Automated packing system and method for placing a plurality of objects into a shipping container

Abstract

An automated packing system for placing a plurality of objects into a shipping container is disclosed. The system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, a destination container location assessment system for locating a destination container, a detection system for detecting a plurality of objects within the supply bin in response to positioning of the supply bin on the receiving conveyor as aligned by an alignment system, an object selection system for selecting a selected object from the plurality of objects for placement into the shipping container, and a programmable motion device for grasping and retrieving 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.

Description

[0001] priority

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 107,302, filed October 29, 2020, and U.S. Provisional Patent Application No. 63 / 172,987, filed April 9, 2021, the entire disclosures of which are incorporated herein by reference. Background Technology

[0003] This invention generally relates to automated sorting and other processing systems, and more specifically to automated systems for packaging objects such as parcels, packages, articles, and goods for shipment.

[0004] A shipping center that packages and ships a limited range of goods (e.g., from the source company that manufactures the goods) may only need systems and processes that repeatedly accommodate the same limited range of goods. On the other hand, a third-party shipping center that receives a wide variety of goods must utilize systems and processes that can accommodate a wide variety of goods.

[0005] For example, in an e-commerce order fulfillment center, personnel pack units of goods into shipping containers such as boxes or plastic bags. One of the final steps in an order fulfillment center is packing one or more items into shipping containers. Units of orders destined for customers are typically packed by hand at the packing station. Order fulfillment centers do this for a variety of reasons.

[0006] First, units need to be packed with shipping materials. For most items, simply attaching a shipping label to the unit and mailing it is insufficient. The units need to be placed in boxes or bags to protect the item. Second, units are not typically stored in the materials used to ship them; they are not typically just... Ready to go Exit the unloading gate. These units need to be packed immediately after receiving an order for the goods; otherwise, packing them during shipment would result in inefficient use of warehouse space.

[0007] Third, grouping multiple units destined for the same customer together reduces shipping costs. The marginal cost of adding a single unit to a box is typically many times lower than making a new box for each unit. Fourth, consolidating packing operations at the packing station improves warehouse efficiency. Packing personnel don't walk around picking from shelves; they focus solely on packing as many units as possible per hour.

[0008] As the volume of goods and the number of destinations increase, each of these requirements becomes more challenging. Therefore, an automated system is needed for packing objects in preparation for shipment. Summary of the Invention

[0009] According to one aspect, the present invention provides an automated packing system for placing multiple objects into a shipping container. The automated packing system includes: a supply bin receiving conveyor for receiving supply bins at a supply station, the supply bin receiving conveyor including a sensing member for determining the extent of the supply bin's advance along the supply bin receiving conveyor in a conveyor direction; a destination container position assessment system for locating a destination container; a detection system for detecting multiple objects within the supply bin in response to the positioning of the supply bin on the receiving conveyor, such as by an alignment system; an object selection system for selecting a selected object from the multiple objects for placement into the shipping container; and a programmable motion device for grasping and acquiring the selected object from the multiple objects at the supply station and for placing the selected object into the shipping container in a selected orientation.

[0010] According to another aspect, the present invention provides an automated packing system for placing a plurality of objects into a shipping container. The automated packing system includes: an alignment system for aligning the shipping container with a support in a direction substantially transverse to the conveyor direction; an object selection system for selecting a chosen object from the plurality of objects to place into the shipping container in response to placement permission data; and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at a supply station, and for placing the selected object into the shipping container in a selected orientation and placement in response to the placement permission data.

[0011] According to another aspect, the present invention provides an automated method for placing a plurality of objects into a destination container. The method includes: receiving a supply bin at a supply station; detecting objects within the supply bin; selecting a chosen object from the plurality of objects for placement into a shipping container; grasping and acquiring the selected object from the plurality of objects at the supply station; locating the container and determining the position of the destination container; and detecting the volume of the object assigned to be placed within the destination container. Attached Figure Description

[0012] The following description can be further understood with reference to the accompanying drawings, in which: Figures 1A to 1C An illustrative diagram view showing the gripper and object not centered at the target location; Figures 2A to 2C An illustrative diagrammatic view of a gripper and an object centered at a target location, according to one aspect of the invention, is shown. Figure 3 An illustrative diagrammatic view of a gripper and an object according to a data model, based on one aspect of the invention, is shown. Figure 4 An illustrative schematic view of a gripper and an object being processed according to one aspect of the invention is shown; Figure 5 An illustrative diagrammatic view of an analysis and control system according to one aspect of the present invention is shown; Figure 6 An object processing system according to an aspect of the present invention is shown, wherein the input frame comprises a single SKU object; Figure 7 It shows Figure 6 An illustrative diagram of the system's single SKU picking unit; Figure 8 It shows Figure 7 An illustrative floor plan of a single SKU picking unit; Figure 9 It shows Figure 7 An illustrative diagram of the bidirectional steering mechanism used in a single SKU picking unit; Figure 10 It shows Figure 7 An illustrative diagram of the weight-sensing conveyor section used in a single SKU picking unit; Figure 11 It shows Figure 7 An illustrative diagram of the programmable motion device used in a single SKU picking unit; Figures 12A to 12C An illustrative schematic view showing a single SKU bin according to one aspect of the invention, including a camera view ( Figure 12A ), volume scan of the hopper ( Figure 12B ) and volume scan of the bin after picking ( Figure 12C ); Figures 13A to 13C An illustrative diagrammatic view of a grasping estimation detection system for a system according to one aspect of the present invention is shown; Figure 14A and Figure 14B An illustrative diagram showing different control positions for grasping an object illustrates a grasping method with additional force on an object according to various aspects of the invention. Figure 14A ) and compensation capture ( Figure 14B ); Figures 15A to 15D An illustrative diagram view of an object movement (swaying) grasping detection system according to one aspect of the present invention is shown; Figures 16A to 16DAn illustrative schematic view of a portion of a box alignment system for use in a system according to an aspect of the present invention is shown; Figure 17A and Figure 17B An illustrative schematic view of a portion of a container positioning detection system in a system according to an aspect of the present invention is shown; Figure 18A and Figure 18B An illustrative schematic view of a container portion for a packaging process in a system according to an aspect of the present invention is shown; Figure 19A and Figure 19B An illustrative diagrammatic view of a container packaging strategy in a system according to one aspect of the invention is shown; Figure 20 An illustrative diagrammatic view of a portion of a packaging planning system for use in a system according to an aspect of the present invention is shown; Figure 21 An illustrative diagrammatic view showing a portion of a container being packed illustrates a container-object space and an object-object space for use in a system according to an aspect of the invention. Figure 22 An illustrative graphical representation of the relationship between leeway and packing volume in a system according to one aspect of the invention is shown; Figures 23A to 23E An illustrative schematic view of an end effector of a programmable motion device for placing an object in a container in a system according to an aspect of the present invention is shown; Figure 24 An illustrative graphical representation of the weight detected over time in a placement system according to an aspect of the invention is shown; Figures 25A to 25C An illustrative schematic view of a process control system for use in a system according to one aspect of the present invention is shown; Figure 26 It shows Figure 6 An illustrative floor plan of a single SKU picking unit in the system; Figure 27 It shows Figure 6 An illustrative side view of the system's single SKU picking unit; Figure 28 It shows Figure 6 An illustrative diagram of the rear view of a single SKU picking unit in the system; Figure 29 An object processing system according to an aspect of the present invention is shown, wherein the input frame comprises multi-SKU objects; Figure 30 It shows Figure 29 An illustrative side view of a multi-SKU picking unit; Figure 31 It shows Figure 29 Illustrative floor plan of a multi-SKU picking unit; Figures 32A to 32C It shows Figure 28 An illustrative diagram of the feed analysis system in a multi-SKU picking unit; Figures 33A to 33C An illustrative diagram showing a view of a multi-SKU bin according to one aspect of the invention, including a camera view ( Figure 33A ), volume scan of the hopper ( Figure 33B ) and volume scan of the bin after picking ( Figure 33C ); Figures 34A to 34C An illustrative diagrammatic view of a sensing system in a container contents verification system according to an aspect of the present invention is shown; Figures 35A to 35C An illustrative diagrammatic view of a grab estimation detection system for a multi-SKU processing system according to an aspect of the present invention is shown; Figure 36 It shows Figure 29 An illustrative side view of a multi-SKU picking unit; Figure 37 It shows Figure 29 An illustrative rear view of a multi-SKU picking unit; Figure 38 An illustrative schematic view shows an end effector vacuum opening partially blocked by debris in an object handling system; Figure 39 An illustrative schematic view of an end effector vacuum opening completely blocked by debris in an object handling system is shown. Figure 40 An illustrative schematic view of a single SKU object processing unit, including a trash can as part of an object processing system, is shown in a system according to one aspect of the invention. Figure 41 An illustration is shown according to one aspect of the invention. Figure 40 An illustrative diagram of the system, which uses an end effector to store debris into a trash can; Figure 42 An illustrative schematic view of a multi-SKU object processing unit, including a trash can as part of an object processing system, is shown in a system according to one aspect of the invention. Figure 43 An illustration is shown according to one aspect of the invention. Figure 42 An illustrative diagram of the system, which uses an end effector to store debris into a trash can; Figure 44 An illustrative schematic view of a vacuum source in a debris removal system according to an aspect of the present invention is shown; Figure 45 An illustrative schematic view of a debris removal brush pad in a debris removal system according to an aspect of the present invention is shown; Figure 46 An illustrative diagrammatic view of the process flow in a debris detection system according to one aspect of the invention is shown; and Figures 47A to 47C An illustrative schematic view of the process flow in a debris removal system according to an aspect of the present invention is shown; The accompanying drawings are shown for illustrative purposes only. Detailed Implementation

[0013] According to various aspects, the present invention provides systems and methods for using robots to pack shipping containers (whether boxes or cardboard pallets) or hold one or more units of goods in preparation for shipment of objects and other physical containers. The applicant has identified a need for robotic systems capable of picking units from inventory systems (such as inventory crates stored in AS / RS). There is also a need for systems capable of placing one or more units into shipping containers (such as boxes, cardboard (which will later be shrink-wrapped)) or onto conveyors for transport to boxing or bagging machines. Furthermore, there is a need for robotic systems capable of efficiently packing units into boxes, for example, by pre-specifying the optimal box size and then packing one or more units in a feasible manner to leave as little air as possible in the box without leaving large gaps.

[0014] Conversely, systems for assembling pallets using robots are different, at least in that the boxes are provided as collections of cardboard boxes, typically filled with multiple units of a certain item, which can be easily stacked on top of each other. According to various aspects of the invention, a system is provided that allows the packing of single units rather than multiple units, and importantly, these units may not be boxes; they are not like building blocks that can be stacked arbitrarily. Rather, these units may not be rigid (e.g., they may be in bags), or they may be rigid but not box-shaped. These units may be cylindrical and therefore roll, or these units may have a shape unsuitable for stacking items on them. According to various aspects, the invention relates to the ability to pick units from a jumble of items. According to another aspect, the invention relates to the purposeful arrangement of items in preparation for shipment, while minimizing internal voids and ensuring the integrity of these items during shipment. According to another aspect, the system can employ any of a variety of automated box-making, box-trimming, and automated bagging systems to trim such boxes.

[0015] The applicant has further identified certain challenges with the automated packaging system. These challenges include the need to compensate for the weight of the items being grasped. Placement under control There is a need to compensate for errors and noise in the placement of things relative to other things, as well as for compensation for those with low... Placement permissions These challenges also include the need to compensate for the fact that previously placed items may not be in their original locations while placing items, the need to pack items without leaving a lot of extra space around them, and the need to pack items at high throughput.

[0016] about Placement under control , Figure 1A An end effector 10 (e.g., a gripper) is shown at the center of object 12, but the object is not at the center of target location 14. Figure 1B An end effector 20 is shown that is not centered on the object, and the object is located outside the target position 24. Figure 1C An end effector 30 is shown that is not centered on the object, but the object is rotatably located outside the target position 34. If the end effector is centered on the cardboard receiving surface, but the item is not centered on that receiving surface, the object may be located outside the range of the presented cardboard receiving surface, which would be problematic for attempting to pack the cardboard surface (e.g., the cardboard surface of a box) or shrink-wrap it (e.g., if it is a shipping pallet). Figure 1A and Figure 2A The image shows an end effector 10 grasping an object 12 above a receiving surface 14. (Reference) Figure 2A The system will adjust the positioning of the end effector 10 to position the object above the receiving surface 14, so that the object will be placed in the desired placement position 16. For example... Figure 2A As shown, the placement position 16 is then precisely positioned on the receiving surface 14. Figure 1B As shown, if the end effector 20 grasps the object 22 at a non-central position, even when the end effector is centered on the receiving surface 24, the object 22 will be positioned at a location 26 extending beyond the receiving surface 24, which is undesirable. (See reference) Figure 2B The system will adjust the positioning of the end effector 20 to position the object above the receiving surface 24, so that the object will be placed in the desired position 26. The gripper positioning and orientation have been selected to compensate for the holding of the object. Placement under control Similarly, if the end effector 30 is as follows: Figure 1C The illustrated method of rotating, misaligned positioning of the grasped object 32 means that if the end effector is centered on and oriented on the receiving surface 34, the object 32 will be positioned at a location 36 that rotates beyond the receiving surface 34, which is also undesirable. (See reference) Figure 2CThe system rotates the end effector 30 to position the object above the receiving surface 34, thus placing the object in the desired position 36. Similarly, the gripper's positioning and orientation have been adjusted to compensate for the holding of the object. Placement under control Even if the positioning and / or orientation of the end effector is known to provide a contact surface of the end effector parallel to the receiving surface, the positioning and / or orientation of the object may still need to be adjusted before placement.

[0017] Errors and noise in the placement of objects relative to other objects also need to be compensated for. These include errors in the known location of the container (e.g., box) in which the object is placed, errors in placement estimation in control, errors in robot localization, and errors caused by unobserved passive degrees of freedom or compliance. For example, a flexible gripper holding the held item may deflect and change the actual placement in control. Compensation also needs to be provided for low-level... Placement permissions Placement permissions are the ability to position an item in a desired location and orientation. Some items may not be easily oriented, or their final placement may be unpredictable. For example, an item loosely packed in a bag may wrinkle or fold on its own, or it may wobble / shake uncontrollably before placement, making its final size and orientation unpredictable.

[0018] It is also necessary to compensate for the fact that previously placed items may not be in their original positions when placing the items. Previously placed objects may have tipped over, fallen, or rolled. In other words, some objects may have moved after placement, and according to one aspect, the present invention relates to compensating for items with low... Relocation authority An object's placement authority is its ability to maintain its placement in terms of orientation and orientation.

[0019] Packing is also required without leaving a large amount of extra space around the items. To prevent the held items from bumping into other placed items or shipping containers, the robot can compensate by adding extra clearance around the held items. This extra clearance increases transportation costs, and it is generally desirable to add as little clearance as possible around the placed items. Additionally, high-throughput packing is required, as well as the ability to quickly determine where to place the object after determining how it is held by the gripper.

[0020] According to one aspect of the invention, the system involves adding a scanner to the picking unit that identifies the position and orientation of an item as it is being held by a gripper and en route to its placement location. The system images the item from multiple directions to identify its main axis so that the item can be aligned with other adjacent items on the cardboard or in the order. Through this functionality, the system can begin with a limited range of SKUs (primarily rigid boxed items) and thus expand to items using flap packaging and then to bagged items (such as clothing).

[0021] refer to Figure 3 and Figure 4 One problem that sometimes arises is compensating for the reality model ( Figure 3 ) and reality itself ( Figure 4 The differences between them include, for example, slight variations in the product's shape due to non-rigid packaging and / or the location of the product's opening. Specifically, Figure 3 The model of product 40, held by the model of end effector 42, is illustrated graphically. The modeling is computational, and... Figure 3 This is intended to illustrate computational modeling. Positioning and orientation may have minor errors, but the dimensions of real-world objects may differ from those in the database. Figure 4 The actual product 44 is shown being held by the actual end effector 46. As indicated at 48, the packaging may change when it is lifted from the top by the end effector (e.g., a box). Similarly, some packaging is designed to be lifted from the bottom. When lifted from the top by the end effector, as shown, the top surface (which may form part of the opening flap of the box) may be slightly raised away from the rest of the box. This is not only undesirable for placement permissions and packing, but this choice of gripping position can also significantly impair the system's ability to reliably pick and place items (e.g., if the top surface / flip is to be moved aside / torn from the rest of the box).

[0022] These differences affect how well the system can be packaged. To minimize these differences as needed for some applications, the system uses a benchmark. Placement under control Scanning and modeling, and recording how well the model reflects reality. For example, Figure 5 An analysis and control system is shown at point 50. This system includes a container detection unit 51 on a conveyor, a weight-sensing conveyor section 52, a weight-transmitting bidirectional conveyor section 53, a fixedly mounted detection unit 54 near a programmable motion device 56, and a gripping planning detection unit 55 and a gripping analysis detection unit 57 associated with each programmable motion device 56. These detection units each provide information (e.g., via an intranet or the Internet) to one or more processing systems 100 that also communicate with the storage system 58. By accessing storage information about each item and by evaluating gripping parameters including gripping position and end effector placement, the system accesses, generates, and records data about the object's size, weight, packaging, material, placement permissions, positioning permissions, gripping position, vacuum pressure level, and vacuum duration. For example, the system can determine that one or more specific gripping positions and vacuum parameters are optimal for each object.

[0023] For example, Figure 6A system 110 is shown, comprising a pair of feed conveyors 112, 114, on which a single SKU inventory container (e.g., a stock rack) 116 is delivered to a feed conveyor including a programmable motion device (such as an articulated arm 122). Figure 7 Further shown is a single SKU packing unit system 120. System 110 also includes a shipping container conveyor 124 that provides shipping containers 126 to the single SKU packing unit system 120. According to one aspect, the single SKU packing unit system picks individual units from inventory frames and places them in or on packaging suitable for shipment. A robot support structure 128 spans two inventory frame loops 112, 114 that supply inventory frames to units from a frame storage system (such as AS / RS) and extends above the shipping container conveyor 124.

[0024] Detection unit 139 (e.g.) Figure 7 (Further shown) The movement and position of containers 116 and 126 on conveyors 112, 114, and 124 are monitored by detecting unique marks 135 and 127 on containers 116 and 114, respectively. Detection unit 139 on conveyors 112 and 114 detects mark 135 on container 116, and detection unit 141 on conveyor 124 detects mark 127 on container 126. Detection unit 138 on support structure 128 monitors the grasping and movement of objects by end effector 134 of programmable motion device 122. Detection unit 160 (in...) Figure 11 (As shown in the diagram) assists the programmable motion device in selecting and grasping objects. System 110 independently and intermittently moves containers 116 on conveyors 112, 114 to provide objects for processing at unit system 120, wherein objects are selectively placed into any of a variety of containers 126 arriving on a mobile controlled conveyor 124. Each conveyor 112, 114, 124 includes bidirectional deflectors 113, 115 (e.g., ...). Figure 9 and Figure 26 (shown in more detail below) one or more sections that steer the movement of the container in an output direction orthogonal to the input direction. Certain bidirectional steering components in the bidirectional steering unit 113 and sections 117 of the conveyor 124 (such as...) Figure 10 and Figure 26 (Further shown) includes rollers mounted on a force / torque sensor (e.g., for measuring weight), as discussed further below. Additionally, conveyor 124 includes a container alignment system 119 (in... Figure 10 and Figures 16A to 16D (As further shown in the image), the container alignment system is used to align a container as it approaches the programmable motion device. The operation and control of the system, which includes a conveyor, a detection unit, a bidirectional deflector, the container alignment system, and the programmable motion device, is provided by one or more computer processing systems 100.

[0025] refer to Figure 7 System 110 can select one or both containers 132, 133 on conveyors 112, 114 to supply objects to programmable motion device 122. The weight of each of containers 132, 133 can be determined independently (using the reference below). Figure 9 (The force and torque sensor is discussed in more detail). The selected transport container 125 in container 126 on conveyor 124 is also close to the programmable motion device setup, and references... Figures 16A to 16D The object is pushed onto the conveyor 124 by the container alignment system 119 for loading and positioning. A programmable motion device then moves the selected object to the container 125, determines its positioning and orientation within the container, and, after placement, detects the weight of the container (discussed in more detail below) to confirm placement. A detection system 138 can be positioned around the area where the object is picked from the hopper by the end effector 134. The detection system 138 is positioned to capture all surfaces of the object, including its bottom. This allows for scanning once the item is picked from the hopper. This allows sufficient time to calculate the controlled placement and then to plan the motion required to compensate for that placement.

[0026] Figure 8 A top view of the packing unit 120 is shown, illustrating the weight-sensing bidirectional steering mechanism 113 of conveyors 112, 114 and the bidirectional steering mechanism 115 of conveyor 124. The detection unit 138 may include depth sensors, such as depth cameras positioned around the station from multiple directions, to estimate the held object and its placement in control. The feeding system may include multiple feed conveyors 112, 114 to provide multiple objects to the programmable motion device 122. The weight-sensing bidirectional steering mechanism 113 determines not only the weight of the container but also its positioning on the rollers. The bidirectional steering mechanisms 113, 115 may include a lateral directional belt 144 (in... Figure 9 (As shown in the diagram), the lateral directional belt can be raised to guide the container toward the conveyor in a direction orthogonal to the direction of the conveyor. Once detected and identified / confirmed, the object can be moved via a programmable motion device 122 (such as an articulated arm) to the destination container 125 (e.g., a shipping box) on the output conveyor 124.

[0027] The weight-sensing bidirectional steering system 113 includes a force-torque sensor 142 (such as...) Figure 9 As shown, the force-torque sensor is used to determine the weight and positioning of the container on roller 140. Figure 9As further shown, the bidirectional steering mechanism 113 (and 115) includes a belt 144 that, when engaged, can be raised to a position that steers the container. The belt can also be used to confirm the weight of the container (e.g., before and after the object is removed) by lifting the container from the weight-sensing roller and then placing the container back onto the weight-sensing roller.

[0028] By monitoring the output of each of the load cell or torque sensor 142, the position of the container on the roller can be determined, and the roller can be advanced to bring the container to a specific position on the roller below the articulated arm 122. The destination conveyor 124 also includes a weight-sensing conveyor section 117, which includes a conveyor 150 mounted on the load cell or torque sensor 152, as discussed above. Figure 10 As shown in more detail below. A separate load cell or torque sensor allows the system to determine the position of the container on the roller 150 mounted on the torque sensor 152. By monitoring the output of each of the load cell or torque sensor 152, the position of the container on the roller can thus be determined, and the roller can be advanced to bring the container to a specific position on the roller below the hinge arm 122. The container alignment system 119 can then be engaged to position the container on the support 153, as shown in the following reference. Figures 16A to 16D To be discussed in more detail.

[0029] The system includes a sensing system (e.g., 160) mounted above the container of the object to be processed, near the base of the articulated arm 122 with the end effector 134, thus providing a top-down view of the container. (Reference) Figure 11 The perception system 160 may include, for example, a camera (located on its underside), a depth sensor, and lights. It acquires a combination of 2D and 3D (depth) data. The depth sensor provides depth information, which can be used in conjunction with camera image data to determine depth information about various objects in the view. The lights can be used to remove shadows and facilitate the recognition of object edges, and can be turned on all at once during use, or illuminated in a desired order to aid object recognition. The system uses this imagery and various algorithms to generate a set of candidate gripping locations for objects in the bin, as discussed in more detail below.

[0030] Figure 12A A view of container 132 from sensing system 160 is shown. The image view shows container 132 (e.g., on a conveyor) and containers 132 containing objects 201, 202, 203, 204, and 205. While in some systems, the objects in each feed hopper may be dissimilar (multiple SKUs), in other systems, such as... Figure 12AAs shown, the objects may be of the same type (single SKU). The system will identify candidate gripping positions on one or more objects and may not attempt to identify gripping positions on objects that are partially occluded by other objects. A 3D model of a robotic end effector can be used to indicate candidate gripping positions, positioned where the actual end effector will be used as the gripping position. For example, a gripping position may be considered good if it is close to the object's center of mass to provide greater stability during gripping and transport, and / or if it avoids locations on the object where a good vacuum seal may not be possible (such as lids, seams, etc.).

[0031] The sensing system 160 includes a scanning and receiving unit and an edge detection unit in its sensing unit for capturing various characteristics of a selected object throughout the bin. Similarly, Figure 12A The image shows a view from a capture system, which, according to one embodiment, may include a group of similar or identical objects 201, 202, 203, 204, 205. The scanned volume... V 203 or density D 203 The difference is Figure 12B This is shown in the diagram, and compared with recorded data on items identified by identification tags provided by the detection system of the SKU induction system, or recorded object data. Specifically, the scanned volume is compared with the volume of the identified SKU multiplied by the known number of objects in the bin. After picking, the volume is scanned again (…). Figure 12C To confirm the volume of the selected object.

[0032] Figures 13A to 13C The grasping estimation detection unit 138 in the packing unit 120 is shown (some elements have been removed for clarity). The detection unit 138 includes an upper detection unit pointing downwards towards the object 162 held by the end effector 134, such as... Figure 13A As shown. Detection unit 138 also includes an intermediate detection unit that is generally horizontally pointed toward the object 162 held by the end effector 134, such as... Figure 13B As shown, and the lower detection unit pointing upwards at the object 162 held by the end effector 134, as Figure 13C As shown.

[0033] Once the object is captured by the detection unit 138 and sent to the robot application, the robot application needs to send commands to the robot, including a time series of joint angles, i.e., the arm trajectory. The arm trajectory needs to be selected to place the object in the desired position and orientation. For example, Figure 14AA graphical representation of an end effector 134 is shown at 170, which includes a flexible vacuum suction cup 162 deflected by a load (object 164). This load generates an unwanted force, as shown at 166, which includes potential components in the x, y, and z directions. To compensate for the load (such as...) Figure 14B As shown), the end effector 134 moves to provide a reaction force, as shown at 168, which is equal to and opposite to force 166, and also includes components in the x, y, and z directions.

[0034] The arm trajectory should be generated within the last 100 milliseconds of the item's journey to its placement location. If a compensated trajectory cannot be calculated in real time, the system pre-generates a roadmap of candidate placement trajectories. This roadmap is called a roadmap because it connects multiple trajectories linked by nodes representing common intermediate locations (like intersections on a street map). This roadmap includes hundreds or thousands of trajectories, each starting from a common intermediate location and ending at a densely sampled point of gripper positioning and orientation. A common intermediate location is selected such that a placement estimate is available in control when the robot reaches it. The optimal next trajectory on the roadmap is then selected before the robot reaches the end of its current trajectory. The robot then smoothly transitions to the trajectory leading to the desired item placement. If the item rotates or translates in the xy directions while in control, the placement trajectory can be simplified to a simple downward movement to avoid complex collision planning with the contents of the transport container.

[0035] refer to Figures 15A to 15D The picking unit may include a gripping detection system that assesses whether an object is moving (e.g., swaying) when gripped. The detection system may include a sway detection system 220 comprising a plurality of sensing units 222 directed to a detection area between input frames 132, 133 and a destination container 125 (e.g., a shipping box). Additional sensing systems (e.g., 138, 141) discussed above may also be used, but the units 222 are specifically directed to the area between the input frames and the destination container where the end effector 134 is programmed to stop. Figure 15A The image shows object 210 moving as it is gripped by vacuum suction cup 224, and... Figure 15B This shows the end effector 134 stopping at the analysis region. (Reference) Figure 15C Object 210 can continue to swing in the forward direction, and refer to Figure 15DIt can even swing back in the opposite direction. While the use of the flexible vacuum suction cup 224 may cause a small amount of movement, the system will set a threshold for detecting any movement (swinging) so that movement caused by the flexible vacuum suction cup is excluded from the object's swinging movement. For example, objects including flexible bags (e.g., polyethylene bags) will experience more noticeable swaying than rigid objects (such as boxes).

[0036] The detection of this swaying movement of the object being processed is recorded and used in the packing process, for example, by positioning the item at a lower position in the container, rather than below other objects. Such swaying objects can be placed on top of other objects in the packing container (rather than below them) because objects placed on top of such flexible objects may move during placement, causing interruptions and uncertainty in the packing process. The system can, for example, take multiple photos at different times to determine the movement, and thus, these methods can be used to detect whether an object held by the gripper is swaying. This information also affects placement, as the system now knows to allow the item to stop swaying before being placed in the shipping container and can be further adjusted to move the object more slowly. Similarly, this also affects packing strategies as discussed in this paper.

[0037] Additionally, refer to Figures 16A to 16D The destination container 125 on the conveyor 124 moves toward the programmable motion device 122 (e.g., Figure 16A As shown, and stops when container 125 is positioned on weight-sensing conveyor section 117 (e.g.) Figure 16B (As shown). The support rod 151 of the container alignment system 119 moves against the container 125 and pushes the container onto the conveyor 124 against the desired positioning of the support rod 153 of the container alignment system 119 (as shown). Figure 16C (As shown). The articulated arm 122 can then handle one or more objects to be supplied to the container while the container is held in a known position and location between the support rod 151 and the support rail 153. Once complete, the support rod 151 releases the container, and rollers are engaged to move the container further along the conveyor 124 (as shown). Figure 16D (As shown) to another processing station. Similarly, additional weight-sensing conveyors and support rod and rail systems can be used with the feed frame 156 on the feed conveyor.

[0038] Figure 17A and Figure 17BA view from an overhead sensing system (e.g., 160) observing the container from above is shown. Specifically, the system will know that the shipping container 125 is positioned within the conveyor 124 and may have information about its approximate position on the conveyor due to the use of a weight-sensing conveyor roller 150 with sensor 152 and a cassette alignment system 119. Knowing the expected size of the cassette 125 (from stored modeling information) and considering its distance from the sensing system (again, e.g., 160), the system then attempts to map the known contours of the top of the container onto the image to align the system with the accurate position of the container 125. In some embodiments, the stored modeling information may be combined with sensing information from a 3D depth sensor (again, in sensing unit 160) to measure features of the container to determine its position in 3D. This registration information also helps to prevent the end effector from contacting (impacting) the container during packing. Figure 17A A known profile that is not yet aligned is shown at position 230. The system will perform internal (software) adjustments to realign it with the actual container 125, as follows. Figure 17B As shown. The problem of variable positioning of the flap was avoided by aligning the top opening of the registration box.

[0039] As discussed above, the system may include one or more sensing units 139 located on or near the feed conveyor for identifying markings on the exterior of each of the containers 116, providing sensing data from which the contents of the container can be identified, and then understanding its relative position on the conveyors 112, 114 to track its location. It is assumed that the containers of objects are marked with visually unique markings, such as barcodes (e.g., providing UPC codes), radio frequency identification (RFID) tags, or mailing tags, at one or more locations on their exterior, making them readily identifiable by a scanner for processing. The type of marking depends on the type of scanning system used, but may include 1D or 2D code symbols. Various symbol methods or tagging methods may be employed. It is assumed that the type of scanner used is compatible with the marking method. For example, marking via barcodes, RFID tags, mailing tags, or other means encodes the identification mark (e.g., a string of symbols), which is typically a string of letters and / or numbers. The string of symbols uniquely associates a supplier's container with a specific set of similar objects. Each of the single SKU feed containers (e.g., bins or frames) may include a mark identifying the bin or frame, and a sensing unit positioned along the conveyor detects the mark to determine the identification and location of each single SKU container (e.g., bin or frame).

[0040] The operation of the system described above is coordinated with a central processing system 100, which communicates (e.g., wirelessly) with articulated arms 122, sensing systems 138, 139, and 160, and conveyors 112, 114, and 124, as well as weight-sensing conveyor sections. The system determines the UPC associated with a supplier bin and the outbound destination for each object based on a symbolic string. The central control system 100 consists of one or more workstations or central processing units (CPUs). For example, the mapping between UPCs or mailing tags and outbound destinations is maintained by the central control system in a database called a manifest. The central control system maintains the manifest by communicating with a warehouse management system (WMS). The manifest provides an outbound destination for each inbound object.

[0041] The packing planner generates packing plans for orders, especially multi-item orders. Given the items in an order and their weight and dimensions, the planning system will determine whether to satisfy various constraints (such as placing smaller items on top of larger items, and packing items with lower weights later or last). Placement permissions and / or low Location permissions The packaging plan for the items is generated. Constraints are fed into an optimizer, which generates the order in which the items should arrive to satisfy the constraints, so that they can be automatically packaged on cardboard.

[0042] Figure 18A A container 125 (e.g., a packing box) is shown for packing objects, which, for example, reserves a larger area designated for packing larger objects and a smaller area for packing smaller objects. The system is aware of the positioning and orientation of the walls of box 125 (e.g., 212, 213, 215 as shown). Box 125 may, for example, receive an object 214 that the system knows has (or has determined to have) low positioning permissions (the ability to remain properly positioned during placement). Such objects may, for example, include objects with generally cylindrical or spherical outer surfaces. The system can then position object 214 into the box, biased towards one or both sides (213, 215), thereby leaving more space 216 for other objects. Reference Figure 18B Then, other objects 218 and 219 can be placed into the larger empty space 216 in the box, thus placing the larger of the two new objects (218) at the bottom.

[0043] Figure 18A and Figure 18BSome potential rules for sorting are illustrated, which will be incorporated into the packing planner. The set of rules selected will depend on the characteristics of the shipping container. The rule set may include, but is not limited to: placing the largest items first, placing smaller items on top of larger items (to create maximum item stacking), placing the heaviest items first (to avoid crushing other items), placing known fragile items last (to avoid crushing these items), placing low-positioning-authority items with a risk of rolling last (to avoid causing them to roll and obstruct the next pick), and placing non-rigid items with low placement authority last (so that subsequent placements do not tip over). Some rules may conflict with each other, which is resolved using context-dependent parameters. The system can be tuned experimentally or by understanding the relative importance of the rules and determining which rules take precedence. The system plans to generate the positioning and location of all items in the order, the order in which they arrive at the cells, and the size of the boxes the objects will fit into. These subsequent requests are routed to the Warehouse Management System (WMS) via a software interface.

[0044] To develop an effective and reliable plan, the packing planner will require SKU information, including weight, dimensions, and potentially other SKU properties such as placement and positioning permissions, like whether it is rolling or non-rigid. Other information, such as raw data from sizing devices (e.g., the Cubascan system sold by Quantronix, Inc., Hamden, Connecticut), is also expected to improve packing performance. Part of the work involves developing mutually acceptable solutions while considering the cost of obtaining any information.

[0045] According to another aspect, the system also provides a shipping container holding mechanism. For example, when a robot places items into a box, the items may brush against the box wall. According to certain aspects of the invention, a mechanism for holding the shipping container may be required. The type and need of the holding mechanism will depend on the shipping container. The system will also provide an analysis of requirements, such as the need to include a range of shipping container sizes or potential types; design, implementation, and testing of the holding mechanism; and electromechanical integration into single-pick and multi-pick units (discussed in further detail below).

[0046] In another respect, the system can provide anomaly detection and handling procedures. While in most cases the combination of picking software and hardware will result in efficient and effective object picking and placement, real-world conditions in warehouses occasionally require the detection and mitigation of anomalies. Mitigation can be automated, such as selecting alternative gripping and placement, or may require manual intervention indicated via a user interface or by routing the anomaly to a QA / QC station. The user interface provides detailed causes of the anomalies and enables operators to indicate that the situation has been resolved and the robot can resume picking.

[0047] One anomaly that robotic picking solutions may encounter is multi-picking, where the robot unintentionally picks up multiple items. This can occur due to suboptimal gripping positions or packaging defects that accidentally bundle multiple items together. The picking unit addresses this issue with a high-accuracy scale mounted below the picking and destination locations. When the software detects that the weight of the held items significantly exceeds the expected weight of a single item, it compensates for multi-picking by returning the items to the inbound container via an indicative arm.

[0048] The system analyzes the effectiveness of the detection mechanism and, if necessary, accelerates the development of additional detection mechanisms, such as volume measurement of picked items via controlled placement scanning. Another possible anomaly is that objects are incorrectly placed in outbound boxes. An example of this would be large objects that cannot fit within the outbound container. The system will assess the frequency of this anomaly and, if necessary, develop sensing mechanisms and mitigation measures to detect this situation. These mitigation measures may include re-grabbing and manipulating items or marking outbound containers to be sent to the QA / QC station before heat shrinking and shipping.

[0049] Therefore, according to various aspects, the present invention provides systems and methods for automating the handling of objects (whether from single-SKU or multi-SKU supply bins) at a processing unit. The system, for example, provides a controlled placement scanning and estimation process, through which sensors and computer processes estimate how the gripper will hold the items. The system also provides a controlled placement compensation placement planning system, through which a motion planning process compensates for how the gripper holds the items and does so quickly enough to maintain high throughput. The system also provides a packing planning process, through which a packing planner system specifies the SKU sequence, determines the most appropriate bin size, and specifies the orientation and positioning of all items in the shipping container, while taking into account sequencing constraints, such as placing rigid items first. According to another aspect, the system provides a shipping container holding mechanism, through which the system can optionally hold the shipping container in place during item placement to mitigate the impact of impacts against the shipping container walls. According to another aspect, the system provides anomaly detectors and processing procedures, such that a sensing and application process detects when an anomaly occurs (such as an item being placed in an incorrect location or orientation) and takes action to automatically correct it or signal to QA / QC inspection.

[0050] During operation, a barcode scanner scans identification tags on inventory containers (e.g., crates) to locate the SKU before it reaches the unit. The unit then initiates the construction and / or delivery of appropriately sized shipping containers via WCS / WMS to arrive on time to pack the corresponding SKU. Inventory crates queue on the inbound inventory conveyor and stop on a right-angle conveyor belt within the robot's reach. A series of appropriately sized empty shipping containers are then fed into the unit by a belt conveyor, in an order matching the arrival order of the SKUs. As an item is removed from an inventory crate, it is scanned, and the unit's placement and orientation are determined for placement. By compensating for the unit's known position and orientation relative to the gripper, the unit is placed onto the shipping container and within its range.

[0051] If a unit placement detected by a scanner above the packing container is deemed unsuitable for packing (i.e., located outside the shipping container), the unit will be re-grabbed and repositioned, or directed to the Quality Assurance (QA) station. A barcode on the shipping container is scanned, or the shipping container is marked with a barcode to associate the unit and shipping container with the corresponding order. While placing units from one inventory crate, the contents of a second inventory crate are scanned in preparation for the next pick. A conveyor belt carries cardboard boxes containing individual inventory units onto a feeder belt that feeds them to final packaging machines such as shrink wrappers and cartoning or sealing machines. If a single pick from the inventory crate is no longer required, the crate is transferred to the outbound conveyor. Otherwise, the inventory crate is held, and another pick is performed. This process is repeated when picking begins on the second inventory crate.

[0052] refer to Figure 19A and Figure 19B The system can assign shipping containers given a set of contents and a planned packing schedule, as discussed below. The system can, for example, evaluate... Figure 19A The first group of objects 226 shown should be packed into box 125', and as Figure 19B The larger group of objects 228 shown should be packed into a larger box 125''. Knowing the volume of the individual objects and the number of different objects, the system can approximate the packing volume, for example, by adding the volumes of the individual objects and increasing the packing volume by 10%, 15%, or 20%, which depends at least in part on the specified distances (leeway) between the objects and between the objects and the container, as discussed further below.

[0053] refer to Figure 20 Knowing a group of objects to be packaged together and the intended container, the system analyzes different combinations (permutations) of the packaging order, orientation, and position of the objects in that group. For example, Figure 20Container 240 is illustrated, and the system calculates combinations of packaged objects starting with a first object in a first position and orientation (as shown at 242) and starting with a first object in a first position and second orientation (as shown at 244). Combinations starting with a second object in a first position and orientation are shown at 246, and combinations starting with a third object in a first position and orientation are shown at 248. Although not all arrangements are shown in the figure, the system can calculate the packaging arrangement for all combinations. Figure 20 Another level for determining such combinations is illustrated at point 260.

[0054] The offline system accepts packaging requests and responds with a list of feasible packaging plans. The system uses simulation to find the order of units that generate feasible packaging plans. The online system uses... Container height diagram and Placement under control The data uses the same underlying algorithm to iteratively determine the optimal placement for each next object. The placement planner routine determines the path the articulated arm must take to achieve the desired placement. The in-control placement routine determines how the gripper holds the unit. To place objects in the box and later efficiently pack other objects, the system knows the in-control placement of each object at the time of gripping, as discussed in this paper. The placement planner performs searches in six-dimensional space, and these are done offline to provide pre-computed paths. In online placement planning mode, the system reacts to previous placements at each step.

[0055] To find a good place for each subsequent object, a container height map constructs a map of the box's contents. The system also has the ability to dynamically replan in response to the state of the outbound container when it is being packed. Therefore, the system compensates for inaccuracies in the outbound box and placement, and mitigates rolling, displacement, or tipping of units within the outbound container. All packing is done with a single end effector because there is no second end effector to hold items aside. All objects are also placed only once, as moving already placed objects is not desirable. To pack objects safely and utilize volume efficiently, the system knows how the object is held by the gripper (as discussed in the controlled placement section). This provides not only information about the orientation of the object and the gripper, but also information about the object's height.

[0056] The assumptions that can be used in the system include assuming offline information (or possibly determined online measurements) as follows: object mass information with an accuracy of less than 5%, object dimensions with an accuracy of less than 5 mm, the shape characteristics of the object to be accurately determined (e.g., the object is not spherical), and the object is positioned such that the largest face (surface) of the object is facing upwards.

[0057] The packing planner routine executes upon receiving an order and estimates the compatibility of each order with a given box size from minimum to maximum. For each box, the system attempts to create a packing plan for both the order and the box. The smallest box used in a successful packing plan is used. If a packing plan cannot be created for any box, the order is sent as an exception because it cannot be packed. As discussed above, considering all or almost all possible orderings of objects and all possible positions and orientations of objects in the order, the packing planner performs a search across all consecutive packing steps. If multiple packing plans exist that fit the objects into the box, the packing planner selects the one with the minimum maximum object height. The packing plan maintains certain constraints, including minimum distances between objects, minimum distances between objects and container walls, maximum object height, stacking only stackable objects, and adherence to constraints on object size and properties.

[0058] Figure 21 A container 125 containing objects 270 and 272 is shown. The distance between objects 270 and 272 (referred to herein as...) room )exist M o-o As shown, the distance between the object and the inner wall of the adjacent container is... M o-c As shown here. Reference Figure 22 The system employs a strategy of relaxing certain parameters (such as leeway). This involves dynamically adjusting both object-to-object leeway and object-to-container leeway in conjunction with the packaging planning strategy. Figure 22 As shown at 280, with a large margin, the packing volume is quite low, and with a smaller margin, the packing volume increases. The system in this paper can start the calculation with a larger margin (conservatively) and iteratively recalculate with a smaller margin until it reaches the inflection point region, as shown at 282, where the benefit of increasing volume with decreasing margin diminishes. Margin in this inflection point region is preferred.

[0059] In another aspect, the system provides compensation for deflection caused by the gripper (e.g., a flexible vacuum suction cup gripper). Given a point on a rigid object that the system has detected on the side where the robot holds the object, the angle at which the system needs to hold the object to keep it level for positioning can be calculated. Since the torque applied by the vacuum suction cup is approximately linear in terms of its deflection, the required offset angle can be calculated by solving for the roots of a trigonometric equation.

[0060] Figures 23A to 23E A specific object placement process according to an aspect of the invention is illustrated, involving placing an object into a destination container (such as a shipping box) without dropping the object (no falling impact force) and without pushing it into the box (no compressive force). Specifically, Figure 23AAn end effector 134 is shown holding an object 162 to place it into a shipping box 125 on a weight-sensing section 117 of an output conveyor 124 at a processing station. The output conveyor 124 includes conventional rollers and a weight-sensing section 117 comprising rollers 150 mounted at either corresponding end of a force-torque sensor 152, as discussed above. The force-torque sensor 152 provides weight information data regarding the force applied to the rollers 150. Figure 23B As shown, when the shipping container 125 moves onto the weight sensing section 117, the container is positioned below the end effector 134 and the object 162. The system can not only determine that the shipping container 125 is positioned on the weight sensing section 117, but also determine its positioning on the roller 150, thereby confirming whether the positioning is centered and confirming the size of the container in the conveyor direction. The detected weight of the container will also be used to confirm the expected container that will actually appear at the station.

[0061] Figure 23C The image shows object 162 being lowered into housing 125 by a programmable motion device including end effector 134. Note that the weight of housing 125 will increase due to the weight of object 162. Figure 23D The end effector is shown leaving object 162 in box 125, and Figure 23E The weight sensing conveyor section 117 of the box 125 is shown being moved away from the processing station, so that any weight on the weight sensing conveyor section will be removed.

[0062] Figure 24 A graphical representation of the detected weight (in kg) over time (in seconds) on the weight-sensing conveyor section is shown at point 230. As shown, before the shipping box 125 is received by the weight-sensing conveyor section 117, the weight detected at the weight-sensing conveyor section 117 (as shown at point 232) is 0 kg. Between times t1 and t2, the box 125 is moved onto the weight-sensing conveyor section 117, and the weight of the box 125 (e.g., about 200 g) is detected until time t3, as shown at point 234. Between times t3 and t4, an object is placed in the box, and the combined weight of the box and the object (e.g., about 245 g) is detected, as shown at point 236. Between times t5 and t6, the box (containing the object) is moved away from the weight-sensing conveyor section, and the detected weight is confirmed to have returned to zero, as shown at point 238.

[0063] Figures 25A to 25CA process control system according to an aspect of the invention is shown, which begins by moving a supply bin on a supply station conveyor (step 1000) until the current supply bin is on the supply trigger weighing roller (step 1002). The system identifies the supply bin and obtains all known information about it (step 1004). Since the current supply bin is on a section of the weighing conveyor, its current weight can be easily determined by the weighing conveyor (step 1006). Then, a sensing system collects sensing data about the current supply bin from above, and a processing system identifies as many objects as possible (these objects are visible) within the current supply bin (step 1008).

[0064] The system then processes the sensing data and determines whether at least one object in the current supply bin has been identified (step 1012). If so, the system accesses placement permission data, positioning permission data, and object weight data for each identified object (step 1014). If no object is identified in the current supply bin (step 1010), the system selects the topmost object (step 1014) and then presents the selected topmost object to the sensing system as discussed above (step 1016). If the held object can be identified, the system proceeds to step 1012 discussed above, and the system accesses placement permission data, positioning permission data, and object weight data for the held object. If the held object cannot be identified, it is returned to the supply bin or moved to the abnormal bin (step 1018).

[0065] Having identified at least one object and obtained placement permission data, positioning permission data, and object weight data (step 1012), the system then accesses destination bin data regarding the packaging status of the current destination bin and the contents of the current destination bin (step 1020). The system then selects a chosen object, partly based on the placement permission data and / or positioning permission data for each object, and the status and contents of the current destination bin (step 1022). The system then grabs and lifts the selected object from the current supply bin (step 1024) and then determines the new weight of the current supply bin to confirm, based on the weight data, that the selected object (with a known weight) has been removed from the supply bin (step 1026). While the object is being held by the end effector, the system can then use the sensing unit to determine placement and orientation data regarding the held object and generate placement holding evaluation data (step 1028).

[0066] Earlier or at this point, the destination conveyor brings the current destination container to the weighing section of the conveyor and continues moving until it engages the destination trigger weighing roller (step 1030). Again, since the destination conveyor includes multiple weighing conveyors, the weight of the destination container is then determined (step 1032). The alignment system then engages to ensure the destination container is pushed against the destination support (step 1034). The destination sensing system then performs a volume scan of the destination container (step 1036), and then, based partly on placement data, places the object into the destination container (step 1038), and then performs a weight measurement to confirm the object is in the destination container (step 1040). The system then performs another volume scan of the destination container to confirm the object is correctly placed on the destination container (step 1042). The system then returns until the system terminates (step 1044), at which point the process ends (step 1046).

[0067] Figures 26 to 28 A system 110 is shown that includes a pair of feed conveyors 112, 114, on which a single SKU inventory container 116 is delivered to a single SKU packing unit system 120 including a programmable motion articulated arm 122. Figure 26 and Figure 27 The top view and side view are shown respectively, and Figure 28 A rear perspective view is shown. System 110 also includes a shipping container conveyor 164 that provides shipping containers 166 to a single SKU packing unit system 120. According to one aspect, the single SKU packing unit system picks individual units from a stock rack and places them in or on a package suitable for shipment. A robot support structure spans two parallel stock rack loops 112, 114 from a stock rack storage system (such as AS / RS) to the unit feed stock rack. System 110 includes a weight-sensing conveyor (as discussed above) below an articulated arm 122, and support rods and rails as discussed above. Similarly, the weight-sensing conveyor and the support rod and rail system can be used with shipping containers on a shipping conveyor.

[0068] Depending on the aspects, the system provides a system designed to pack goods into shipping containers. On one hand, this involves packing one or more units of a single stock keeping unit (SKU) into one or more shipping containers, and on the other hand, it involves packing multiple SKUs into one or more shipping containers, as discussed further below.

[0069] According to another aspect, a system involving the picking of multiple SKU types is provided. The system picks units from an order one at a time from a pallet delivering individual units and packs them into a shipping container. Similar to single-SKU systems, multi-SKU systems interface with a packaging mechanism that feeds containers to the picking unit. Inventory units are picked from shuttle pallets (depicted in yellow) queuing on a zero-pressure conveyor. A scanner scans the contents of the shuttle pallet, and another scanner scans the shipping container as it is being packed. As with single-SKU systems, the scanners restore the unit's positioning and orientation for optimal placement around other units within the container.

[0070] Figure 29 For example, a system 300 is shown that includes a feed conveyor 302 on which a multi-SKU inventory box 304 is delivered to a multi-SKU packaging unit system 300 including a programmable motion articulated arm 308. Figure 30 and Figure 31 The side view and top view are shown respectively, and Figure 36 and Figure 37 A rear side view and a rear perspective view of system 300 are shown. System 300 also includes a shipping container conveyor 310 that provides shipping containers 312 to a single SKU packing unit system 306. According to one aspect, the single SKU packing unit system picks individual units from a stock rack and places them in or on a package suitable for shipment. A robot support structure spans two parallel feed and shipping container conveyors from a stock rack storage system (such as AS / RS) to the unit feed stock rack and the shipping container.

[0071] System 306 includes a weight-sensing conveyor below the articulated arm 308 (as referenced above). Figure 9 , Figure 10 and Figures 23A to 23E (as discussed), and as referenced above. Figures 16A to 16D The support rods and support rails discussed. Similarly, the weight-sensing conveyor and the support rod and rail system can be used with shipping containers on a loading conveyor. Moreover, each of the multi-SKU feed containers (e.g., bins or frames) can include a mark identifying the bin or frame, and a sensing unit positioned along the conveyor detects the mark, thereby knowing the identification and location of each multi-SKU bin or frame.

[0072] The system includes a sensing system (e.g., 320) mounted above the material frame of the object to be processed, near the bottom of the articulated arm 308, thus providing a top-down view of the material frame 304. Figure 30As shown. The perception system 320 may include, for example, a camera (located on its underside), a depth sensor, and lights. Again, it acquires a combination of 2D and 3D (depth) data. The depth sensor provides depth information, which can be used with camera image data to determine depth information about various objects in the view. Lights can be used to remove shadows and facilitate the recognition of object edges, and can be turned on all at once during use, or can be illuminated in a desired order to aid object recognition. The system uses this imagery and various algorithms to generate a set of candidate gripping positions for objects in the bin, as discussed in more detail below.

[0073] Figures 32A to 32C A feed container is shown moving along the feed conveyor 302 below the sensing unit 347 and the depth and edge detection system 343. The feed container moves from the input side ( Figure 32A ) move, below sensing unit 347 and system 343 ( Figure 32B ) and far away from sensing unit 347 and system 343 ( Figure 32C When the system is in operation, sensing unit 347 and system 343 use volume and depth sensing to determine or confirm the contents of each feed container. By using such sensing units and systems, the edges, volume, and density of the multi-SKU contents of the feed container can be determined.

[0074] Figure 33A A view of the material frame 304 from the sensing unit 320 is shown. The image view shows the material frame 304 (e.g., on a conveyor), and the hopper 304 contains objects 324, 325, 326, 327, and 328. Figures 33A to 33C In this system, the objects in each feed bin are non-similar (multiple SKUs). The system will identify candidate gripping positions on one or more objects and may not attempt to identify gripping positions for objects partially obscured by other objects. Candidate gripping positions can be indicated using a 3D model of a robotic end effector positioned where the actual end effector will be used as the gripping position. For example, a gripping position may be considered good if it is close to the object's center of mass to provide greater stability during gripping and transport, and / or if it avoids locations on the object where a good vacuum seal may not be possible (such as lids, seams, etc.).

[0075] The sensing system 320 includes a scanning and receiving unit and an edge detection unit within its sensing unit to capture various characteristics of a selected object throughout the bin. Similarly, Figure 33A The image shows a view from a capture system, which, according to one embodiment, may include a group of dissimilar objects 324, 325, 326, 327, 328. The scanned volume... V 324 or density D324 The difference is Figure 33B This is shown in the diagram, and compared with recorded data on items identified by identification tags provided by the detection system of the SKU induction system, or recorded object data. Specifically, the scanned volume is compared with the volume of the identified SKU multiplied by the known number of objects in the bin. After picking, the volume is scanned again (…). Figure 33C To confirm the volume of the selected object.

[0076] Alternatively, a scanning and receiving unit can be used to determine the density of the object set in the bin. This density is compared with the known density of the identified SKU multiplied by the known number of objects in the bin to determine the mass and volume of the objects. Volume data can be obtained, for example, using a light detection and ranging (LiDAR) scanner, a pulse time-of-flight camera, a continuous-wave time-of-flight camera, a structured light camera, or a passive stereo camera.

[0077] Figures 34A to 34C A shipping container is shown moving along a loading conveyor 310 below a sensing unit 347 and a depth and edge detection system 345. The shipping container is seen moving from the input side ( Figure 34A ) move, below sensing unit 347 and system 345 ( Figure 34B ) and far from sensing unit 347 and system 345 ( Figure 34C When the container is filled, sensing unit 347 and system 345 use volume and depth sensing to determine or confirm the contents of each shipping container (e.g., if it is partially filled). By using such sensing units and systems, the edges, volume, and density of the multi-SKU contents of the shipping container can be determined.

[0078] Depending on certain aspects, the system may additionally employ an edge detection sensor (again, in conjunction with processing system 350) to detect the edges of any objects in the bin, for example, using data on any of the following: intensity, shadow detection, or echo detection. The system can be used to, for example, determine any of the size, shape, and / or contour to help confirm the quantity of objects in the bin. In some aspects, the system can identify specific objects in the bin and confirm their shape and size through this edge detection. Therefore, the aforementioned system can be used to confirm the quantity of objects packaged into containers, and in some aspects, to initially confirm the quantity of objects in shipping containers.

[0079] Similarly, the operation of the system described above is coordinated with a central control system 200, which again communicates (e.g., wirelessly) with the articulated arm 308, the sensing system 320, and the feed conveyor 302 and the shipping container conveyor 310. The system determines the UPC associated with the supplier's bin and the outbound destination for each object based on a symbolic string. The central control system 400 consists of one or more workstations or a central processing unit (CPU). For example, the mapping between UPCs or mailing tags and outbound destinations is maintained by the central control system in a database called a manifest. The central control system maintains the manifest by communicating with a warehouse management system (WMS). The manifest provides an outbound destination for each inbound object. Scanners are positioned above each inventory bin picking location to locate the grab point. This unit coordinates via the WMS / WCS with a shipping container distribution mechanism (such as an automated box-making system or a cardboard cutting and distributing machine) that feeds shipping containers to the picking unit. Conveyors feed shipping containers to this unit.

[0080] Figures 35A to 35C The grasping estimation detection unit 338 in the packing unit 306 is shown (some elements have been removed for clarity). The detection unit 338 includes an upper detection unit pointing downwards towards the object 335 held by the end effector 334, such as... Figure 35A As shown. Detection unit 338 also includes an intermediate detection unit that is generally horizontally pointed towards the object 335 held by the end effector 334, such as... Figure 35B As shown, and the lower detection unit pointing upwards at the object 335 held by the end effector 334, as Figure 35C As shown.

[0081] Similarly, and as discussed above, to compensate for the way the robot holds the unit for placement, a scanner (not shown) scans the geometry of the unit while the robot holds it to properly place the unit into the shipping container. A third scanner above the shipping container (placement area) scans the placed shipping container to provide feedback on the placement quality and, if necessary, initiates replacement.

[0082] The inventory crates queue on the inbound inventory conveyor and stop on a right-angle conveyor belt within the robot's reach. A series of appropriately sized empty shipping containers are then fed into the unit by a belt conveyor, in an order matching the arrival sequence of the SKUs. As the item is removed from the inventory crate, it is scanned, and the unit's placement and orientation are determined for placement. By compensating for the unit's known position and orientation relative to the gripper, the unit is placed onto the shipping container and within its range.

[0083] If a unit placement detected by a scanner above the cardboard is unsuitable for packing (i.e., outside the shipping container), the unit will be re-grabbed and repositioned, or directed to the Quality Assurance (QA) station. A barcode on the shipping container is scanned, or the shipping container is marked with a barcode to associate the unit and shipping container with the corresponding order. While placing units from one inventory crate, the contents of a second inventory crate are scanned in preparation for the next pick. A conveyor belt carries cardboard with individual inventory units onto a feeder belt that feeds to final packaging machines such as shrink wrappers and cartoning or sealing machines. If a single pick from the inventory crate is no longer required, the crate is transferred to the outbound conveyor. Otherwise, the inventory crate is held, and another pick is performed. This process is repeated when picking begins on the second inventory crate.

[0084] In addition to physical components, items are requested in the order most suitable for packing before the unit arrives at the station. This is done by querying the warehouse's WMS. Packaging Planner To initiate an order for shipment, the WMS provides a list of all SKUs in the order, along with their dimensions and weights. The packing planner identifies the order of compatible SKUs to be packed, which may include options for requiring multiple boxes for large unit orders; or, alternatively, an option to suggest manual packing.

[0085] The operational concept of a multi-SKU system is as follows: Items corresponding to an order arrive at the unit in a shuttle pallet in the order specified by the packing planner. When a new order begins, a shipping container of a predetermined size by the packing planner is delivered to the unit by a belt conveyor. As units are picked from the shuttle pallet, they are scanned by a unit placement scanner, which determines their placement and orientation relative to the gripper. By compensating for the known placement of units relative to the gripper, the units are placed on or in the shipping container with the positioning and orientation determined by the picking plan. After placing the units, the picking plan is recalculated based on the actual positioning of the units on or in the shipping container. The packing plan positioning is then adjusted to compensate for the actual placement. Picking and placement are repeated, with the packing plan recalculated interspersed, until all units have been picked and placed in the shipping container.

[0086] Once all units have been placed, the filled shipping containers are conveyed by belt conveyors to the final packaging machines, such as shrink wrappers and cartoning or sealing machines. If, at any point, the actual placement no longer allows for the planned placement, but shrink wrapping is otherwise acceptable, the partially filled shipping containers are conveyed by belt conveyors and then fed to the final packaging machines, such as shrink wrappers and cartoning or sealing machines. Any remaining unpacked units are transported back to the mini-shuttle for later shipment in another box. If an item cannot be packed because the measured SKU size is larger than expected, the unit is marked for QA. If, at any point, unit placement results in an item being outside the cardboard area, the item will be re-grabbed and repositioned.

[0087] Figure 36 and Figure 37 The diagram shows a rear side view and a rear perspective view of a system 300 including a feed conveyor 302 on which multi-SKU inventory cartons 304 are delivered to a multi-SKU packing unit system 306 including a programmable motion articulated arm 308. The system 300 also includes a shipping container conveyor 310 that provides shipping containers 312 to the multi-SKU packing unit system 306. According to one aspect, the single-SKU packing unit system picks individual units from the inventory cartons and places them in or on packaging suitable for shipment. A robot support structure, controlled by one or more processing systems 200, spans two parallel conveyors 302, 310 from the carton storage system (such as AS / RS) to the unit feed shipping containers and inventory cartons.

[0088] System 300 includes the articulated arm 308 below the reference above. Figure 9 , Figure 10 and Figures 23A to 23E The weight-sensing conveyor discussed above and referenced above Figures 16A to 16D The support rods and support rails discussed. Similarly, the weight-sensing conveyor, along with the support rod and rail system, can be used with input containers on a feed conveyor and shipping containers on a loading conveyor. The system may include multiple systems 306 positioned along a pair of feed conveyors and shipping container conveyors.

[0089] The density of the object set in the bin can also be determined using a scanning and receiving unit. This density is compared to the known density of the identified SKU multiplied by the known number of objects in the bin to determine the mass and volume of the objects. Volume data can be obtained, for example, using a light detection and ranging (LiDAR) scanner, a pulse time-of-flight camera, a continuous wave time-of-flight camera, a structured light camera, or a passive stereo camera.

[0090] According to another aspect, the system may additionally employ an edge detection sensor (again, in conjunction with processing systems 100 and 200) to detect the edges of any objects in the bin, for example using data on intensity, shadow detection, or echo detection. The system can be used to, for example, determine any of size, shape, and / or contour to help confirm the quantity of objects in the bin. In some aspects, the system can identify specific objects in the bin and confirm their shape and size through such edge detection. Therefore, the aforementioned system can be used to confirm the quantity of objects in the bin, and in some aspects, to initially estimate the quantity of objects (for a single SKU) in the bin and / or to confirm recorded data for any particular SKU.

[0091] During use, the system end effector of any of the above systems may include either a pressure or airflow sensor within the end effector, and may record pressure and / or flow rate when no object is held and vacuum is activated, and when a known object is held by vacuum. Using this baseline information, the system can determine that the end effector needs cleaning, for example, to remove debris that may have accumulated at the opening of the vacuum suction cup of the end effector. Figure 38 An end effector 400 is shown having a vacuum chuck 402 communicating with a vacuum source via an internal channel 404. A sensor 406 is disposed within the channel 404 for measuring either pressure or airflow within the channel.

[0092] When debris 410 partially blocks the vacuum suction cup opening (e.g.) Figure 38 (As shown) or debris 412 completely blocks the vacuum suction cup opening (such as Figure 39 As shown, the system should detect abnormal airflow or pressure readings during normal operation (e.g., between gripping or when gripping a known object). For example, if the system records static values ​​for each of the pressure and airflow when the vacuum is on and no object is being gripped, a different set of static readings may indicate that the end effector opening needs cleaning. Similarly, if the system records a set of known object gripping values ​​when the vacuum is on and an object is being gripped, a different set of readings when gripping the same or similar object may indicate that the end effector opening needs cleaning. Alternatively, debris may enter the vacuum suction cup onto the internal screen (again, causing partial or complete vacuum blockage).

[0093] Figure 40 The above reference is shown. Figures 6 to 28The system discussed includes a single-SKU packing station 420, as discussed above, receiving a feed container 116 on feed conveyors 112, 114, an articulated arm 122, and a shipping container 126 on a shipping container conveyor 124. The unit station 420 also includes a waste bin 430 into which the articulated arm can store (e.g., drop or blow) debris from a vacuum suction cup of end effector 400. Figure 41 An end effector 400 of an articulated arm 122 positioned above a trash can 430 is shown. The trash can 430 may include a transmitter 452 and a detector 454 along opposite top edges to detect whether any debris falls into or is blown into the trash can 430.

[0094] Similarly, Figure 42 The above reference is shown. Figures 29 to 37 The system discussed includes a multi-SKU packing station 440, as discussed above, which receives a feed container 304 on a feed conveyor 302, an articulated arm 308, and a shipping container 312 on a shipping container conveyor 310. The station 440 also includes a waste bin 430 into which the articulated arm can store (e.g., drop or blow) debris from a vacuum suction cup of an end effector 400. Figure 43 An end effector 400 of an articulated arm 308 positioned above a trash can 450 is shown. Similarly, the trash can 430 may include a transmitter 452 and a detector 454 along opposite top edges to detect whether any debris falls into or is blown into the trash can 430.

[0095] When the vacuum suction cup 402 of the end effector 400 is positioned above the trash can (e.g., 430), any debris can be caused to fall by turning off the vacuum. See also... Figure 44 The vacuum source 414, connected to the vacuum suction cup 402 (in the example disclosed above) via vacuum hose 416, can be reversed (or switched) so that a positive pressure is delivered to the vacuum suction cup, thereby blowing any debris from the vacuum suction cup into the trash can. When any debris enters the trash can 430, a response signal from the transmitter / detector arrays 452, 454 is sent to the control system. Figure 45 A trash can according to another aspect is shown, which includes a brush pad 422, along which a vacuum suction cup 402 of an end effector 400 can be dragged away from the trash can 430 to further facilitate the removal of debris from the vacuum suction cup. The use of the brush pad 422 is preferably combined with the provision of positive air pressure to inhibit debris collection at the brush pad 422.

[0096] The process control system can determine during use that the vacuum chuck of the end effector needs cleaning, for example, to remove debris that may have been removed by vacuum, by adhesive on debris, or by electrostatic charge eroding the vacuum chuck. Specifically, and referring to... Figure 46Upon startup (or when the system knows the vacuum suction cup is clean or contains any debris), the system can record (step 1100) the pressure and airflow at the end effector when the vacuum is on and no object is being gripped. P OV , F OV The system can then record (step 1102) the pressure and airflow at the end effector as it grasps each of several different objects. P KO1 , F KO1 , P KO2 , F KO2 , P KO3 , F KO3 , P KO4 , F KO4 (etc.). Each of the different objects can be a frequently encountered object, such as a box weighing less than 1 pound, a box weighing 2 to 2.5 pounds, a box weighing 10 to 12 pounds, and a box weighing 20 to 22 pounds. Record these values ​​and compare them later with the measured values ​​during use.

[0097] For example, when the system is not currently gripping an object, a vacuum is applied and pressure and airflow are detected (step 1104). If the detected pressure or airflow is not within the recorded open vacuum value ( P OV , F OV If the pressure or airflow is within the range of ±5%, the system will set a clean vacuum suction cup mark. Similarly, during use, when the system is currently gripping a known object typically encountered via vacuum, pressure and airflow are detected (step 1106). If the detected pressure or airflow is not within the recorded known object values ​​for that object (…), the system will set a clean vacuum suction cup mark. P KO , F KO If the value is within the range of ±5%, the system will set a cleaning vacuum cup mark. This process continues during the use and operation of the articulated arm (step 1108) until the program ends (step 1110).

[0098] When the cleaning vacuum cup mark has been set, the system can begin the vacuum cup cleaning routine (step 1200) between object handling steps by first moving the end effector's vacuum cup above the trash can (step 1202). Figure 47AAs shown. The system can then shut off the vacuum (step 1204) and detect (step 1206) whether any debris has fallen into the trash can. If yes, the system terminates. If not, the system can then switch to forced air (blower) by switching to the blower source or reversing the vacuum system 414 (step 1208) to provide forced positive pressure air to the vacuum suction cup 402 through the hose 416. The system can then detect (step 1210) whether any debris has fallen into the trash can. If yes, the system terminates. If not, the system can then drag the vacuum suction cup (optionally with the blower engaged) away from the trash can along the brush pad 422 (step 1212), as... Figure 47B As shown. The system then detects (step 1214) whether any debris has fallen into the trash can. If so, the system terminates. If not, the system then engages a blower to blow air along the length of the brush pad (step 1216) to remove any debris that may have collected on the brush pad 422. The system then detects (step 1218) whether any debris has fallen into the trash can. If so, the system terminates. If not, the system then determines whether this is the first cleaning attempt for the incident (step 1220), and if not, the system sets a service flag indicating that the end effector and vacuum suction cup need servicing (step 1228).

[0099] If the system determines that this is the first cleaning attempt for the event (step 1220), the system may rotate the end effector 180 degrees along its longitudinal length (step 1222), thereby effectively flipping the end effector so that the side previously opposite the brush pad now faces the brush pad. The system may then drag the now-flipped vacuum suction cup (optionally with the blower engaged) away from the dustbin along the brush pad 422 (step 1224), as... Figure 47C As shown. The system then detects (step 1226) whether any debris has fallen into the trash can. If yes, the system terminates. If not, the system then engages a blower to blow air along the length of the brush pad (step 1228) to remove any debris that may have collected on the brush pad 422. The system then detects (step 1230) whether any debris has fallen into the trash can. If yes, the system terminates. If not, the system then sets a marker indicating that the system's end effector requires maintenance (step 1232), and the vacuum suction cup cleaning routine terminates (step 1234). These processes and systems can be used with each of the single-SKU and multi-SKU systems disclosed above.

[0100] Similarly, the operation of the system described above is coordinated with a central control system 100, 200, which communicates (e.g., wirelessly) with the articulated arm, sensing system, conveyor, alignment system, and waste removal device. The system determines the UPC associated with the supplier's bin and the outbound destination for each object based on a symbolic string. The central control system 100, 200 consists of one or more workstations or a central processing unit (CPU). For example, the mapping between UPCs or mailing tags and outbound destinations is maintained by the central control system in a database called a manifest. The central control system maintains the manifest by communicating with a warehouse management system (WMS). The manifest provides an outbound destination for each inbound object. Scanners are positioned above each inventory bin picking location to locate the grab point. This unit coordinates via the WMS / WCS with a shipping container distribution mechanism (such as an automated box-making system or a cardboard cutting and distributing machine) that feeds shipping containers to the picking unit. Conveyors feed shipping containers to this unit.

[0101] Similarly, and as discussed above, to compensate for the way the robot holds the unit for placement, a scanner (not shown) scans the geometry of the unit while the robot holds it to properly place the unit into the shipping container. A third scanner above the shipping container (placement area) scans the placed shipping container to provide feedback on the placement quality and, if necessary, initiates replacement.

[0102] Those skilled in the art will understand that numerous modifications and variations can be made to the embodiments disclosed above without departing from the spirit and scope of the invention.

Claims

1. An automated packing system for placing multiple objects into a shipping container, the automated packing system comprising: A supply bin receiving conveyor for receiving supply bins at a supply station, the supply bin receiving conveyor including a sensing element for determining the extent of the supply bin's advance along the supply bin receiving conveyor in the conveyor direction; A container receiving conveyor for receiving containers at the supply station; An alignment system for aligning a shipping container on a shipping container receiving conveyor to a support rail in a direction substantially transverse to the conveyor direction of the shipping container receiving conveyor, wherein the alignment system includes a support rod configured to move against the shipping container such that the shipping container is pushed onto a known position and location against the support rail on the shipping container receiving conveyor. A detection system is configured to detect multiple objects within the supply bin in response to the positioning of the supply bin on the supply bin receiving conveyor; An object selection system for selecting a chosen object from a plurality of objects in the supply bin for placement into the shipping container; as well as A programmable motion device for grasping and acquiring a 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, while the shipping container is maintained at a known position and location between the support rod and the support rail.

2. The automated packaging system of claim 1, wherein the plurality of objects are of the same kind.

3. The automated packaging system of claim 1, wherein the plurality of objects are heterogeneous.

4. The automated packaging system as claimed in any one of claims 1 to 3, wherein the automated packaging system further comprises an object placement permission assessment system, the object placement permission assessment system being used to generate placement permission data regarding whether any of the plurality of objects at the supply station is deformable and likely to change shape when placed in the shipping container.

5. The automated packaging system of any one of claims 1 to 4, wherein the automated packaging system further comprises an object placement permission assessment system, the object placement permission assessment system being used to generate additional placement permission data regarding whether any of the plurality of objects at the supply station is likely to move within the shipping container after being placed in the shipping container.

6. The automated packing system of any one of claims 1 to 5, wherein the automated packing system further comprises a placement retention evaluation system for providing placement retention evaluation data regarding the placement and orientation of the selected object relative to the end effector when held by the end effector of the programmable motion device.

7. The automated packaging system of claim 6, wherein the automated packaging system further comprises a placement adaptation system, the placement adaptation system being adapted, in part in response to the placement holding assessment data, to accommodate the placement of the selected object relative to the end effector by being adapted to place the object into the shipping container.

8. The automated packaging system of any one of claims 1 to 7, wherein the automated packaging system further comprises a volume sensing system for providing volume data about the shipping container.

9. The automated packaging system of claim 8, wherein the volume sensing system determines whether a previously placed object has been moved within the shipping container.

10. The automated packaging system of any one of claims 1 to 9, wherein the shipping container is a cardboard box.

11. The automated packaging system as claimed in any one of claims 1 to 9, wherein the shipping container is a shipping pallet.

12. An automated packing system for placing multiple objects into a shipping container, the automated packing system comprising: An alignment system for aligning the shipping container on the conveyor with a support rail in a direction substantially transverse to the conveyor direction, wherein the alignment system includes a support rod configured to move against the shipping container such that the shipping container is pushed onto the conveyor to a known position and location against the support rail. An object selection system, the object selection system being used to select a selected object from the plurality of objects for placement into the shipping container in response to placement permission data; as well as A programmable motion device for grasping and acquiring a selected object from the plurality of objects, and for placing the selected object in a selected orientation and placement into the shipping container in response to placement permission data, while the shipping container is maintained on the conveyor at the known position and location between the support rod and the support rail.

13. The automated packaging system of claim 12, wherein the plurality of objects are of the same kind.

14. The automated packaging system of claim 12, wherein the plurality of objects are heterogeneous.

15. The automated packaging system of any one of claims 12 to 14, wherein the automated packaging system includes a supply bin receiving conveyor, the supply bin receiving conveyor including a sensing member for determining the extent of the supply bin's advance along the supply bin receiving conveyor in the conveyor direction.

16. The automated packaging system of claim 15, wherein the automated packaging system further comprises an object placement permission assessment system, the object placement permission assessment system being used to generate placement permission data regarding whether any of the objects at the supply station is deformable and likely to change shape when placed into the shipping container, or whether it is likely to move within the shipping container after being placed into the shipping container.

17. The automated packing system of any one of claims 12 to 16, wherein the automated packing system further comprises a placement retention evaluation system for providing placement retention evaluation data regarding the placement and orientation of the selected object relative to the end effector when held by the end effector of the programmable motion device.

18. The automated packaging system of claim 17, wherein the automated packaging system further comprises a placement adaptation system, the placement adaptation system being adapted, in part in response to the placement holding assessment data, to accommodate the placement of the selected object relative to the end effector by being adapted to place the object into the shipping container.

19. The automated packaging system of any one of claims 12 to 18, wherein the automated packaging system further comprises a volume sensing system for providing volume data about the shipping container.

20. The automated packaging system of claim 19, wherein the volume sensing system is configured to determine whether a previously placed object has been moved within the shipping container.

21. The automated packaging system of any one of claims 12 to 20, wherein the shipping container is a cardboard box.

22. The automated packaging system of any one of claims 12 to 20, wherein the shipping container is a shipping pallet.

23. An automated method for placing multiple objects into a shipping container, the method comprising: Receive supply boxes at the supply station; Detect multiple objects within the supply bin; In response to placement permission data, a selected object is chosen from the plurality of objects on the conveyor to be placed into the shipping container; Grab and obtain the selected object from the plurality of objects at the supply station; Align the shipping container on the conveyor with the support rail in a direction substantially transverse to the direction of the conveyor; The volume of the selected object assigned to be placed in the shipping container is detected; as well as In response to the placement permission data, the selected object is placed into the shipping container with the selected orientation and placement. The shipping container is aligned with a support rail on a conveyor via an alignment system comprising a support rod configured to move against the shipping container, thereby pushing the shipping container onto the conveyor to a known position against the support rail and positioning it accordingly. The selected object is placed into the shipping container, while the shipping container is maintained on the conveyor by the alignment system at a known position and location between the support rod and the support rail.

24. The method of claim 23, wherein the plurality of objects are of the same kind.

25. The method of claim 23, wherein the plurality of objects are heterogeneous.

26. The method of any one of claims 23 to 25, wherein the method further comprises generating placement permission data regarding whether any of the plurality of objects at the supply station is deformable and likely to change shape when placed in the shipping container.

27. The method of any one of claims 23 to 26, wherein the method further comprises generating additional placement permission data regarding whether any of the plurality of objects at the supply station is likely to move within the shipping container after being placed therein.

28. The method of any one of claims 23 to 27, wherein the method further comprises determining the extent of advance of the supply bin along the supply bin receiving conveyor in the conveyor direction.

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