLC"
  ],
  "inventors": [
    "Harold Roper",
    "Wesley Hicks",
    "James Nicholas NEWTON"
  ],
  "filing_date": "2020-04-03",
  "publication_date": "2021-08-03",
  "grant_date": "2021-08-03",
  "priority_date": "2016-07-26",
  "application_number": "US-202016839160-A",
  "family_id": "61011561",
  "cited_by_count": 2,
  "citations": [
    "US4641271A",
    "US6082080A",
    "US8406917B2"
  ]
}