Device and method for loading a container with an object, a sorting center having the device, and a corresponding computer program product

Abstract

The invention relates to a method for loading a container (20) with an object (30), comprising the steps of: - obtaining information, in particular from a sorting system (120), relating to a plurality of objects (30) to be received, in particular in a defined time interval; - obtaining information relating to a loading state of the container (20); - on the basis of the obtained information, determining a loading process for loading the container (20) with the objects (30) to be received, in particular determining a target region in the container (20), an order of the objects (30) to be received and / or an orientation of the objects (30) to be received; and - on the basis of the determined loading process, in particular on the basis of a determined target region in the container (30), loading the container (20) with at least one of the objects (30) to be received. The invention further relates to a device for loading a container (20) with an object (30), to a sorting center (100), in particular for packet sorting, comprising a device (110) according to the invention, and to a computer program product, in particular a control program for a control unit (40).

Description

[0001] Device and method for loading a container with an object, a sorting center with the device, and a corresponding computer program product.

[0002] The present invention relates to a device and a method for loading a container with an object, particularly for use in sorting centers. In particular, the disclosure relates to a method that, based on information obtained about several objects to be received, determines the loading of the container with the objects to be received and, based on the determined loading, carries out the loading of the container with at least one of the objects to be received. Furthermore, the invention relates to a sorting center and a computer program product.

[0003] Loading an object, such as a package, into a container, like a shipping container, cage, or trailer, typically requires the objects to be stacked manually within the container. Even if the object is transported to the container via a conveyor belt, a worker must still pick it up from the conveyor belt or the point where the conveyor belt unloaded it and position it appropriately within the growing stack of objects inside the container.

[0004] Conveyor belts can bring the object close to the position where it is to be placed in the stack of objects, and as the work progresses, the conveyor belt can be moved to different positions where the worker can remove the object and place it in a suitable place in the stack of objects.

[0005] There are also solutions where conveyor systems place objects into a container without human intervention, but these struggle to stack objects efficiently, especially when the objects vary in size and weight. This is because these systems often rely on static information and predefined loading strategies, offering little flexibility when handling objects of different shapes, sizes, and weights. This can lead to inefficient use of space within the container and increase the need for frequent manual intervention to optimize loading. Furthermore, many existing systems lack the ability to continuously monitor the container's current load status and adjust the loading strategy accordingly. This can result in overfilling or suboptimal loading patterns, negatively impacting the overall efficiency of the loading process.

[0006] US Patent 2021 / 253376 Ai discloses a system and method for an autonomous multi-container parcel loading system. The system enables parcel loading even when information about the dimensions of the parcels to be loaded is not available in advance. The system is configured to take into account the capabilities of one or more robots used to load the parcels into containers. US Patent 2023 / 274550 Ai discloses a method for categorizing parcels for loading a shipping container, comprising capturing at least one object-specific piece of information for each parcel in a multitude of parcels and categorizing the parcels based on the respective captured object-specific information, whereby a weighting factor dependent on the object-specific information or on another object-specific piece of information of the respective parcel is determined during categorization.

[0007] Therefore, a method that allows objects to be stacked efficiently in a container without workers having to stack the objects manually, while simultaneously enabling efficient use of space, would be advantageous.

[0008] The object of the invention is therefore to provide a method and a device for loading a container with an object that at least partially overcomes the disadvantages of known systems, so that efficient and optimized loading can be achieved.

[0009] This problem is solved by a method for loading a container with an object having the features of claim 1, a corresponding device according to claim 22, a sorting center according to claim 25, and a computer program product according to claim 26. The dependent claims each relate to advantageous embodiments of the invention.

[0010] Accordingly, a procedure for loading a container with an object is provided, comprising the following steps:

[0011] - Receiving information, especially from a sorting system, about several objects to be received, particularly within a defined time interval; - Receiving information about the loading status of the container;

[0012] - Based on the information obtained, determining the loading of the container with the objects to be received, in particular determining a target area in the container, a sequence of the objects to be received and / or an orientation of the objects to be received; and

[0013] - Based on the specified load, in particular based on a specific target area of ​​the objects to be received, loading the container with at least one of the objects to be received.

[0014] The information obtained can include data on the number, size, or other relevant characteristics of the objects. For example, the objects to be received can be provided by a sorting system that sorts them before they are loaded into the container. The objects to be received may have a predetermined size and / or orientation, which can be known in advance and provided by the sorting system. For this purpose, the sorting system may, for example, include a sizing / weighing system.

[0015] The information received about multiple items to be received can originate from various sources, such as the logistics networks of a postal service or shipping provider. This information can thus provide early notification of an item, even before it has been handed over to the postal service or shipping provider. Such advance information can be taken into account when determining the load, enabling more efficient planning and control of the loading process.

[0016] Furthermore, the information about multiple items to be received can include distribution centers of a postal company or shipping service provider, in particular continuously recorded and / or exchanged data, such as when which packages are forwarded to which destinations and at what times specific deliveries, e.g., by truck, are expected. This information can be used to determine the load, in order to optimize loading processes and avoid bottlenecks.

[0017] Furthermore, it is conceivable that information about multiple items to be received could contain detailed information about individual shipments exchanged between them within logistics networks such as parcel centers. This data could be used to determine the load, for example, to optimize the sorting and loading of items or to make internal transport more efficient, particularly for algorithms of autonomous robots or automated conveyor systems.

[0018] Information about the container's load status reveals, for example, available space or objects already present in the container. Determining the load can include defining a target area, but alternatively or additionally, it can also include specifying the sequence and / or orientation of the objects to optimize the use of available space. Since loading is based on this defined load, the loading process can be optimized by, for example, placing objects in a suitable target area, processing them in a specific sequence, and / or loading them in a particular orientation. Furthermore, determining the load may involve selecting a container if, for example, more than one container is available.

[0019] One advantage of this method is a potential increase in loading efficiency, as the process can be improved by considering multiple objects to be received, particularly with regard to an optimal target area, optimal sequence, and / or optimal orientation of the objects. A further advantage could be a reduction in the time and resources required for loading, since the process can be carried out systematically and in a well-organized manner.

[0020] Furthermore, the invention can efficiently stack the objects with a minimum of space between the objects in order to optimize the number of objects that can be stacked in the container without workers having to stack the objects manually.

[0021] Therefore, the invention can ensure a denser packing of the objects in the container, allowing more objects to be placed in the container and reducing the risk of damage during placement. Ensuring a denser packing of objects in a container is advantageous because it allows more objects to be transported within a single container, thus increasing the efficiency of each transport step. Conversely, fewer containers may be required to transport a sufficiently large number of objects to the same destination, which can reduce transport costs since fewer trips or less cargo result in less fuel consumption.

[0022] Alternatively or additionally, the invention can provide that the same number of objects can be stacked in a container in a shorter period of time, since the loading process can be optimized by the specific loading.

[0023] Furthermore, the invention can be suitable for light and heavy objects and for a wide range of sizes from small to large.

[0024] To obtain information, particularly to determine the loading status, a sensing unit, which may include an image sensor, can be used. For example, when determining the load, a specific position within the container for placing an object can be determined by considering a variety of possible positions for the object, based on its size and / or orientation and the information from the sensing unit about the container's loading status. Each of the possible positions can be evaluated and compared using selection criteria, and the optimal position is identified. These selection criteria might include stacking stability, optimal use of available space, or similar factors.

[0025] The detection unit can include or be configured as an image sensor. This sensor can be positioned to perform a three-dimensional scan of the container. The image sensor can be a three-dimensional volume scanner or a depth-sensing camera, such as a time-of-flight camera, a stereo camera, a lidar scanner, or similar. Alternatively, the image sensor can be a camera (RGB, RGB-D, SWIR, NIR), a video camera, or an infrared scanner. Furthermore, the detection unit can be a barcode scanner, a QR code scanner, a hyperspectral camera, a multispectral camera, a pressure sensor, a force sensor, a capacitive sensor, a piezoelectric sensor, an ultrasonic sensor, a microphone, a voice recognition system (RFID - Radio-Frequency Identification), and / or a magnetic field sensor.The detection unit scans the container, for example, to identify any free space into which the object can be loaded. Based on the information the detection unit provides about the container, a specific position of the object to be received within the container can be determined when determining the loading process.

[0026] The detection unit can also provide information about available space in the container. Alternatively or additionally, the detection unit can provide information about the container's load status, including objects already placed in the container. The detection unit can be designed to provide information about the container by communicating with a sensor device located inside the container.

[0027] The detection unit can provide metadata about the container, such as dimensions or positions suitable for receiving and storing objects within it. If the size and shape of the objects are known, loading can occur without the need for an optical detection unit, such as a camera, to detect free space inside the container.

[0028] The term "object" is used in this document to refer to items that are specifically designed and / or suitable for stacking. The term "package" can refer to conventional packages, but also to other items such as bags, suitcases, luggage, articles, envelopes, and more.

[0029] For the purposes of this text, "container" refers to any unit that is common and / or suitable for holding multiple objects. Specifically, this includes roll containers, wire mesh boxes, crates, boxes, cages, transport vehicles, vans, and trucks. A container can also be a substantially box-shaped receiving unit with a solid base, three side walls, and an open front and top, such as a wheeled basket cart, a parcel roll container, or similar. The container can also be used as a transport medium to move the objects it contains to another location, for example, by truck to a parcel distribution center. The container is preferably capable of being moved automatically. This could be achieved by an AGV (Automated Guided Vehicle), a mobile robot, or conventional conveyor technology.

[0030] The process can be carried out, for example, by means of a control unit or by utilizing a control unit. Such a control unit can be a single unit or several interconnected units. The control unit can be specifically designed and configured to receive the information and, based on that information, determine the load.

[0031] Preferably, the acquisition of information about the objects to be received and / or the loading state occurs essentially continuously, and the determination, based on the essentially continuously acquired information, is dynamically updated. For this purpose, specific communication mechanisms or means of interaction between the components can be provided, enabling the continuous acquisition of information and dynamic updating of the loading.

[0032] Continuously receiving this information ensures that the data is always up-to-date, enabling precise and efficient determination of the container's load. Dynamic updates, based on this continuously collected data, allow for real-time adjustments to the load, particularly the order and orientation of the objects to be received. This results in optimized container loading, as changes in the objects being received or the container's load status can be immediately taken into account.

[0033] One advantage of this continuous and dynamic approach is increased efficiency and accuracy in the loading process, as delays and errors caused by outdated information can be reduced. Furthermore, this method allows for flexible adaptation to different scenarios and requirements, which is particularly beneficial in dynamic environments. The continuous acquisition and dynamic updating of information can be achieved through various technologies, such as sensors that monitor the container's loading status in real time, or communication systems that provide real-time information about the objects being received. Another advantage of this approach is the ability to automate and optimize the entire loading process, leading to a reduction in manual intervention and increased productivity.

[0034] Preferably, the information on the objects to be received includes their shape, weight, and / or type. This additional information allows for more precise and efficient planning and execution of the loading process. For example, the shape of an object can be used to determine the optimal arrangement of the objects within the container to make the best use of the available space and ensure stable loading. The weight of the objects can be used to ensure that the container is not overloaded and that the load is evenly distributed, which helps prevent damage and maintain stability during transport. The type of object can provide information about handling sensitivity, stackability, and other specific properties that can be considered during loading planning.By taking this information into account, the process can determine the loading of the objects to be received in such a way as to achieve efficient and safe container loading. This leads to a reduction in loading times and a minimization of damage to the objects during the loading process. Furthermore, it allows for adaptation to different object types and sizes, which increases the flexibility and versatility of the process.

[0035] According to a training course, based on information received about the objects to be received, at least one of these objects can be categorized. This allows for determining the container's load, particularly the target area within the container for the at least one object, and / or loading the container with the at least one object based on this categorization. This enables the loading process to be tailored to the specific requirements of the object being received. For example, categorization allows for specific handling of a receiving object during loading. Depending on the categorization, the loading speed or method, such as selecting a suitable end effector, can be adjusted.The target area can also be adjusted based on categorization, for example, by considering an object's stackability. For instance, an object categorized as fragile, such as a wine bottle, might be loaded at a reduced speed and placed in a specific location within the container, such as not on top of a polybag. Conversely, if an object is detected as a polybag containing socks, it can be classified for robust handling, allowing for high-speed loading and positioning even in a gap between other objects.

[0036] It is also possible for categorization to be based on data analysis. For example, if the received information indicates that a certain quantity of objects with similar properties arrive at specific times, this quantity of objects can be categorized uniformly. For instance, the received information might show that a large quantity of clothing arrives regularly at a specific time and needs to be loaded into containers. This quantity of objects can then be categorized for robust handling, allowing the identification and loading processes to be adjusted accordingly.

[0037] Preferably, categorization is based on information provided by the capture unit regarding the objects to be received and / or the loading status of the container.

[0038] Preferably, based on the specific load, and in particular based on a specific sequence of the objects to be received, at least one of the objects to be received is selected. This allows the method to process the objects not only in the order in which they arrive, but also to select the most suitable object for loading, depending on the available space in the container. Preferably, the selection is made from two to three objects to be received. However, it is also possible to select from a larger number, especially if intermediate storage and / or recirculation of at least one of the objects to be received is planned.

[0039] Furthermore, the procedure may include an inspection of the objects to be received and / or the container, as well as verification of the specific loading based on this inspection. Verification may specifically involve comparing the inspection findings with the information received. By providing specific steps for checking and verifying the information, the efficiency and, in particular, the accuracy of the loading process can be improved.

[0040] This allows the objects to be received, as well as the container itself, to be checked to ensure that loading is carried out correctly and efficiently. In particular, the checking process can be designed to provide information on the objects to be received and / or the container's loading status, which is recorded independently of the information received. This provides the process with information on the received objects and / or the loading status from various sources, thereby improving information accuracy.

[0041] Verifying the specified load can be achieved by comparing the verification results with previously obtained information. This verification ensures that the planned load matches the actual load and / or the objects to be received, leading to a reduction in errors and an optimization of the loading process. In particular, this verification process allows potential errors to be identified early and taken into account when determining the load, thus reducing rework and delays. The ability to verify the load based on the verification results also offers flexibility, as the process can respond to unexpected changes or deviations and make appropriate adjustments.

[0042] Preferably, the method includes a level check of the container, wherein the level check involves comparing the container's current state of charge with the specified load. The level check thus enables the method to detect when the container is full. The level check can be performed using various sensors or measuring devices capable of accurately detecting the current fill level of the container. These sensors can include, for example, weight sensors, volume sensors, or optical sensors that monitor the space within the container.

[0043] In particular, the process can be designed to include container changes based on fill level checks. For example, a change can be initiated if the fill level check indicates that the container can no longer hold any more of the items to be received. Thus, even a partially filled container might be marked as full by the process if the remaining packages to be received would exceed the container's maximum fill level. This dynamic fill level check ensures optimal loading and guarantees the continuous operation of the process.

[0044] It can also be designed so that the process reacts when a certain fill level is exceeded and automatically initiates a container change without requiring human intervention. This leads to a reduction in workload and an increase in process reliability.

[0045] Preferably, the method includes intermediate storage of an object to be received, wherein the intermediate storage is based on the specified loading. Intermediate storage allows the objects to be temporarily stored before they are loaded into the container, which is particularly advantageous when the specified loading requires a particular sequence or orientation of the objects. One advantage of this method is the increased efficiency and accuracy of container loading, as intermediate storage enables a smooth and coordinated transfer of the objects. Another advantage is that intermediate storage avoids bottlenecks and delays that could otherwise occur with direct loading without intermediate storage. Furthermore, intermediate storage can increase the flexibility of the method, as it allows for a response to unforeseen changes or disturbances in the loading process.For example, if the loading process is interrupted, the system can safely store the cached objects and resume the loading process later without damaging or losing the objects.

[0046] Intermediate storage can be particularly advantageous when the objects to be received arrive not pre-sorted, but in a random order, making optimal loading more difficult. In this case, intermediate storage may be necessary to temporarily hold the objects in a buffer before loading them into the container. This can allow for denser stacking, as the order in which the objects are stacked in the container can be better controlled. Additionally or alternatively, intermediate storage can allow objects to be received and temporarily stored to continue operations while a full container is being replaced.

[0047] Should there be bottlenecks in intermediate storage and / or loading of the container not be possible or desired, it may also be possible to recirculate objects to be received on an upstream sorter, for example a sorting plant.

[0048] Preferably, the method comprises processing historical data, in particular the received information and / or arrival times or package volumes, wherein the loading is determined taking the historical data into account, in particular by including a local prediction, especially of sorting volume. This enables the efficient loading of repeatedly occurring, in particular regularly occurring, quantities and / or types of objects according to their requirements. In particular, predictive loading can thus be carried out by means of a local prediction.

[0049] Furthermore, it can be envisaged that the loading determination takes place in at least one local system, for example, a packing station. This includes aggregating the determined loading, in particular a local forecast, of the local system by a central system and creating a higher-level demand forecast by the central system, specifically taking into account complex patterns such as seasonal fluctuations, peak times, and / or regional differences, for example, by utilizing machine learning. This can improve loading, as, for example, the distribution of objects to local systems can be adjusted according to their utilization. A robot could also be optimally configured for loading, for example, by selecting a suitable end effector and / or adjusting the loading speed.

[0050] According to a training course, creating the overarching demand forecast can involve analyzing long-term patterns and / or complex spatial and temporal relationships, particularly through the use of machine learning with Long Short-Term Memory (LSTM) and / or a Convolutional Neural Network (CNN). This allows for further optimization of loading efficiency. It can also be stipulated that a container to be loaded is linked to a logical destination, such as a location or address to which the container's contents are to be transported. If multiple containers are involved, several containers can be linked to the same logical destination. In this case, determining the load can involve distributing an object among several containers with the same logical destination. This distribution can be based on a parameter of the object or one of the containers and / or the load status of one of the containers.

[0051] Furthermore, the process can include saving the position of at least one of the objects in the container. For example, saving can involve creating a bill of materials (BOM) for the container, where the position of at least one object is also recorded in the BOM. The BOM can be stored, for instance, in a local system or a central system. Alternatively or additionally, the BOM can be transmitted to an unloader or recipient of the container. Saving can also include creating a digital twin of the container. Transmission can involve making the saved information, especially the position, available via augmented reality or laser projection.

[0052] The loading can be determined in such a way as to optimize the packing density and / or the stability of the objects in a container.

[0053] In one embodiment, it is provided that at least one object is temporarily stored in such a way that manual removal of the temporarily stored object is possible. For example, a shelf can be provided as a temporary storage device from which an object can be manually removed from the opposite side. The shelf can therefore be designed as a so-called putwall.

[0054] At least one container can also be designed as a mailbag. For example, it can be stipulated that the container(s) are provided predominantly or exclusively as roll containers at one time of day, such as in the morning, and predominantly or exclusively as mailbags at another time of day, such as in the evening. Alternatively or additionally, the container can be designed as a delivery vehicle. This delivery vehicle can, for example, be designed as an autonomous vehicle and may include optical sensors and / or route calculation capabilities.

[0055] Furthermore, several of the objects to be received may be provided in a transport bag (tote) or on a tray. The process may then involve removing the objects from the transport bag or tray. A packing station, robot, and / or end effector may be configured to remove the objects from the transport bag or tray. Additionally, the packing station, robot, and / or end effector may be configured to separately place an emptied transport bag or tray, in particular to remove it from the process, for example, by stacking the empty trays or transport bags.

[0056] Furthermore, monitoring of the objects can be implemented, for example, to prevent or at least detect the loss of objects. This could involve, for instance, 3D image monitoring of the container, a packing station, a robot, and / or an end effector. Alternatively or additionally, sensors, such as a light barrier, can be installed in a floor area. Self-protection measures, such as a barrier or wall, perhaps along a rail, can also be provided to prevent or at least hinder objects from falling.

[0057] It may also be possible to incorporate humanoid detection sensors, particularly in cases of at least partial automation of the process, such as through autonomous vehicles acting as containers or robots loading the containers. This can prevent or at least reduce collisions with people and / or injuries. Furthermore, it may be possible to secure movable components, such as containers designed as roll containers, to prevent a robot from displacing or dislodging them during approach or collisions. For example, roll containers can be secured in their desired position using wedges or roller doors.

[0058] Obtaining information about the loading status can, in some embodiments, also include recognizing and / or verifying a container type. For example, it can include recognizing the container's geometry. It can also include recognizing how many sides of the container are closed. Determining the load can be based on this recognition or verification by considering dimensions, openings, and / or permissible loading heights.

[0059] Obtaining information about the loading status can also include recognizing the position and / or orientation of the container. Furthermore, active or passive securing of the container during loading may be provided.

[0060] Determining the load can include dynamic loading strategies. For example, the load determination can be designed for layer-by-layer loading or prioritize layer-by-layer loading. Alternatively or additionally, the load determination can consider the center of gravity, stability, and / or tipping moment of at least one object and / or the container. Furthermore, the load determination can include adjusting the object's placement position depending on the already loaded volume.

[0061] Furthermore, determining the load can include collision avoidance during loading. For example, struts, doors, and / or securing elements of the container can be taken into account when determining the load. Alternatively or additionally, the trajectory of a loading device such as a packing station, robot, and / or end effector can be adjusted, and / or trajectory restrictions can be implemented to prevent collisions.

[0062] According to further training, a level check of a container includes determining the current fill level. This may involve, in particular, comparing the determined fill level with a limit value. Alternatively or additionally, the procedure may involve changing the container if the limit value is reached or exceeded.

[0063] The method can also include checking the at least one object, particularly based on the information obtained about the objects to be received. For example, the checking can include detecting oversized, unstable, and / or damaged packages. Preferably, the method includes redirecting a detected object to an alternative container or to a return process. For this purpose, a return device such as a rejection chute can be provided.

[0064] The process can also include releasing the container after loading. This release can, for example, involve verifying the container's load by detecting overloading or potential tipping due to improper loading. Release preferably occurs when a fill level check reveals that a limit value has been reached or exceeded. Furthermore, releasing the container can include transmitting loading information to a central system and / or a recipient. This loading information can include, for example, the fill level, a weight estimate, and / or a digital loading map.

[0065] Preferably, loading is carried out using a packing station, which in particular includes a robot. The packing station has at least one end effector specifically designed for loading an object. Using a packing station offers increased precision and efficiency. This is because a packing station is capable of handling objects with high accuracy, leading to optimized use of the available space in the container. This is especially important when it comes to determining and implementing a specific sequence and / or orientation of the objects to be received. Furthermore, a packing station is usually faster than a human operator, thus increasing system throughput and enabling a logistics center to operate more cost-effectively.

[0066] Another advantage is the flexibility achieved through the use of an end effector. The term "end effector" refers to a tool or device at the packing station, particularly at the end of a robot arm, that interacts directly with the object. In this context, end effectors can take various forms, such as grippers, suction cups, or other specialized tools suitable for different object types and shapes. For example, the end effector can be designed as a load-handling device like cross-loading elements or a suction cup, as well as a mechanical gripping element.

[0067] The end effector can be designed to accommodate a variety of objects of different shapes and sizes, increasing the versatility of the packing station. Furthermore, automating the loading process allows for reduced labor costs and increased throughput, as the packing station can operate continuously and without fatigue. Integrating a robot into the packing station also enables better adaptation to varying loading requirements, as the robot can dynamically adjust to different loading scenarios. This results in improved efficiency and effectiveness of the entire loading process.

[0068] It is also possible for the packing station to have more than one end effector for loading an object. The procedure can then include selecting an end effector, with the selection being based on information received about the objects to be received, information received about the container's loading status, and / or the specific load. In particular, the selection can also be based on categorizing the objects to be received.

[0069] Selecting the appropriate end effector can significantly influence the efficiency and accuracy of the loading process. By considering the information gathered about the objects to be received, the system can, for example, select the optimal end effector best suited for handling the specific object. This might mean, for instance, choosing a gripper for rigid, angular objects, while a suction cup is preferred for smooth, flat objects. Information about the container's loading status allows the system to select the end effector to ensure the correct orientation of the object being loaded. This helps to utilize the available space in the container efficiently and ensures stable and safe loading.The specific load, which includes in particular the order and / or orientation of the objects to be received, can also be used to select a suitable end effector. For example, if several consecutive objects can be placed at one location, a conveyor belt can be used to transport multiple objects at once. However, if a single object, possibly in a specific orientation, is to be loaded into a container, a gripper or a suction device, for example, would be more suitable.

[0070] One advantage of this embodiment lies in the increased flexibility and adaptability of the process, as it is able to efficiently handle different object types and shapes and optimize the loading process according to the specific requirements of each loading situation. A further advantage is the improvement in the overall productivity and accuracy of the loading process, since selecting the appropriate end effector and considering the relevant information can lead to faster and more precise loading.

[0071] Preferably, at least one end effector comprises a plurality of movable units. Loading the container includes positioning at least one of the movable units, conveying the received object to an unloading position using the at least one movable unit, and unloading the received object into the container. The ability to individually control the movable units allows the method to efficiently handle and position objects of varying sizes and shapes.

[0072] The system can be configured so that the packing station receives an object, places the object on at least one of the movable units, and then positions the at least one movable unit so that it can forward the package to an unloading position and, from there, place the object at a selected location within the container. The movable units can be mounted on a platform to allow movement in more than one direction.

[0073] The multiple movable units can be arranged parallel and adjacent to one another. Each movable unit can be driven individually. Each movable unit can have an individual movement function. Alternatively or additionally, two or more movable units can be moved together, for example, by engaging one or more mechanical couplings to enable simultaneous movement of two or more movable units. A multiple of the movable units can be moved into the unloading position and extended, from where the object can be inserted into the container at the specified position. After the object has been inserted, the extended units are withdrawn from the container and can be used for another object.

[0074] The movable units can be extended and retracted individually, or two or more can be moved together to carry and transport objects too large to be adequately supported by a single unit. The packing station can be used in two different modes. In the first mode, only one movable unit can be extended to load an object into the container. In the second mode, two or more movable units can be extended together to move an object to the unloading position. By using only the necessary number of movable units to move the object to the unloading position, loading can be precise, as the movable units are guided into the container into a gap between or next to objects already stacked in the container without colliding with them.

[0075] When the object is placed in the container, it rests on one or more movable units. If two or more movable units are used, they are positioned so that they can move into or out of the container together, bringing the object to the unloading position. The unloading position can be a location near and above the selected position in the container where the object is to be unloaded. The object is supported by the movable units as it is moved to the unloading position until the package is unloaded.

[0076] The movable units comprise means, such as a conveyor belt, guide, or similar device, that can move the object to the front end of the movable units. The front end of the movable units is the end that extends toward or into the container to place an object at a selected position within the container.

[0077] Once the moving units have placed the object in the container above the selected position, they retract. Simultaneously, conveyor belts or guides on the moving units move the object forward and away from the moving units. The object may also remain stationary while the moving units retract beneath it. In this case, the conveyor belt or guide ensures that the object exits the moving unit and falls into the designated position within the container. The packing station can receive more than one object at a time and then place each object individually into the container.

[0078] Furthermore, a control unit can control the movement of the packing station, as well as the movement, extension, and retraction of the movable units, and the movement of the conveyor belt or guide on the movable units. This allows the control unit to manage the placement of the movable units in an unloading position and the unloading of the object at that specific location.

[0079] The packing station includes drive mechanisms to move the numerous movable units laterally and / or vertically. The control unit controls these drive mechanisms. The control unit can direct the drive mechanisms to position one or more of the movable units so that they can convey the object to an unloading position, as well as to move the movable units to a receiving position to pick up objects.

[0080] The invention is particularly, but not exclusively, advantageous in that it makes it possible to insert an object into a gap in the stack of objects and to achieve a gentle lowering or placement of the object when the at least one movable unit is retracted. If the movable units could not be extended individually, or if some of the movable units could not be extended into the container together while others remain outside the container, then the object would have to be inserted from a higher level where the movable units would not collide with other objects. In this case, the object's fall would be longer and its placement less precise. This would reduce the number of objects that could be stacked in the container and increase the risk of damaging the contents of the object, the object itself, or objects already placed inside during loading.The invention allows objects to be inserted from the side of the container and not just from the top.

[0081] According to one embodiment, the plurality of movable units are arranged on a movable platform. Preferably, the retractable units are arranged on a movable platform on which the movable units are arranged parallel and side by side. The movable platform is moved to a first position to receive an object, e.g., with the movable units in the retracted position, and the movable platform is then moved to a second position from which the movable units can load the object into the container.

[0082] According to one embodiment, the method further comprises the step of moving the movable platform in a transverse and / or vertical direction to adjust the position of the movable units so that the extended movable unit(s) fit into the space of the container above the specified position where the object is to be unloaded.

[0083] The movable platform can move both laterally and vertically to be positioned so that the movable units can move into the container to place the object precisely in the optimal unloading position.

[0084] The mobility of the units has several advantageous functional properties. It allows only the mobile unit(s) transporting the object to be loaded to be inserted into the container, thus avoiding or at least making collisions with other objects in the container less likely.

[0085] The object can be set down by a retraction effect, in which the movable unit(s) are retracted when the object is in the desired position, resulting in the object stopping and being slowly dropped or placed in the specified position.

[0086] It is conceivable that the movable unit(s) could be controlled in another way to achieve that the object is stacked in a more favorable orientation than the predetermined orientation in which it was received, e.g., by tilting the object about a substantially horizontal axis. This can have the advantage that the object fits better into the available space between already stacked objects in the container. According to one embodiment, unloading the object from the unloading position to the predetermined position in the container includes tilting the object from a first orientation at the unloading position to a second orientation at the predetermined position. The second orientation can be substantially perpendicular to the first orientation, so that the object is stacked in an upright position.Tilting the object can be achieved by extending or retracting one or more extended movable units, while a movable platform is moved in a vertical direction, e.g. upwards, to support the object during the tilting process.

[0087] According to one embodiment, determining the specific position in the container further includes determining a specific orientation in which the object is to be placed in the container. The specific orientation can be determined based on the size and / or orientation of the object and the information about the container provided by the detection device. The step of conveying the object longitudinally to the unloading position can, in a third mode, further include a vertical movement during the extension of one, two, or more movable units, for example, by moving a platform. Through this vertical movement during the extension of one, two, or more movable units, the packing station can ensure that the object is moved from an initial orientation to the specific orientation, which differs from the initial orientation.

[0088] The objects can be packed very tightly together because horizontal movement is possible during placement, preventing gaps between the stacked objects. This is also made possible by the mobility of the units, which can transport objects right up to the edge of the adjacent object. When an object is placed in a container, the mobile units can be controlled to minimize gaps either by transporting the object or by moving it horizontally. This horizontal movement can be achieved by the moving platform, by moving the units, or by a combination of both.

[0089] A detection unit can also be capable of recognizing an object placed on the movable units in order to determine the object's size and orientation. This allows the system to determine which of the movable units should be extended into the container when determining the load. Furthermore, the information about the package's size and orientation can be used to determine the precise position for placing the object.

[0090] According to one embodiment, the object is transported by one or more movable units to the unloading position, which is located essentially above the specified position in the container.

[0091] The unloading position can be located vertically above the designated position, at least by a predetermined height. The unloading position is a height above the designated position that approximately corresponds to the height of the multiple movable units, such that, at least during unloading, the lowest part of the multiple movable units is positioned at or substantially flush with the designated position without touching objects already placed in the container. It can be advantageous for objects in the container to be stacked from an unloading position above those already placed in the container, as this can reduce the risk of damage to the objects during unloading or stacking.

[0092] It may be provided that the movable units can be designed to have a low profile and be able to support at least the weight of the object, so that the unloading position can be between 0.3 and 30 centimeters above the specified position, for example between 5 and 10 centimeters above.

[0093] According to one embodiment, the object is unloaded at the specified position in the container by retracting the extended movable unit(s).

[0094] According to one embodiment, one, two, or more movable units extend in the direction of the specified position to convey the object to the unloading position, while the remaining movable units do not extend in the direction of the specified position. According to one embodiment, one or more of the movable units are retractable conveying units, each comprising a conveyor belt for unloading the object located on the movable unit(s).

[0095] According to one embodiment, one or more of the movable unit(s) each comprise a guide for unloading the object located on the movable unit(s).

[0096] According to one embodiment, unloading occurs when the object is substantially above the specified position by retracting the movable unit(s) while the conveying unit or guide moves forward, so that the object remains stationary at the unloading position until the object is set down substantially perpendicular to the selected position when the movable unit(s) is retracted.

[0097] According to one embodiment, the movable unit(s) comprises one or more end effectors configured to gradually lower the object from the discharge position to the specified position, so that the object is deposited at the specified position.

[0098] At least one end effector can be attached to a front end of the moving units to lower the object into the specified position. The end effector can be a plate on which the object can move from the moving unit, and then the plate is lowered into the specified position in which the object exits the plate, for example, by tilting the plate so that the object slides off the plate and into the specified position. Alternatively, the end effector can include one or more grippers configured to exert a holding force when they contact the object, so that the weight of the object is either partially or fully supported if the object is not supported by the moving units during unloading.

[0099] In a further embodiment, in which the movable units each comprise a conveyor belt for unloading the object located on the movable unit(s), the conveyor belt can be designed with a tapered section at the front end of the movable units. A tapered section can be formed, for example, by arranging an additional roller with a small diameter, e.g., between 1 and 5 centimeters, in front of two main rollers that serve to tension and propel the conveyor belt forward. A tapered section of the conveyor belt at the front end of the movable units can ensure that the object is gradually lowered from the unloading position to the desired position by means of a conveying process, as the conveyor belt performs a forward movement when the units retract.

[0100] Another aspect of the invention relates to a device for loading a container with an object, which is particularly suitable for carrying out a method according to the invention. The device comprises a communication unit configured to receive information on several objects, particularly within a defined time interval, as well as information on the loading status of the container. Furthermore, the device includes a control unit that is signal-connected to the communication unit and is configured to determine, based on the received information, the loading of the container with the objects to be received, in particular a target area within the container, a sequence of the objects to be received, and / or an orientation of the objects to be received.The device also includes a packing station, comprising at least one end effector for loading an object. The control unit is designed and configured to control the end effector for loading the container with the received object, based on the specified load.

[0101] The invention thus enables the loading of a received object based on a specific load, thereby utilizing the available space in the container as efficiently as possible. In particular, the received objects can be processed in a different order than they are received. Furthermore, they can be loaded in a different orientation than they are received.

[0102] One advantage of this device lies in the increased efficiency and accuracy of the loading process, as the control unit and the end effector work together to load the objects into the container, particularly in an optimal sequence and / or orientation, based on the specified load. Another advantage is the device's flexibility, which allows it to handle and load different types and sizes of objects into the container, thus increasing its versatility and applicability in various industrial contexts.

[0103] The communication unit ensures that all relevant data about the objects to be received and the current state of the container are collected and transmitted. The control unit optimizes the loading process by determining, for example, the most efficient sequence and / or orientation of the objects to make optimal use of the available space in the container and ensure the stability of the load. The packing station, equipped with at least one end effector, enables flexible and efficient handling of the objects, as the end effectors can perform specific tasks, resulting in higher speed and precision during loading, especially compared to manual loading.

[0104] It is also possible for the at least one end effector to comprise a plurality of movable units, each movable unit being extendable or retractable in a longitudinal direction. The control unit can be designed and configured to control the movable units in order to load a receiving object with at least one of the movable units, based on the specified load. For this purpose, the movable units can be extended individually, or two or more adjacent units can be extended together.

[0105] Preferably, the control unit may be designed and configured to control at least one of the movable units in such a way that it performs the following steps to load the container:

[0106] - Positioning one or more of the movable units in order to transport the object to an unloading position;

[0107] - Transporting the object longitudinally to the unloading position, whereby, depending on the size and / or orientation of the object, one or more of the movable units are extended; and

[0108] - Unloading the object into the container at the unloading position.

[0109] Preferably, the packing station has more than one end effector, in particular at least one load handling device and / or at least one gripping element. The control unit is designed and configured to select and control an end effector for loading based on the specific load. Selecting and controlling one or more suitable end effectors enables efficient and precise loading of the container. The selection can be based, in particular, on the category of an object to be received. Alternatively or additionally, the selection of the end effector can be based on a higher-level demand forecast from the central system.

[0110] One advantage of this embodiment lies particularly in the increased flexibility and efficiency of the loading process, as the control unit is able to select different end effectors depending on the specific requirements of the objects to be received and the container's loading status. This allows for adaptation to different object sizes, shapes, and weights, as well as to various loading scenarios, resulting in optimized space utilization and a reduction in object damage.

[0111] Another advantage lies in the ability to use multiple end effectors simultaneously or in rapid succession, which increases the speed of the loading process and improves the overall productivity of the device. For example, it may be possible to load several objects in parallel, even into different containers.

[0112] The use of specific end effectors for loading the objects also helps to protect them by enabling precise handling and placement of the objects within the container. This is particularly advantageous in applications where sensitive or fragile objects need to be handled.

[0113] A load-handling device can be a conveying element such as a cross belt. A gripping element can be designed as a suction cup or a mechanical gripper.

[0114] Preferably, the device includes an intermediate storage unit, in particular a buffer, intermediate storage unit, and / or a conveyor system. The control unit is designed and configured to temporarily store at least one of the objects to be received in the intermediate storage unit. By temporarily storing at least one object in the intermediate storage unit, the invention enables increased efficiency and flexibility when loading the container with objects. The intermediate storage unit serves as a temporary storage location for objects awaiting their final placement in the container, thus allowing optimized control of the loading process. This functionality is particularly advantageous in scenarios where the sequence or orientation of the objects in the container is important, as it provides precise control over the loading process.The intermediate storage can also serve as a buffer to compensate for delays or disruptions in the loading process by ensuring a continuous supply of objects to the container, even if the supply of objects is irregular.

[0115] Another advantage of this design is the ability to dynamically adjust the container's load by having the control unit release the temporarily stored objects in an optimal sequence or orientation. This can lead to improved space utilization within the container and increase the stability of the loaded objects during transport.

[0116] The intermediate storage can be implemented in various forms, such as a mechanical conveyor system, pouch sorter, or static storage areas like cabinet surfaces or shelves. It is also possible to use a conveyor system of a sorting system upstream of the packing station as an intermediate storage area, by recirculating at least one of the items on this conveyor system. Alternatively, forklift storage systems could also be used.

[0117] The intermediate storage unit can also include cross-belt elements that are either actively driven by a drive mechanism such as a motor or passively driven by the packing station.

[0118] It may also be provided that a safety fence or other suitable safety device is provided between the device and its surroundings in order to be able to carry out the loading of the container safely.

[0119] Another aspect of the invention relates to a sorting center, particularly for parcel sorting, comprising a device according to the invention, which is particularly suitable for carrying out a method according to the invention. The sorting center further comprises a sorting system, in particular a cross-sorter, and a container, in particular a roll container. The communication unit of the device is designed and configured to receive information from the sorting system regarding several objects to be received by the device, particularly within a defined time interval, and to load the container with at least one of the objects to be received based on the specified load.

[0120] The sorting system is positioned upstream of the device and is designed and configured to sort the objects, such as packages, and then feed them into the device. For this purpose, the sorting system may include, for example, a sizing / weighing system. This arrangement, along with the provision of information about the objects to be received, allows the device to efficiently determine the container's load, thus optimizing the use of the container's available capacity. An advantage of this configuration is therefore increased efficiency and accuracy in container loading, as the device is able to process the received information and position the objects accordingly.

[0121] The sorting center can comprise one or more devices according to the invention. For example, it can be provided that one device loads a specific number of containers. If the specific loading process involves loading a particular container with an object, then the corresponding device for loading can be selected. The selection and control of the device can be carried out, in particular, by means of the control unit.

[0122] Another aspect of the invention relates to a computer program product, in particular a control program for a control unit, comprising commands that cause a device and / or a sorting center according to the invention to execute a method according to the invention.

[0123] This aspect of the invention is particularly, but not exclusively, advantageous because the present invention can be achieved by a computer program product that enables a computer system to perform the operations of the device and / or the sorting center according to the invention when it is downloaded or uploaded to the computer system. Such a computer program product can be provided on any type of computer-readable medium or via a network. The device and the sorting center according to the invention are particularly suitable for carrying out the method according to the invention. The details and advantages disclosed for the method according to the invention are transferable and applicable to the device, the sorting center, and the computer program product according to the invention, and vice versa.

[0124] Further details of the invention are explained with reference to the figures below. These show:

[0125] Figure 1 shows an embodiment of a sorting center according to the invention;

[0126] Figure 2 shows an embodiment of a packing station according to the invention;

[0127] Figure 3 shows a further embodiment of a sorting center according to the invention;

[0128] Figure 4 shows an embodiment of a packing station of a device according to the invention and a container;

[0129] Figure 5 shows an embodiment of a packing station of a device according to the invention, in which movable units were moved into the container.

[0130] Figure 6 shows an embodiment of a packing station of a device according to the invention in perspective view;

[0131] Figure 7 shows an embodiment of an end effector of a device according to the invention with a plurality of movable units in a retracted position;

[0132] Figure 8 shows an embodiment of an end effector of a device according to the invention with three movable units in an extended position; Figure 9 shows an embodiment of an end effector of a device according to the invention with a plurality of movable units, each having a guide;

[0133] Figure 10 shows in various representations the conveying and unloading of a package using movable units of an end effector;

[0134] Figure ii shows an embodiment of a packing station of a device according to the invention, which has a platform movable on a rail to deliver packages to different containers;

[0135] Figure 12 shows the embodiment from Fig. 8, in which three of the movable units are simultaneously extended into one of the containers;

[0136] Figure 13 shows an embodiment of a sorting center according to the invention, in which a package is delivered from a conveyor belt to a packing station of a device according to the invention;

[0137] Figure 14 shows an embodiment of a sorting center according to the invention, comprising intermediate storage for storing packages;

[0138] Figure 15 shows an embodiment of a gripping tool for unloading packages for a device according to the invention;

[0139] Figure 16 shows an embodiment of a holding mechanism that prevents packages from tipping over;

[0140] Figure 17 shows an embodiment of a trapezoidal finger, which is designed as a reduction in the thickness of a front end of movable units of a device according to the invention; and

[0141] Figure 18 shows a schematic flowchart illustrating the process steps for loading a container using an end effector and a plurality of movable units. Figure 1 schematically depicts an embodiment of a sorting center. On the left is a sorting system 120, which transfers objects to be loaded to a cross-load sorter 121. From there, the objects are transferred to individual packing stations 10 for loading containers. The transfer from the cross-load sorter 121 to the packing stations can be accomplished, for example, by means of chutes 130.

[0142] Figure 2 shows a schematic representation of an embodiment of a packing station 10, for example, the sorting center 100 from Figure 1. Objects to be received are fed from the cross-load sorter 121 to the feed conveyor 60 via the chute 130. The objects reach an object receiving station 19 via the feed conveyor 60. This station is movable in at least one direction, so that one or more objects can be transferred from the object receiving station 19 to intermediate storage areas 62, which are implemented here as shelf compartments. For this purpose, the object receiving station 19 can, for example, have a conveyor belt or be designed as a conveyor belt.

[0143] Instead of storing an object in an intermediate storage space 62, the object can be grasped by means of an articulated robot 63, in particular by means of an end effector of the articulated robot 63 designed as a gripping tool 64, and loaded into one of the containers 20.

[0144] To make the operation of Packstation 10 as safe as possible, it has a safety fence 140 to create a boundary to the surroundings.

[0145] Figure 3 shows a schematic representation of an embodiment of a sorting center 100, here for parcel sorting, comprising two devices 110 for loading containers 20 with objects 30. The objects are essentially parcels 30.

[0146] Upstream of the two devices 110 is a sorting system 120, which here includes a cross-load sorter 121. In the sorting system 120, the packages 30 can be sorted and then fed to the two devices 110 for loading the containers 20. The containers 20 are designed as roll containers and are positioned behind the devices 110. The devices 110 and 120 include a common communication unit 41, which is designed and configured to receive information on several packages 30, particularly within a defined time interval, from the device 110, as well as information on the loading status of the containers 20. The communication unit 41 is designed here as part of a control unit 40 of the device 110 and is signal-connected to the control unit 40.The control unit 40 is trained and equipped to determine, based on the information received, the loading of the containers 20 with the packages 30 to be received, in particular the sequence and / or orientation of the packages 30 to be received.

[0147] The devices 110 each further comprise a packing station 10, each of which includes at least two end effectors for loading a package 30. The control unit 40 is designed and configured to select and control a suitable end effector of the respective packing station 10 based on the specific load for loading a container 20.

[0148] Furthermore, the devices 110 have a common intermediate storage unit 62, which is implemented here as a rack storage unit. Alternatively, the common intermediate storage unit 62 can also be implemented as a buffer point, an intermediate storage unit, and / or a conveyor system. Furthermore, each device 110 can have one or more individual intermediate storage units 62.

[0149] The control unit 40 is designed and configured to temporarily store a received package 30 in the intermediate storage unit 62, for example when the devices 110 are currently fully utilized and / or the package 30 to be temporarily stored is to be loaded at a later time.

[0150] The communication unit 41 of the devices 110 is designed and configured to receive information from the sorting system 120 about several packages 30 to be received by the devices 110, particularly within a defined time interval. For this purpose, the communication unit 41 and the sorting unit 121 are wirelessly connected to each other. The containers 20 and the packing stations 10 are also designed and configured to exchange information wirelessly with the communication unit 41. This allows the information required to determine the load to converge in the communication unit 41 and be transmitted to the control unit 40. The embodiments of a sorting center or a packing station 10 shown in Figures 1 to 3 are particularly capable of carrying out a method for loading the containers 20 with packages 30, comprising the following steps:

[0151] - By means of a communication unit 41, receiving information on several packets 30 to be received from the sorting system 120, in particular within a defined time interval;

[0152] - By means of the communication unit 41, obtaining information on the loading status of the containers 20;

[0153] - By means of the control unit 40, determining a loading of the containers 20 with the packages 30 to be received, in particular determining a target area in a container 20, a sequence of the packages 30 to be received and / or an orientation of the packages 30 to be received;

[0154] - Based on the specified load, in particular based on a specific target area of ​​the packages 30 to be received, loading the containers 20 with the received package 30 using a parcel station 10.

[0155] In particular, it may be provided that the acquisition of information on the packets 30 to be received and / or on the loading status occurs essentially continuously, and that the determination is dynamically updated based on the essentially continuously acquired information. The information on the packets 30 to be received includes, in particular, a shape, a weight, and / or a type of the packets 30 to be received.

[0156] Alternatively or additionally, it can be provided that, based on receiving information about the packages 30 to be received, at least one of the packages 30 to be received is categorized, and the determination of the loading of the containers 20, in particular a target area in a container 20 for at least one package 30 to be received, and / or the loading of the container 20 with the at least one package 30 to be received, is carried out based on the categorization of the at least one package 30 to be received. For example, based on information from a capture unit 19, incoming packages 30 can be classified into categories and then handled specifically. A loading speed or a suitable end effector of the packing station 10 can be selected based on this categorization. An unloading position can also depend on the categorization, for example by taking into account the stackability of a package 30.

[0157] If a detection unit 19, for example, detects a package 30, it can be categorized as a wine bottle in order to reduce the loading speed and assign a specific placement within a container. If a detection unit 10, for example, detects a polybag containing socks, this package 30 can be classified for more robust handling, allowing it to be loaded more quickly and even placed in gaps within container 20.

[0158] Categorization can also take into account an analysis of package volumes, especially those that occur regularly. For example, if a certain number of packages 30 containing clothing arrive regularly at specific times, these packages can generally be categorized for robust handling without requiring prior information from a data collection unit 19.

[0159] It may also be possible to select at least one of the packages to be received based on the specific load, in particular based on a specific sequence of the packages to be received. This allows the packages to be loaded in a different order than when they arrive at Packstation 10.

[0160] The process can also include processing historical data, in particular the received data information and / or arrival times or parcel volumes, whereby the load determination is carried out taking the historical data into account, in particular by including a local forecast, especially of sorting volume, in determining the load. This allows regularly occurring fluctuations in a loading volume to be handled more efficiently.In particular, determining the load in at least one local system, such as a packing station 10, includes aggregating the determined load, especially a local forecast, of the local system 20 by a central system, such as the sorting center 100, and creating a higher-level demand forecast by the central system 100, specifically including taking into account complex patterns such as seasonal fluctuations, peak times, and / or regional differences, for example, by using machine learning. This allows, in particular, better control of the utilization of individual packing stations 20 and / or devices 100, such as robots.

[0161] For further optimization, it may be possible to include an analysis of long-term patterns and / or complex spatial and temporal relationships in the creation of the overarching demand forecast, in particular through the use of machine learning with Long short-term memory (LSTM) and / or a Convolutional Neural Network (CNN).

[0162] Furthermore, the inspection of the incoming packages 30 and / or containers 20 and the verification of the specific load can be provided. For this purpose, the devices 110, implemented here as cameras, have detection units 18, each of which is signal-connected to one of the packing stations 10. Thus, two cameras 18 can monitor the incoming packages 30 and two cameras 18 can monitor the containers.

[0163] Verification can, in particular, involve comparing the checked data with the received information. This ensures that the loading status of containers 20 and the status of incoming packages 30 are kept up-to-date and accurate. For example, it can be identified if the order of packages 30 changes during feeding or if a package 30 has fallen from a feeder.

[0164] The sorting center 100 can also perform a fill level check of the containers 20 using the control unit 40 and the available information. This fill level check includes comparing the load status of a container 20 with the specified load. Based on the fill level check, the control unit can initiate the exchange of one or more containers 20. The control unit 40 can also initiate the temporary storage of an incoming package 30 in the buffer 62, based on the specified load. Furthermore, the control unit 40 can initiate temporary storage by leaving an incoming package 30 on the cross-belt sorter 121 for the time being.

[0165] The packing stations 10 can, in particular, include a robot or be designed as such. For example, the upper packing station 10 in Figure 3 includes a rotatable upper section on which several end effectors are arranged. The upper packing station 10 has, for instance, two telescopic arms 65 by which a package 30 can be grasped. The control unit 40 can, for example, select one of the telescopic arms 65 by rotating the upper section of the upper packing station 10, so that the selected telescopic arm 65 picks up a package 30 to be received and, by further rotation of the upper section and / or movement of the telescopic arm 65, loads it into a container 20.

[0166] Furthermore, the upper packing station 10 of Figure 3 has an end effector designed as a parallel gripper 66 and a gripping tool 64. The control unit 40 can thus select and control a suitable end effector based on the specific load and the nature of the packages 30 to be received, in order to load a package 30. In particular, several packages 30 can be processed simultaneously in this way.

[0167] The lower packing station 10 in Figure 3 also has more than one end effector, so that the control unit 40 can select and control a suitable end effector for this packing station 10 as well, based on the specific load and the nature of the packages 30 to be received, in order to load a package 30. In particular, several packages 30 can thus be processed simultaneously.

[0168] The lower packing station 10 in Figure 3 has an end effector designed as an articulated robot 63. It also has an end effector designed as a plurality of movable units 13. A package 30 can be transported to an unloading position 50 by means of the movable units 13 and unloaded there, for example, by retracting the units 13. The two end effectors of the lower packing station 10 can also work together, for example, by the articulated robot 63 receiving a package 30 and placing it on one or more movable units 13 for further transport. Figure 4 shows a packing station 10 that includes a movable platform 12 mounted on a strut 14, the strut 14 being able to move back and forth in a transverse direction on a rail 16. The movable platform 12 can move up and down on the strut 14 in a vertical direction.The movable platform 12 comprises a plurality of movable units 13 (see Fig. 6). The movable units 13 can be extended or retracted individually, or two or more movable units 13 can be extended or retracted together to transport packages 30 into a container 20 designed as a package receiving unit.

[0169] A detection unit 18 detects free space in the parcel receiving unit 20 and the size and position of the parcel 30 on the movable units 13. A control unit 40 receives information from the detection unit 18 and determines a specific position in the parcel receiving unit 20, particularly when determining the load. The control unit 40 also controls the movement of the parcel station 10, the movable units 13, and the parcel 30 to move the parcel 30 to an unloading position, from where it can be unloaded into the specified position in the parcel receiving unit 20. Local controls may be present at the parcel station 10 that communicate with the control unit 40, possibly wirelessly. The detection unit 18 may also communicate with the control unit 40. Drives or motors for moving the parcel station 10 and the movable units 13 are not shown.

[0170] Figure 5 shows the packing station 10 from Figure 4, with at least some of the movable units 13 extended into the parcel receiving unit 20 to load a parcel 30 into the parcel receiving unit 20. In Figure 5, the parcel 30 is shown on the movable units 13 in the unloading position directly above other parcels 30, thus preparing the parcel 30 to be placed at the specified position in the parcel receiving unit 20.

[0171] Figure 6 shows the parcel station 10 in perspective view. The parcel station 10 comprises the movable platform 12 with a number of movable units 13. The movable platform 12 is mounted on a strut 14, and the strut 14 is positioned on a rail 16. The strut 14 can move back and forth laterally on the rail 16, and the movable platform 12 can move up and down vertically on the strut 14. This allows the position of the movable platform 12 and the movable units 13 to be precisely adjusted so that the movable units 13 can be positioned in the parcel receiving unit 20 to deliver the parcel 30 exactly to the specified position in the parcel receiving unit 20.Furthermore, the transfer of package 30 from the unloading position to the specified position can take place from a position that is slightly above the specified position in order to place package 30 exactly at the specified position with a minimal drop height.

[0172] Figure 7 shows a movable platform 12 with a plurality of movable units 13, in this case seven. The movable units 13 are all in their retracted position. Each of the movable units 13 can move individually in the longitudinal direction, or two or more adjacent movable units can be extended together. Each of the movable units 13 includes a conveyor belt 15 for moving packages 30 placed on the movable unit 13.

[0173] Figure 8 shows the movable platform 12 from Figure 7 with seven movable units 13. Three of the movable units 13 have been extended to deliver a package 30. The package 30 is placed in the unloading position at the front end 25 of the extended movable units 13. Each of the movable units 13 in this embodiment includes a conveyor belt 15. The conveyor belts 15 can move together to transport the packages 30 to the unloading position. Figure 8 illustrates that some of the movable units 13, in this case three, can be moved together to transport a package 30, which cannot be transported by a single movable unit 13, to the unloading position.

[0174] Furthermore, it is shown that the movable units 13, which are not needed to carry the package 30, are not extended, but remain in their retracted position.

[0175] Figure 9 shows another embodiment of the movable platform 12 with a plurality of movable units 13. Each of the movable units 13 in this embodiment comprises a guide 17. The guide 17 pushes the package 30 forward into the unloading position at the front end 25 of the movable units 13, and finally the guide 17 pushes the package 30 away from the movable units 13. Three of the movable units 13 have been extended here to deliver a package 30; the package 30 is thus brought into the unloading position.

[0176] Figure 10, with its individual representations 10a-10d, shows how the movable units 13 transport a package 30 to an unloading position 50 and unload the package 30 into a package receiving unit 20 at a specific position 51. In Figure 10a, the movable units 13 transport a package 30 and have extended their front end 25 to position the package 30 above the specific position 51. In Figure 10b, the package 30 is moved forward into an unloading position 50 above the specific position 51, so that the package 30 is supported in the unloading position 50. Then, in Figure 10c, the movable units 13 are retracted while the conveyor belts 15 move forward, so that the package 30 remains in the unloading position 50 and moves away from the movable units 13. Finally, in figure lod, the movable units 13 have moved in and the package 30 has fallen into the specified position 51 in the package receiving unit 20.

[0177] Figure 11 shows a loading system with several, in this case seven, parcel receiving units 20. Here, the movable platform 12 can move back and forth along the rail 16 to receive parcels 30 and stack them in different parcel receiving units 20. Furthermore, the movable platform 12 can move up and down along the strut 14 to adjust its height and deliver a parcel 30 to the specific position in the selected parcel receiving unit 20, in accordance with other parcels 30 already in the parcel receiving unit 20.

[0178] Figure 12 shows the system from Figure 11, with three of the movable units 13 simultaneously extended into one of the package receiving units 20, and the package 30 in the unloading position on the extended movable units 13, ready to be dropped into the specified position in the package receiving unit 20. The movable units 13 are positioned in a free space next to another package 30 to reduce the height from which the package 30 falls into the selected position.

[0179] Figure 13 shows that a package 30 is delivered from a feed conveyor 60 to the movable platform 12. Alternatively, the package 30 can be delivered via a chute or manually by an employee 30. The movable platform 12 is in a first position, in which it can receive the package 30 from the feed conveyor 60. Once the movable platform 12 has received the package 30, it moves to a second position, as shown in Figures 11 and 12, from where it can move the package 30 to the selected package receiving unit 20.

[0180] Figure 14 shows a device with an intermediate storage unit 62 for storing packages 30 that cannot currently be stacked in a package receiving unit 20. The intermediate storage unit 62 is designed here as a rack storage system with eight buffer conveyors that can be used for the temporary storage of packages 30. The packing station 10 transfers a package 30 to one of the buffer conveyors 62. The packages 30 are temporarily stored in the intermediate storage unit 62 until a suitable space is available in the package receiving unit 20. The platform 12 with the movable units 13 can receive a package 30 from the feed conveyor 60 and place the package 30 in the intermediate storage unit 62. Later, the package 30 can be retrieved and moved to a package receiving unit 20.

[0181] Figure 15, with its individual illustrations 15a and 15b, shows an embodiment of an end effector for the packing station 10 with a gripping tool 64 for unloading packages 30. The gripping tool 64 can be mounted on the packing station 10. The gripping tool 64 can be used to move a package 30 from the movable units 13 to the package receiving unit 20. In Figure 15a, the gripping tool 64 grips the package 30 from the unloading position 50 on the movable units 13. In Figure 15b, the gripping tool 64 places the package 30 at the selected position 51 in the package receiving unit 20 after the movable units 13 have retracted.

[0182] Figure 16 shows a holding mechanism 70 that prevents the packages 30 from tipping. When the package 30 is placed in the unloading position 50, the holding mechanism 70 includes a retaining plate 72 that is placed on the package 30 to prevent it from tipping when the movable units 13 are retracted. This ensures that the package 30 falls into the selected position 51 without tipping when the movable units 13 are retracted. The holding mechanism 70 can be attached to the packing station 10 and is positioned to hold the package 30 when it is in the unloading position 50. The holding mechanism 70 is movable both vertically and horizontally, allowing the retaining plate 72, which can be moved vertically, to be placed on the package 30.

[0183] Fig. 17 shows a trapezoidal finger 80, which represents a reduction in the thickness of the front end 25 of the movable units 13, thereby reducing the drop height of the package 30. Furthermore, the trapezoidal finger 80 includes an inclined end that allows the package 30 to be gradually unloaded at the specified position.

[0184] Fig. 18 shows a flowchart illustrating the process steps for loading a parcel receiving unit 20 using the movable units 13. First, the parcel station 10 receives a parcel 30 at Si. Then, at S2, a specific position where the parcel 30 is to be placed is determined, for example, based on information or images from a scanning unit. In the next step, S3, the movable platform 12 is moved to a position from which it can deliver the parcel 30 to the specified position in the parcel receiving unit 20.

[0185] Subsequently, in step S4, the package 30 is transported to the unloading position by extending one movable unit 13 in a first mode or two or more movable units 13 in a second mode. Finally, in step S5, the package 30 is unloaded from the unloading position to the specified location.

[0186] The invention can be implemented using hardware, software, firmware, or any combination of these elements. The invention, or some of its features, can also be implemented as software running on one or more data processors and / or digital signal processors.

[0187] The features of the invention disclosed in the foregoing description, in the drawings, and in the claims can be essential for the realization of the invention, both individually and in any combination. Reference numeral list:

[0188] 10 Packstation

[0189] 12 platforms

[0190] 13 movable units

[0191] 14 Strut

[0192] 15 Conveyor belt

[0193] 16 rail

[0194] 17 Leadership

[0195] 18 recording units

[0196] 19. Object acceptance

[0197] 20 containers

[0198] 25 Front end of a movable unit 30 Package

[0199] 40 control unit

[0200] 41 Communication unit

[0201] 50 unloading position

[0202] 51 Specific position

[0203] 60 Feed conveyor belt

[0204] 62 buffers

[0205] 63 articulated robots

[0206] 64 Gripping tool

[0207] 65 telescopic arm

[0208] 66 Parallel gripper

[0209] 70 Holding mechanism

[0210] 72 Mounting plate

[0211] 80 Trapezoidal Finger

[0212] 100 sorting center

[0213] 110 Device

[0214] 120 sorting system

[0215] 121 Crossbelt sorter

[0216] 130 slides

[0217] 140 security fence

Claims

Claims 1. Method for loading a container (20) with an object (30), comprising the steps: Receiving information, in particular from a sorting system (120), about several objects to be received, in particular within a defined time interval (30); Receiving information about the loading status of the container (20); Based on the information obtained, determining the loading of the container (20) with the objects (30) to be received, in particular determining a target area in the container (20), a sequence of the objects (30) to be received and / or an orientation of the objects (30) to be received; and Based on the specified load, in particular based on a specific target area in the container (20), loading the container (20) with at least one of the objects (30) to be received.

2. Method according to claim 1, wherein the obtaining of information on the objects to be received (30) and / or on the loading state is carried out substantially continuously and the determination is dynamically updated based on the substantially continuously obtained information.

3. Method according to claim 1 or 2, wherein the information on the objects (30) to be received includes a shape, a weight and / or a type of the objects (30) to be received.

4. A method according to any of the preceding claims, wherein information on the objects (30) to be received and / or on the loading state is obtained by means of a detection unit comprising at least one camera or other optical sensor, a pressure or force sensor, a capacitive sensor, a piezoelectric sensor, an acoustic sensor and / or a magnetic field sensor.

5. A method according to any of the preceding claims, wherein, based on obtaining information on the objects (30) to be received, at least one of the objects (30) to be received is categorized, and wherein the loading of the container (20), in particular the target area in the container (20) for the at least one object (30) to be received, and / or the loading of the container (20) with the at least one object (30) to be received is carried out based on the categorization of the at least one object (30) to be received.

6. Method according to one of the preceding claims, wherein, based on the specific loading, in particular based on a specific sequence of the objects (30) to be received, at least one of the objects (30) to be received is selected.

7. Method according to one of the preceding claims, comprising a level check of the container (20), wherein the level check includes a comparison between the loading state of the container (20) and the determined loading.

8. Method according to claim 7, comprising a, in particular automatic, changing of the container (20) based on the fill level check.

9. Method according to any of the preceding claims, comprising intermediate storage and / or recirculation of a received object (30), wherein the intermediate storage and / or recirculation is based on the specified load.

10. Method according to one of the preceding claims, comprising storing a position of the loaded object (30) in the container (20), in particular in a parts list of the container (20).

11. Method according to any of the preceding claims, wherein obtaining information on the loading state of the container (20) comprises recognizing a container type, recognizing a geometry of the container (20) and / or recognizing a position and / or orientation of the container (20). 4512. Method according to one of the preceding claims, wherein the determination of the load takes into account a center of gravity, stability and / or a tipping moment of at least one of the objects (30) to be received and / or the container (20).

13. Method according to one of the preceding claims, comprising checking at least one of the objects (30) to be received, in particular based on the information obtained about the objects (30) to be received, wherein the checking preferably includes detecting oversized, unstable and / or damaged objects.

14. Method according to one of the preceding claims, comprising releasing the container (20) after loading, in particular when a level check of the container (20) shows that a limit value for the level has been reached or exceeded, wherein the release preferably comprises verifying the loading of the container (20), in particular with regard to a level and / or stability.

15. Method according to one of the preceding claims, comprising processing historical data, in particular the information obtained and / or arrival times or package volumes, wherein the determination of the load is carried out taking into account the historical data, in particular by including a local prediction of the sorting volume when determining the load.

16. A method according to any of the preceding claims, wherein the determination of the load is carried out in at least one local system, comprising aggregating the determined load, in particular a local forecast, of the local system by a central system and creating a higher-level demand forecast by the central system, in particular comprising taking into account complex patterns such as seasonal fluctuations, peak times and / or regional differences, for example by using machine learning. 4617- Method according to claim 16, wherein the creation of the overarching demand forecast comprises an analysis of long-term patterns and / or complex spatial and temporal relationships, in particular by using machine learning with Long short-term memory (LSTM) and / or a Convolutional Neural Network (CNN).

18. Method according to one of the preceding claims, wherein receiving and / or loading is carried out by means of a packing station (io), in particular by means of a robot, which has at least one end effector for receiving and / or loading an object (30).

19. Method according to claim 118, wherein the packing station (10) has more than one end effector for receiving and / or loading an object (30), comprising selecting an end effector, wherein the selection is based on the information obtained about the objects (30) to be received, the information obtained about the loading state of the container (20) and / or on the specific loading.

20. Method according to claim 19 in conjunction with claim 16 wherein the selection of the end effector is based on the higher-level demand forecast of the central system.

21. Method according to any one of claims 18 to 20, wherein at least one end effector has a plurality of movable units (13), wherein the loading of the container (20) comprises positioning at least one of the movable units (13), conveying the received object (30) by means of the at least one movable unit (13) to an unloading position (50) and unloading the received object (30) into the container (20).

22. Device (110) for loading a container (20) with an object (30), in particular for carrying out a method according to one of claims 1 to 21, comprising a communication unit (41) configured and set up to receive information on several objects (30) to be received by the device (110), in particular at a defined time interval, and information on the loading status of the container (20), a control unit (40) connected to the communication unit (41) by signal and configured and set up to determine, based on the received information, a loading of the container (20) with the objects (30) to be received, in particular a target area in the container (20), a sequence of the objects (30) to be received and / or an orientation of the objects (30) to be received, and a packing station (10) comprising at least one end effector for loading an object (30).wherein the control unit (40) is designed and configured to control the end effector for loading the container (20) with the received object (30) based on the specified load.

23. Device (110) according to claim 22, wherein the packing station (10) has more than one end effector, in particular at least one load handling device and / or at least one gripping element, wherein the control unit (40) is designed and configured to select and control an end effector for loading based on the specific load.

24. Device (110) according to claim 22 or 23, comprising an intermediate storage (62), in particular a buffer, intermediate storage and / or a conveying system, wherein the control unit (40) is designed and configured to temporarily store and / or recirculate at least one of the objects (30) to be received in the intermediate storage (62).

25. Sorting center (100), in particular for parcel sorting, comprising a device (110) according to one of claims 22 to 24, in particular for carrying out a method according to one of claims 1 to 21, a sorting system (120), in particular a cross-goods sorter (121), and a container (20), in particular a roll container, wherein the communication unit (41) of the device (110) is designed and configured to receive information from the sorting system (120) about several objects (30) to be received by the device (110), in particular at a defined time interval, and to load the container (20) with at least one of the objects (30) to be received based on the specified load.

26. Computer program product, in particular a control program for a control unit (40), comprising instructions that cause a device (110) according to one of claims 22 to 24 and / or a sorting center (100) according to claim 25 to perform the process steps according to one of claims 1 to 21. 49

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