Systems and methods for labeling objects

Abstract

A robotic labeling system may be configured for providing one or more labels to an object. The labeling system may include a single robot configured so as to retrieve at least one label from any of a plurality of label printers.

Description

SYSTEMS AND METHODS FOR LABELING OBJECTSCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to US Provisional Patent Application No. 63 / 548.350 titled, “Robotic Labeling System"’ filed November 13, 2023. The foregoing application is fully incorporated herein by reference.FIELD

[0002] This disclosure generally relates to labeling systems and methods for placing a label on an obj ect.BACKGROUND

[0003] This section is intended to provide a background or context to the invention that is recited in the claims. The description herein may include concepts that could be pursued but are not necessarily ones that have been previously conceived or pursued. Therefore, unless otherwise indicated herein, what is described in this section is not prior art to the description and claims in this application and is not admitted to be prior art by inclusion in this section.

[0004] Generally, labeling systems and machines exist which may be capable of providing a label to a package or box one label at a time. These labeling systems may, for example, include labeling machines dedicated to adding a given label at a certain position on a package. However, existing labeling machines may lack the flexibility to grab different labels using a single robotic labeler and may not be configured for labeling packages or boxes that may be of different sizes or oriented in different positions (e.g., rotated or turned on a conveyer). Accordingly, for some labeling operations, including, for example, operations that may require the application of a plurality of different labels more than one labeling system or labeling station may be required generally adding to the overall cost and complexity of labeling.

[0005] In light of these deficiencies, it would be advantageous to provide a flexible labeling system that may allow for application of more than one label using a single dedicated machine or labeling station. For example, systems as described herein may be configured to apply one or more labels to boxes with different sizes and apply different labels in two or more different preselected positions on a box. Notably, this may be accomplished even if the box is received on a conveyor rotated or turned in different directions. Systems herein may, for example, put one or more labels on the top of a package or box, on the side of a package or box, on the front of a package or box, or on any combination of the aforementioned sides.

[0006] Generally, labels may exist in many different forms. For example, labels may be embodied as pack slip labels which may combine a shipping label and a pack slip. While useful, such labels may be more expensive than other types of labels. In some existing systems, where a pack slip label is required and a multi box shipment is planned, the slip label may be applied to each box amongst the multi box shipment. Systems and methods herein may allow for selective printing of different labels on different boxes in a multi box shipment. For example, a pack slip label, or other expensive label may be put only on one box (e.g., the first or last box in an order). Other boxes in the shipment may be labeled with a different label such as a low cost label.

[0007] There is a need for improved systems and methods for applying labels, including, for example, systems and methods that may provide for addition of labels in a predetermined or customer desired position and orientation.SUMMARY

[0008] It is an objective of some embodiments herein to provide systems and methods that may allow for application of at least two different labels on a package using a single robotic labeling station. For example, in some embodiments, a robotic package labeling system may include a first label printer disposed to dispense a first label; a second label printer disposed to dispense a second label; and a multi-axis pick-and-place robot configured to retrieve the first label or the second label and place it on one of at least two sides of a packageBRIEF DESCRIPTION OF THE DRAWINGS

[0009] Fig. 1 is a perspective side view of an embodiment of a robotic object labeling system.

[0010] Fig. 2 is a side elevation view of the robotic object labeling system of Fig. 1.

[0011] Fig. 3 is a perspective side view of a package with a label applied thereto.

[0012] Fig. 4A is a perspective side view of the package of Fig. 3 showing a first orientation of the package as may be the case prior to applying a label.

[0013] Fig. 4B is a perspective side view of the package of Fig. 3 showing a second orientation of the package as may be the case prior to applying a label.

[0014] Fig. 5A is a perspective side view of the package of Fig. 3 showing each of a first and a second label applied thereto.

[0015] Fig. 5B is a perspective view of an opened box showing each of a first label applied thereto and additional material added to the opened box.

[0016] Fig. 6 is a perspective side view of the package of Fig. 3 showing each of a firstand a second label applied thereto and showing coordinate axes for positioning the first label in a target position on a front face of the package.

[0017] Fig. 7 is a perspective view of an embodiment of a frame for a robotic labeling system.

[0018] Fig. 8 is an exploded view of the frame of Fig. 7 showing boundaries for the detailed region F.

[0019] Fig. 9 is a perspective view showing the detail region F of the frame of Fig. 7 & Fig. 8.

[0020] Fig. 10 is a perspective view taken from the bottom of the frame of Fig. 7 & Fig. 8 showing boundaries for the detailed region J.

[0021] Fig. 11 is a perspective view showing the detail region J of the frame of Fig. 7 & Fig. 8.

[0022] Fig. 12 is a schematic diagram of an embodiment of a communications and processing system.

[0023] Fig. 13 is a perspective view of a part of an object labeling system showing a plurality of label printers and with a head unit of a robot positioned for retrieval of a label from one of the plurality of label printers.

[0024] Fig. 14 is another perspective view of a part of an object labeling system. In Fig. 10, the head unit of the robot is shown positioned for labeling a package.

[0025] Fig. 15 is a perspective view of an embodiment of a head unit for a robot.

[0026] Fig. 16 is another perspective view of the head unit of Fig. 15.

[0027] Fig. 17 is a bottom plan view of the head unit of Fig. 15.

[0028] Fig. 18 is an exploded view of the head unit of Fig. 15.

[0029] Fig. 19 is a side elevational view of the head unit of Fig. 15 showing the cross section line E-E.

[0030] Fig. 20 is a cross sectional view of the head unit of Fig. 15 taken along the cross section line E-E of Fig. 15.

[0031] Fig. 21 is another side elevational view of the head unit of Fig. 15 showing the cross section line A-A and with a plate of the head unit in an extended configuration.

[0032] Fig. 22 is a cross sectional view of the head unit of Fig. 21 taken along the cross section line A-A and showing the plate of the head unit in an extended configuration.

[0033] Fig. 23 is another side elevational view of the head unit of Fig. 15 showing the cross section line B-B and with a plate of the head unit in a compressed configuration.

[0034] Fig. 24 is a cross sectional view of the head unit of Fig. 23 taken along the crosssection line B-B and showing the plate of the head unit in a compressed configuration.

[0035] Fig. 25 is a perspective view of a label printer mounted in a cartridge and showing the boundary of detailed region C.

[0036] Fig. 26 is a perspective view of the label printer of Fig. 25 showing the detailed region C.

[0037] Fig. 27 is a side elevational view of the label printer of Fig. 25 showing the boundary of detailed region D.

[0038] Fig. 28 is a side elevational view of the detailed region D.

[0039] Fig. 29 is a perspective view of a label printer and a head unit of a robotic labeler in a first position in a method for retrieving labels.

[0040] Fig. 30 is a perspective view of a label printer and ahead unit of a robotic labeler in a second position in a method for retrieving labels.

[0041] Fig. 31 is a perspective view of a label printer and ahead unit of a robotic labeler in a third position in a method for retrieving labels.

[0042] Fig. 32 is a side elevation view of a label printer and a head unit of a robotic labeler in a first position in a method for retrieving labels.

[0043] Fig. 33 is a side elevation view of a label printer and a head unit of a robotic labeler in a second position in a method for retrieving labels.

[0044] Fig. 34 is a side elevation view of a label printer and a head unit of a robotic labeler in a third position in a method for retrieving labels.

[0045] Fig. 35 is a perspective view of the label printer and cartridge of Fig. 25. In Fig. 35 a wall of the cartridge has been removed so as to reveal an internal rail system disposed within the cartridge.

[0046] Fig. 36 shows an embodiment of a label including a removable backing.

[0047] Fig. 37 is a side view of another embodiment of a head unit for a robotic labeler.

[0048] Fig. 38 is a bottom plan view of the head unit of Fig. 37 shown with an internal damper in an open position so that suction may be provided through all regions of the head unit.

[0049] Fig. 39 is another bottom plan view of the head unit of Fig. 37 shown with a damper in a closed position so as to limit suction to one side or region of the head unit.

[0050] Fig. 40 is a perspective view of another embodiment of a head unit for a robotic labeler. In Fig. 40 a portion of an outer plate has been removed so as to show internal dampers as included therein and positioned so as to block flow of air to internal fans disposed in the head unit housing.

[0051] Fig. 41 is another perspective view of the head unit of Fig. 40. In Fig. 41 a portion of an outer plate has been removed so as to show internal dampers as included therein and positioned so as to allow air flow to internal fans disposed in the head unit housing.

[0052] Fig. 42 shows another view of the head unit of Fig. 40 and showing cross section line A-A.

[0053] Fig. 43 shows a cross section view of the head unit of Fig. 42 taken along the line A-A and with the head unit in a closed configuration with dampers preventing air flow to internal fans disposed in the head unit housing.

[0054] Fig. 44 shows another view' of the head unit of Fig. 40 and showing cross section line B-B.

[0055] Fig. 45 shows a cross section view of the head unit of Fig. 44 taken along the line B-B and with the head unit in an open configuration with dampers allowing air flow to internal fans disposed in the head unit housing.

[0056] Fig. 46 is a perspective view of another embodiment of a head unit.

[0057] Fig. 47 is another perspective view of the head unit of Fig. 46 shown so as to better orient the bottom side of the head unit for viewing.

[0058] Fig. 48 is a side elevational view' of an embodiment of a plunger assembly showing the cross section line H-H.

[0059] Fig. 49 is a cross sectional view' of the plunger assembly of Fig. 48 taken along the line H-H of Fig. 41.

[0060] Fig. 50 is another side elevational view of a plunger assembly and showing a pressure sensor positioned thereon.

[0061] Fig. 51 shows one example of an object with a curved side and showing how a robotic labeler with a head unit including a plurality of plungers may conform to the surface of the object when applying a label thereto.

[0062] Fig. 52 shows another example of an object that may be labeled using robotic labelers as described in some embodiments herein.

[0063] Fig. 53 is a flow chart showing an embodiment of a method for applying a label to an object.

[0064] Fig. 54 is a flow chart showing an embodiment of a method for error checking

[0065] Fig. 55 is a flow chart showing an embodiment of a method for applying labels in a multi-package shipment.

[0066] Fig. 56 is a flow chart showing another embodiment of a method for applying labels.

[0067] Fig. 57 is a cross sectional view of a plunger assembly similar to that shown in Fig. 44 but including adjacent structure adjacent to the plunger assembly.DETAILED DESCRIPTION

[0068] As used herein, the following terms should be understood to have the indicated meanings:

[0069] When an item is introduced by “a” or “an,’" it should be understood to mean one or more of that item.

[0070] ’‘Comprises” means includes but is not limited to.

[0071] “Comprising” means including but not limited to.

[0072] “Having” means including but not limited to.

[0073] This disclosure is generally directed to robotic labeling systems and related system components and methods. Components of robotic labeling systems may, for example, include robotic labeling stations and labeling apparatuses, control systems configured for labeling of objects, and human machine interface systems configured for system control. Methods related to robotic labeling systems may include, for example, methods for applying labels and methods for operating a robotic labeler. Generally, objects to which labels may be applied in the systems and methods described herein include packages such as may be labeled with a shipping label for delivery. However, in some embodiments, the systems and methods described herein may be configured differently and may be configured for labeling other types of objects. Generally, in this disclosure, any of objects, packages, boxes, letters, containers, items, tubes, or other things may sometimes be referred to as receiving labels. However, unless the context indicates otherwise, such description should not be taken as limiting. The systems and methods described herein may include or make use of a robot such as may include a head configured for retrieving a label and for positioning and orienting the label for placement on an object. Robots as described herein may. for example, be multi-axis pick-and-place robots such as may be configured to selectively retrieve a label from one or more printers, hold the label when positioning the label for placement, and place the label on an object in a desired position, orientation, or both.

[0074] For example, in some embodiments, a robot may include a head coupled to an adjustable arm. The adjustable arm may be configured for movement in a plurality of directions (e.g., movement along any of an x-axis, a y-axis, and a z-axis) and may be controlled so as to position the robot’s head for retrieving labels from at least one of several different labelprinters. For example, Fig. 1 and Fig. 2 show an embodiment of a robotic object labeling system 10 including a robot 20 including an adjustable arm 302. The object labeling system 10 may be configured to selectively retrieve labels from any of three different label printers 16 A, 16B, 16C and apply the labels on objects in a predetermined position and / or orientation. In some embodiments, object labeling system 10 may be configured to automatically select a best option for labeling an object such as may be automatically applied if specifications for either or both of a position and orientation for applying a label is not provided.

[0075] As shown in Fig. 1 , the robotic object labeling system 10 may comprise, among other things, an object entry portal 12, labeling components 18 (e.g., a robot 20 for retrieving labels from any of the label printers 16A, 16B, 16C), and an object exit portal 14. A conveyor belt system 34 or other suitable system may be used for movement of objects between the object entry portal 12 and the object exit portal 14 and for movement of an object in position for engagement with labeling components 18 of the system. In some embodiment, additional components of the labeling system 10 including, for example, an imaging or shape identification system 62 and a communication and processing system 40 (see Fig. 12) may work together with the robot 20 and printers 16A, 16B, 16C to control system operations involving retrieval and application of printed labels. The object labeling system 10 may further include one or more data input devices as may be configured for inputting data, including, for example, specification data including requirements for the position and / or orientation of an applied label. For example, this data may be provided to the processing system 40 using an input device embodied as a computing device, smartphone, or other communicative device. A frame 22 may generally form the body of robotic labeling system 10 and provides structure upon which other components of the system may be mounted. For example, in the embodiment shown in Fig. 1, frame 22 may provide structure (e.g., a pair of horizontal support members 54, 56) upon which cartridges or trays 110A, HOB, 110C may be mounted. The label printers 16A, 16B, and 16C may then be secured, respectively, to the cartridges or trays 110A, HOB, 110C through an internal rail system or other mount, for example.

[0076] In the illustrated embodiment of Fig. 1 and Fig. 2, the labeling system 10 includes wheels 28 such that the system may be easily moved. Adjustable or dropdown legs 26 may be positioned to secure labeling system 10 in place once the labeling system 10 is moved to a desired location or the system 10 may be secured in place in some other suitable way. The frame 22 may include four vertical support members 38, 46, 48, 58. The support members 38, 46, 48, 58 are connected to the base 60. Base 60 may, for example, be comprised of a front plate 68, a backplate 66 and a plurality of slats 72.

[0077] Generally, the labeling system 10 may receive objects in the form of packages in a variety of shapes, such as boxes 200. tubes, envelopes, and round packages, through the entry portal 12. In some embodiments, the labeling system 10 may receive objects in any of a plurality of different positions and orientations yet still maintain the ability to properly place a label in a desired position and / or orientation on the object.

[0078] For example, as shown in Fig. 3. labeling system 10 may position and apply a label 208 in a comer on the face 202 of a package 200. The package 200 includes differently shaped faces 202, 204, and 206. Placement of the label 208 in the comer of the package 200 may be accomplished regardless of whether the box was placed on the conveyer belt 64 in the position shown in Fig. 4A or positioned as shown in Fig. 4B or otherwise rotated or angled in some other way.

[0079] In some embodiments, the labeling system 10 may be configured to place a first label on one side or location of a package and to place a second label on another side or location of the package. This labeling may be achieved independently from how' the package was received through the entry portal 12. For example, as shown in Fig. 5A, the labeling system 10 may be configured to place a first label 208 on the face 202 of the package 200 (e.g., in the upper left hand comer of the package 200) and to place a second label 210 on another face 204 of the package 200. In some embodiments, a single robot 20 may be used to apply each of the first label 208 and the second label 210. However, in some embodiments, labeling system 10 may include more than one robot so that, for example, a first robot may apply one of label 208 and label 210 and a second robot may apply the other of label 208 and label 210. In some embodiments, labeling system 10 may be configured to detect a seam 216 of the package 200 and to position one or more labels 210 over the seam 216. In some embodiments, labeling system 10 may be configured to apply one or more labels to an open box or package. For example, as shown in Fig. 5B, a first label 208 may be applied on a side 205 of the open box 203. The labeling system 10 may further be configured to drop a flyer or pamphlet 207 inside of the open box 203.

[0080] In some embodiments, the labeling system 10 may be configured to select a given label based on a type of package received. For example, labeling system 10 may be configured to scan a package using a 3D scanning system or other system such as may be embodied as one or more cameras configured so as to collect image data for the package and identify various characteristics or physical properties of the package (e.g., the package’s size and shape). As further described herein, scanning or other systems may generally be used to collect data suitable to map at least the surface of an object and provide data related to theobject’s shape. This data may then be used so that labeling robot 20 may position a label at a specified position or best available position for the object. However, in some embodiments, scanning of packages in this manner may also facilitate identification of different types of packages. Such an identification or identification check system may, for example, be useful when two or more different types of packages may be received on a common packaging or labeling line as may sometimes be the case in multi-package orders. For example, measurement of physical properties of the package may be used to define property values that may be compared to a lookup table of property values such as may relate different property values to a given package type. The labeling system 10 may then select a certain label from one of the label printer’s 16 A, 16B, and 16C as appropriate for the particular type of package identified.

[0081] This protocol or related protocols may, in some embodiments, be used as an error check procedure useful for minimizing errors when a plurality’ of different types of packages are meant to be labeled using a single labeling system or single labeling station. For example, other methods for establishing a package type such as reading of a barcode, direct user or customer input of this information, or other techniques know n in the art may also be used to determine the identity of a package. Identification of physical properties of packages (e.g., measurement of property values of packages and use of those values for identifying package type) may be used in combination with those other methods and techniques for package or package type identification as may sometimes be applied in in error check protocols and methodologies as further described herein.

[0082] In some embodiments, a head unit 300 of a robot may further include a barcode reader. Advantageously, having the barcode reader integrated on the head of a pick and place robot may allow for simultaneous or near simultaneous placement of labels on objects and for use of the barcode reader for label verification. For example, a barcode of a label (see barcode 201, as shown on the label 208 of Fig. 5 A) may be read as part of consecutive or nearly consecutive operations in a method of applying the label to an object. For example, as a robot head unit 300 (or other head unit described herein) lifts off from the object after placing a label thereon, it may be controlled so as to automatically scan the label for the barcode 201. Scanning of the barcode 201 may be executed before the robot 20 engages in further activities and while the object remains present within the movement field of the robot. Still, in other embodiments, a barcode may be read while a head unit is positioned for retrieval of a label such as when the label is held on a tray (See Fig. 33, for example) of a label printer. In some embodiments, application of a label and reading of its associated barcode may be accomplishedwithout the robot 20 returning to a home position or otherwise engaging another object for labeling. Generally, when a label is applied to an object in this way the placement or application of a label and reading of its barcode may be considered a part of an integrated process in applying the label to the object. In some embodiments, this may be accomplished without having to rescan the object. Consecutive operations of application of a label and reading of a barcode may be accomplished with the object held in place. Alternatively, consecutive operations involving the application of a label and reading of the label’s barcode may be accomplished without having to pause movement of objects.

[0083] This approach may, for example, be compared ith other approaches including approaches wherein a barcode reader is placed on a separate head of a robotic system or where different barcode readers (e.g., different readers dedicated to reading a barcode placed in a particular position or face of a box) are included in a labeling line so as to measure barcodes as may be placed in different positions on a package. Particularly, embodiments wherein a barcode reader is integrated into a head unit of a pick and place robot and configured for control as described above may provide significant cost and time savings in labeling systems and methods. This print and read system may be used as an error check methodology so as to help minimize errors in labeling. In some embodiments, any combination of the above methodologies and procedures may be used to reduce or eliminate errors in labeling of packages or other objects.

[0084] In some embodiments, the entry portal 12 may comprise a roller or other style conveyor 34 configured for feeding an object into a labeling area. For example, as shown in Fig. 1 and Fig. 2, the entry portal 12 may comprise both a feed system and an associated opening through which objects may enter the labeling area. However, in some embodiments, a robotic labeling system 10 may simply include an entry portal generally defined by an opening or other suitable pathway through which objects may be received for labeling. For example, a labeling station may include each of first and second label printers and a multi-axis pick-and-place robot 20 configured to retrieve either of a first label or a second label and place it on one of at least two sides of a package. Such a robotic labeling station may, for example, be coupled with different package feed systems for providing objects thereto. For example, objects may be routed to the robotic labeling station via an automated feed system. Alternatively, objects may simply be hand fed to a labeling station.

[0085] In some embodiments, an entry' portal 12 may include an entry' chute such as may, for example, be formed from one or more panels generally defining an opening through which objects may be received. Similarly, exit portal 14 may comprise an opening thoughwhich labeled objects may exit through. The opening of exit portal 14 may, for example, be defined by an exit chute. As shown in Fig. 1, the exit portal 14 may include a conveyor 36. In some embodiments, either or both of the entry portal 12 and the exit portal 14 may include one or more sensors configured for detecting if a worker reaches within a restricted zone defined by the respective entry' and exit chutes or reaches within some other restricted region or zone of a portal 12, 14. Sensors may be configured to detect the presence of a worker in proximity to a dangerous part or zone of the system so as to prevent injury to the user or damage to system components. In one example, sensors may be passive infrared sensors or others sensors as may generally define a light curtain. Sensors may be configured so that an emergency stop (E-stop) may be automatically executed, or another preventive measure may be taken when a sensor is activated.

[0086] Generally, the frame 22 may form a body of robotic labeling system 10 and supports other components of the system 10. The frame 22 or guards attached thereto may also sen e to generally block a user from coming in contact with a moving robotic system or other zone of a system where human contact may not be desired. In some embodiments, accessible areas of the frame may include a light curtain or other safety' enhancing feature. The frame 22 of robotic labeling system 10 (shown in Fig. 1 & Fig. 2) is also shown individually in Figs. 7- 11. Fig. 7 show s a perspective view' of the frame 22. Fig. 8 show s the frame 22 in an exploded view. Fig. 9 is a detailed view of the region F of Fig. 8. Fig. 10 is another exploded view' of the frame 22 oriented so as to show the bottom of the frame and illustrating how a base portion 60 of the frame may be connected to other members of the frame. Fig. 11 is a detailed view of the region J shown in Fig. 10.

[0087] As shown in Fig. 7-11, the frame 22 may include four vertical support members 38, 46, 48, 58. The support members 38, 46, 48, 58 are connected to the base 60. Base 60 may, for example, be comprised of a front plate 68, a backplate 66 and a plurality of slats 72. Base 60 may, for example, provide a housing at which various system components including computer resources, pow er resources, or other system components may be disposed. In the illustrated embodiment shown in Fig. 1, horizontal support members 50, 52, 54, 56 further form the frame 22. In some embodiments, frame 22 may generally be comprised of different members made of sheet metal that may be secured together using tabs 76 (see Fig. 11 show ing alignment arrows for coupling of tabs 76 to notches 78) on one part of the frame and a corresponding notch 78 on an adjacent part of the frame. To secure a connection between two or more parts of the frame 22 a weldment may also be formed. In some embodiments, frame 22 may, of course, be configured differently or put together differently.

[0088] As shown in Fig. 1, a support bridge 24 may be connected to the frame 22. The support bridge 24 may be used to position an imaging or shape identification system 62 (also referred to herein as identification system 62) in position for imaging an object 200. In some embodiments, imaging or shape identification system may be configured for identifying any number of features of an object as suitable to position or orient a label with respect to a labeling specification. This may. for example, comprise identification of the position of one or more comers, edges, or surfaces of an object. In some embodiments, a level of resolution with which a feature is identified or with which the surface of an object is mapped may be controlled based on the necessary requirements given in a specification. For example, if a specification identifies that a label is to be applied adjacent or near a comer of the box, the box comer may be identified or detected with a suitable resolution to meet the required specification. Surface topography around the comer may also be imaged or mapped. Generally, a degree of mapping of a package may be controlled so that required information is obtained. For example, based on the specification required, the identification system 62 may be controlled so as to choose a proper imaging or scanning protocol. In some embodiments, this may involve stopping or slowing down a conveyor systems if the specification and available components of the system 62 requires such to be done. In some embodiments, the identification system 62 may be controlled so as to choose a best available protocol for meeting a specification, such as may, for example, involve choosing an approach that moves the package through as quickly as possible without undue risk of error.

[0089] In some embodiments, the support bridge 24 may be fixedly secured to the frame. Alternatively, a support for identification system 62 may be coupled to the frame differently or otherwise positioned for use in some other way. For example, components of identification system 62 such as cameras may be adjustably mounted to the frame 22. In some embodiments, components of identification system 62 may also be configured for adjustment. For example, one or more optical elements or other elements of a camera or other imaging device of identification system 62 may be actuated so as to adjust a focal point or working range of a camera, for example.

[0090] As shown in Fig. 2, one or more components of identification system 62 may be secured to the support bridge 24 so as to position the system for scanning objects that pass through the entry portal 12. For example, objects may be scanned or otherwise imaged after they pass through the entry' portal 12. More generally, objects may be scanned or otherwise imaged at any suitable position or combination of positions. For example, in some embodiments, objects may be scanned at least once at a position upstream of labelingcomponents 18. However, in some embodiments, imaging or shape identification system 62 may comprise a camera or other imaging component built into the robot 20. For example, a camera 62 may be included in a head unit 300 (or other head unit as described herein) of the robot 20 so that operations otherwise performed by identification system 62 may be accomplished as obj ect moves into the range of travel of robot 20.

[0091] In some embodiments, a package 200 may be scanned or otherwise probed by the identification system 62 using a single camera as may be capable of taking a 3-Dimensional image of the package 200. In other embodiments, the package may be scanned using a group of cameras. In some embodiments, two or more cameras may be positioned at different locations within a single labeling station. For example, a first camera may be configured to perform 3D scanning of an object so as to collect data useful for establishing the shape and position of the object. Additional cameras may be used to verify the shape and / or position of the object or to perform other functions. For example, a second or additional camera may sometimes be disposed for imaging at a position after a label has been applied such as may be used to verify various attributes for an applied label, including, for example, any combination of the identity, position, and orientation of the applied label.

[0092] Generally, any suitable system (e.g., a 3D scanning system) may be used for collecting data for an object. For example, in some embodiments, a camera may be equipped with a pulsed light source and detection optics suitable for measuring a time of detection of scattered or reflected light to establish distance to an imaged point on an object. For example, a camera may be a LIDAR (light imaging detection and ranging) camera suitable to perform distance measurements and allowing for object mapping. In some embodiments, a camera or other component as may be part of identification system 62 may comprise a part of the robot 20. For example, image scanning and shape identification functions otherwise executable by identification system 62 may be performed using sensors disposed on a head unit of a robotic labeler. For example, a camera or other component of identification system 62 and robot 20 may be housed as a single component in a labeling head as described herein. In some embodiments, a camera or other component of identification system 62 and robot 20 may be mounted to a common frame or those components may be mounted to different frames. Generally, imaging and shape identification system 62 and the robot 20 may share computing resources.

[0093] In some embodiments, data obtained using detection system 62 may be used to determine the position, size, geometry, and other relevant physical properties of a package. For example, in some embodiments, a 3-D vision system may be configured to identify a box seamas may sometimes be used when it is desirable to label over the seam. In another example, a box shape may be identified as may allow for labeling of non-flat surfaces or other irregularities in a box such as angled edges or faces of a box that may be bowed outwards. In some embodiments, a tented box may be labeled.

[0094] In some embodiments, data may be obtained using identification system 62 (as may be embodied in the form of a camera) and sent to a separate computer resource for analysis. However, in some embodiments, at least some data processing may be performed using computer resources included in the imaging components of identification system 62. Thus, in some embodiments, processing of data may be performed using computer resources of identification system 62, other computing resources, or both. In some embodiments, at least initial processing of image data may be executed before the image data is used for establishing or finally establishing one or more physical characteristics of an object. For example, at least some initial processing of image data may be performed by computing resources of identification system 62. If this initial processing indicates that image data is insufficient either or both of the identification system 62 and conveyer system may be controlled so as to allow for additional image data to be taken. For example, if image data is insufficient to properly define one or more comers or other features of a box (e.g., edge shape or surface shape) because a detected signal to noise is low or if the image data is otherwise compromised, either or both of the identification system 62 and conveyer system may be controlled so as to allow for additional image data to be collected. In some embodiments, additional image data may be collected with or without adjusting one or more characteristics of a camera (e.g., focus, position, or other characteristic of the camera as may be used to improve image quality) or other component of imaging and shape identification system 62. Generally, identification system 62 may send and receive data when communicating with other system components by any suitable means such as through a wireless connection or a wired connection, for example.

[0095] In some embodiments, any suitable means may be used for moving a package (or other object) between the entry portal 12 and the exit portal 14. For example, in some embodiments, a belt system, rather than exposed rollers, may be used. A belt 64 may, for example, provide for smoother motion of objects moving through the system while also having a higher coefficient of friction than rollers. In some embodiments, belt 64 may comprise a noslip surface such as may be provided by a suitable coating, for example. Generally, a camera or other imaging device may be positioned at a suitable distance from the belt 64 to properly monitor a zone about which an object may pass. While many colors may work for the belt 64, black generally creates a high contrast for most objects expected to go through the system. Ofcourse, a conveyor system may be tailored for the system 10 and for a particular camera (or for particular objects to be labeled) and protocol for collecting data. In some embodiments, a belt system may move continuously during normal operation. For example, in the absence of certain events (e.g., when a box jams during travel or when moving through the exit portal 14) belt 64 may move continuously. In other embodiments, a belt system may be controlled so as to slow down or stop during certain operations. For example, a belt system may slow down or stop when an object is being imaged (or if the system detects that the object was not correctly imaged). In some embodiments, a belt system may slow down or stop when a label is being applied to an object.

[0096] As shown in Fig. 1, an object 200 may be moved along the belt 64 so as to engage with labeling components 18 of the system. These components may include, for example, the robot 20, and the plurality of label printers 16A, 16B, and 16C. In some embodiments, a pad or surface for receiving rejected labels from the labeling head may also be provided. Generally, labeling components 18 of the system may be controlled so as to execute operations related to labeling including, for example, printing of labels, selective retrieval of labels from any combination of available label printers, and application of labels on a given object.

[0097] In some embodiments, labeling components may be controlled using a control system including one or more computing resources, referred to herein as communications and processing system 40. Fig. 12 is a schematic diagram of an embodiment of communications and processing system 40. Generally, communications and processing system 40 may be embodied in one or more computing resources such as may be distributed in different computer systems of robotic labeling system 10. Communication and functionality for the system may, for example, be facilitated through software installed on various computer modules or submodules making up the system, through apps onboard the system, or any combinations thereof. For example, in some embodiments, one application or module may run an interface for the robot arm. Another application may, for example, communicate with host systems of a customer such as a commercial shipper, such as FedEx or UPS, for example.

[0098] As shown in Fig. 12, the processing system 40 may include a central integration module 140. Central integration module 140 may be configured for communication with individual modules and sub-module of the system through any suitable means including, through a wired or wireless connection. Central integration module 140 may, for example, serve to coordinate the different data that may be organized to facilitate printing and other system functionalities. For example, central integration module 140 may receive specificationdata for label printing from one or more customers as may be routed through the customer communication module 146 and coordinate that information with robotics module 152 and / or print control module 148 for the printing, retrieval, and placement of labels on packages. The central integration module 140 may also communicate with various displays and user I / O input output devices 154 used for system control and management.

[0099] As shown in Fig. 12, the various modules and sub-modules of the system may include, for example, a robotics sub-module 142 and an imaging sub-module 144. Generally, the two sub-modules 142, 144 may be closely tied in functionality' with tasks sometimes being controlled using a common computer resource such as may comprise robotics control module 152. As shown therein, the robotics control module 152 may coordinate operations executed by robot 20 and imaging and identification system 62. A customer communications module 146 may receive data from one or more input devices 150. For example, input devices 150 may provide data identifying preferences or requirements for position and / or orientation of applied labels may communicate through customer communications module 146. An input device 150 may, for example, be embodied as a computing device, smartphone, or other communicative device. Printing control module 148 may generally coordinate control of the print labelers 16A, 16B, 16C.[000100] As shown in Fig. 13, an object 200 may be moved along the belt 64 so as to engage with labeling components 18 of the system. In Fig. 13, the robot 20 may, for example, receive a command from processing system 40 indicating that the robot arm 302 should be moved so as to position a head unit 300 for retrieval of a label from the first label printer 16A (or, alternatively, as the case may be, from one of the additional printers 16B, 16C). As shown in Fig. 14, the robot 20 may then position a retrieved label for application on the object 200. In some embodiment, the robot 20 may be a multi-axis pick-and-place robot including a custom built head unit 300, 330, 370, 470.[000101] Generally, the various head units 300, 330, 370, 470 as described herein may be configured for retrieving labels from one or more label printers, including, for example, any of the three label printers 16A, 16B, 16C as shown in Figs. 1, 2, 13, & 14. Such label printers, may, for example, contain labels with different characteristics including different physical size. An embodiment of a head unit 300 is shown in Figs. 15-24, for example. An embodiment of a label printer 16 is shown in Figs. 25-28. Figures 29-34 show' how a robot 20 with a custom head 300 may interact with the label printer 16. For example, in some embodiments, the label printer 16 may include a fan 352 configured for pushing a label 313 against a shaped alignment tray 350 (e.g., including a series of shaped bars or rails) or other mount. Head unit 300 mayinclude reliefs 320 forming a corresponding shape allowing for shaped tray 350 to seat therein when the head unit 300 engages with the tray 350. As the tray 350 seats within the head unit 300 coordinated application of suction may help to secure a label to a plate 306 (sometimes referred to herein as pick plate 306) of the head unit 300.[000102] As shown in Figs 15-24, the head unit 300 may include a housing 304 as may be mounted to the robotic arm 302 of robot 20. For example, head unit 300 may be mounted to robotic arm 302 through any suitable coupling or joint as suitable for facilitating operation and movement of the head unit 300. The plate 306 may be coupled to the housing 304 at a bottom side of the head unit 300. As shown in Fig. 16 & Fig. 17, the plate 306 may include a plurality of slots 308 (as may be part of a grill) though which air may pass into the housing 304. One or more fans 310 (see Fig. 22 & Fig. 24) may be configured to draw air into the housing 304 to provide suction for holding labels.[000103] The plate 306 may be mounted so as to enable adjustment of the plate’s position within the head unit’s housing 304. For example, the plate 306 may be mounted so as to allow for adjustment between an extended configuration (see Fig. 21 and Fig. 22) and a compressed configuration as shown in Fig. 23 and Fig. 24. For example, as the head unit 300 engages with a package 200, the plate 306 may move between the extended configuration shown in Fig. 21 & Fig. 22 to a compressed configuration as show n in Fig. 23 & Fig. 24. Movement of the plate 306 may generally help the head unit 300 rock and tilt to adapt to variations in surface topography and shape of a package. In some embodiments, adjustment of the plate 306 may be accomplished using any suitable means. For example, electronically controlled actuators may be positioned at the comers of the plate 306. As the head unit 300 approaches the package the surface topography may be measured using suitable sensors. The plate 306 may the be adjusted using actuators so as to account for variations in topography.[000104] In some embodiments, as shown in Fig. 22 & Fig. 24, for example, the plate 306 may be coupled with the body or housing 304 of the head unit 300 through a plurality of screws 314. Each of the plurality of screw s 314 may be biased in a forward or extended position (see the extended configuration shown in Fig. 21 & Fig. 22) using a spring 316. Springs 316 may compress or expand to allow the screws 314 to translate (see the extended configuration shown in Fig. 23 & Fig. 24) in response to a reactive force provided on the head unit as it engages with a package. For example, in some embodiments, four different pairs of screws 314 and springs 316 may be arranged at each of the four comers of the head unit 300. Of particular note, as best shown in Fig. 24, when the head of a given screw 314 is forced to move away from the spring bias position as may be the case during package engagement, the head 281 ofthe screw 314 may be moved into a sized cavity 283. Particularly cavity 283 may be sized or “oversized” versus what would be required to receive the head 281. Accordingly, the screw 314 may rock or move within the cavity 283. As shown in Fig. 24, the overall cavity 279 about which the screw 314 is seated may be shaped to allow such movements. For example, screw may rock or move when positioned as shown in Fig. 20 within shaped cavity 279. Shaped cavity 279 may, for example, generally resemble a conical funnel so that the screw 314 is supported within the cavity 279 and rocks about the funnel constriction region 277 when positioned in a compressed configuration. Thus, with rocking movement or other similar motions supported by each of the screws 314, the head unit 300 may generally move in various ways when adjusting to the surface topography of a given package.[000105] When the head unit 300 disengages from a package, springs 316 may bias the plate away from the housing so that they generally return to their extended positions as shown in Fig. 22. As screw- head 281 moves forward it may be guided by conical walls 275 forming the lower portion of cavity 283. That is, springs 316 may bias the screws 314 along a guided path formed by conically shaped walls 275 so that the screws 314 and the plate 306 automatically returns to a normal seated position thereby returning the plate 306 to a reproducible home or level position. In some embodiments, the screw head may be conical and the shaped w alls 275 may form a corresponding conical recess. The spring may urge the conical head of the screw to seat in the conical recess, thereby centering the screws in their respective funnels and consistently return the plate to the same extended position. As further described herein, see Fig. 30 & Fig. 33, in this reproducible position reliefs 320 may be positioned so as to reproducibly engage with corresponding rails or other structure formed in tray 350 of label printer 16.[000106] In some embodiments, a head unit 300 may include multiple spans or regions of suction so that it may better hold labels of different sizes. For example, the head unit 300 may engage with and retrieve labels ofa first size from one ofthe label printers 16A, 16B, 16C. The head unit may also engage w ith and retrieve labels of a second size (a larger size, for example) from another of the label printers 16A, 16B, 16C. In some embodiments, the head unit may apply suction selectively to different areas or regions of the plate 306. For example, as shown in Fig. 20, head unit 300, may, in some embodiments, comprise four different cavities each with its own fan. In some embodiments, suction pressure may be selectively applied to any combination of cavities or regions of a head unit 300 by selective operation of the fans and dampers. For example, one or more adjustable dampers may be selectively actuated so as to selectively apply suction pressure over different regions of the suction head 300. In someembodiments, the head unit 300 may include dampers 346, 472A, 472B as shown in either of the head unit 330 or the head unit 470. for example. Alternatively, another suitable damper or group of dampers may be used. Accordingly, suction pressure may, for example, be applied to different regions of a suction head as may be appropriate for a label of given size.[000107] Fig. 25 shows a perspective view of an embodiment of a label printer 16. The label printer 16 may, for example, be positioned in any of a first, second, or third position indicated respectively by label printers 16A, 16B. and 16C. in the robotic labeling system 10. As shown therein, the label printer 16 may be held in a cartridge 1 10. Cartridge 1 10 may, for example, be supported by the frame 22. For example, as shown in Fig. 1, cartridge 110 is supported between front and back support members 54, 56 of the frame 22. Fig. 34 show s the cartridge 110 with cutaway formed in the cartridge walls. As shown therein, cartridge 110 may, for example, include a rail system 471. Advantageously, mounting the printers 16A, 16B, and 16C in this way may provide stability, accessibility, and quick change out capability for different printer modules. For example, each of the label printers 16A, 16B, and 16C may be held in a mount, carrier or tray that may be moved forward and back along the rail system 471 such as may allow for refilling of labels during maintenance operations. A label printer 16A, 16B, 16C may for example slide on the rails (as may be needed during maintenance) yet be locked in place and rigidly secured on the rail assembly during label picking or retrieving operations.[000108] In some embodiments, a carrier or tray 110 may house other dispenser tools or machines other than only label printers. For example, sheets of paper could be dispensed for picking and packing operations. Generally, the label printers 16, 16 A, 16B, and 16C (or other label printers described herein) may be configured so as to apply different colors and sizes of labels such as to facilitate multi-package labeling.[000109] In some embodiments, label printers 16A, 16B, and 16C may comprise a storage drum 90 for blank labels 92 and peeled backings and a label guide. The guide may help to position the label in an optimal position for ahead unit 300 to retrieve the label. The label may have its backing peeled from the adhesive as the label exits the printer and goes through the guide. The label may then be left hanging by a slim margin of its edge on the adhesive side contacting a lip or other guiding structure. Generally, a head unit 300 may retrieve a label hanging in this ay with high fidelity.[000110] While, generally, a head unit 300 may retrieve labels freely hanging by gravity, disturbance of local air flow or other things may sometimes cause the label to prematurely fall from the guide or buckle or move in an unexpected way. In such situations, the head unit 300may sometimes not be able to correctly retrieve the label or other errors may occur. In some embodiments, herein, label printers may be configured to address these concerns and other concerns.[000111] For example, Figs. 29-32 show an embodiment of a label printer 16. As shown therein, label printer 16 may include, among other things, as described above, a storage drum 90 for blank labels 92 and a guide 94 for dispensing labels. The label printer 16 may further include a fan 352 and associated duct work 354 configured to distribute air flow from the fan 352 upon a tray 350. As a label is dispensed from the label printer 16 air flow from the fan 352 may urge the label against the tray 350. In this position, the label may be held for engagement with head unit 300, for example. Generally, air flow from the fan 352 may be greater than any local disturbances in air flow that might be problematic. Thus, the label may be reliably positioned against the tray 350 and held thereon for retrieval.[000112] An embodiment showing different stages in engagement between a head unit 300 and label printer 16 when retrieving labels is shown in Figs. 29-34. For example, as shown in Fig. 29 and corresponding Fig. 32 (showing different views of a first stage in an embodiment for retrieving labels from a printer), a label 313 may be printed using the label printer 16. For example, a label 313 may be printed and guided through printing guide 94 (Fig. 26). In this process, the label 313 (see Fig. 36) may, for example, be peeled from a liner 315 and fed forward though printing guide 94. As the label is fed forward through the guide 94 it may be directed by air flow provided by fan 352 so as to seat against the tray 350. Duct work 354 may be configured to help distribute air flow provided from the fan 352 so as to hold the label 313 against the tray 350. For example, air flow may be generally uniform across a bottom surface of the label 313 when holding the label 313 against the tray 350 or some other suitable distribution of air flow may be used to hold a label against the tray 350. In some embodiments, one or more rails of the tray 350 may include a notch 355. A notch 355 may help to limit movement of the label 313 on the tray 350. That is, notch 355 may help to confine movement of the label 313 so that it does not slide off the tray 350. As shown in Fig. 28, the notch 355 is shown towards the bottom of the tray. In some embodiments, a pair of notches 355 may be included on the tray. For example, a first notch 355 may be generally disposed towards the bottom of the tray. A second notch may be disposed towards the top of the tray.[000113] As show n in each of Fig. 30 and Fig. 33, head unit 300 may then engage with the tray 350. In some embodiments, engagement between the head unit 300 and the tray 350 may be facilitated using one or more reliefs 320 of the head unit 300 (see Fig. 16 & Fig. 17 showing reliefs 320 formed in the plate 306 on the bottom side of head unit 300) configured toreceive the tray. For example, each of the three individual bars or rails of the tray 350 may seat within one of the three reliefs 320. Reliefs 320 may, for example, be embodied as grooves. Of course, some other number of bars or rails or other style of reliefs 320 may be used. More generally, tray 350 may be formed in other shapes with the plate 306 of head unit 300 being adjusted accordingly.[000114] As the head unit 300 engages with the tray 350 (as shown in Fig. 31 & Fig. 34) suction may be applied. Accordingly, the label 313 may be held to the plate 306 of the head unit using suction. In some embodiments, suction (or full suction) may only be applied once the head unit 300 becomes engaged with the tray 350. For example, one or more dampers may be actuated so that suction may be applied only after the head unit 300 is engaged with the tray 350. In other embodiments, partial suction or full suction may be applied throughout the process of engagement. In some embodiments, as may be seen in comparison of Fig. 28 and Fig. 29, the head unit 300 may approach the tray for engagement along a path approximately perpendicular to the tray (shown by arrow Ai in Fig. 32). Particularly, the angle of approach between the head unit 300 and the tray 350 may help to ensure that suction applied by the head unit 300 works with air flow provided by the fan 352 to help ensure that the label is not pulled off from the tray 350 prematurely before the label is engaged with the head unit 300.[000115] In some embodiments, reliefs formed in the plate 306 may be characterized by a depth Di. The depth Di may be related to a width Wi ofthe rails of the tray (see Figs. 16 and 28). For example, the depth Di may be greater than the width Wi of the rails so that the rails may fully seat in the reliefs. Accordingly, the plate 306 may generally press up against the label 313 and the label 313 decouple from the tray 350 when the head unit 300 is fully engaged with the tray 350. Accordingly, the head unit 300 may hold the label 313 when moving away from the tray 350 in a direction approximately along the plane of the tray, as shown, for example, in each of Fig. 31 & Fig. 34.[000116] Another embodiment of a head unit 330 is shown in Figs. 37-39. Fig. 33 is a side elevational view of the head unit 330. As shown therein, the head unit 330 may generally include a housing 334 and a bottom pick plate 336. Fig. 38 is a bottom plan view of the head unit 330. As shown therein, in some embodiments, the head unit 330 may include a barcode reader 332 integrated on the plate 336. In other embodiments, barcode readers 332 may be integrated with other plates (such as the plate 306 of head unit 300, or other plates and head units as described herein) so that a barcode reader 332 may be provided on other head units. Head units including an integrated barcode reader 332 may, for example, enable a head unit to both place labels on each of a plurality of different locations on a package and check the identityof the label. For example, the application and checking of identity of a label may be executed about simultaneously with the label’s application. This may be contrasted with other systems where different barcode readers would be required to read the barcodes of labels in different positions thereby amounting to a significant cost savings.[000117] As shown in Fig. 38, a plurality' of fans 338A, 338B may sometimes be provided on a head unit (the fans 338A, 338B are seen through the slots 340 formed on the pick plate 336). In the configuration shown in Fig. 38 each of left side fan 338A and right side fan 338B is shown. Thus, suction may be provided by both fans 338A, 338B. Alternatively, only one of the fans 338A, 338B may be used. In some embodiments, the fans 338A, 338B may be used selectively based, for example, on a type of label intended to be added.[000118] In some embodiments, one or more dampers 346 may be provided. The dampers 346 may, for example, allow for rapid and selective application of suction to different regions of the plate 336. For example, as shown in Fig. 39, a damper 346 may generally block the left side of the plate 336. Accordingly, suction may be selectively applied only to the right side of the plate, for example. In some embodiments, one or more dampers 346 may act to seal a plate 306, 336 or one or more regions of a plate from air flow. Accordingly, internal fans 310, 338A, 338B may7generally spin at a higher speed than they otherwise may be able to achieve if w orking against incoming air, for example. Actuation of the one or more dampers 346 (opening of the dampers) may then be used to apply a strong initial pulse of suction as may be used when initially retrieving labels, for example. For example, in some embodiments, one or more dampers 346 may be actuated once a head unit 300, 330 engages with a tray (see Figs. 30 & Fig. 33) so that an initial strong pulse of suction is used during engagement of a label 313 to the head unit 300, 330. In some embodiments, a damper 346 may move laterally (side to side) or translate towards or away from slots 340 or grill 340 during actuation. In some embodiments, a damper 346 may comprise a solid plate, slotted plate, or other suitable shape as may be used to block air flow7. For example, damper 346 may comprise a slotted plate with movement of the damper plate 346 selectively blocking air flow when slots of the damper plate are misaligned with slots of the grill or allowing air flow7when slots of the damper plate are aligned with slots of the grill.[000119] Another embodiment of a head unit 470 is shown in Figs. 36-41 . The head unit 470 may include a plurality' of chambers and include dampers for selective application of suction to different chambers. For example, as shown in Fig. 40 and Fig. 41 a portion of the plate 480 has been removed so as to more clearly see the each of the dampers 472A and 472B. The dampers 472A, 472B may be connected, respectively, to actuators 475A, 475B. Fans474A, 474B may operate to provide air flow to the respective regions 473A, 473B of the head unit. The actuators 475A, 475B may be used to control the respective dampers 472A and 472B. For example, as shown in Fig. 37, dampers 472A, 472B may be opened so that blades for the respective fans 474A, 474B may be seen in each of Fig. 41 and Fig. 45 (showing an open gate condition). Likewise, actuators 475A, 475B may be used to close the dampers 472A, 472B so that blades for the respective fans 474A. 474B may not be seen (and air flow is blocked) in each of Fig. 40 and Fig. 44 (showing a closed gate condition).[000120] As shown in Figs. 37-39, in some embodiments, a sensor head 330 may include one or more sensors. For example, a head 330 (or other sensor head described herein) may include any combination of the sensors 345, 347, 349. Generally, such sensors may be secured separately or as part of a sensor assembly wherein two or more of the various sensors 345, 347, 349 may, for example, be disposed together in a sensor assembly unit. Sensors 347 may, for example, comprise reflectance infrared sensors as may be capable of detecting when light emitted therefrom reflects backw ards (as may be the case when a label is disposed on top of the sensor 347). For example, as shown in Fig. 38, a head unit 330 may include redundant sensors to monitor if a label has been picked up properly or at all. Generally, labels may have black areas or other oddities that inhibit the reading from a particular sensor. Accordingly, it may be advantageous to have multiple redundant sensors 347 disposed in the head so that if one sensor 347 among a group of sensors does not read other sensors 347 may appropriately read if a label is coupled to a sensor head 330.[000121] In some embodiments, the sensor heads as described herein may be configured to apply labels to boxes that are not perfectly square and flat (or apply labels to other irregular objects). Accordingly a head unit 300, 330 (or other sensor head as described herein) may be built with some compliance. For example, as described herein, the sensor head 300 may include a plate 306 mounted to a housing through a plurality of conical screws and springs. Relative movements betw een the different screws may enable the plate 306 to move allowing the plate to comply to the surface of a package. In some embodiments, movements of a plate 306 (or plate 336, for example) may be monitored by at least one sensor 345, 347 at each comer of the plate.[000122] In some embodiments, a head unit 330 (or other sensor as described herein) may contain one or more sensors 349 that allows the head to determine the size, shape, and location of the target box. In some embodiments, the sensors 349 may be configured differently from the sensors 347. For example, sensors 349 may include imaging sensors such as may comprise imaging components otherwise described herein with respect to identification system 62. Insome embodiments, sensors 349 may allow the robot 20 to identify when a box 200 is present and properly apply a label 313 without the need for a sensor suite outside the robot 20. For example, the sensors 349 may act in place of (or work together with) imaging components described for image shape and identification system 62. The various sensors 345, 347, 349 may be in addition to a barcode scanner 332 in the head. In some embodiments, these measurements made be made on a stationary box or one in motion through the system. In some embodiments, measurements from one or more of the head sensors 345, 347. 349 may help determine if a label can be put on a box while still in motion or if the box needs to be stationary for the operation. In some embodiments, sensors 349 may be configured to measure the reflectance of a part of a box. Reflectance measurement of sensors 349 may, for example, be used to help identify tape as may for example be provided at a box seam. Systems herein may be used to label over such a seam.[000123] In some embodiments, using the systems and method described herein a system may be configured to determine if an object surface is flat or has some other geometry to it. A sensor head may then be properly positioned with respect to the detected surface and apply the label even through a curved surface or otherwise non-flat geometry. In some embodiments, the sensors 349 or another suitable sensor (e.g., a pressure sensor) of the suction plate in a head unit may allow the system to compute where pressure has been applied to the label and thus contours can be followed during the label application. Alternately, a camera may monitor if and where the head is and has touched the target surface. In some embodiments, the system may have the robot 20 apply a label that spans around a comer of the box. Additionally, the system can detect if the box is irregularly shaped, such a triangular shape, and have the angle of the head adjust to match the target surface of the box. This capability may generally be irrespective of the shape of the label. Generally, any shape of label that can be processed by the printer can be properly applied to an intended box.[000124] In some embodiments, the scanner in the head may read any communicative symbol. This can include colors, shapes, icons, wording, QR-code, bar code, or any communicative symbol that can be printed on a label. In the typical labeling center, warning labels may be applied manually to help ensure all of the required labels intended to be applied are actually applied. Systems herein may generally eliminate the need for this manual process by being able to both apply and verify' that all of the required labels are present at the end of the labeling process.[000125] Fig. 46 is a perspective view of yet another embodiment of a head unit 370. As shown therein, the head unit 370 may be coupled to adjustable robot arm 302. The head unit370 may include a housing 372 or body at which other structures of the head unit 370 may be mounted. Fig. 47 shows another perspective view of the head unit 370. As shown in Fig. 47, a plurality of plunger assemblies 374 may form a bottom surface of the head unit 370. The plunger assemblies 374 are also shown in Figs. 48-50. As shown in Fig. 48, plunger assembly 374 may include a plunger 378 coupled with a spring 376. Each plunger may comprise a cylindrical body having a bore 380 extending along the central axis from one end (see first end 363) to the other (see second end 365). A flange may be formed or attached at one end of the cylindrical body. An annular shoulder 395 may be formed or attached to the cylindrical body between the ends thereof. An annular ring 397 such as foam pad 382 or other pliable component suitable for engagement with a label may be mounted to the flange to form the outer face of the plunger assembly. For example, foam pad 382 may generally engage with the label without inadvertently tearing the label. Other suitable soft or pliable pad materials or components may also be used such as rubber or silicone. Air may be pulled through the bore so as to create a suitable suction for holding labels.[000126] Each plunger assembly may be translatably disposed (see Fig. 57) in a base plate 379 and a guide plate 381. The base plate has a first side 383 and a second side 385. The base plate and guide plate may be disposed parallel to each other and at a fixed distance apart. The base plate and guide plate may each have a plurality of corresponding openings or apertures 377 through which a plunger may travel. A plunger may be disposed in corresponding holes of a base plate and a guide plate and translate therein. The spring and annular shoulder of the plunger may be disposed between the base plate and the guide plate. The annular shoulder of the plunger may be urged against the base plate by the spring, thereby maximally extending the plunger beyond the base plate. Pressure on the flange of the plunger may cause the plunger to translate through the corresponding openings in the base plate and guide plate, thereby causing the annular shoulder to move toward the guide plate and compressing the spring. Releasing pressure on at the flange end of the plunger will allow the spring to return the plunger to a fully extended position.[000127] The base plate may form one side of a housing. The housing may enclose the guide plate. A fan may be disposed on the housing so as to draw air into the housing enclosure through the plunger assemblies. The housing may be divided into sections, with each section having a fan and separate set of plunger assemblies. The section fans may be selectively operated to regulate airflow7through different sets of plunger assemblies.[000128] Thus, for example, a head unit 300. 330, 370 may be provided with one or more plates 306, 336 or with a plurality of plunger assemblies. Generally, by including additionalplates 306, 336 on a head unit 300, 330 the ability of the head unit 300, 330 to conform to different or irregular surfaces may improve. Generally, the head unit 370 may be used for labeling any object including those with a generally flat surface or one with an irregular surface topology. For example, as shown in Fig. 51 and Fig. 52 a head unit 370 may be particularly configured for positioning labels 313 on different shapes 384, 386 or on other shapes, for example. In some embodiments, one or more pressure sensors 321 may be included in ahead unit. For example, as shown in Fig. 45 a pressure sensor 321 may be integrated within a plunger assembly 374. In another example pressure sensors 321 may be include among a screw 314 and spring 316 assembly as shown in Fig. 24, for example. Accordingly, for example, a pressure or force of engagement between a package 200 and a head unit may be measured.[000129] In some embodiments, the application arm may be a multi-jointed robotic arm with a head that picks the label from the guide of the appropriate printer and transfers the label to the target location on the package. Generally, the multi -joint configuration of the arm 302 allows the arm to apply a label to any side of the package that is not in contact with the conveyor belt. Furthermore, this configuration may also allow the arm to adjust to and apply a label on a surface that is not perpendicular or parallel to the conveyor. If a label is rejected after being printed, the arm may then dispose of the rejected label by placing said label on a rejection pad adjacent to the arm’s base 301 (See Figs. 13 and 14) for later disposal.[000130] In some embodiments, more than one robot 20 or robot arm 302 may be used. For example, two or more robots 20 or robot arms 302 may allow a system to accomplish various operations as described herein simultaneously. Generally, a number of robot 20 or robot arms 302 may be limited by available space and cost considerations. Additional printers or other dispensers may also be added for additional arms. Generally, a number of printers per arm may be limited by the arm's reach. In some embodiments, a robot 20 or robot arm 302 may be positioned on a moveable base. For example, a base 301 may be mounted to a rail and controlled using one or more actuators (e.g., electronically or hydraulically actuated cylinders). Accordingly, a single robot 20 may, for example, be moved as appropriate to interact with a number of different printers.[000131] In some embodiments, the systems as described herein, or other suitable systems may be used in related methods for applying labels to an object or for operating a robotic labeler. For example, an embodiment of a method 400 for applying labels to an object is shown in Fig. 53. As shown therein, at step 402, the identity of a package or box to be labeled may be determined. Identification of a package or box may. for example, be used to associate the package or box with an order for a shipment or delivery so that informationincluding, for example, a shipping address and other information may be correlated with the package or box. Additional information about the order may also be received. For example, specification data regarding a preferred or required position and / or orientation for applying a label to the box may also be received. Specification data may, for example, be provided for an individual package or for a package ty pe of which the package is a member. In either case, the specification data may be associated with a given package. In some embodiments, the identity of a package may be determined using any suitable method. For example, in some embodiments, the identity of a package or box may be input into the system (e g., input by a system user) or the identity' of a package or box may be determined by scanning a barcode on the package or box such as may associate the package or box with a given order. In some embodiments, the identity of a package or box may be determined by scanning the package or box using a separate imaging system. For example, scanning of a package or box may be used to determine property value of the package or box and then using the determined properties values for identifying a particular package or type of package.[000132] In some embodiments, the package or box may be scanned using imaging and shape identification system 62. For example, as a package transitions from the entry portal to the labeling apparatus, the package may be scanned by a three-dimensional camera or series of cameras. The camera system may, for example, collect data as may be used to determine the position, size, geometry, and any other relevant physical properties of the package. Property values may be calculated from the data. The property values may be compared to a list or database of relevant properties of different packages or boxes. For example, computing resources of the system may compare values determined for the physical properties of the package to a lookup table of properties for different packages or boxes and identify the type of package or box received.[000133] In another example, the package or box may be scanned using a sensor suite included on a robotic head unit of a robotic labeler. For example, as the package or box comes into the range of the robot 20, the package or box may be scanned using sensors equipped on the sensor head 330 (or another head unit as described herein). Sensors may be used to collect data used to determine values for physical properties of the package or box which may then be compared with expected properties so as to identify the pack or box to be labeled.[000134] In some embodiments, any number of the above means for identification of a package or box may be used so as to identify the identity of a package or box. As further shown at step 402, other information including, for example, specification or preference data for the position and / or orientation for applying a label to the package or box may also be received. Insome embodiments, at least some of this information may, for example, be input from a customer intending to receive the package or box or shipping entity. In this context, the customer may, for example, be an end user, or a retail provider, such as Walmart, for example. A shipping entity may, for example, be a delivery company, such as FedEx or UPS. In some embodiments, receiving information about a package (e.g., specification data for the package) may include providing an application on an input device (such as may be owned and operated by a customer or representative of a shipping company) so as to allow a customer to directly interact with a control system for labeling system. For example, an input device 150 may provide specification data to a control system as may, for example, be routed through customer communications module 146 to robotics control module 152.[000135] As shown at step 404, the box or package may be scanned so as to identify at least some surface features of the box or package. For example, as shown in Fig. 6, a box or package 200 may be scanned so as to identity7the coordinates (xi, yi, zi) for the comer of the box. A position or orientation for applying a label 208 to the box may then be determined. For example, specifications may identify that the comer 214 of the label should be positioned at coordinates (x2, y2, Z2) such as may. for example, position the label a specified distance from the upper left comer 212 of the box. In some embodiments, scanning of the box or package may be executed as described above using a head unit of a robot as described herein and including sensors for scanning the box or package. Alternatively, scanning may be accomplished using a separate imaging or shape identification system 62.[000136] At step 406, an appropriate label may be retrieved. For example, an appropriate label may be retrieved from one of various label printers (see label printers 16A, 16B, 16C) from an assembly of printers. Each of the label printers may be provided for retrieval using a single robot. For example, as shown in Fig. 1 and Fig. 2, each of the three different label printers 16A, 16B, 16C may be positioned (e.g., secured to an overhead from) so that they may be accessed using a single robot 20. At step 408, the label may be applied to the package. In some embodiments, the method 400 may be applied to a box that is meant to receive more than one label. For example, a first label may be received from a first label printer among a group of available printers and a second label may be received from a second label printer among the group of available printers. Advantageously, the method 400 may be applied using a single robot or single labeling station.[000137] In some embodiments, data used in the step 402 may be delivered via a computing device, smartphone, or other communicative device to the communication and processing system 40. Alternatively, the information may be directly supplied to thecommunication and processing system 40. For example, this data transfer may be communicated by wired or wireless modes of communication and, in some embodiments, both options may be provided. Alternately, this information may be supplied by removable data media such as, by way of nonlimiting example, SD cards, floppy disk, zip drive, or any combination thereof.[000138] In some embodiments, the system may also be connected to a user’s data network to receive necessary data as to the labeling requirements for an operation. This connection and any other may, for example, be hardwired, cellular, Wi-Fi, use other remote communications modality, or any combination thereof. The system may also be in communication with the manufacturing entity or other support facility for maintenance and other support operations.[000139] Notably, with such connections, the requirement for a person to oversee operations may generally be reduced to minimal or may be nonexistent. For example, in some embodiments, a system may clear errors without intervention by a live operator. Such errors can include a stuck box, bad label, mismatched label, change in operation parameters, low label quantity, or other errors.[000140] One class of error may occur, for example, when the data on the target package does not match the expected package information. Such errors may be resolved by segregating the non-compliant box and having it removed from the line. A backup in the flow of boxes may also be accommodated by the system with the system pausing until it senses proper flow has been reestablished.[000141] In some embodiments, a system may take a label deemed unfit or incorrect for application to the box and then stick the rejected label on a pad for later disposal. The system may alert operational personnel to an issue through network alerts, beeps, or even voice signals indicating the nature of the error. In one example, these alerts may be sent even if the system cleared the error automatically, such as based on user desired settings. For example, after clearing an error, the system may reinitiate operations without human intervention in the case of most errors.[000142] Communication and functionality for the system may. for example, be facilitated through software the operations facility installs on their computers, through apps onboard the system, or any combinations thereof. For example, in some embodiments, an application may run an interface for the robot arm. Another application may, for example, communicate with a commercial shipper, such as FedEx or UPS. In another example, another app may communicate with a host system.[000143] In some embodiments, when there is no customer preferred positioning of the label (see step 402), the system may determine a suitable application point for the label based on the scanned data (see step 404) and information concerning the size and shape of the label to be attached. For example, in some embodiments, a suitable application point may be a point on the box that is generally easiest to find or that is most likely to provide good adherence. For example, as shown in Figs. 3-6, a box or package 200 may include faces or sides of different sizes or shapes. In some cases, one or more of the faces or sides 202, 204. 206 may be found to include a non-critical defect such as a bowed or warped surface. In some embodiments, systems and methods herein may be configured to apply a label to any face or side 202, 204, 206 that is most pristine and for which the best adherence of a label may generally be achieved.[000144] In some embodiments, the method 400 may be paired with a method 420. Alternatively, the method 420 may be executed as a standalone method performed by systems as described herein or the method 420 may be performed using some other suitable system. The method 420 is shown in Fig. 54. As shown therein, the method 420 may include picking and placing a label on an object. Such operations may, for example, include executing steps as described above. For example, as shown at step 422. a label my be selected for application to an object. Together with selecting a label other preference data (e.g., preferred location and / or orientation) of the label may also be determined. As shown at step 424, one or more steps may be executed to verify that the correct label has been applied. At step 426 any incorrect or bad labels may be cleared. Packages including a bad label may be removed for correction.[000145] In some embodiments, the systems herein may be applied for use in multipackage shipments wherein two or more packages are intended for delivery to a customer. In some embodiments, a pack slip label, or other materials may be required, the slip label may be applied to each box amongst the multi box shipment. Systems and methods herein may allow for selective printing of different labels on different boxes in a multi box shipment. For example, a pack slip label, or other expensive label may be put only on one box (e.g., the first or last box in an order). Other boxes in the shipment may be labeled with a different label such as a low cost label.[000146] For example, an embodiment of a method 550 for labeling a multi -box shipment is shown in Fig. 55. As showor at step 552, two or more packages of a multi package shipment may be positioned for labeling (e.g., added to a labeling line) using a robotic labeling system. At step 554, the identities of the two or more packages may be identified and specification data for the two or more packages may be received. Generally, identification of the packages maytake place in any order. As described herein, identification of packages may be accomplished in various different ways such as may include a combination of different identification strategies. In one example, the identity of the two or more packages may be accomplished by scanning a barcode of each packages. Each of the two or more packages may also be scanned using an imaging system. As described herein, collected image data may be analyzed to determine property values as may be compared to expected values and used as an error check in a protocol for identifying the identity of packages. In some embodiments, specification data may be received using any protocol or method as described herein. For example, specification data may sometimes be provided form an input device 150 in communication with a control system of the robotic labeling system.[000147] At step 556, labels may be retrieved and applied to the two or more packages based on the identity of the packages and the specification data received. For example, as intended for a first package among the two or more packages, a label may be printed selectively form label printer 16A. In some cases, two or more different labels may be printed for application to a first package among the two or more packages of the shipment. For a second package, a label may be selectively printed from label printer 16B. For example, label pnnter 16B may be configured for printing a slip label or other label that is generally more expensive to print than other labels.[000148] At step 558 the printed labels may be applied. Notably, in this embodiment, selective printing and application of labels may be accomplished using a single robot.[000149] Fig. 56 shows another embodiment of a method 570 for applying labels to packages. The method 570 may, advantageously, be applied using a single robot or single labeling station. As shown at step 572, a package needing each of a first label and a second label may be identified. At step 574. information may be received for the package, the information including specification including data for the position and / or orientation of at least one of the first label and the second label. At step 576, the package may be scanned so as to identify at least one surface feature of the package. At step 578, a first label may be retrieved from a first label printer available to the robot. For example, the robot may retrieve a label from a first label printer available among a group of label printers disposed in the working range of the robot. At step 580, the first label may be applied to the package according to the specification data for the package. For example, the first label may be positioned at a specific comer or other location on one side of the package. At step 582, a second label may be retrieved from a second label printer available to the robot. At step 584, the second label may be applied to the package.[000150] In some embodiments, the systems herein may be applied for use in labeling an opened box and placement of an additional flyer, pamphlet, packing slip, or other item within the box. Notably, again, this may be accomplished using a single robot. For example, a single robot may both receive one or more labels from one or more label printers in a printing station. An additional label printer may print a flyer, pamphlet, packing slip, or other item so that the robot may also add the material to the opened box.[000151] Although the foregoing specific details describe certain embodiments of this invention, persons of ordinary skill in the art will recognize that various changes may be made in the details of this invention without departing from the spirit and scope of the invention as defined in the appended claims and other claims that may be drawn to this invention and considering the doctrine of equivalents. Among other things, any feature described for one embodiment may be used in any other embodiment, and any feature described herein may be used independently or in combination with other features. Also, unless the context indicates otherwise, it should be understood that when a component is described herein as being mounted or connected to another component, such mounting or connection may be direct with no intermediate components or indirect with one or more intermediate components. Therefore, it should be understood that this invention is not to be limited to the specific details shown and described herein.

Claims

CLAIMSWhat is claimed is:

1. A robotic package labeling system comprising: a first label printer disposed to dispense a first label; a second label printer disposed to dispense a second label; and a multi -axis pick-and-place robot configured to retrieve the first label or the second label and place it on one of at least two sides of a package.

2. The robotic package labeling system of claim 1 further comprising an identification system configured for identifying a position or shape of the package.

3. The robotic package labeling system of claim 2, the identification system comprising one or more 3D scanning cameras.

4. The robotic package labeling system of claim 2, the identification system comprising a LIDAR imaging system.

5. The robotic package labeling system of claim 2, the identification system being configured for identifying the position of a box seam, the robot being configured for control so as to position either of the first label or the second label over the box seam.

6. The robotic package labeling system of claim 2, the identification system being controlled so as to select a protocol for scanning said package based on a labeling specification received for the package.

7. The robotic package labeling system of claim 2, the identification system being controlled so as to select a protocol for scanning of the package from a plurality of available protocols, the selected protocol being based at least in part on a speed at which the package may be moved through the robotic package labeling system.

8. The robotic package labeling system of claim 7 further comprising controlling a speed at which a package moves past the identification system based on the selected protocol.

9. The robotic package labeling system of claim 1. said robot including a head unit including a sensor system suitable for identifying a position or shape of one or more features of the packages.

10. The robotic package labeling system of claim 9, the sensor system comprising one or more 3D scanning cameras.

11. The robotic package labeling system of claim 9, the sensor system comprising a LIDAR imaging system.

12. The robotic package labeling system of claim 1 further comprising: a package conveyor disposed so as to position the package and move the package within a work envelope of a robotic arm.

13. The robotic package labeling system of claim 12, the package conveyer being configured to adjust a speed which the package moves.

14. The robotic package labeling system of claim 13 wherein control of the package conveyer is controlled using a control system, the control system being configured to control the package conveyer speed based on at least one of a signal received from an image identification system and said robot.

15. The robotic package labeling system of claim 14, the package conveyer being configured to adjust a speed at which it moves the package based on a signal received form the identification system indicating that an error occurred during imaging.

16. The robotic package labeling system of claim 14, the package conveyer being configured to adjust a speed at which it moves the package based on a labeling requirements for the package.

17. The robotic package labeling system of claim 12 wherein the package conveyer comprises a black non slip surface.

18. The robotic package labeling system of claim 1, said robot comprising: an adjustable robot arm; a head unit including a housing coupled to the adjustable robot arm; and a pick plate forming a first side of the head unit, a barcode reader being disposed on the first side of the head unit.

19. The robotic package labeling system of claim 1 further comprising a third label printer disposed to dispense a third label.

20. The robotic package labeling system of claim 1 further comprising a control system configured for controlling said multi-axis pick-and-place robot, the control system being further configured for receiving specification data including one or more of a specified position and a specified orientation for placing either or both of the first label and the second label on the package.

21. The robotic package labeling system of claim 20, said control system including a module for receiving said specification data from an input device.

22. The robotic package labeling system of claim 21 wherein said input device is a computer resource operated by a customer.

23. The robotic package labeling system of claim 21 wherein said input device is acomputer resource operated by a commercial shipping entity.

24. The robotic package labeling system of claim 20, said control system being configured to control said robot for retrieval of either of said first label or said second label based on a specification received for applying labels.

25. The robotic package labeling system of claim 20, said package being a first package of a multi package shipment including at least a second package, said control system being configured to control said robot so as to apply the first label to said first package and to apply the second label to said second package.

26. The robotic package labeling system of claim 25 wherein said second label is a pack slip label.

27. The robotic package labeling system of claim 25, said control system being configured to apply a pack slip label to one or more packages among the multi package shipment and to apply a different label to one or more other packages among the multi package shipment.

28. A robotic package labeling system comprising: a first label printer disposed to dispense a first label; a second label printer disposed to dispense a second label; a multi-axis pick-and-place robot configured to retrieve the first label or the second label and place it on one of at least two sides of a package: and a control system configured for controlling said multi-axis pick-and-place robot, the control system being further configured for receiving specification data including one or more of a specified position and a specified orientation for placing either or both of the first label and the second label on the package.

29. The robotic package labeling system of claim 28 further comprising an identification system configured for identifying a position or shape of the package.

30. The robotic package labeling system of claim 29, the identification system comprising one or more 3D scanning cameras.

31. The robotic package labeling system of claim 29, the identification system comprising a LIDAR imaging system.

32. The robotic package labeling system of claim 28 further comprising: a package conveyor disposed so as to position packages supported thereby within a work envelope of a robotic arm of the robot.

33. The robotic package labeling system of claim 32, the package conveyer being configured to adjust a speed which the package moves.

34. The robotic package labeling system of claim 33 wherein control of the package conveyer is controlled by said control system, the control system being configured to control the package conveyer speed based on at least one of a signal received from an image identification system and said robot.

35. The robotic package labeling system of claim 34, the package conveyer being configured to adjust a speed at which it moves the package based on a signal received form the identification system indicating that an error occurred during imaging.

36. The robotic package labeling system of claim 34, the package conveyer being configured to adjust a speed at which it moves the package based on a labeling requirements for the package.

37. A robotic package labeling station comprising: a frame; a first printer and a second printer, the first printer and second printer each slidably mounted to the frame; and a multi-axis pick-and-place robot configured to retrieve a first label from the first printer and a second label from the second printer and place either or both of the first label and second label each on one of at least two sides of a package.

38. The robotic package labeling station of claim 37, each of said first printer and said second printer being mounted to cartridges secured to the frame, each of said cartridges providing a rail system at which the given one of said first printer and said second printer mounted thereto may slide.

39. The robotic packaging labeling station of claim 38 wherein said cartridges are configured for locking a printer mounted thereto when the robot is retrieving labels.

40. The robotic packaging labeling station of claim 38 wherein said cartridges are configured for allowing a given printer mounted thereto to slide to a maintenance position when replacing labels.

41. The robotic labeling station of claim 37 further comprising an identification system configured for identifying a position or shape of the package.

42. The robotic labeling station of claim 41, the identification system comprising one or more 3D scanning cameras.

43. The robotic labeling station of claim 41, the identification system comprising a LIDAR imaging sy stem.

44. The robotic labeling station of claim 41, the identification system being configured for identifying the position of a box seam, the robot being configured for control so asto position either of the first label or the second label over the box seam.

45. The robotic labeling station of claim 41, the identification system being controlled so as to select a protocol for scanning said package based on a labeling specification received for the package.

46. The robotic labeling station of claim 41, said robot comprising: an adj ustable robot arm; a head unit including a housing coupled to the adjustable robot arm; and a barcode reader positioned on at least one side of the head unit.

47. The robotic labeling station of claim 37, the frame comprising a plurality of frame members made of sheet metal, the plurality' of frame members being configured for assembly by coupling either of a notch or a tab on one frame member with a corresponding one of a notch and a tab on a second frame member.

48. The robotic labeling station of claim 47 wherein the plurality of frame members are further connected using weldments.

49. A method of applying labels to a package using a single robot comprising: identifying a package needing each of a first label and a second label as part of a shipment or delivery; receiving information associate with the package, said information including specification data including at least one of a position and an orientation at which at least one of the first label and the second label should be applied; scanning the package so as to identify at least one surface feature of the package; retrieving the first label from a first label printer available to the robot from a plurality of available printers disposed in a working range of the robot; applying the first label to the package according to the specification data; retrieving the second label from a second label printer available to the robot among said plurality of available printers disposed in the working range of the robot; and applying the second label to the package according to the specification data.

50. The method of claim 49 wherein identification of the package associates the package with an order for a delivery.

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