Method and apparatus for labeling of support structures

Patent metadata

Field	Value
Publication number	US-11117263-B2
Application number	US-201816189790-A
Country	US
Kind code	B2
Filing date	Nov 13, 2018
Priority date	Nov 13, 2018
Publication date	Sep 14, 2021
Grant date	Sep 14, 2021

Abstract

An apparatus for labeling support structures includes: a chassis having a locomotive assembly, and supporting an effector assembly with an end movable relative to the chassis and carrying a label modification unit with an image sensor; a controller coupled to the locomotive assembly, effector assembly and label modification unit, and configured to: obtain label modification data defining a location relative to a support structure reference feature for a label modification operation; control the locomotive assembly to travel to the support structure; detect the reference feature via image data captured at the image sensor; control the effector assembly to place the label modification unit at the location relative to the reference feature; control the effector assembly and the label modification unit perform the label modification operation.

First claim

The invention claimed is:

1. An apparatus for labeling support structures, comprising:
a chassis having a locomotive assembly;
an effector assembly having a first end coupled to the chassis and a second end movable relative to the chassis;
a label modification unit at the second end of the effector assembly, the label modification unit including an image sensor;
a controller coupled to the locomotive assembly, the effector assembly and the label modification unit, the controller configured to:
obtain label modification data defining a location relative to a reference feature on a support structure for a label modification operation;
control the locomotive assembly to travel to the support structure;
detect the reference feature via image data captured at the image sensor;
control the effector assembly to place the label modification unit at the location relative to the reference feature; and
control the effector assembly and the label modification unit to perform the label modification operation, wherein the label modification operation comprises at least one of: (i) erasing previous label content from a rewriteable medium, and (ii) writing new label content to the rewriteable medium; and

a hot air supply configured to supply hot air for application via an outlet of the label modification unit wherein the controller is configured to erase the previous label content by controlling the hot air supply to apply the hot air to the rewriteable medium.

2. The apparatus of claim 1 , wherein the effector assembly is a robotic arm.

3. The apparatus of claim 2 , further comprising a mast extending upwards from the chassis; wherein the robotic arm is supported at the first end on the mast.

4. The apparatus of claim 1 , wherein the label modification operation comprises writing the new label content to the rewriteable medium responsive to erasing the previous label content from the rewriteable medium.

5. The apparatus of claim 1 , wherein the label modification unit includes a laser configured to emit a laser beam in a direction towards the rewriteable medium; wherein the controller is configured to write the new label content by controlling the laser to heat the rewriteable medium to a first threshold temperature.

6. The apparatus of claim 5 , wherein the controller is further configured to erase the previous label content by controlling the laser to heat the rewriteable medium to a second threshold temperature.

7. The apparatus of claim 5 , wherein the label modification unit includes a housing configured to house the laser, the housing defining a cavity and an opening through which the laser beam is directed.

8. The apparatus of claim 7 , wherein the label modification unit further includes a cover configured to selectively block the opening.

9. The apparatus of claim 1 , wherein the support structure includes a shelf module including a label-bearing shelf edge; and wherein the reference feature is a boundary of the shelf module; and
wherein the controller is configured to detect the reference feature by:
controlling the effector assembly to position the label modification unit at an initial location relative to the shelf module;
capturing, via the image sensor, an image of the shelf module; and
detecting the module boundary in the image.

10. The apparatus of claim 9 , wherein the controller is further configured to detect the module boundary in the image by detecting a sequence of gradient changes in the image.

11. The apparatus of claim 6 , wherein the previous label content comprises a portion of content recorded on the rewriteable medium.

12. The apparatus of claim 8 , further comprising a hot air supply configured to supply hot air for application via an outlet of the label modification unit, the hot air supply including a heating element on a front side of the cover; and wherein the controller is configured to erase the previous label content by controlling the hot air supply to heat the air via the heating element and apply the hot air to the rewriteable medium.

Assignees

• Zebra Tech Corp

Inventors

• Beach Robert E

Classifications

• B25J9/162

  Mobile manipulator, movable base with manipulator arm mounted on it · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• G05B2219/39045

  Camera on end effector detects reference pattern · CPC title

• B65C9/40

  Controls; Safety devices · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title