System for the automatic assembly of pallets supporting a set of packages by predetermining an optimized pallet layout

Abstract

A method for automatically assembling a pallet (103) supporting a set of packages (101), comprising the steps of: - receiving information (3) relating to this set; - establishing a pallet plan from this information; - storing packages (101) received by means of a conveyor (105) in a temporary storage space (104) by a robotic gripper arm (102); - when said set of packages is stored in said temporary storage space, assembling said pallet (103) by the gripper arm (102), by selecting the packages in the storage space (104) according to an order dependent on the pallet plan, and positioning them successively on the pallet according to this pallet plan. Figure for the abstract: Fig. 2

Description

Title of the invention: System for the automatic assembly of pallets supporting a set of packages by prior determination of an optimized pallet layout. FIELD OF THE INVENTION

[0001] The present invention relates to the formation of parcel pallets in a supply chain management environment. It applies in particular to warehouses that must prepare parcel pallets following customer orders for delivery to carriers.

[0002] This palletizing process is usually partially manual. Even though tools exist (vehicles, cranes, gripping robots, mobile robots, etc.), they are only used for certain stages of the process. Human intervention remains necessary both for operating these tools and for handling operations, particularly for transferring a package from one tool to another, as these tools are not necessarily designed to work together in a fully automated manner.

[0003] One of the underlying reasons for this lack of end-to-end automation is the non-uniformity of the packages: they can vary in size (height, width, length) and weight. Therefore, a fully automated process proves complex to implement.

[0004] Automation proposals exist for homogeneous packages. However, these proposals can therefore only be applied in very specific cases where a warehouse, or a seller, is single-product, or only delivers products of the same size.

[0005] It could be considered to package products, or articles, of varying dimensions in parcels of the same size. The problem of heterogeneous objects could be reduced to the automated management of homogeneous parcels.

[0006] However, such an approach is not acceptable for at least two reasons. First, it requires oversized packages to accommodate larger items, resulting in greater bulk and potentially increasing the logistics costs associated with ordering a set of products. Furthermore, to prevent the items inside from shifting due to this oversizing, the packages are filled with crumpled paper, cardboard scraps, or other materials, leading to a prohibitive environmental cost. This process may also violate regulations.

[0007] The state of the art thus does not provide satisfactory solutions to the problem of building pallets from packages in the general case. Summary of the invention

[0008] The invention therefore aims to improve upon current prior art proposals. In particular, it aims to automate the process of assembling pallets from a set of packages corresponding to a customer's order, for the purpose of transmitting them to an agent responsible for their transport to that customer.

[0009] To this end, according to a first aspect, the present invention can be implemented by a method for automatically assembling a pallet supporting a set of packages, comprising steps of

[0010] - receipt of information relating to said set of packages comprising at least dimensions for each package;

[0011] - establishing a pallet plan from said information,

[0012] - storage of parcels received by means of a conveyor in a storage space temporary by a robotic grasping arm;

[0013] - when said set of packages is stored in said temporary storage space, constitution of said pallet by said robotic gripping arm, by selecting said packages in said storage space according to an order dependent on said pallet plan, and by positioning them on said pallet, successively, according to said pallet plan.

[0014] Thus, by automating pallet assembly, the process saves time for the warehouse operator. This automated mechanism is also less prone to error and optimizes the resulting pallets, thereby improving the relationship with the carrier and end customers. Furthermore, by eliminating manual handling, even with heterogeneous pallets (containing packages of varying sizes), the impact on the health of human operators (particularly musculoskeletal disorders) is reduced, allowing them to focus on higher value-added tasks.

[0015] According to preferred embodiments, the invention comprises one or more of the following features which can be used separately or in partial combination with each other or in total combination with each other: - said positioning includes a rotation of said package by said robotic gripping arm, according to target orientation data contained in said pallet plan, and current orientation data obtained by a detection device associated with said gripping arm. - a received package is identified by an optical reader adapted to decode a label affixed to said received package. - said storage and selection steps include a dialogue to allow access to said robotic gripper arm to a determined location of said temporary storage space. - the said packages received are first directed to the said conveyor according to a destination pallet determined according to an identifier and, possibly, the said information. - said pallet plan is determined based on weight data associated with each package contained in said information, in order to position a final center of gravity of said pallet in a substantially low and central area of ​​said pallet. - several pallets are made up from said set of packages. - said pallet is positioned on a mobile robot, said mobile robot being able to be summoned to the vicinity of said robotic gripper arm by the activation of a remote control by said robotic gripper arm

[0016] Another aspect of the invention relates to a system for the automatic assembly of a pallet supporting a set of packages, comprising a control device and a logistics platform, said control device being adapted for receiving information relating to said set of packages comprising at least dimensions for each package, and for establishing a pallet plan from said information, and said logistics platform comprising a temporary storage space, a conveyor and a robotic gripper arm, adapted for storing packages received by means of said conveyor in said temporary storage space by said robotic gripper arm, and for, when said set of packages is stored in said temporary storage space, assembling said pallet by said robotic gripper arm, by selecting said packages in said storage space according to an order depending on said pallet plan,and by positioning them successively on said pallet, according to said pallet plan,

[0017] Another aspect of the invention relates to a computer program suitable for implementation on a computer associated with a pallet preparation system, comprising code instructions which, when executed by a processor, performs the steps of the process as previously described.

[0018] Another aspect of the invention relates to a data carrier on which at least one series of program code instructions for the execution of a process as previously defined has been stored.

[0019] Other features and advantages of the invention will become apparent from the following description of a preferred embodiment of the invention, given by way of example and with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE FIGURES

[0020] Fig. 1 illustrates the interactions between different cooperating subsystems for the purpose of forming one or more pallets, according to embodiments of the invention.

[0021] Fig. 2 schematically represents a logistics platform, according to one embodiment of the pallet building system.

[0022] DETAILED DESCRIPTION OF EMBODIMENT METHODS OF THE INVENTION

[0023] One of the objectives of the described process is to create pallets of parcels for items (or products) that have been ordered to be sent to customers by carrier.

[0024] These orders are typically managed by a specific software tool called an Integrated Management Software Package, or ERP (Enterprise Resource Planning). An ERP tool can be considered a collection of software modules adapted to manage various operational processes of a company by integrating several management functions: order management solution, inventory management solution, etc. In the context of the proposed process, order management processes are primarily considered.

[0025] This specific tool is thus adapted to manage customer orders as well as stocks in order to prepare an order with the available items.

[0026] An order can be defined as a set of items ordered by a customer and expected at a delivery address. An order can therefore consist of several "lines," each line relating to one item.

[0027] A given order can be broken down into several manufacturing orders (MOs). The advantages of subdividing a single order into multiple manufacturing orders are numerous and depend on the specific logic of the company and / or its customers. For example, a customer may wish to subdivide an order to receive separate pallets (each corresponding to a manufacturing order) to facilitate its management, for example, if each pallet is destined for a particular floor or area of ​​their own warehouse.

[0028] The articles are packaged in parcel form. By definition, a parcel is a packaged object (or article) intended for shipment. Here, it is intended to be placed on a pallet for dispatch.

[0029] According to the proposed process, the packages can be of various dimensions, and therefore adapted to the various dimensions of the articles.

[0030] A pallet is typically a base (made of wood or other materials) on which packages are placed. There are several types of pallets that differ in their dimensions (particularly width and length) and possibly in the type of wood or wood treatment applied (for certain destination countries).

[0031] Fig. 1 illustrates the interactions between different cooperating subsystems for the purpose of forming one or more pallets.

[0032] A company managing a warehouse 10 has a set of packages 101 (prepared for shipment) and a tool PRI, 2, adapted for managing stocks in this warehouse and orders.

[0033] Tool 2 is adapted to transmit information 3 relating to the pallets 103 to be assembled from packages 1. This information is transmitted to a pallet assembly system 20. This system 20 can be viewed as an autonomous system that takes as input packages 101 and information 3 relating to the pallets to be assembled, and outputs a finished pallet 103. This system 20 and the process it implements are two objects that can be proposed to a warehouse manager and implemented in that warehouse.

[0034] This system 20 includes a control device 200 and a logistics platform 100.

[0035] The control device 200 can be a software module (or set of modules) implemented on a computer. The computer and the software module have communication interfaces enabling it to transmit data on the one hand with the ERP tool, 3, of the warehouse 10, and on the other hand with the logistics platform 100.

[0036] The logistics platform 100 consists of a set of hardware and software components. It includes, in particular, a robotic gripping arm, a temporary storage area and a conveyor 105 linking to the logistics equipment of the warehouse 10.

[0037] According to one embodiment, the pallet building system 20 is therefore controlled by the PLI 2 tool. The PLI tool has, in particular, knowledge of customer orders (and the lead times associated with these orders), inventory levels, and is able to trigger the release of items and the preparation of packages. When an order is triggered, the information related to this order is transmitted to the pallet building system so that it can correctly process the packages 101 transmitted via the conveyor 105 and build one or more pallets corresponding to the order.

[0038] It should be noted that several orders can be processed simultaneously, depending on the sizing of the pallet building system 20.

[0039] According to the proposed method, the control device 200 is designed to receive information 3 relating to a set of packages. This information includes at least the dimensions for each package, i.e., a length, a width, and a height. It may also include, for each package, other information such as weight data, etc.

[0040] Furthermore, the information is intended to establish a link between the packages and an order, and / or, where applicable, a production order. Thus, upon receipt, the control device can know all the packages constituting an order as well as the information it needs to create one or more pallets corresponding to that order (or to that production order, PO).

[0041] Based on this information, the control device can establish a pallet plan. If several pallets need to be assembled for the same order (or manufacturing order), as many pallet plans will be created.

[0042] This pallet layout specifies which package should be positioned where in the pallet to be assembled. It can also specify a rotation of the package, so as to swap its dimensions (width, length, height), and thus offer more freedom in determining an optimal pallet layout.

[0043] This pallet plan is intended to be provided to the robotic gripper arm so that it can select the packages in the correct order and position them in the right place (and with the correct orientation) on the pallet. In particular, this implies that the packages constituting the bottom layer must be positioned before those that will be placed above them.

[0044] According to some embodiments, this pallet design can meet constraints such as: - The finished pallet must be as uniform as possible (in volume) and be stable during the assembly phase and once assembled to facilitate transport; - The center of gravity should be as low and centered as possible. This helps to improve the stability of the finished pallet during transport. - The positioning of the cartons is planned to use a large area of ​​the pallet, preferably a maximum (i.e. the whole less a margin facilitating transport and which may vary depending on the carriers). - The height of the finished pallet must also be planned according to transport constraints, most often imposed by the carrier. - It is important to minimize the number of pallets for the same manufacturing order, and for the same order.

[0045] Different methodologies can be used to determine the pallet plan based on input data. This input data includes information relating to the packages to be palletized, but also, possibly, constraints provided by the warehouse operator 10, the carrier, etc.

[0046] According to one embodiment, the determination of the pallet plan can be carried out in two steps.

[0047] In a first step, a first solution is defined in a deterministic way. This solution may be suboptimal.

[0048] It may consist of positioning the packages one after the other until all the packages are placed or another stopping criterion is met (for example a maximum weight or volume is reached).

[0049] According to one embodiment, the different possible orientations of the packages are also tested by simulating the rotations of the package around the three axes. Indeed, since the packages are not cubic (i.e., spatially symmetrical), their orientations influence the possibilities for arranging the packages to form an optimal pallet.

[0050] It may be envisaged that certain orientations may not be authorized by the information relating to the packages, for example depending on the fragility of the items contained.

[0051] In a second step, this first, suboptimal solution can be improved by making modifications to it within a constrained time period and measuring a score for this new solution relative to the previous solution. When a better solution is found, it becomes the new current solution from which further modifications are made.

[0052] These modifications may consist of rotating or permuting the packages randomly.

[0053] According to one embodiment, a method used is a method addressing the well-known problem of "bin packing." This problem can be formulated as finding a solution to place a set of fixed elements into groups (or "bags") of the same capacity using the fewest possible groups.

[0054] This is an NP-complete problem for which many optimization algorithms exist, due to the application of this problem to many technical fields.

[0055] According to one embodiment, a heuristic method can be used.

[0056] Among these heuristic methods, we can cite algorithms such as the "first-fit decreasing" (FFD) algorithm, which consists of implementing a preliminary sorting phase before the actual optimization phase.

[0057] The strength of this algorithm lies in its continued speed even as the number of objects increases considerably, while remaining within a factor of less than 2 of the optimal solution. This type of algorithm is also called a greedy algorithm because it processes data continuously and never revises a previously made decision.

[0058] These methods and algorithms are extensively described in the literature. Reference may be made to the relevant Wikipedia pages, or, for example, to Joseph El Hayek, "The two-dimensional bin-packing problem, the unoriented case: approximate solution and lower bounds. Modeling and simulation", University of Technology of Compiègne, 2006. French. ffNNT: ff.fftel-00158728f (HAL Id: tel-00158728).

[0059] According to one embodiment, the dimensions of the cartons can belong to a finite and known set of possible dimensions (since the "cartons" used to make up the packages must be available and listed within warehouse 10). This makes it possible to limit the path in the optimization process used to determine the pallet plan, and therefore to improve the speed of convergence and / or the quality of the solution found.

[0060] Fig. 2 schematically represents a logistics platform 100, according to an embodiment of the pallet building system 20.

[0061] In the embodiment illustrated in [Fig. 2], two sub-platforms are shown, one of which is shown in dotted lines solely for clarity of illustration. According to other embodiments, a single sub-platform constitutes the logistics platform 100, or the latter consists of more than two sub-platforms.

[0062] According to this embodiment, the packages are transmitted from the warehouse by means of a first conveyor 111.

[0063] A routing device 110 (such as a rotating platform) can then be provided to direct the package to one or the other of the sub-platforms. Each sub-platform can be assigned to a given order or manufacturing order at a given time.

[0064] This routing can also be carried out according to the order (or possibly the manufacturing order) to which the package is associated.

[0065] To do this, an optical reader may be provided upstream of the switching device 110 in order to read and decode a label affixed to the package 101. This label may for example include an optical label such as a QR code, a barcode, etc.

[0066] Other devices are also possible such as a radio tag, of the RFID type (for "Radio - Frequency Identification" in English).

[0067] Regardless of the underlying technology, this label can encode an identifier of an order or a manufacturing order, and / or a package identifier.

[0068] In this way a mechanism can be put in place to, following the determination of the order associated with a received package, direct it to the conveyor 105 of a sub-platform of destination determined according to an identifier (of an order, a manufacturing order, a package...) and, possibly, information 3.

[0069] If the label affixed to package 101 encodes an identifier of the order or manufacturing order, this decoding makes it possible to directly determine the sub- destination platform (associated with the corresponding pallet), and therefore the associated conveyor 105.

[0070] If the label affixed to package 101 encodes a package identifier, then the information 3 relating to all packages received from the PRI 2 tool is intended to allow matching this package identifier with an associated order (and where applicable, a manufacturing order).

[0071] In a subsequent step, the proposed method includes storing packages 101 received by means of a conveyor 105, in a temporary storage space 104, by means of a robotic gripper arm 102.

[0072] This temporary storage space 104 therefore belongs to the logistics platform 100 (or to each sub-platform, according to certain embodiments). It is typically a vertical storage space, or cabinet, comprising a plurality of compartments, each capable of storing one or more packages. Several cabinets may be available, as shown in [Fig. 2].

[0073] Preferably, the temporary storage space 104 comprises several vertical cabinets, or storage units, identical in size and number of compartments (or drawers). For example, a cabinet may have 20 drawers.

[0074] The robotic gripper arm 102 also belongs to the logistics platform 100 (or each sub-platform, according to certain embodiments). It has several degrees of freedom in its movements in order to be able to access the different compartments of the temporary storage space 104, as well as a pallet 103 being assembled, which can be placed on a pallet conveyor 106 or on a mobile robot, and the received packages 101.

[0075] These different elements must therefore be arranged so as to cooperate optimally with the robotic gripping arm.

[0076] According to one embodiment, the robotic gripping arm 102 is placed on a trolley that can move along a rail. This rail can be positioned longitudinally and parallel to a face of the temporary storage unit 104, allowing access to the storage compartments. The robotic gripping arm 103 can thus move along the various storage cabinets 104.

[0077] At least one position on this rail allows the robotic gripper arm to access the received package. In one embodiment, the package 101 is received via a conveyor 105 arranged parallel to the rail of the robotic gripper arm 102, such that a multitude of positions allow this arm to access the received packages. According to one embodiment, the conveyor 105 can be configured to stop the package 101 at a position corresponding to a specific storage compartment in order to minimize the workload of the robotic gripper arm (for example, facing the corresponding cabinet and vertically above the compartment).

[0078] One position (at least) of this rail allows the robotic gripper arm 102 to access the pallet 103 being assembled. This position can be located substantially at one end of the rail, in order to allow an "L" shaped arrangement, the empty space of which allows access for a human operator if necessary, and also for storing packages that would be in error (i.e., the arm 102 would not be able to position itself on the pallet 103 being assembled, for various reasons).

[0079] According to one variant, storage cabinets are positioned on either side of the axis of movement of the robotic gripper arm 102, and the return of the erroneous packages can then be done from a position away from these cabinets, for example from a position opposite to the access position to the pallet 103 being assembled.

[0080] A robotic grasping arm is a mechanical device designed to grasp and manipulate objects in a manner similar to a human arm. It has several joints allowing for a wide range of motion. These joints and other components controlling a degree of freedom are controlled by a control unit that can be integrated or remote, and adapted to communicate with the control device 200.

[0081] It may include a gripper adapted for gripping packages 101. Other gripping mechanisms may also be considered.

[0082] By way of example, this gripper arm could be an industrial robot produced by the company Kuka. These robots are widely used in industrial automation to perform a variety of tasks, including welding, assembly, painting, material handling and many others.

[0083] According to one embodiment, the robotic gripping arm 102 is associated with a camera that detects the orientation of the package on the conveyor, and thus actuates the gripper appropriately. Indeed, unlike many industrial applications where the robot intervenes in a constrained and well-defined process, the arrival of the packages is less constrained here because their placement on the conveyor is an event external to the system 20. They can therefore arrive in any orientation.

[0084] The robotic gripper arm 103 can be designed to determine the location of received packages in the storage space based on package size and the identifier of the associated pallet. Preferably, packages destined for the same pallet are placed in the same drawer (or compartment). To ensure balanced operation of all devices, the storage units are loaded using a load distribution system: when a package corresponding to a new pallet arrives, it is directed to the least full storage unit, unless that unit is already being used to create a pallet 103.

[0085] The location of each package within the temporary storage space 104 is memorized so that they can be directly retrieved later, at the time of pallet construction.

[0086] The logistics platform 100 also has a communication interface allowing a dialogue (or exchange protocol) between the temporary storage space 104 and the robotic gripper arm 102.

[0087] In particular, the temporary storage space 104 and the robotic gripper arm 102 can communicate to allow the robotic gripper arm to access a specific location within the temporary storage space. The arm can thus request the movement and opening of a compartment in order to store or retrieve a package.

[0088] According to one embodiment, the dialogue can take place via the LINK protocol through the management software associated with the temporary storage space 104. This protocol is based on TCP / IP requests allowing certain tasks to be performed on the cabinets.

[0089] As previously discussed, the packages received and routed via conveyor 111 may belong to different orders or production orders. They can be directed to different logistics sub-platforms depending on the order (or production order). However, it is possible that more orders (and a fortiori more production orders) are being prepared than there are sub-platforms.

[0090] From then on, packages from different orders can be conveyed to the conveyor 105 of a sub-platform. These will be stored in the temporary storage space 104.

[0091] It is proposed that when all the packages are stored in the temporary storage space 104, the robotic gripper arm 102 begins to assemble the corresponding pallet 103. In other words, the availability of all the packages constituting a pallet within the temporary storage space 104 constitutes the triggering event for pallet preparation. This temporary storage space 104 thus forms a kind of "buffer" while awaiting the availability of all the packages.

[0092] Thus, in the event of unavailability or delay of a package, for example, we avoid having a pallet being assembled for too long a period of time, which would harm the productivity of the system.

[0093] When the packages corresponding to a pallet to be made up (i.e. an order or a manufacturing order) are available in the temporary storage space, the pallet 103 is made up using the robotic gripping arm 102, by selecting the packages in the storage space 104 according to an order depending on the pallet plan, and by positioning them on the pallet, successively, according to this pallet plan.

[0094] Knowing both the location of the packages in the temporary storage space 104 and the pallet plan, the robotic gripping arm 102 is able to pick up the packages in the appropriate order in the correct compartment of the storage space and then position it in the correct place on the pallet.

[0095] The order of selection of packages in the storage space is obviously important since the packages that must be in the lower layer according to the pallet plan must be selected and positioned before those constituting the upper layers.

[0096] As previously discussed, the pallet plan may include a package orientation, such that the package positioning on the pallet involves rotating the package by the robotic gripper arm 102, according to both target orientation data contained in the pallet plan and current orientation data obtained by a sensing device associated with the robotic gripper arm. This sensing device can typically be the camera mentioned earlier.

[0097] Thus, the orientation of the package as seen by the robotic gripping arm 102 is detected and compared to the orientation predicted by the pallet plan. The robotic gripping arm can then perform the necessary rotations to adjust the orientation of the package to that of the pallet plan.

[0098] The process is iterative: the robotic gripper arm successively selects the packages in storage space 104, according to an order defined by the storage plan, and then positions them on the pallet in the appropriate location. The process stops when all the packages intended for the pallet have been positioned on that pallet.

[0099] The pallet is then assembled and supports all the planned packages.

[0100] A conveyor 106 can evacuate it out of the pallet building system 10. An empty pallet can then take its place so that a new pallet can be created.

[0101] According to another embodiment, the pallet being assembled is positioned on a mobile robot. Such a mobile robot can be designed to move close to the robotic mobile gripper arm and have a surface adapted for receiving packages for transport. It can then leave the area corresponding to the logistics platform 100 to remove the package deposited on the receiving surface.

[0102] The logistics platform 100 may include means for calling the mobile robot to the vicinity of the robotic gripper arm. These means may include a remote control adapted for actuation by the robotic gripper arm. This remote control may include one or more buttons that the robotic gripper arm can press to trigger the transmission of a signal to the mobile robot.

[0103] A remote control may, for example, have several buttons, each corresponding to a zone where the mobile robot must position itself (for example, corresponding to a particular cabinet within the storage unit 104). In another example, Several remote controls can be provided, each equipped with a single button and corresponding to a specific zone.

[0104] Upon receiving a call signal emitted by the remote control(s), the mobile robot positions itself near the robotic gripper arm so that the latter can deposit the packages of the order, or of the manufacturing order, corresponding to the pallet 103 positioned on the mobile robot.

[0105] However, errors can occur. For example, an unexpected package may be brought onto conveyor 105. In one embodiment, it cannot be processed automatically by the palletizing system 10 and must be handled by a human operator. It must therefore be removed from the logistics platform 100 to return to manual handling.

[0106] In particular, according to one embodiment, if a package cannot be positioned on the pallet 103, it is evacuated by the robotic gripping arm 102 to a disposal device. This disposal device may be a dedicated area around the robotic gripping arm where a human operator will retrieve it. It may also be a dedicated conveyor or a mobile robot.

[0107] Of course, the present invention is not limited to the examples and embodiment described and illustrated, but is defined by the claims. In particular, it is susceptible of numerous variations accessible to those skilled in the art.

Claims

Demands

1. Method for automatically assembling a pallet (103) supporting a set of packages (101), comprising the steps of: - receiving information (3) relating to said set of packages including at least dimensions for each package; - establishing a pallet plan from said information; - storing packages (101) received by means of a conveyor (105) in a temporary storage space (104) by a robotic gripper arm (102); - when said set of packages is stored in said temporary storage space, assembling said pallet (103) by said robotic gripper arm (102), by selecting said packages in said storage space (104) according to an order depending on said pallet plan, and positioning them on said pallet, successively, according to said pallet plan.

2. A method according to the preceding claim, wherein said positioning comprises a rotation of said package by said robotic gripper arm, according to target orientation data contained in said pallet plane, and current orientation data obtained by a sensing device associated with said gripper arm.

3. A method according to any one of the preceding claims, wherein a received package is identified by an optical reader adapted to decode a label affixed to said received package.

4. A method according to any one of the preceding claims, wherein said storage and selection steps include a dialogue to permit access to said robotic gripper arm to a determined location of said temporary storage space.

5. A method according to any one of the preceding claims, wherein said received packages are pre-routed to said conveyor (105) according to a destination pallet determined according to an identifier and, optionally, said information.

6. A method according to any one of the preceding claims, wherein said pallet plan is determined based on weight data associated with each package contained in said information, in order to position a final center of gravity of said pallet in a substantially low and central area of ​​said pallet.

7. A method according to any one of the preceding claims, wherein several pallets are made up from said set of packages.

8. A method according to any one of the preceding claims, wherein said pallet (103) is positioned on a mobile robot, said mobile robot being able to be called into the vicinity of said robotic gripper arm by the actuation of a remote control by said robotic gripper arm.

9. System (10) for the automatic assembly of a pallet (103) supporting a set of packages (101), comprising a control device (200) and a logistics platform (100), said control device (200) being adapted for receiving information relating to said set of packages comprising at least dimensions for each package, and for establishing a pallet plan from said information, and said logistics platform (100) comprising a temporary storage space (104), a conveyor (105) and a robotic gripper arm (102), adapted for storing packages (101) received by means of said conveyor (105) in said temporary storage space (104) by said robotic gripper arm (102), and for, when said set of packages is stored in said temporary storage space, assembling said pallet (103) by said robotic gripper arm (102),by selecting said packages in said storage space (104) in an order dependent on said pallet plan, and by positioning them on said pallet, successively, according to said pallet plan,

10. A computer program capable of being implemented on a computer associated with a pallet preparation system (20), comprising code instructions which, when executed by a processor, performs the steps of the process defined in claims 1 to 8.

Images