A process and system for manual multi-layer stacking of objects having different dimensions on a load carrier in a predetermined spatial arrangement including determining the spatial arrangement of the objects to be packed according to an order listing, delivering the objects to a supply level of a workstation in a sequence based on the spatial arrangement automatically by an autonomous mobile robot and/or an automated guided vehicle, supplying objects to a working level of the workstation and there presenting the objects to the operator, manually moving the objects onto a support connected to a manual stacking station in the working level and presenting the load carrier in the manual stacking station, where the load carrier defines a work surface for the stack being formed on four sides as it is packed with objects, and manually placing each object at a position in the stack according to the predetermined spatial arrangement.

A method for automatically stacking packages of different sizes in layers on a support in a specified spatial arrangement so as to form a stack by determining the order and spatial position of the packages of different sizes in the stack to be formed in a computer-assisted manner, including by placing the individual packages in an order by a conveyor system, and transporting the packages to be loaded from the conveyor system to the pre-calculated spatial positions on the support or the stack being formed on the support using the handling means of a stacking device. The specified order and the specified spatial position of the packages are used to computationally check whether at least two packages following each other on a conveyor system path leading to the stacking device can be transported together to the pre-calculated spatial positions by the handling means.

The invention relates to a method for stacking of filled sacks (20) to a pallet-free sack stacking (10) comprising the following: Performing of a first layer (L1) from at least two rows of filled sacks (20), Performing of at least one further layer (L2) from at least two rows of filled sacks (20) on top of the first layer (L1), Covering of the completed sack stacking (10) with at least a stabilized cover (30). The first layer (L1) or the last layer (L9) of the sack stacking with at least two elevating recesses (40) are performed for an elevation with a forklift and between two layers (L8, L9) a mechanically stiffened intermediate space (50) is realized with a floor space (52) which extends between both neighboring layers (L8, L9) and at least a lateral flap (54) which extends along the lateral side (22) of the sacks (20) of one of both neighboring layers (L8, L9) and transverse to the elevating recesses (40).

The invention relates to a method for stacking of filled sacks (20) to a pallet-free sack stacking (10) comprising the following: Performing of a first layer (L1) from at least two rows of filled sacks (20), Performing of at least one further layer (L2) from at least two rows of filled sacks (20) on top of the first layer (L1), Covering of the completed sack stacking (10) with at least a stabilized cover (30). The first layer (L1) or the last layer (L9) of the sack stacking with at least two elevating recesses (40) are performed for an elevation with a forklift and between two layers (L8, L9) a mechanically stiffened intermediate space (50) is realized with a floor space (52) which extends between both neighboring layers (L8, L9) and at least a lateral flap (54) which extends along the lateral side (22) of the sacks (20) of one of both neighboring layers (L8, L9) and transverse to the elevating recesses (40).

Shuttle robots (107) are used that are suitable for moving trolleys (106, 106′) under the control of a monitoring and control unit (190) for handling objects so as to move them from a collection point (110) to a palletizing station (151) remote from the collection point, the shuttle robots being autonomously movable and being suitable for hitching to and unhitching from the trolleys, the monitoring and control unit controls the shuttle robots so that they move the objects on trolleys from the collection point to a buffer storage zone (141) where the articles on the trolleys are grouped together into batches of articles for palletizing, and the monitoring and control unit controls the shuttle robots so that they take the objects on trolleys grouped together in batches from the buffer storage zone and move them in sequence to the palletizing station.

Shuttle robots (107) are used that are suitable for moving trolleys (106, 106′) under the control of a monitoring and control unit (190) for handling objects so as to move them from a collection point (110) to a palletizing station (151) remote from the collection point, the shuttle robots being autonomously movable and being suitable for hitching to and unhitching from the trolleys, the monitoring and control unit controls the shuttle robots so that they move the objects on trolleys from the collection point to a buffer storage zone (141) where the articles on the trolleys are grouped together into batches of articles for palletizing, and the monitoring and control unit controls the shuttle robots so that they take the objects on trolleys grouped together in batches from the buffer storage zone and move them in sequence to the palletizing station.

A process and system for manual multi-layer stacking of objects having different dimensions on a load carrier in a predetermined spatial arrangement including determining the spatial arrangement of the objects to be packed according to an order listing, delivering the objects to a supply level of a workstation in a sequence based on the spatial arrangement automatically by an autonomous mobile robot and/or an automated guided vehicle, supplying objects to a working level of the workstation and there presenting the objects to the operator, manually moving the objects onto a support connected to a manual stacking station in the working level and presenting the load carrier in the manual stacking station, where the load carrier defines a work surface for the stack being formed on four sides as it is packed with objects, and manually placing each object at a position in the stack according to the predetermined spatial arrangement.

A method for operating a robotic system includes determining a discretized object model representative of a target object; determining a discretized platform model representative of a task location; determining height measures based on real-time sensor data representative of the task location; and dynamically deriving a placement location based on (1) overlapping the discretized object model and the discretized platform model for stacking objects at the task location and (2) calculating a placement score associated with the overlapping based on the height measures.

A method for operating a robotic system includes determining a discretized object model representative of a target object; determining a discretized platform model representative of a task location; determining height measures based on real-time sensor data representative of the task location; and dynamically deriving a placement location based on (1) overlapping the discretized object model and the discretized platform model for stacking objects at the task location and (2) calculating a placement score associated with the overlapping based on the height measures.

A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.