Item packing method and packing apparatus for performing item packing method

Abstract

Disclosed is a packing apparatus for performing an item packing method. The packing apparatus comprises: a robot arm picking a target item; a plurality of packing machines packing the target item in a packing material; and a shuttle movable to transfer the target item obtained by the robot arm to a target packing machine which is one of the plurality of packing machines.

Description

Item packing method and packing device for performing the item packing method

[0001] The present disclosure relates to an item packing method and a packing device for performing the item packing method.

[0002] In the logistics sector, various automation methods are being researched to efficiently handle diverse items, and among them, the technology for reliably packaging (packing) items is attracting attention as a critical process. Generally, in logistics centers, workers manually place items into packaging materials, but in some cases, automatic baggers can be utilized to assist with the packaging process.

[0003] Meanwhile, as robotic technology advances, item packing technology utilizing robotic arms is being researched and developed. Applying robotic arms allows for a safer working environment by controlling the frequency of direct human intervention, while also offering benefits such as cost reduction and improved item packing speed. Furthermore, methods to automate the packing process by integrating robotic arms with packaging machines are being explored, indicating that various approaches are being attempted to enhance operational efficiency in logistics centers.

[0004] The disclosed embodiments aim to provide an item packing method and a packing device for performing the item packing method. Specifically, one objective is to provide a packing device comprising a plurality of packaging machines. Another objective is to ensure the safety of an operator from a plurality of shuttles that transport items between a robot arm and the plurality of packaging machines.

[0005] The technical problems to be solved by this embodiment are not limited to those described above, and other technical problems can be inferred from the following embodiments.

[0006] One aspect of the present disclosure may provide a packing device comprising: a robot arm for picking a target item; a plurality of packaging machines for packing the target item into a packaging material; and a movable shuttle for transferring the target item acquired by the robot arm to a target packaging machine, which is one of the plurality of packaging machines.

[0007] In addition, in one embodiment of the present disclosure, the shuttle includes a plurality of shuttles, and the robot arm drops the target item onto the target shuttle among the plurality of shuttles, and the target shuttle can be moved toward the target packaging machine and then drop the target item onto the target packaging machine.

[0008] In addition, in one embodiment of the present disclosure, the shuttle moves on a rail located between the robot arm and the plurality of packaging machines and can drop the target item at the drop position of the target packaging machine.

[0009] In addition, in one embodiment of the present disclosure, the packing device can acquire identification information of the target item and, based on the acquired identification information, verify order information corresponding to the target item.

[0010] Additionally, in one embodiment of the present disclosure, the shuttle is positioned at the drop location of the robot arm, and when the order information of the target item is confirmed, the target packaging machine attaches an invoice corresponding to the order information to the packaging material, and when the target item is dropped, the shuttle moves toward the target packaging machine and can drop the target item onto the packaging material opened by the target packaging machine.

[0011] Additionally, in one embodiment of the present disclosure, the packing device further includes an exception buffer, and the shuttle can transfer the target item to the exception buffer when the order of the target item is canceled based on the order information.

[0012] In addition, in one embodiment of the present disclosure, the exception buffer may be located between the plurality of packaging machines.

[0013] Additionally, in one embodiment of the present disclosure, the plurality of packaging machines may be located outside the maximum reach of the robot arm.

[0014] Additionally, in one embodiment of the present disclosure, the packing device may further include a fence located in at least one portion between the robot arm and the plurality of packaging machines.

[0015] In addition, in one embodiment of the present disclosure, the shuttle includes a plurality of shuttles, and each of the plurality of shuttles can deliver the target item to a matched packaging machine among the plurality of packaging machines.

[0016] In addition, in one embodiment of the present disclosure, the target packaging machine may be determined sequentially among the plurality of packaging machines.

[0017] In addition, in one embodiment of the present disclosure, if it is confirmed that the sequentially determined target packaging machine is packing a previous item or is in an abnormal state, the target packaging machine may be changed to another operable packaging machine among the plurality of packaging machines.

[0018] In addition, in one embodiment of the present disclosure, the target packaging device may be determined according to the attribute information of the target item.

[0019] In addition, in one embodiment of the present disclosure, the packing device can check whether the packing of the target item has been successfully completed.

[0020] In addition, in one embodiment of the present disclosure, the plurality of packaging machines may discharge the target item to the outside of the plurality of packaging machines when the packing of the target item is not completed normally.

[0021] In addition, in one embodiment of the present disclosure, the packing device may transmit a message of completion of packing of the target item to a server of a logistics center when the packing of the target item is successfully completed.

[0022] Another aspect of the present disclosure may provide an item packing method comprising the steps of: a robot arm picking a target item; a shuttle delivering the target item acquired by the robot arm to a target packaging machine, which is one of the plurality of packaging machines; and packing the target item into a packaging material.

[0023] Another aspect of the present disclosure may provide a computer-readable recording medium having a program recorded thereon for implementing a method performed by a packing device.

[0024] Specific details of other embodiments are included in the detailed description and drawings.

[0025] According to the proposed embodiment, one or more of the following effects can be expected.

[0026] According to the embodiments of the present disclosure, even if one packaging machine fails, another packaging machine can perform item packing, so packaging can be performed efficiently without interruption of the packing operation.

[0027] In addition, according to the embodiments of the present disclosure, the working space of the robot arm and the packaging machine are separated by a shuttle, thereby ensuring the safety of the worker and making maintenance of the packing device easier.

[0028] The effects of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description in the claims.

[0029] Figures 1a and 1b show drawings of performing item packing operations using a single packaging machine.

[0030] FIG. 2 shows a drawing of an item packing operation performed using a plurality of packaging machines according to one embodiment.

[0031] FIG. 3 shows a packing system including a packing device and a server of a logistics center according to one embodiment.

[0032] FIG. 4 is a block diagram functionally illustrating a packing device according to one embodiment.

[0033] FIG. 5 is a perspective view showing a packing device according to one embodiment.

[0034] FIGS. 6A and 6B are drawings illustrating the process of a robot arm picking up a target item and delivering it to a plurality of shuttles according to one embodiment.

[0035] FIG. 7 is a drawing showing a plurality of shuttles and rails according to one embodiment.

[0036] FIG. 8 is a drawing showing a plurality of shuttles, a plurality of packaging machines, and an exception buffer according to one embodiment.

[0037] FIGS. 9a and FIGS. 9b are drawings showing a packaging machine according to one embodiment.

[0038] FIG. 10 is a flowchart illustrating an item packaging method according to one embodiment.

[0039] FIG. 11 is a flowchart illustrating an item packaging method and exception handling according to one embodiment.

[0040] FIG. 12 is a block diagram illustrating a packing device according to one embodiment.

[0041] The terms used in the embodiments have been selected to be as widely used as possible, taking into account their functions in the present disclosure; however, these may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant explanatory section. Therefore, terms used in the present disclosure should be defined not merely by their names, but based on their meanings and the overall content of the present disclosure.

[0042] When a part of a specification is described as “comprising” a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as “...part” or “...module” as used in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware or software, or as a combination of hardware and software.

[0043] The expression “at least one of a, b, and c” described throughout the specification may include ‘a alone’, ‘b alone’, ‘c alone’, ‘a and b’, ‘a and c’, ‘b and c’, or ‘a, b, and c all’.

[0044] The "terminal" mentioned below may be implemented as a computer or portable terminal capable of connecting to a server or other terminal via a network. Here, the computer includes, for example, a notebook, desktop, or laptop equipped with a web browser, and the portable terminal may include, for example, a wireless communication device that ensures portability and mobility, and may include all types of handheld-based wireless communication devices such as IMT (International Mobile Telecommunication), CDMA (Code Division Multiple Access), W-CDMA (W-Code Division Multiple Access), LTE (Long Term Evolution), communication-based terminals, smartphones, tablet PCs, etc.

[0045] Embodiments of the present disclosure are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein.

[0046] In describing the embodiments, technical details that are well known in the technical field to which the present invention belongs and are not directly related to the present invention are omitted. This is intended to convey the essence of the present invention more clearly without obscuring it by omitting unnecessary explanations.

[0047] For the same reason, some components in the attached drawings have been exaggerated, omitted, or schematically depicted. Additionally, the size of each component does not entirely reflect its actual dimensions. Identical or corresponding components in each drawing have been assigned the same reference numbers.

[0048] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0049] At this time, it will be understood that each block of the process flow diagrams and combinations of the flow diagrams can be executed by computer program instructions. Since these computer program instructions can be loaded into the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing equipment, the instructions executed through the processor of the computer or other programmable data processing equipment create means to perform the functions described in the flow diagram block(s). Since these computer program instructions can also be stored in computer-available or computer-readable memory that can be directed toward the computer or other programmable data processing equipment to implement the function in a specific way, the instructions stored in computer-available or computer-readable memory can also produce a manufactured item containing the means of instruction to perform the function described in the flow diagram block(s). Since computer program instructions can be loaded onto a computer or other programmable data processing equipment, instructions that perform a series of operation steps on the computer or other programmable data processing equipment to create a process executed by the computer can also provide steps for executing the functions described in the flowchart block(s).

[0050] Additionally, each block may represent a module, segment, or part of code containing one or more executable instructions for executing a specified logical function(s). It should also be noted that in some alternative execution examples, the functions mentioned in the blocks may occur out of order. For instance, two blocks described in succession may actually be executed substantially simultaneously, or the blocks may be executed in reverse order according to their corresponding functions.

[0051] Figures 1a and 1b show drawings of performing item packing operations using a packaging machine.

[0052] Referring to FIG. 1a, a packing system in a logistics center may include a main conveyor line (110), a worker (120), and a packaging machine (130). The worker (120) may take out a target item to be packed from a tote containing at least one item to be packed on the main conveyor line (110). The worker (120) may scan the identification information (e.g., barcode) of the target item taken out from the tote using a scanner (e.g., a barcode scanner). The worker (120) may move the target item to the packaging machine (130) to pack the target item. Here, the packaging machine (130) may refer to an automatic packaging machine. After the target item moved to the packaging machine (130) is completed in the packaging material, it may be transferred to the main conveyor line (110). In this specification, the terms “packer” or “automatic packer” may be used interchangeably with an autobagger, which is a device that packages items into packaging materials such as packaging bags.

[0053] Since the process of taking a target item out of a tote by a worker (120) and transferring the taken item to a packaging machine (130) relies on a person, there may be errors, and there is a problem in that a constant speed cannot be required at each line depending on the skill level of the worker (120). Therefore, a robot arm can perform the process of taking out a target item and transferring the taken item to a packaging machine (130) on behalf of the worker (120).

[0054] Figure 1b shows a drawing of an item packing operation performed using a robot arm and a packaging machine.

[0055] Referring to FIG. 1b, the packing system in the logistics center may include a packing main conveyor line (110), a robot arm (140), and a packaging machine (130).

[0056] The robot arm (140) can take out a target item to be packed from a tote containing at least one item to be packed on the main conveyor line (110). The target item taken out of the tote can have its identification information (e.g., barcode) scanned using a scanner (e.g., barcode scanner).

[0057] The robot arm (140) can transfer the target item to the packaging machine (130), and the target item can be packaged in the packaging machine (130). After the target item transferred to the packaging machine (130) is completed in the packaging material, it can be transferred to the main conveyor line (110).

[0058] When the robot arm (140) takes a target item out of a tote and delivers the target item to a packaging machine (130) for packaging, the speed of packaging may be reduced because it takes less time to open the packaging material and secure space inside the packaging material compared to a human worker. Additionally, since the range in which the robot arm (140) replaces the human worker's movements is the movement of taking out an item and delivering it to the packaging machine (130), the human worker still has to remove the incorrectly delivered target item and move the tote for the robot arm (140), so there is a problem that the safety of the human worker is not guaranteed from the movements of the robot arm (140).

[0059] For example, a packing system including a robot arm (140) may have a problem where downtime increases due to incidental actions, such as requiring a fence around the robot arm (140) for the safety of the human worker due to human worker intervention, and stopping the operation of the robot arm (140) when the human worker intervenes.

[0060] In the present disclosure, a packing device including a robot arm (140) and a plurality of packaging machines can be provided, which ensures the safety of a human worker without stopping the operation of the robot arm (140) even in situations where human worker intervention is required.

[0061] FIG. 2 shows a drawing of an item packing operation performed using a plurality of packaging machines according to one embodiment.

[0062] Referring to FIG. 2, a packing system according to one embodiment may include a main conveyor line (110) and a packing device (200). There may be a plurality of packing devices (200), and each packing device (200) may be arranged parallel to the direction in which the main conveyor line (110) moves to pack a plurality of items transported from the main conveyor line (110).

[0063] In one embodiment, since the packing device (200) includes one robot arm and a plurality of packaging machines, even if an error occurs in one packaging machine or human worker intervention is required, packaging work can be performed by another packaging machine, so the work speed may not decrease.

[0064] Additionally, the packing device (200) can deliver target items to multiple packaging machines by means of a single robot arm, and since a larger number of packaging machines can be placed adjacent to the conveyor belt line (110) compared to a packing system containing a single packaging machine, the packing speed of the items can be increased. In other words, the packing device (200), in which a single robot arm is matched with multiple packaging machines to perform item packing operations, can have a larger number of packaging machines placed within the same length of the conveyor line (110) or the same work area compared to the packing system of FIG. 1, in which the robot arm and the packaging machine are matched one-to-one. Therefore, the effect of increasing the work speed per length of the conveyor line (110) can be achieved.

[0065] The unit operation time per item of the robot arm included in the packing device (200) may be relatively shorter than the unit operation time per item of the packaging machine. Since the packaging machine performs various operations, including attaching an invoice to the packaging material, expanding the opening of the packaging material to drop the item onto the packaging material, dropping the item onto the packaging material, and moving the packaged item onto the packaging material, the unit operation time of the packaging machine may tend to be longer than the unit operation time of the robot arm.

[0066] Therefore, when a single robot arm is matched with multiple packaging machines in a one-to-many ratio, work efficiency can be increased compared to when a single robot arm is matched with a single packaging machine in a one-to-one ratio. Since the unit work time per item required by the robot arm is shorter than that of the packaging machine, when the robot arm and packaging machine are matched in a one-to-many ratio, the robot arm can distribute items to other packaging machines even while one machine is in operation. This reduces the robot arm's waiting time and can result in an increase in the volume of items being packaged.

[0067] FIG. 3 shows a packing system including a packing device and a server of a logistics center according to one embodiment.

[0068] Referring to FIG. 3, the packing system may include a packing device (310), a network (320), and a server (330). Meanwhile, only the components related to the present embodiment are shown in the system illustrated in FIG. 3. Therefore, it can be understood by those skilled in the art related to the present embodiment that other general-purpose components may be included in addition to the components illustrated in FIG. 3. Meanwhile, packing systems according to various embodiments are not limited to those illustrated in FIG. 3 and may be implemented by a wider variety of electronic devices and databases.

[0069] A packing device (310) according to one embodiment may be a device that configures and provides various information. The packing device (310) may check the tote information in which a target item is loaded, scan the identification information of the target item, and transmit the confirmed tote information or the scanned identification information of the target item to a server (330). Additionally, the packing device (310) may acquire the identification information of the target item using a plurality of sensors, check whether the packing operation of the target item is completed, and transmit the confirmed information to the server (330) via a network. Alternatively, the packing device (310) may receive response information from the server (330) via a network (320) in response to the input information.

[0070] For example, the identification information of the target item may include a barcode or a QR code. Additionally, the packing device (310) may include an identification device (e.g., a barcode scanner) for scanning the identification information of the target item. The response information may be order information verified by the server (330) based on the tote information and the identification information of the item.

[0071] Each of the packing device (310) and the server (330) may include a transceiver, memory, and a processor. Additionally, each of the packing device (310) and the server (330) represents a unit that processes at least one function or operation, which may be implemented in hardware or software, or a combination of hardware and software. Meanwhile, throughout the embodiments, each of the packing device (310) and the server (330) is referred to as a separate device or server, but this may be a logically separated structure, and at least some of them may be implemented by functions separated from a single device or server.

[0072] According to one embodiment, the packing device (310) and the server (330) may include a number of computer systems or computer software implemented as network servers. For example, at least part of the packing device (310) and the server (330) may refer to computer systems and computer software that are connected to a sub-device capable of communicating with other network servers via a computer network such as an intranet or the Internet, receive requests for task execution, perform tasks thereon, and provide results. In addition, at least part of the packing device (310) and the server (330) may be understood in a broad sense as including a series of applications capable of operating on the network server and various databases built on internal or connected other nodes. For example, at least part of the packing device (310) and the server (330) may be implemented using network server programs provided in various ways depending on operating systems such as DOS, Windows, Linux, UNIX, or MacOS.

[0073] The packing device (310) and the server (330) can communicate with each other through the network (320). The network (320) includes a Local Area Network (LAN), a Wide Area Network (WAN), a Value Added Network (VAN), a mobile radio communication network, a satellite communication network, and combinations thereof, and is a comprehensive data communication network that enables the entities constituting each network (320) shown in FIG. 3 to communicate smoothly with each other, and may include wired internet, wireless internet, and mobile wireless communication networks. Wireless communication may include, for example, wireless LAN (Wi-Fi), Bluetooth, Bluetooth Low Energy, Zigbee, WFD (Wi-Fi Direct), UWB (ultra wideband), infrared communication (IrDA, infrared Data Association), NFC (Near Field Communication), but is not limited thereto.

[0074] FIG. 4 is a block diagram functionally illustrating a packing device according to one embodiment.

[0075] Referring to FIG. 4, the packing device (400) may include a robot arm module (410), a sensor module (420), a shuttle module (430), a packaging machine module (440), and an exception buffer module (450). Meanwhile, only the modules related to the present embodiment are shown in the packing device (400) illustrated in FIG. 4. Therefore, it can be understood by those skilled in the art related to the present embodiment that other general-purpose components may be included in addition to the components illustrated in FIG. 4. Meanwhile, the packing device (400) according to various embodiments is not limited to that illustrated in FIG. 4 and may be implemented by a wider variety of electronic devices and databases.

[0076] In one embodiment, the robot arm module (410), sensor module (420), shuttle module (430), packaging machine module (440), and exception buffer module (450) of the packing device (400) may be implemented by including a processor capable of controlling each operation. Alternatively, in one embodiment, the operation of each module of the packing device (400) may be controlled by a single processor.

[0077] In one embodiment, the robot arm module (410) can control the operation of the robot arm. The robot arm moves relatively freely in three-dimensional space through a multi-joint structure, and can pick up or lift items by equipping a gripper, suction device, etc. at its end. The robot arm module (410) can receive information about the item to be picked up from the sensor module (420) through the multi-joint structure and suction device of the robot arm, and can pick up the item or put down the picked-up item at a pre-entered position.

[0078] In one embodiment, the sensor module (420) can identify information such as the location, shape, color, label, and barcode of an item. For example, the sensor module (420) may include a camera sensor or a vision sensor, and can identify information such as the location, shape, and color of an item from an image or video acquired by the camera sensor or the vision sensor. Additionally, the sensor module (420) can transmit the identified information such as the location, shape, and color of the item to the robot arm module (410).

[0079] In one embodiment, the sensor module (420) can obtain identification information of an item from an item. For example, the sensor module (420) may include an identification device (e.g., a barcode reader) capable of recognizing identification information of an item (e.g., a barcode, a QR (Quick Response) code, etc.), and the sensor module (420) can obtain identification information that can identify the item from the item through the identification device. Additionally, the sensor module (420) can transmit the obtained identification information to the server (330) of the logistics center of FIG. 3.

[0080] For convenience of explanation in this disclosure, the robot arm module (410) and the sensor module (420) are described as operating as separate modules, but the sensor module (420) may be included in the robot arm module (410). Specific examples of how the robot arm module (410) operates will be described in detail later with reference to FIGS. 6a and 6b.

[0081] In one embodiment, the shuttle module (430) may include a shuttle and a transport line (e.g., a belt, roller, chain, rail, etc.). For example, the shuttle may include a plurality of shuttles, and for convenience of explanation in this disclosure, the shuttle module (430) is described as including two shuttles, but the number of shuttles is not limited thereto. For example, the shuttle module (430) may include two or more shuttles and a transport line for moving each shuttle.

[0082] In one embodiment, a plurality of shuttles included in the shuttle module (430) can deliver a target item obtained from the robot arm module (410) to the packaging module (440) or the exception buffer module (450). For example, the plurality of shuttles can deliver the target item obtained from the robot arm to the packaging module (440) or the exception buffer module (450) by utilizing the movement of a transport line connected to each shuttle.

[0083] In one embodiment, the shuttle module (430) can obtain information regarding whether the order of a target item is canceled from the server (330) of the logistics center of FIG. 3, and based on the obtained information regarding whether the order is canceled, the target item can be delivered to the packaging module (440) or the exception buffer module (450).

[0084] For example, if the order of a target item is cancelled, the shuttle module (430) can pass the cancelled target item to the exception buffer module (450). When the cancelled item is returned to the tote, verification and packaging operations may be performed again on the cancelled item. Therefore, to eliminate repetitive operations, the shuttle module (430) can check whether the order of the target item is cancelled and pass the cancelled target item to the exception buffer module (450).

[0085] In one embodiment, if the target item is not canceled, the shuttle module (430) can deliver the target item to the packaging module (440). Additionally, the packaging module (440) can perform packing of the delivered target item.

[0086] In one embodiment, the packaging module (440) may include a plurality of packaging machines. Here, the number of the plurality of packaging machines may be equal to the number of the plurality of shuttles included in the shuttle module (430). In this case, each of the plurality of packaging machines may be matched one-to-one with a plurality of shuttles, and each shuttle may deliver a target item to the matching packaging machine. However, the one-to-one matching of each of the plurality of packaging machines with a plurality of shuttles is merely exemplary, and each of the plurality of shuttles may be matched one-to-many with a plurality of packaging machines to deliver the target item.

[0087] In one embodiment, among a plurality of packaging modules, the method of selecting a target packaging machine to be packaged for a target item can be determined cyclically. For example, if the packaging module (440) includes a first packaging machine and a second packaging machine, the target packaging machine for the first target item is determined to be the first packaging machine, the target packaging machine for the second target item is determined to be the second packaging machine, and again the target packaging machine for the third target item is determined to be the first packaging machine cyclically. A plurality of shuttles can cyclically deliver target items to the target packaging machines according to the sequence of target items from the robot arm module (410), regardless of matching with the packaging machine. When a target packaging machine is selected cyclically, the shuttle module (430) can change the target packaging machine to another packaging machine if it is confirmed that the packaging machine determined as the target packaging machine has not completed packaging for the previous target item or is unable to operate. Therefore, it is possible to prevent the phenomenon where work is concentrated on only a specific packaging machine, and even if work delays or abnormal conditions occur at a specific packaging machine, the work can be distributed to other packaging machines to ensure the stable operation of the process line. In one embodiment, the target packaging machine may be determined according to attribute information of the target item. For example, based on the identification information of the target item acquired by the robot arm module (410), the packing device (400) may acquire attribute information including the weight, volume, and material of the target item. Each of the plurality of packaging machines may set the weight, volume, or material of the item that can be packaged differently, and the packing device (400) may determine the target packaging machine to which the target item will be packaged according to the acquired attribute information of the target item.

[0088] For example, a first packaging machine and a second packaging machine are included in the packaging machine module (440), the first packaging machine is configured to handle a volume greater than a predetermined volume and the second packaging machine is configured to handle a volume less than a predetermined volume, and if the volume of the target item is greater than or equal to a predetermined volume, the first packaging machine may be determined as the target packaging machine.

[0089] For example, if a first packaging machine and a second packaging machine are included in the packaging machine module (440), and the first packaging machine includes packaging material for packaging fragile items and the second packaging machine includes general packaging material and the target item has fragile attribute information, the target packaging machine may be determined as the first packaging machine.

[0090] Therefore, the packing device (400) can perform more delicate packaging operations by selecting different target packaging machines according to the attributes of the target item, rather than including a single packaging machine.

[0091] In one embodiment, a plurality of packaging machines can pack target items received from a shuttle module (430). Each of the plurality of packaging machines may include an invoice printer and can verify order information of the target items received from the server (330) of FIG. 3. Based on the verified order information of the target items, the plurality of packaging machines can print an invoice from the invoice printer and attach the printed invoice to a packaging bag in which the target items are to be packed.

[0092] For example, invoice information can be used to clarify the buyer's shipping process. The invoice may include the issue date, invoice number, information of the seller and buyer, the name and quantity of the product or service, the unit price and total amount, and other additional information.

[0093] In one embodiment, each of the plurality of packaging machines can pack a target item into a packaging material and transfer the packed target item to a main conveyor line. For example, the plurality of packaging machines can place the packed target item onto a transport line, and the transport line can transfer the packed target item to a main conveyor line.

[0094] In one embodiment, the exception buffer module (450) may include a plurality of exception buffers and a transport line for moving the plurality of exception buffers. If a target item delivered to a plurality of shuttles is identified as an item that has been canceled from an order, the plurality of shuttles may deliver the delivered target item to an exception buffer. The exception buffer may take the form of a box or container capable of holding the item that has been canceled from an order. The target item that has been processed as an exception due to the order being canceled may be placed in the exception buffer and delivered to a conveyor line.

[0095] FIG. 5 is a perspective view showing a packing device according to one embodiment.

[0096] Referring to FIG. 5, a packing device (500) according to one embodiment may include a robot arm (520), a sensor (530), a fence (540), a plurality of shuttles (540-1, 540-2), a plurality of packaging machines (550-1, 550-2), and an exception buffer (560). However, the packing device (500) is merely exemplary and is not limited to FIG. 5. For example, the packing device (500) is described as including two shuttles for convenience of explanation, but may include three or more shuttles, and similarly, the packing device (500) may include three or more packaging machines. Additionally, the positions and connections of the robot arm (520), sensor (530), fence (540), plurality of shuttles (540-1, 540-2), plurality of packaging machines (550-1, 550-2) and exception buffer (560) in FIG. 5 are merely illustrative and may be implemented in a modified form according to the function and embodiment of each element.

[0097] In one embodiment, the robot arm (520) can pick a target item to be packaged from a tote (510) containing a plurality of items transported from a main conveyor line.

[0098] In one embodiment, the tote (510) may refer to a structure such as a box or container containing a plurality of items. The tote (510) may be moved from a main conveyor line into the packing device (500) using a transport line, and the plurality of items contained in the tote (510) may be identified by a sensor (530) of the packing device (500).

[0099] In one embodiment, the sensor (530) can identify a target item that is to be packaged. The sensor (530) recognizes or determines the location, shape, color, and label (barcode or QR code) information of the target item and can identify the target item among a plurality of items. For example, after capturing an image of an item inside the tote (510) through a camera sensor or a vision sensor, an image processing algorithm can be used to analyze the characteristics (shape, size, label, etc.) of each item and identify a plurality of items inside the tote (510) and the coordinates of each item.

[0100] For example, when each of the multiple items is identified through images of multiple items present inside the tote (510) by the sensor (530), the target item among the multiple items to be packed first can be determined according to a predetermined algorithm or priority. Additionally, information regarding the target item identified by the sensor (530) can be transmitted to the robot arm (520) or the server (330) of FIG. 3 and used as a control signal for subsequent operations (picking, packing, etc.). The information regarding the target item may include the shape, location, size information, etc. of the target item.

[0101] In one embodiment, the robot arm (520) can perform a picking operation by determining the exact position and orientation of a target item based on information regarding a target item received from a sensor (530) among a plurality of items included in a tote (510). For example, when receiving coordinate information of a target item from the sensor (530), the robot arm (520) can operate by calculating and controlling joints according to the coordinates so that a gripper or suction device can pick up the target item.

[0102] In one embodiment, when the robot arm (520) picks up a target item, the sensor (530) can recognize identification information of the target item. For example, the identification information may include a barcode or a QR code, and the sensor (530) may include a barcode reader or a QR reader. The identification information or tote information of the target item acquired by the packing device (500) may be transmitted to the server (330) of FIG. 3, and the server (330) may check whether the order of the target item has been canceled and the order information of the target item based on the identification information and tote information of the target item. The server (330) may transmit information including whether the order of the target item has been canceled and the order information to the packing device (500). Based on the received information including whether the order of the target item has been canceled and the order information, the packing device (500) may determine the location where the target item is to be transported.

[0103] In one embodiment, the fence (540) may be located in at least a portion between the robot arm (520) and a plurality of packaging machines (550-1, 550-2). For example, the fence (540) may be located at a predetermined distance from the maximum operating range of the robot arm (520). If a worker enters the working radius, which is the maximum operating range of the robot arm (520), the robot arm (520) may not recognize the worker and may not stop operating. Therefore, for the safety of the worker, the packing device (500) may include a fence (540) at a predetermined distance from the working radius of the robot arm (520), so that the worker's workspace and the robot arm's (520) workspace can be separated.

[0104] In one embodiment, the robot arm (520) can drop a picked target item onto one of the target shuttles (540-1, 540-2). The robot arm (520) can move the position of a gripper or suction device included in the robot arm (520) to a drop position on one of the target shuttles (540-1, 540-2), and when the gripper or suction device is moved to the drop position, the gripper or suction device can drop the picked target item onto the drop position of one of the target shuttles (540-1, 540-2).

[0105] In one embodiment, the first shuttle (540-1) and the second shuttle (540-2) may be positioned on a conveyor line so as to be moved to the first packaging machine (550-1) and the second packaging machine (550-2). The first shuttle (540-1) and the second shuttle (540-2) may be moved along a conveyor line located between the robot arm (520) and the plurality of packaging machines (550-1, 550-2).

[0106] In one embodiment, the first shuttle (540-1) is matched to the first packaging machine (550-1) and the second shuttle (540-2) is matched to the second packaging machine (550-2), so that each shuttle can move along a transport line between the matching packaging machine and the waiting position where the robot arm (520) places the target item. For example, the first shuttle (540-1) can move along a transport line between the waiting position and the drop position of the first packaging machine (550-1), and the second shuttle (540-2) can move along a transport line between the waiting position and the drop position of the second packaging machine (550-2).

[0107] However, the matching relationship between the multiple shuttles (540-1, 540-2) and the multiple packaging machines (550-1, 550-2) is merely exemplary, and each of the multiple shuttles (540-1, 540-2) can be matched to all of the multiple packaging machines (550-1, 550-2) to transport the target item to the multiple packaging machines (550-1, 550-2).

[0108] For example, when the first shuttle (540-1) is in a waiting position, the robot arm (520) can drop the picked-up target item onto the first shuttle (540-1), and the first shuttle (540-1) can obtain information including whether the target item order has been cancelled from the server (330) of FIG. 3 to check whether the target item order has been cancelled. If the target item order has not been cancelled, the first shuttle (540-1) can move to the drop position of the first packaging machine (550-1) via the transport line and deliver the target item to the first packaging machine (550-1). Here, the drop position of the first packaging machine (550-1) may refer to a position where the first shuttle (540-1) can move via the transport line and drop the target item onto the first packaging machine (550-1).

[0109] In one embodiment, when the first shuttle (540-1) moves to the drop position of the first packaging machine (550-1), the second shuttle (540-2) moves to the waiting position where the first shuttle (540-1) was located, and can acquire a target item from the robot arm (520) and transport the acquired target item to the second packaging machine (550-2). In other words, the first shuttle (540-1) and the second shuttle (540-2) can sequentially transport the target item to the matching packaging machine.

[0110] Additionally, in one embodiment, the first shuttle (540-1) and the second shuttle (540-2) can move from the drop position to the standby position via a transport line if no other shuttle is present at the standby position. For example, if an error occurs in the operation of the first shuttle (540-1) or the first packaging machine (550-1) and it cannot move, the second shuttle (540-2) can recognize that the first shuttle (540-1) is not present at the standby position and move from the drop position to the standby position to acquire the target item. Thus, even if one shuttle or one packaging machine fails, the operation of the other shuttle or the other packaging machine can continue without stopping.

[0111] Since the first shuttle (540-1) and the second shuttle (540-2) transport target items sequentially to the robot arm (520) and the plurality of packaging machines (550-1, 550-2), the speed of item packing can be increased. In addition, since the first shuttle (540-1) and the second shuttle (540-2) move through a transport line between the robot arm (520) and the plurality of packaging machines (550-1, 550-2), the worker does not need to move to the workspace of the robot arm (520), thereby ensuring the safety of the worker.

[0112] In one embodiment, when the packing device (500) receives information from the server (330) of FIG. 3 that the order for a target item has been cancelled, a plurality of shuttles (550-1, 550-2) may place the target item in an exception buffer (560). The exception buffer (560) may load the plurality of items for which the order has been cancelled and transfer the plurality of items for which the order has been cancelled to the main conveyor line through a transport line.

[0113] In one embodiment, the exception buffer (560) may be located between the first packaging machine (550-1) and the second packaging machine (550-2), and may be located on the opposite side of the line where a plurality of shuttles (550-1, 550-2) move from the robot arm (520). Due to the location of the exception buffer (560), space can be utilized efficiently.

[0114] In one embodiment, a plurality of packaging machines (550-1, 550-2) can pack a target item into a packaging material such as a packaging bag. The packing device (500) can obtain order information for the target item obtained from the server (330) of FIG. 3 in response to the transmission of identification information for the target item, and can attach an invoice printed on the packaging bag through an invoice printer included in the plurality of packaging machines (550-1, 550-2). The target item can be packed into the packaging bag with the invoice attached, and the packed target item can be delivered to the main conveyor line through a transport line.

[0115] In one embodiment, a plurality of packaging machines (550-1, 550-2) may be located outside the maximum reach of the robot arm (520). Accordingly, the safety of the operator can be ensured.

[0116] FIGS. 6A and 6B are drawings illustrating the process of a robot arm picking up a target item and delivering it to a plurality of shuttles according to one embodiment.

[0117] Referring to FIG. 6a, the robot arm (610) can determine the location of a target item (640) identified by the sensor (530) of FIG. 5 among a plurality of items contained in a tote (620). The robot arm (610) can determine the exact location coordinates of the target item (640) among a plurality of items contained in a tote (620) and perform a picking operation. For example, when the robot arm (610) obtains coordinate information of the target item (640), the robot arm (610) can operate by calculating and controlling joints according to the coordinates so that a gripper or suction device can pick up the target item (640).

[0118] In one embodiment, when the robot arm (610) picks up the target item (640), the sensor (530) of FIG. 5 can recognize the identification information of the target item. For example, the identification information may include a barcode or a QR code, and the identification information of the target item (640) can be obtained through a barcode reader or a QR reader. The identification information of the target item (640) obtained by the packing device (500) can be transmitted to the server (330) of FIG. 3, and the server (330) can check whether the order of the target item (640) has been canceled and the order information of the target item (640) based on the identification information of the target item (640). The server (330) of FIG. 3 can transmit information including whether the order of the target item (640) has been canceled and the order information to the packing device (500) of FIG. 5.

[0119] Referring to FIG. 6b, the robot arm (610) can transfer the picked-up target item (640) to a shuttle (630) located at a waiting position on a transport line (601). Here, the waiting position is a position where the radius in which the gripper or suction device of the robot arm (610) can move intersects with the transport line (601), and the shuttle (630) can wait at the waiting position until the robot arm (610) picks up the target item (640), checks the identification information of the target item (640), and transfers the target item (640) to the shuttle (630) in order to receive the target item (640) from the robot arm (610).

[0120] FIG. 7 is a drawing showing a plurality of shuttles and belts according to one embodiment.

[0121] Referring to FIG. 7, each of the plurality of shuttles (700-1, 700-2) according to one embodiment may include a belt (710-1, 710-2) and a protrusion (720-1, 720-2) for delivering an item to a packaging machine or an exception buffer. Each of the plurality of shuttles (700-1, 700-2) may move sequentially to transport the item.

[0122] In one embodiment, a plurality of shuttles (700-1, 700-2) can be moved to transfer an item to an exception buffer (560) of FIG. 5 or a plurality of packaging machines (550-1, 550-2) when an item is placed on a belt (710-1, 710-2), and the item can be transferred using a protrusion (720-1, 720-2) and a belt (710-1, 710-2). The belt (710-1, 710-2) can be rotated toward the exception buffer (560) of FIG. 5 or a plurality of packaging machines (550-1, 550-2) to drop the item. Additionally, when the belt (710-1, 710-2) rotates, the protrusion (720-1, 720-2) can fix the item so that it does not spin freely, allowing the item to move toward the exception buffer (560) of FIG. 5 or the multiple packaging machines (550-1, 550-2).

[0123] FIG. 8 is a drawing showing a plurality of shuttles, a plurality of packaging machines, and an exception buffer according to one embodiment.

[0124] Referring to FIG. 8, a plurality of shuttles (810-1, 810-2) carrying target items can move along a transport line (801), and the packing device can obtain whether the order for the target item has been canceled and the order information for the target item from the server (330) of FIG. 3.

[0125] In one embodiment, if it is confirmed that the order of a target item has been cancelled, the first shuttle (810-1) can drop and deliver the target item to the exception buffer (830) from the waiting position. When a predetermined number or a predetermined mass of the cancelled item is acquired, the exception buffer (830) can deliver the item contained in the exception buffer (830) to the main conveyor line by rotating the belt (831).

[0126] In one embodiment, the first shuttle (810-1) can deliver a target item to a first packaging machine (820-1) that matches the first shuttle (810-1), and the second shuttle (810-2) can deliver the item to a second packaging machine (820-2) that matches the second shuttle (810-2).

[0127] FIG. 9a is a drawing showing a packaging machine according to one embodiment.

[0128] Referring to FIG. 9a, a packaging machine (900) according to one embodiment may include an invoice printer (910), a packaging material dispenser (920), and a conveying line (930). The packaging machine (900) illustrated in FIG. 9a shows only the components related to the present embodiment. Therefore, it can be understood by those skilled in the art related to the present embodiment that other general components may be included in addition to the components illustrated in FIG. 9a.

[0129] In one embodiment, the invoice printer (910) can obtain invoice information for a target item from the server (330) of FIG. 3 and output the obtained order information. The order information output from the invoice printer (910) may take the form of a printout and may be attached to the outer surface of a packaging material obtained from a packaging material dispenser (920).

[0130] In one embodiment, the packaging material attached with order information of a target item may refer to a packaging bag for packaging a target item delivered from a plurality of shuttles (810-1, 810-2) of FIG. 8. Additionally, the packaging machine (900) may perform the operation of expanding or opening the opening of the packaging material to package the target item and may check whether the target item is accurately packed inside the packaging material.

[0131] FIG. 9b shows a target item drop and a target item packaging according to one embodiment.

[0132] Referring to FIG. 9b, the packaging machine (900) may include a conveying line (930), an item input guide (940), a packaging material opener (950), and a packaging material (960). When the target shuttle (810) carries a target item and moves it to a drop position of the target packaging machine on a rail, the target shuttle (810) may drop the target item from the drop position toward the packaging machine (900).

[0133] In one embodiment, before the target item is dropped at the drop location, the packaging machine (900) may attach an invoice for the target item to the packaging material (960), the packaging material opening / closing machine (950) may open the opening of the packaging material (960), and the packaging machine (900) may position the packaging material (960) at the bottom of the item input guide (940). The packaging material opening / closing machine (950) may include an opening / closing bar (951), and the opening / closing bar (951) may be attached to one side of the opening of the packaging material (960) and move along the line of the packaging material opening / closing machine (950) to open or close the opening of the packaging material (960).

[0134] In one embodiment, when a target item is dropped at a drop location, the target item can be dropped onto the packaging material (960) along the item insertion guide (940). For example, the item insertion guide (940) has a shape in which one side where the item enters is wide and the other side where the item exits is narrow, so that the target item can be easily inserted into the item insertion guide (940) and the target item can be easily dropped onto the packaging material (960) located at the bottom of the other side.

[0135] In one embodiment, when a target item is dropped into the packaging material (960), the packaging opener (950) moves the opening / closing bar (951) to close the opening of the packaging material (960) and pack the target item into the packaging material (960). Subsequently, when the opening / closing bar (951) closes the opening of the packaging material (960), the adhesion force between the packaging material and the opening / closing bar (951) decreases, and the packaging material (960) packed with the target item can be dropped onto a transport line (930) located at the bottom of the packaging opener (950).

[0136] In one embodiment, the packaging machine (900) can place the packed packaging material (960) on the transport line (930), and the transport line (930) can move the packed packaging material (960) to the main conveyor line. In this case, the packaging machine (900) can send a message to the server (330) of FIG. 3 that the packing of the target item is complete.

[0137] In one embodiment, if it is confirmed that the target item is not packed inside the packaging material (960), the packaging machine (900) may send a warning message to the server (330) of FIG. 3 that the packing of the target item is not completed. Additionally, if the target item is incompletely packed in the packaging material (960) or if the target item is not placed inside the packaging bag, the packaging material (960) and the target item may be discharged outside the transport line (930). Accordingly, the operator can easily identify the incorrectly packed target item that has fallen outside the packaging machine (900) and place the item in a tote to safely perform repacking.

[0138] FIG. 10 is a flowchart illustrating an item packaging method according to one embodiment. The flowchart of FIG. 10 is described with reference to the packing device (500) of FIG. 5.

[0139] Referring to FIG. 10, in step S1010, a robot arm of a packing device (500) according to one embodiment can pick a target item. Prior to step S1010, the packing device (500) can sense a plurality of items contained inside a tote using a sensor and determine a target item to be picked according to a predetermined priority that requires packing. Additionally, the packing device (500) can check the coordinates of the target item to be picked, and accordingly, the robot arm can pick the target item using the coordinates of the target item.

[0140] In step S1010, a robot arm included in a packing device (500) according to one embodiment can deliver a picked target item to a first shuttle. The robot arm can deliver the picked target item to a first shuttle located at a waiting position among a plurality of shuttles included in the packing device (500).

[0141] In step S1030, a first shuttle included in a packing device (500) according to one embodiment can transport a target item to a first packaging machine. For example, the first shuttle can transport the target item to a first packaging machine using a transport line connecting a waiting position for a robot arm to drop the target item and a transfer position for transferring the target item to a first packaging machine that matches the first shuttle among a plurality of packaging machines.

[0142] In step S1040, a first packaging machine included in a packing device (500) according to one embodiment can pack a target item into a packaging material. When the target item is completed to be packed into the packaging material, the packing device (500) can transfer the packaged target item to a main conveyor line and can send a message to the server (330) of FIG. 3 that the packaging of the target item is completed.

[0143] FIG. 11 is a flowchart illustrating an item packaging method and exception handling according to one embodiment. The flowchart of FIG. 11 is described with reference to the packing device (500) of FIG. 5.

[0144] Referring to FIG. 11, in step S1110, a packing device (500) according to one embodiment can obtain identification information of a target item. Here, the identification information of the target item may include a barcode or a QR code, and the packing device (500) may include a barcode reader or a QR reader capable of recognizing the identification information of the target item.

[0145] In step S1120, a packing device (500) according to one embodiment can transmit identification information of a target item to a server (330) of FIG. 3. Based on the identification information of the target item, the server (330) of FIG. 3 can check whether the order of the target item has been canceled and the order information of the target item, and can transmit information including whether the order of the target item has been canceled and invoice information to the packing device (500).

[0146] In step S1130, a packing device (500) according to one embodiment may receive order information of a target item in response to the transmission of identification information. Here, the order information of the target item may include whether the order of the target item has been canceled and invoice information of the target item.

[0147] In step S1140, the packing device (500) according to one embodiment can check whether the order of the target item has been canceled, and if the order of the target item has been canceled (Yes in step S1140), the target item can be transferred to an exception buffer in step S1150.

[0148] Additionally, if the order for the target item is not cancelled (No of step S1140), the packing device (500) according to one embodiment may attach a printout with invoice information printed on it to the packaging material of the target item in step S1160.

[0149] In step S1170, a packing device (500) according to one embodiment can pack a target item into a packaging material to which invoice information is attached. The packing device (500) can confirm that the packing of the target item is complete, and when the packing of the target item is complete, it can send a message to the server (330) of FIG. 3 that the packing of the target item has been successfully completed.

[0150] Additionally, the packing device (500) can place the packed target item on the transport line to transfer the packed item to the main conveyor line.

[0151] FIG. 12 is a block diagram illustrating a packing device according to one embodiment.

[0152] According to one embodiment, the packing device (1200) may include a transceiver (1210), a memory (1230), and a processor (1250). The packing device (1200) illustrated in FIG. 12 is illustrated only with components related to the present embodiment. Therefore, it can be understood by those skilled in the art related to the present embodiment that other general-purpose components may be included in addition to the components illustrated in FIG. 12.

[0153] In one embodiment, the transceiver (1210) may be included in a communication device. Additionally, in one embodiment, the processor (1250) may be included in a controller.

[0154] The transceiver (1210) is a device for performing wired / wireless communication and can communicate with an external packing device. The external packing device may be a terminal or a server. In addition, the communication technologies used by the transceiver (1210) include GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), and Bluetooth. TM There may be RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, NFC (Near Field Communication), etc.

[0155] The processor (1250) can control the overall operation of the packing device (1200) and process data and signals. The processor (1250) may be composed of at least one hardware unit. Additionally, the processor (1250) may be operated by one or more software modules generated by executing program code stored in memory (1230). The processor (1250) may include memory, and the processor (1250) can control the overall operation of the packing device (1200) and process data and signals by executing program code stored in memory.

[0156] The processor (1250) can pick a target item from at least one item, transport the target item to one of the plurality of packaging machines, and pack the target item into a packaging material.

[0157] Meanwhile, the present specification and drawings disclose preferred embodiments of the present invention. Although specific terms have been used, they are used merely in a general sense to facilitate the explanation of the technical content of the present invention and to aid in understanding the invention, and are not intended to limit the scope of the present invention. It is obvious to those skilled in the art that, in addition to the embodiments disclosed herein, other variations based on the technical concept of the present invention are possible.

[0158] The packing device (310) or server (330) according to the embodiments described above may include a processor, memory for storing and executing program data, permanent storage such as a disk drive, a communication port for communicating with an external device, and user interface devices such as a touch panel, a key, an icon, etc. Methods implemented as software modules or algorithms may be stored on a computer-readable recording medium as computer-readable code or program instructions executable on the processor. Here, computer-readable recording media include magnetic storage media (e.g., ROM (read-only memory), RAM (random-access memory), floppy disk, hard disk, etc.) and optical reading media (e.g., CD-ROM, DVD (Digital Versatile Disc)). Computer-readable recording media may be distributed across networked computer systems, allowing computer-readable code to be stored and executed in a distributed manner. The medium may be readable by a computer, stored in memory, and executed by a processor.

[0159] The present embodiment may be represented by functional block configurations and various processing steps. These functional blocks may be implemented by various numbers of hardware and / or software configurations that execute specific functions. For example, the embodiment may employ integrated circuit configurations such as memory, processing, logic, look-up tables, etc., capable of executing various functions by the control of one or more microprocessors or other control devices. Similar to how components may be implemented as software programming or software elements, the present embodiment may be implemented in programming or scripting languages ​​such as C, C++, Java, assembler, Python, etc., including various algorithms implemented as combinations of data structures, processes, routines, or other programming configurations. Functional aspects may be implemented as algorithms executed on one or more processors. Additionally, the present embodiment may employ prior art for electronic configuration, signal processing, and / or data processing. Terms such as “mechanism,” “element,” “means,” and “configuration” may be used broadly and are not limited to mechanical and physical configurations. The above terms may include the meaning of a series of software processes (routines) in conjunction with processors, etc.

[0160] The aforementioned embodiments are merely examples, and other embodiments may be implemented within the scope of the claims set forth below.

Claims

1. In a packing device for packing items, A robot arm for picking target items; A plurality of packaging machines for packing the above target item into packaging material; and A movable shuttle comprising the robot arm to transfer the target item acquired by the robot arm to a target packaging machine, which is one of the plurality of packaging machines. Packing device.

2. In Paragraph 1, The above shuttle includes a plurality of shuttles, and The robot arm drops the target item onto the target shuttle among the plurality of shuttles, and The above target shuttle moves toward the target packaging machine and then drops the target item into the target packaging machine. Packing device.

3. In Paragraph 1, The shuttle moves on a rail located between the robot arm and the plurality of packaging machines, and drops the target item at the drop position of the target packaging machine. Packing device.

4. In Paragraph 1, The above packing device is, Acquiring identification information of the above target item, and verifying order information corresponding to the above target item based on the acquired identification information, Packing device.

5. In Paragraph 4, The above shuttle is placed at the drop position of the above robot arm, and When the order information of the above target item is confirmed, the target packaging machine attaches an invoice corresponding to the order information to the packaging material, and When the target item is dropped, the shuttle moves toward the target packaging machine and drops the target item into the packaging material opened by the target packaging machine. Packing device.

6. In Paragraph 4, The above packing device is, Includes additional exception buffers, The above shuttle is, If the order for the target item is canceled based on the above order information, the target item is passed to the exception buffer. Packing device.

7. In Paragraph 6, The above exception buffer is, Located between the above plurality of packaging machines, Packing device.

8. In Paragraph 1, The above plurality of packaging machines, Located outside the maximum reach of the above robot arm, Packing device.

9. In Paragraph 1, The above packing device is, A fence further comprising a portion located between the robot arm and the plurality of packaging machines. Packing device.

10. In Paragraph 1, The above shuttle includes a plurality of shuttles, and Each of the plurality of shuttles delivers the target item to a matched packaging machine among the plurality of packaging machines. Packing device.

11. In Paragraph 1, The above target packaging machine is, Among the plurality of packaging machines mentioned above, sequentially determined, Packing device.

12. In Paragraph 11, If it is confirmed that the target packaging machine determined sequentially above is packing a previous item or is in an abnormal state, the target packaging machine is changed to another operable packaging machine among the plurality of packaging machines to determine Packing device.

13. In Paragraph 1, The above target packaging machine is, Determined according to the attribute information of the above target item, Packing device.

14. In Paragraph 1, The above packing device is, Checking whether the packing of the above target item has been successfully completed, Packing device.

15. In Paragraph 14, The above plurality of packaging machines, If the packing of the above target item is not completed normally, the above target item is discharged to the outside of the plurality of packaging machines. Packing device.

16. In Paragraph 14, The above packing device is, When the packing of the above target item is successfully completed, a message indicating the completion of packing of the above target item is transmitted to the logistics center server. Packing device.

17. In a method for packing items of a packing device, Step where the robot arm picks the target item; A step in which a shuttle delivers the target item acquired by the robot arm to a target packaging machine, which is one of the plurality of packaging machines; and A step comprising packing the above target item into a packaging material, Item packing method.

18. A computer-readable, non-transient recording medium having a program for executing the item packing method of paragraph 17 on a computer.

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