Robotic labelling system and method of labelling packages

Abstract

The robotic labeling system (100) for packaging (102) includes: a packaging database management system (10) including a packaging database (10) storing packaging data; and a packaging labeling controller (50) communicatively connected to the packaging database management system. The robotic labeling system includes a packaging positioning system (110) that receives positioning input from the packaging labeling controller to position the packaging at a labeling station (112); and a packaging identification system (130) having a scanning device (132) that scans identification marks (104) on the packaging to determine packaging identification and orientation. The robotic labeling system includes a label application system having a labeling device and a label applicator that prepares shipping labels and customer-specific labels based on content data (20) stored in the packaging database (12) and applies them to the packaging. The robotic labeling system verifies the applied labels based on the scanned data on the packaging and unloads or rejects the packaging based on the scanned data.

Description

Technical Field

[0001] This article generally covers packaging labeling systems and methods. Background Technology

[0002] Packaging labeling is a manual process in many warehouses and distribution centers. Manual labeling relies on operators determining where labels need to be applied. This process is labor-intensive, susceptible to human error, and time-consuming. Furthermore, manually applied labels may be placed in unsuitable or unwanted locations, and application may be inconsistent between packages. Some known automated labeling systems are used in warehouses and distribution centers. However, conventional labeling systems use simple labeling methods to apply labels to packaging. For example, a conventional labeling system uses a single-axis arm attached to a printer to apply labels to boxes. Labels are always applied to the same side of the box. This requires the box to have a specific orientation relative to the printer and label applicator. Moreover, known automated labeling systems cannot accommodate packages of different sizes.

[0003] There is still a need for a dynamic, automated labeling system for packaging. Summary of the Invention

[0004] In one embodiment, a robotic labeling system for packaging is provided. The robotic labeling system includes a packaging database management system comprising a packaging database. The packaging database stores packaging identification data specific to each package. The packaging database stores transportation data specific to each package. The packaging database stores content data specific to each package. The robotic labeling system includes a packaging labeling controller communicatively coupled to the packaging database management system. The robotic labeling system includes a packaging positioning system operatively coupled to the packaging labeling controller to receive positioning input from the packaging labeling controller to position the package at a labeling station. The robotic labeling system includes a packaging identification system operatively coupled to the packaging labeling controller. The packaging identification system has a scanning device configured to scan identification marks on the packaging to determine packaging identification and the orientation of the packaging at the labeling station. The packaging identification system sends a packaging identification signal to the packaging labeling controller based on the scan. The packaging identification system sends a packaging orientation signal to the packaging labeling controller based on the scan. The robotic labeling system includes a label application system operatively coupled to the packaging labeling controller. The label application system includes at least one labeling device and at least one label applicator. At least one labeling device prepares shipping labels for the packaging based on shipping data stored in a packaging database. At least one label applicator operates to apply customer-specific labels to the packaging based on content data stored in the packaging database. Attached Figure Description

[0005] Figure 1 A robot labeling system according to an exemplary embodiment is shown.

[0006] Figure 2 A label applicator according to an exemplary embodiment is shown.

[0007] Figure 3 This is a system diagram of a robot labeling system according to an exemplary embodiment.

[0008] Figure 4 This is a flowchart of a method for labeling packaging according to an exemplary embodiment. Detailed Implementation

[0009] Figure 1 A robotic labeling system 100 according to an exemplary embodiment is illustrated. The robotic labeling system 100 is an automated system for labeling packages 102. The robotic labeling system 100 is integrated with a packaging database management system 10, such as a warehouse management system (WMS). The packaging database management system 10 includes a packaging database 12 that stores data related to packages 102, such as storing packages 102, moving packages 102 within a warehouse, handling packages 102, labeling packages 102, transporting packages 102, etc. The robotic labeling system 100 includes a packaging labeling controller 50 that controls the operation of components of the robotic labeling system 100. The packaging labeling controller 50 is communicatively connected to the packaging database management system 10 to send and receive data and / or control signals controlling the operation of the robotic labeling system 100. The robotic labeling system 100 operates based on data from the packaging database management system 10. In an exemplary embodiment, the robotic labeling system 100 utilizes one or more robots to apply one or more labels to packages 102. The robotic labeling system 100 uses intelligent control algorithms to apply the labels. The robotic labeling system 100 scans the label after application to verify that the label has been correctly applied to the package 102, and then sends the package to another processing station.

[0010] The packaging database management system 10 can be housed on a computer or computer network located remotely from the robotic labeling system 100. The packaging labeling controller 50 can be housed on a computer associated with the robotic labeling system 100. Alternatively, the packaging labeling controller 50 can be located remotely from the robotic labeling system 100, for example, at the computer or network housing the packaging database management system 10. The packaging labeling controller 50 includes hardware and / or software for controlling the operation of the robotic labeling system 100.

[0011] The robotic labeling system 100 includes a packaging positioning system 110 for positioning a package 102 at a labeling station. The robotic labeling system 100 includes a packaging recognition system 130 for recognizing the package 102 at a labeling station 112. The robotic labeling system 100 includes a label application system 150 for applying a label to the package 102. In various embodiments, the label application system 150 may apply multiple labels to each package 102, for example, to various sides 200 of the package 102. Optionally, multiple labeling stations may be provided, and the packaging positioning system 110 is used to position the package at each labeling station. A packaging labeling controller 50 is communicatively coupled to the packaging positioning system 110, the packaging recognition system 130, and the label application system 150. The packaging labeling controller 50 receives input from the packaging positioning system 110 and / or the packaging recognition system 130 and / or the label application system 150. The packaging labeling controller 50 controls the operation of the packaging positioning system 110 and / or the packaging identification system 130 and / or the label application system 150.

[0012] Package 102 may be a box, such as a cardboard box, or other type of container. In various embodiments, package 102 may be a parallelepiped with six sides 200, including a top side 202, a bottom side 202 (not shown, but located opposite the top side 202), a front side 206, a rear side 208, a right side 210, and a left side 212. In alternative embodiments, package 102 may include additional sides 200. In alternative embodiments, package 102 may have other shapes. In various embodiments, the sides 200 may be flat or planar. Alternatively, one or more of the sides 200 may be curved. In an exemplary embodiment, the sides 200 converge at corners and have edges extending between the corners. In various embodiments, one or more sides 200 may be defined by a panel that converges at a seam. The panel may be taped at the seam. In various embodiments, the label application system 150 may prevent label application at the seam (e.g., prevent label application onto tape).

[0013] In an exemplary embodiment, package 102 includes an identification label 104 on one of its sides 200. For example, the identification label 104 may be a label applied to one of the sides 200. Alternatively, the identification label 104 may be printed or otherwise placed directly on one of the sides 200. The identification label 104 is used to identify a specific package 102 (e.g., compared to other packages 102). The identification label 104 may be a unique identifier for the package 102. Information about the package 102 may be associated with the identification label 104, such as data contained in the package database 12 of the package database management system 10. Identification data about the package 102 may include content data 20 relating to the contents of the package. Identification data about the package 102 may include dimensional data 22 relating to the height, width, and length of the package. Identification data may include shipping data 24 associated with the package 102.

[0014] In various embodiments, the identification mark 104 is a scannable label, such as a barcode, data matrix, QR code, or another type of symbol scan code. The identification mark 104 can be used to track package 102 within a warehouse, for example, the movement of package 102 between various processing stations. In various embodiments, the identification mark 104 is applied to package 102 outside of labeling station 112. For example, the identification mark 104 can be applied to package 102 before it is transported to labeling station 112. The identification mark 104 can also be applied to package 102 when it is formed or when it is filled, for example at a packaging station upstream of labeling station 112. Alternatively, the identification mark 104 can be applied at labeling station 112 by label application system 150. The identification mark 104 can be applied to any side 200. In various embodiments, the identification mark 104 can be on any side 200 except the bottom side 204. In various embodiments, multiple identification marks 104 may be provided, for example, on two opposite sides (e.g., to avoid placing the identification marks 104 on the bottom side, so that they are not visible when the package 102 is presented to the labeling station 112).

[0015] In an exemplary embodiment, package 102 receives shipping label 106. Shipping label 106 contains information about where package 102 is being shipped. Shipping label 106 may include a name, address, or other identifying data. In various embodiments, shipping label 106 may include a symbolic scan code for shipping. Shipping label 106 is applied to package 102 at labeling station 112 via label application system 150. Shipping label 106 may be applied to any side 200 except the bottom side 204. In an exemplary embodiment, shipping label 106 is applied to any side 200 except the side including identification mark 104. In various embodiments, label application system 150 does not apply any other labels to the side 200 receiving shipping label 106.

[0016] In an exemplary embodiment, package 102 receives one or more customer-specific labels 108. The customer-specific label 108, or CSL 108, may contain information about the contents of package 102 or other information. For example, the customer-specific label 108 may contain information about the shipper of package 102, the shipping location of package 102, return information, a warning label about the contents of package 102, etc. In various embodiments, the customer-specific label 108 may include a symbolic scan code having data or other information related to the contents of package 102. The customer-specific label 108 is applied to package 102 at labeling station 112 via label application system 150. The customer-specific label 108 may be applied to any side 200 except the bottom side 204. The customer-specific label 108 may be applied to any side 200 except the side including the identification mark 104. In various embodiments, label application system 150 does not apply any other label to the side 200 receiving the customer-specific label 108. For example, shipping label 106 is applied to a different side 200 than customer-specific label 108. In an alternative embodiment, other types of labels may be applied to packaging 102.

[0017] In an exemplary embodiment, the packaging positioning system 110 includes a transport device 114 for moving the package 102 to a labeling station 112. In the illustrated embodiment, the transport device 114 includes a conveyor 116. The conveyor 116 is operatively coupled to and controlled by a packaging labeling controller 50. The conveyor 116 moves the package to a packaging identification system 130 and / or moves the package 102 to a label application system 150 and / or moves the package 102 away from the labeling station 112, for example, to a sorting station or other processing station, such as a robotic palletizer. If the package 102 is not labeled or is incorrectly labeled, the conveyor 116 may move the package to a discard or rejection area. In alternative embodiments, other types of transport devices 114 may be used.

[0018] The packaging positioning system 110 includes one or more indexing devices 120 having a reference surface 122 for positioning the package 102 in the labeling station 112. In the illustrated embodiment, multiple indexing devices 120 are provided to position the package 102 at different locations within the labeling station 112. The indexing device 120 may include a stop gate 124 for stopping the package 102 on a conveyor 116. The stop gate 124 controls the forward and backward position of the package 102 in the labeling station 112. The indexing device 120 may include a side rail 126 for controlling the lateral position of the package 102 in the labeling station 112. In various embodiments, the stop gate 124 and the side rail 126 may position the package 102 in a reference position for measurement. In various embodiments, the stop gate 124 and the side rail 126 may position the package 102 in a reference position for scanning the package, for example, for identifying the package 102, such as for scanning an identification mark 104. In various embodiments, the stop gate 124 and side rail 126 can position the package 102 in a reference position for labeling. When the package 102 engages the stop gate 124 and side rail 126, the position of the package 102 is known by the robotic labeling system 100 to apply a label to the package 102. In alternative embodiments, other types of indexing devices may be used.

[0019] In an exemplary embodiment, the packaging identification system 130 includes a scanning device 132 for identifying packaging 102. The scanning device 132 is operatively coupled to and can be controlled by a packaging labeling controller 50. Signals or data from the scanning device 132 can be sent to the packaging labeling controller 50 to control other operations of the robotic labeling system 100. In various embodiments, the scanning device 132 may include one or more cameras 134. The cameras 134 may be mounted to a frame 136. The frame 136 may be movable to control the positioning of the cameras 134. In an exemplary embodiment, the cameras 134 are configured to view multiple sides 200 of the packaging 102. The scanning device 132 allows for visual inspection of the packaging 102. For example, the packaging labeling controller 50 can perform visual inspections, such as identifying the packaging 102, identifying identification marks 104 on the packaging, etc.

[0020] In an exemplary embodiment, scanning device 132 identifies the orientation of package 102 in labeling station 112. Labeling system 150 is controlled based on the orientation of package 102. The orientation of package 102 in labeling station 112 can be based on the position of identification mark 104 (e.g., the side 200 with identification mark 104). For example, scanning device 132 scans package 102 to identify a specific side 200 with identification mark 104. For example, scanning device 132 can identify the top side 202 as having identification mark 104 (top side orientation); the front side 206 as having identification mark 104 (front side orientation); the rear side 208 as having identification mark 104 (rear side orientation); the right side 210 as having identification mark 104 (right side orientation); or the left side 212 as having identification mark 104 (left side orientation). Operation of labeling system 150 is controlled based on which side 200 has identification mark 104. For example, the label application system 150 can determine the appropriate side 200 to apply the shipping label 106 and the customer-specific label 108 based on which side 200 has the identification mark 104.

[0021] In an exemplary embodiment, the packaging identification system 130 identifies the size and shape of the packaging 102. In various embodiments, a scanning device 132 may be used to identify the size and shape of the packaging 102. For example, the scanning device 132 may be used to scan an identification label 104 and determine the size and shape of the packaging 102 based on data from the identification label 104 (e.g., data in the packaging database 12). For example, when the identification label 104 is scanned, the packaging labeling controller 50 communicates with the packaging database 12 to receive dimension data 22 of the packaging 102 stored in the packaging database 12. In other various embodiments, a camera 134 may be used to image the packaging 102, and the packaging labeling controller 50 may determine the size and shape of the packaging 102 based on the image. For example, the packaging labeling controller 50 may identify the number of sides 200, the number of corners, the number of edges, the number of seams, the location of seams, etc., based on pattern or boundary recognition. The packaging labeling controller 50 may identify the height and / or width and / or length of the packaging 102 based on the analysis of the image.

[0022] In various embodiments, the packaging labeling controller 50 includes a packaging measurement module 140 configured to determine at least one dimension of the packaging 102. The packaging measurement module 140 may include software to analyze image data to determine the height and / or width and / or length of the packaging. The packaging identification system 130 may include one or more sensors 142, such as proximity sensors, distance measurement sensors, etc., for measuring one or more dimensions of the packaging 102. The sensors 142 send data or signals to the packaging measurement module 140 to determine the dimensions of the packaging 102 relative to the indexing device 120.

[0023] In an exemplary embodiment, the packaging labeling controller 50 uses the size of the package 102 to control the label application system 150. For example, the packaging labeling controller 50 can use the size to determine the relevant labeling position on the package 102. The packaging labeling controller 50 can control a labeling robot to apply labels to the package 102. In an exemplary embodiment, the robotic labeling system 100 is capable of receiving packages 102 of different sizes and shapes, and can label these packages 102 by automatically determining the size and shape of a particular package 102 at the labeling station 112.

[0024] A label application system 150 is used to apply labels to one or more sides of a package 102. A package labeling controller 50 controls the operation of the label application system 150. In an exemplary embodiment, the label application system 150 includes one or more labeling devices 160 configured to transmit label information to the package 102. In various embodiments, the labeling device 160 may be a label printer configured to print a corresponding label for the package 102. In other various embodiments, the labeling device may directly imprint labeling information onto the package 102. The label application system 150 includes one or more label applicators 162 configured to apply labeling information to the package 102, for example, by conveying a label from the labeling device 160 to the package 102. The label applicator 162 is used to apply a label (or labeling information) to the package 102. For example, the label applicator 162 may press a label onto a side 200 of the package 102. In the illustrated embodiment, the label application system 150 includes a pair of labeling devices 160 and a pair of label applicators 162 for applying labels; however, the label application system 150 may include more or fewer labeling devices 160 and label applicators 162.

[0025] In an exemplary embodiment, a packaging labeling controller 50 is operatively coupled to a labeling device 160 and a label applicator 162. The packaging labeling controller 50 receives input from a packaging positioning system 110 and a packaging identification system 130 to determine a labeling scheme for the packaging 102. The packaging labeling controller 50 determines which labels to print, such as a shipping label 106, a customer-specific label 108, or another type of label. The packaging labeling controller 50 controls the operation of the labeling device 160. The packaging labeling controller 50 controls labeling information, such as information printed on the label. The packaging labeling controller 50 controls the operation of the label applicator 162 based on the orientation of the packaging 102. For example, the packaging labeling controller 50 controls which side 200 the label applicator 162 applies the label to based on the side 200 having the identification mark 104. The packaging labeling controller 50 controls the operation of the label applicator 162 based on the size and shape of the packaging 102 determined by the packaging identification system 130. For example, the packaging labeling controller 50 determines the labeling position relative to the reference surface 122 based on the size and shape of the packaging 102, and controls the movement of the label applicator 162 to move to such a labeling position.

[0026] refer to Figure 2 The illustration shows a label applicator 162 according to an exemplary embodiment, comprising a multi-axis robot 164 having an articulated arm 166 that moves between a labeling device 160 and a package 102. An end effector 168 is disposed at the end of the arm 166 to pick up a label from the labeling device 160 and apply the label to a side 200 of the package 102. In various embodiments, the end effector 168 may be a vacuum end effector that uses suction to hold the label on the end effector 168. In alternative embodiments, other types of end effectors may be used. The arm 166 is movable in three-dimensional space to apply labels to the top side 202 and / or the front side 206 and / or the rear side 208 and / or the right side 210 and / or the left side 212 of the package 102. The label applicator 162 is capable of applying a variety of different labels to different sides of the package. The label applicator 162 is capable of applying labels to boxes of different sizes.

[0027] In an exemplary embodiment, the label application system 150 includes a label verification scanning device 170 configured to scan labels applied to package 102 to verify correct label application. The label verification scanning device 170 allows for visual inspection and verification of the label. For example, the label verification scanning device 170 can verify that the label has been applied. The label verification scanning device 170 can verify that the label is on the correct side 200 of package 102. The label verification scanning device 170 can verify that the label is in the correct position on package 102. The label verification scanning device 170 can verify that the label has appropriate information on it. The label verification scanning device 170 can verify that the label information is clear and / or scannable. The label verification scanning device 170 can verify that the label has been applied correctly and is free of wrinkles. If the label verification scanning device 170 determines that the applied label is defective, package 102 can be rejected. However, if the label verification scanning device 170 verifies that the label has been applied correctly to package 102, package 102 can be conveyed downstream to the next processing station, such as a packaging sorting station. In various embodiments, the label verification scanning device 170 may be coupled to and movable with the arm 166. Thus, the label verification scanning device 170 is movable to view various sides of the package 102. Alternatively, the label verification scanning device 170 may be separate from the arm and include a camera mounted around the labeling station 112 to view different sides of the package 102. The label verification scanning device 170 may scan the label immediately after application, such as before the arm 166 moves away from the application area. The label verification scanning device 170 may include a camera configured to image the label.

[0028] Figure 3 This is a system diagram of a robotic labeling system 100 according to an exemplary embodiment. The robotic labeling system 100 is communicatively connected to a packaging database management system 10. The robotic labeling system 100 communicates with the packaging database management system 10 via a first communication bus 60 (e.g., a TCP / IP data bus). For example, the packaging database management system 10 can communicate with a packaging labeling controller 50 via the first communication bus 60. Components of the robotic labeling system 100 communicate with each other via a second communication bus 62 (e.g., an Ethernet / IP data bus). For example, the packaging positioning system 110, the packaging identification system 130, and the label application system 150 can communicate with the packaging labeling controller 50 via the second communication bus 62.

[0029] The packaging database management system 10 includes a packaging database 12. The packaging database 12 includes a packaging list 26 of packaging 102. The packaging list 26 may include license markings associated with each packaging 102. The packaging database 12 includes content data 20 related to the contents of the packaging. For example, the content data may list the contents contained within the packaging 102. The packaging database 12 includes dimensional data 22 of the packaging 102 (e.g., height data, width data, and length data). The packaging database 12 includes shipping data 24 related to the packaging 102, such as shipping addresses. The packaging database 12 includes label data 28 relating to labels. For example, the label data 28 may relate to the type of label, the number of labels, the orientation of the labels, etc. In various embodiments, the robotic labeling system 100 may be used to place one of the shipping labels 106 and customer-specific labels 108; however, in alternative embodiments, the robotic labeling system 100 may place additional labels.

[0030] In an exemplary embodiment, the packaging database management system 10 includes a print queue module 70. Alternatively, the print queue module 70 may be part of a packaging labeling controller 50. The print queue module 70 receives print information 72 from the packaging database 12. For example, the print queue module 70 receives label data 28 and shipping data 24. The print queue module 70 receives a trigger signal 74 from the packaging labeling controller 50, for example, when the package is correctly positioned in the labeling station. Upon receiving the trigger signal 74, the print queue module 70 sends print data 76 to the label application system 150.

[0031] In an exemplary embodiment, the packaging database management system 10 includes a label verification module 80. The label verification module 80 receives verification information 82 from the packaging labeling controller 50. For example, verification information 82 is sent after the label verification scanning device 170 scans a label applied to packaging 102. The label verification module 80 verifies that the label was applied correctly or determines whether the label was applied incorrectly. The label verification module 80 then sends a verification signal 84 to the packaging labeling controller 50. The verification signal 84 can be a pass signal or a fail signal. In alternative embodiments, other verification signals can be sent, such as a rescan signal or a reapplication signal. The packaging labeling controller 50 controls the operation of the robotic labeling system 100 based on the verification signal 84. For example, the packaging positioning system 110 can cause packaging 102 to move based on the verification signal 84, for example, to another processing station or to a rejection station. The packaging labeling controller 50 can cause the label applicator 162 to reapplication of the label upon receiving a reapplication signal, or it can rescan the label upon receiving a rescan signal.

[0032] The robotic labeling system 100 includes a packaging labeling controller 50, a packaging positioning system 110, a packaging identification system 130, and a label application system 150. The packaging labeling controller 50 communicates with a packaging database management system 10 to control the packaging positioning system 110, the packaging identification system 130, and the label application system 150. For example, data or signals from the packaging database management system 10 are used at the packaging labeling controller 50 to control the operation of the robotic labeling system 100. The packaging database management system 10 may be located on a computer or computer network located remotely from the robotic labeling system 100.

[0033] In the illustrated embodiment, the label application system 150 includes a first labeling device 160a and an associated first label applicator 162a, and also includes a second label applicator 162b and an associated second label applicator 162b. A packaging positioning system 110 is communicatively connected to a packaging labeling controller 50. A packaging identification system 130 is communicatively connected to the packaging labeling controller 50. The label application system 150 is communicatively connected to the packaging labeling controller 50. For example, the first and second labeling devices 160a and 160b are communicatively connected to the packaging labeling controller 50, and the first and second label applicators 162a and 162b are communicatively connected to the packaging labeling controller 50. In an exemplary embodiment, the packaging positioning system 110, the packaging identification system 130, and the label application system 150 communicate with the packaging labeling controller 50 via a second communication bus 62.

[0034] The packaging identification system 130 includes a scanning device 132 and a packaging measurement module 140. The scanning device 132 scans the packaging 102, for example, to identify the packaging 102. For example, the scanning device 132 may scan an identification mark 104 on the packaging 102 to identify a specific packaging 102. The identification mark 104 may be a QR code, and the scanning device 132 may be a QR code reader. In various embodiments, the scanning device 132 may image the packaging 102. Scan data 180 communicates from the packaging identification system 130 to a packaging labeling controller 50, for example, via a second communication bus 62. The scan data 180 is used to identify the packaging 102 moving through the labeling station 112, for example, by referring to the packaging database 12. The packaging is scanned to identify the packaging in order to control other operations, such as printing an appropriate label, for proper label application, etc. In various embodiments, the scan data 180 may be used to identify the orientation of the packaging 102 in the labeling station 112. For example, scan data 180 can identify the side of package 102 with identification mark 104, which allows robotic labeling system 100 to determine the orientation of package 102. Package labeling controller 50 uses the orientation information to control label applicator 162 to apply additional labels (e.g., applying shipping label 106 and customer-specific label 108 to other sides of package 102).

[0035] The packaging measurement module 140 measures the dimensions of the package 102, for example, using sensor 142. Measurement data 182 is communicated from the packaging identification system 130 to the packaging labeling controller 50, for example, via a second communication bus 62. Measurement data 182 can be used to correctly position the package 102 in the labeling station 112 using an indexing device. Measurement data 182 can be used to correctly position the label using a label applicator 162. In various embodiments, the dimensions of the package 102 may be determined by the robotic labeling system 100 using dimension data stored in the packaging database 12 instead of measuring the package 102 using sensor 142.

[0036] The packaging positioning system 110 includes a conveyor 116 for moving a package 102 within a robotic labeling system 100 and an indexing device 120 including a stop gate 124 for positioning the package 102 within a labeling station 112. In an exemplary embodiment, the packaging positioning system 110 includes a sensor 128 for detecting the presence of the package 102 and / or the position of the package 102 in the labeling station 112. Presence / position related signals from the sensor 128 are communicated to a packaging labeling controller 50, for example, to control the operation of the conveyor 116 and / or the stop gate 124. The sensor signals are communicated via a second communication bus 62. A positioning control signal 184 is sent from the packaging labeling controller 50 to the packaging positioning system 110. The positioning control signal 184 is used to control the operation of the conveyor 116 and / or the stop gate 124. The positioning control signal 184 is communicated via the second communication bus 62.

[0037] The label application system 150 includes a first labeling device 160a and an associated first label applicator 162a, as well as a second label applicator 162b and an associated second label applicator 162b. In the illustrated embodiment, the first and second labeling devices 160a and 160b are communicatively coupled to a print queue module 70. The first and second labeling devices 160a and 160b receive print data 76 from the print queue module 70. However, in an alternative embodiment, the robotic labeling system 100 may not include a print queue module 70. Instead, the print data 76 may be sent from a packaging labeling controller 50. In other alternative embodiments, the print queue module 70 may be a component of the packaging labeling controller 50 for sending print data 76 from the packaging labeling controller 50.

[0038] In an exemplary embodiment, the first and second label applicators 162a, 162b are communicatively connected to the packaging labeling controller 50 via a second communication bus 62. The first and second label applicators 162a, 162b receive an applicator control signal 186 from the packaging labeling controller 50. The applicator control signal 186 controls the operation of the first and second label applicators 162a, 162b. For example, the applicator control signal 186 controls the movement of the first and second label applicators 162a, 162b between the labeling device 162a, 162b and the packaging 102. The applicator control signal 186 controls the movement of the first and second label applicators 162a, 162b to position labels 106, 108 on a specific side 200 of the packaging 102, which may be based on the orientation of the packaging 102 in the labeling station 112 (e.g., which side 200 has the identification mark 104). The applicator control signal 186 controls the movement of the first and second label applicators 162a, 162b to position the label verification scanning device 170 relative to the package 102 in the labeling station 112.

[0039] In an exemplary embodiment, after labeling, the robotic labeling system 100 performs label verification. Label verification is performed to reject some packages, for example, if the label was not applied correctly. If package 102 passes the label verification process, package 102 can be moved to another processing station or transported. The label verification scanning device 170 operates to scan labels 106, 108 and verify that labels 106, 108 have been applied correctly, for example, to verify that appropriate labels have been applied and / or that labels have been properly positioned and / or that labels are visible. The label verification scanning device 170 sends verification data 188 to the package labeling controller 50. The package labeling controller 50 receives the verification data 188 and communicates verification information 82 to the verification module 80. The verification data 188 is used by the label verification module 80 to approve or reject package 102.

[0040] Figure 4 This is a flowchart of a method for labeling packaging according to an exemplary embodiment. In various alternative embodiments, steps may be omitted, and the order of steps may be changed. The method includes storing 400 packages-specific data in a packaging database of a packaging database management system. The packaging data may include packaging identification data, content data, size data, shipping data, label data, etc. The packaging data may be included in a package list in the packaging database. The packaging data stored in the packaging database is used by a robotic labeling system to control the operation of components of the robotic labeling system.

[0041] The method includes communicatively connecting a packaging labeling controller 402 to a packaging database management system. The packaging labeling controller is connected to the packaging database management system via a first communication bus. Packaging data can be sent to the packaging labeling controller, for example, to control the operation of components of a robotic labeling system. Data and / or signals can be sent from the packaging labeling controller to the packaging database management system, such as trigger signals that trigger label printing or label verification data that triggers a label verification process.

[0042] This method involves positioning a 404 package in a labeling station. For example, the package may be transported to the labeling station via a conveyor or other transport device. The package may be positioned using an indexing device, such as a stop gate, side rail, or other positioning device. The package may be positioned by engaging one or more reference surfaces to position it in the labeling station. The package is secured or indexed in a predetermined position in the labeling station for label application. For example, a label applicator is controlled to place a label relative to a reference or datum position based on the specific, predetermined position of the package in the labeling station.

[0043] The method includes scanning an identification mark on package 410 using a scanning device to identify the package. One or more cameras may be used to scan the identification mark. The method includes determining package identification 412 based on the identification mark scan. For example, the identification mark scan may be used to determine package identification based on a packaging database. The method includes determining the orientation of package 414 based on the scanning of the identification mark by the scanning device. For example, the scanning device may be used to determine which side includes the identification mark. Orientation may be used to determine which side should be labeled. The identification mark may be scanned to determine information about the package, such as the contents of the package, shipping information for the package, the dimensions of the package, etc. The method may optionally include the step of determining the height, length, and width of package 306 based on the scanning of the identification mark by the scanning device. For example, the scanning device may be used to determine the height, length, and width based on an image of the package from a camera. In other embodiments, the dimensions of the package may be determined based on the scanned identification mark using a packaging database.

[0044] The method includes sending a 416 packaging identification signal and a packaging orientation signal to a packaging labeling controller based on a scanned identification mark. The packaging identification signal and packaging orientation signal can be transmitted from the packaging labeling controller to a packaging database management system via a first communication bus. The method also includes retrieving 418 packaging-specific shipping data and content data from the packaging database based on the packaging identification signal.

[0045] The method includes printing a shipping label (420) on the packaging at a labeling device based on shipping data from a packaging database and printing a customer-specific label (422) on the packaging based on content data from the packaging database. For example, multiple labeling devices can be used to print the shipping label and the customer-specific label. The customer-specific label may include information related to the contents of the packaging or other information. For example, the customer-specific label may contain information about the shipper of the packaging, the shipping location of the packaging, return information, warning labels about the packaging or its contents, etc.

[0046] The method includes applying a shipping label 430 to a package and applying a customer-specific label 432 to the package using multiple label applicators. The label applicator picks up a label from a labeling device. For example, an end effector picks up the corresponding label, such as using a suction cup. The label applicator transfers the label from the labeling device to the package. At the package, the label applicator may press the label onto the side of the package. Optionally, the operation of the label applicator may be controlled based on a package orientation signal. For example, the side of the package receiving the label may be based on the package orientation (e.g., the side of the package with the identification mark). Optionally, the operation of the label applicator may be controlled based on the height, length, and width dimensions of the package. For example, the amount of movement in three-dimensional space of the label applicator arm may be determined based on the size and shape of the package.

[0047] The method includes using a label verification scanning device to scan a label applied to a package to verify proper label application. For example, the label verification scanning device may verify that the label has been correctly applied and is located on the correct sides(s) of the package and / or in the correct positions(s) on the package. The label verification scanning device may verify that the label has appropriate information printed on it and that the printed information is clear and / or scannable. The label verification scanning device may verify that the label has been correctly applied and is free of wrinkles. Label verification is performed to reject some packages, for example, if the label has not been correctly applied. If the package passes the label verification process, the package may be moved to another processing station or transported. The label verification scanning device may include a camera configured to image the label. In various embodiments, the label verification scanning device may be coupled to a label applicator and move with the label applicator to scan the label immediately after application, such as before the label applicator moves away from the application area.

[0048] The method includes rejecting the 442 package if the label verification scanning device determines that the applied label is defective. For example, the package may be removed from the labeling station and discarded or moved to a station for reprocessing the package (e.g., removing the defective label).

[0049] The method includes discharging 444 packages from the labeling station if the label verification scanning device verifies that the label has been correctly applied to package 102. The packages can be conveyed downstream, for example via a conveyor, to the next processing station, such as a package sorting station.

Claims

1. A robotic labeling system (100) for packaging (102), comprising: The packaging database management system (10) includes a packaging database (12) that stores packaging identification data specific to each of the packages (102), shipping data (24) specific to each of the packages, and content data (20) specific to each of the packages. A packaging labeling controller (50) is communicatively connected to the packaging database management system; A packaging positioning system (110) is operatively coupled to the packaging labeling controller to receive positioning input from the packaging labeling controller to position the packaging at the labeling station (112); A packaging identification system (130) is operatively coupled to the packaging labeling controller. The packaging identification system has a scanning device (132) configured to scan an identification mark (104) on the packaging to determine the packaging identification of the packaging and to determine the orientation of the packaging in the labeling station by determining which side of the packaging contains the identification mark. The packaging identification system sends a packaging identification signal to the packaging labeling controller based on the scan and sends a packaging orientation signal to the packaging labeling controller based on the scan. as well as A label application system (150) is operatively coupled to the packaging labeling controller. The label application system includes at least one labeling device (160) and at least one label applicator (162). The at least one labeling device prepares a shipping label (106) for the packaging based on the shipping data stored in the packaging database. The at least one labeling device prepares a customer-specific label for the packaging based on content data stored in the packaging database. The at least one label applicator operates to apply the shipping label to different sides of the packaging, excluding the side with the identification mark, based on the packaging orientation signal. The at least one label applicator operates to apply the customer-specific label (108) to different sides of the packaging, excluding the side with the identification mark, based on the packaging orientation signal.

2. The robot labeling system (100) as claimed in claim 1, wherein the packaging labeling controller (50) communicates with the packaging database management system (10) via a first communication bus (60), and wherein the packaging labeling controller communicates with the packaging positioning system (110), the packaging identification system (130) and the label application system (150) via a second communication bus (62).

3. The robotic labeling system (100) of claim 1, wherein the packaging database (12) stores label orientation data specific to the packaging (102), and the label application system (150) controls the positioning of at least one label applicator (162) relative to the packaging in the labeling station (112) based on the packaging orientation signal and the label orientation data.

4. The robotic labeling system (100) of claim 1, wherein the label application system (150) includes a label verification scanning device (170) configured to scan the shipping label (106) and the customer-specific label (108) applied to the package (102) and generate a verification scan signal, the verification scan signal being communicated to the package labeling controller (50) to verify its correct application.

5. The robot labeling system (100) of claim 1, wherein the packaging identification system (130) uses the scanning device (132) to scan the identification mark (104) to determine the orientation of the packaging (102).

6. The robotic labeling system (100) of claim 1, wherein the packaging identification data includes size data (22) for a specific package (102), and the label application system operates to apply the shipping label (106) and the customer-specific label (108) to the package based on the size data.

7. The robotic labeling system (100) of claim 1, wherein the packaging identification system (130) includes a packaging measurement module (140) to determine the length, width and height of the packaging (102) based on scanning, and the label application system (150) uses the height, width and length dimensions to control the label applicator (162).

8. The robotic labeling system (100) of claim 1, wherein the scanning device (132) includes a plurality of cameras configured to scan a plurality of sides (200) of the package (102).

9. The robotic labeling system (100) of claim 1, wherein the at least one label applicator (162) comprises a multi-axis robot (164) having an arm (166) movable in three-dimensional space and an end effector (168) coupled to the arm to move between the at least one labeling device and the package (102).

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