This disclosure is directed to automated warehouse facilities that are configured to assemble mixed pallets. The warehouse facilities can include one or more layer handling devices that are configured to remove layers from pallets in a delayering operational mode, and to add layers to pallets in a palletizing operation mode. The warehouse facilities also may include one or more item retrieval devices that are configured to retrieve individual items from storage racks. The warehouse facilities can include other automated devices as well.

A stacking device (8), handling plant and method for goods (2) in the form of layers of goods, includes a loading station (10) for feeding and/or removal of layers of goods (3), a stacking station (9) for the arrangement of a stack of containers, which include a mobile stack carrier (7) and inverted containers (4) that are stacked on the stack carrier, are open at the bottom and can be stacked on top of one another. A handling device (11) is arranged between the stacking station and the loading station and handles and moves the inverted container together with a layer of goods between the stacking station and the loading station. The stacking device includes a moveable stack transporter (12) and alternatingly arranges a filled stack of containers (5) with inverted containers with layers of goods and a buffering stack of containers (6) composed of empty inverted containers.

A stacking device (8), handling plant and method for goods (2) in the form of layers of goods, includes a loading station (10) for feeding and/or removal of layers of goods (3), a stacking station (9) for the arrangement of a stack of containers, which include a mobile stack carrier (7) and inverted containers (4) that are stacked on the stack carrier, are open at the bottom and can be stacked on top of one another. A handling device (11) is arranged between the stacking station and the loading station and handles and moves the inverted container together with a layer of goods between the stacking station and the loading station. The stacking device includes a moveable stack transporter (12) and alternatingly arranges a filled stack of containers (5) with inverted containers with layers of goods and a buffering stack of containers (6) composed of empty inverted containers.

The present disclosure relates to a palletizing control device, system, method and storage medium, and relates to the technical field of logistics. A palletizing control device includes: a prestage position generation module configured to generate a prestage position of an article to be palletized by respectively shifting a placement position of the article to be palletized along a horizontal palletizing direction by a horizontal offset corresponding to the article to be palletized and along a vertical palletizing direction by a vertical offset corresponding to the article to be palletized; and a path generation module configured to generate movement path information representing a straight path from the prestage position of the article to be palletized to the placement position of the article to be palletized.

The present disclosure relates to a palletizing control device, system, method and storage medium, and relates to the technical field of logistics. A palletizing control device includes: a prestage position generation module configured to generate a prestage position of an article to be palletized by respectively shifting a placement position of the article to be palletized along a horizontal palletizing direction by a horizontal offset corresponding to the article to be palletized and along a vertical palletizing direction by a vertical offset corresponding to the article to be palletized; and a path generation module configured to generate movement path information representing a straight path from the prestage position of the article to be palletized to the placement position of the article to be palletized.

A delivery system generates a pick sheet containing a plurality of SKUs based upon an order. A loaded pallet is imaged to identify the SKUs on the loaded pallet, which are compared to the order prior to the loaded pallet leaving the distribution center. The loaded pallet may be imaged while being wrapped with stretch wrap. At the point of delivery, the loaded pallet may be imaged again and analyzed to compare with the pick sheet.

A delivery system generates a pick sheet containing a plurality of SKUs based upon an order. A loaded pallet is imaged to identify the SKUs on the loaded pallet, which are compared to the order prior to the loaded pallet leaving the distribution center. The loaded pallet may be imaged while being wrapped with stretch wrap. At the point of delivery, the loaded pallet may be imaged again and analyzed to compare with the pick sheet.

A method for palletizing includes receiving a target box location for a box grasped by the end-effector, the box having a top surface, a bottom surface, and side surfaces. The method also includes positioning the box at an initial position adjacent to the target box location and tilting the box at an angle relative to a ground plane where the angle is formed between the ground plane and the bottom surface. The method further includes shifting the box from the initial position in a first direction to a first alignment position that satisfies a threshold first alignment distance, shifting the box from the first alignment position in a second direction to the target box location that satisfies a threshold second alignment distance, and releasing the box from the end-effector. The release of the box causes the box to pivot toward a boundary edge of the target box location.

A method for palletizing includes receiving a target box location for a box grasped by the end-effector, the box having a top surface, a bottom surface, and side surfaces. The method also includes positioning the box at an initial position adjacent to the target box location and tilting the box at an angle relative to a ground plane where the angle is formed between the ground plane and the bottom surface. The method further includes shifting the box from the initial position in a first direction to a first alignment position that satisfies a threshold first alignment distance, shifting the box from the first alignment position in a second direction to the target box location that satisfies a threshold second alignment distance, and releasing the box from the end-effector. The release of the box causes the box to pivot toward a boundary edge of the target box location.

A delivery system generates a pick sheet containing a plurality of SKUs based upon an order. A loaded pallet is imaged to identify the SKUs on the loaded pallet, which are compared to the order prior to the loaded pallet leaving the distribution center. The loaded pallet may be imaged while being wrapped with stretch wrap. At the point of delivery, the loaded pallet may be imaged again and analyzed to compare with the pick sheet.