Abstract: In a method for automated palletizing of packages, in particular by means of a manipulator, packages are arranged on the edge of a loading area and, if possible, a virtual initial layer of multiple packages is initially generated and this layer is then centered relative to the loading area.

Abstract: In a computerized method, and a computer-readable medium encoded with programming instructions for implementing the method, multiple layers of packages stacked on a load carrier are virtually constructed in a computer and, for each of the layers, an automatic determination is made with regard to the additive pressure that each layer exerts on the respective layers therebelow in the stack. The packages are organized in the multiple layers in the virtual construction dependent on predetermined constraints for the respective additive pressures, and the virtual construction is made available at an output of the computer in a form allowing the actual loading of the load carrier with the packages to be guided.

Abstract: In a method for palletizing packages using an automated manipulator, and a non-transitory computer-readable medium encoded with programming instructions for implementing the method, a sequence of grip positions is designated for accepting packages with the automated manipulator, and a supply of provided packages is automatically checked with regard to the grip positions of the packages in the supply. The supplied packages are palletized according to a predetermined initial palletizing pattern as long as the packages are supplied in the grip positions in the sequence. The packages are palletized by the manipulator according to an alternate palletizing pattern, different from the initial palletizing pattern, in the event that a package is not supplied to the manipulator in a grip position in the sequence.

Abstract: A method and system for loading a loading carrier, in particular pallets, with packages by means of an automated manipulator, a model of a package stack on the loading carrier is automatically determined, an initial desired position for a package in the mode is determined, the package stack is detected on the loading carrier, a deviation between the detected package stack and the model is determined, the package is placed by the manipulator, and the steps are repeated until a termination criterion is reached.

Abstract: A method for the automatic palletizing of stable package stacks includes the steps of virtual generation of multiple follow-up configurations by adding packages to at least one initial configuration, assessment of these follow-up configurations, and pursuit of follow-up configurations that are assessed as good as initial configurations. These steps are repeated until a termination criterion is satisfied. The follow-up configurations are assessed on the basis of different partial stack heights, towers and/or overbuildings. Another version of the method includes the steps of virtual generation of a package stack, and determination of a characteristic stability value of a package of a layer of a virtual package stack on the basis of the characteristic stability value of packages on which the package rests.

Abstract: In a robot system, and a method for operating a robot system, for loading general cargo units, a gripper unit of the robot is operated to stack the general cargo units in a stack, by movements controlled by a computerized control unit. In order to avoid unstable loading patterns, the computerized control unit automatically determines the loading pattern of the stack of general cargo units, and also automatically determines at least one characteristic that represents the stability of the loading pattern.

Abstract: In a robot system, and a method for operating a robot system, for loading general cargo units, a gripper unit of the robot is operated to stack the general cargo units in a stack, by movements controlled by a computerized control unit. In order to avoid unstable loading patterns, the computerized control unit automatically determines the loading pattern of the stack of general cargo units, and also automatically determines at least one characteristic that represents the stability of the loading pattern.

Abstract: A method for the automatic palletizing of stable package stacks includes the steps of virtual generation of multiple follow-up configurations by adding packages to at least one initial configuration, assessment of these follow-up configurations, and pursuit of follow-up configurations that are assessed as good as initial configurations. These steps are repeated until a termination criterion is satisfied. The follow-up configurations are assessed on the basis of different partial stack heights, towers and/or overbuildings. Another version of the method includes the steps of virtual generation of a package stack, and determination of a characteristic stability value of a package of a layer of a virtual package stack on the basis of the characteristic stability value of packages on which the package rests.

Abstract: In a computerized method, and a computer-readable medium encoded with programming instructions for implementing the method, multiple layers of packages stacked on a load carrier are virtually constructed in a computer and, for each of the layers, an automatic determination is made with regard to the additive pressure that each layer exerts on the respective layers therebelow in the stack. The packages are organized in the multiple layers in the virtual construction dependent on predetermined constraints for the respective additive pressures, and the virtual construction is made available at an output of the computer in a form allowing the actual loading of the load carrier with the packages to be guided.

Abstract: In a method for automated palletizing of packages, in particular by means of a manipulator, packages are arranged on the edge of a loading area and, if possible, a virtual initial layer of multiple packages is initially generated and this layer is then centered relative to the loading area.

Abstract: A method and system for loading a loading carrier, in particular pallets, with packages by means of an automated manipulator, a model of a package stack on the loading carrier is automatically determined, an initial desired position for a package in the mode is determined, the package stack is detected on the loading carrier, a deviation between the detected package stack and the model is determined, the package is placed by the manipulator, and the steps are repeated until a termination criterion is reached.

Abstract: In a method for palletizing packages using an automated manipulator, and a non-transitory computer-readable medium encoded with programming instructions for implementing the method, a sequence of grip positions is designated for accepting packages with the automated manipulator, and a supply of provided packages is automatically checked with regard to the grip positions of the packages in the supply. The supplied packages are palletized according to a predetermined initial palletizing pattern as long as the packages are supplied in the grip positions in the sequence. The packages are palletized by the manipulator according to an alternate palletizing pattern, different from the initial palletizing pattern, in the event that a package is not supplied to the manipulator in a grip position in the sequence.