Patent ID: 8615321

Claim:
A method for automated palletizing of packages, comprising the steps of: providing an input to a processor defining a size of a loading area, having edges respectively connected at corners of the loading area, in which packages are to be stacked by an automated manipulator; in said processor, generating a virtual layer comprised of multiple packages from among said packages to be stacked in said loading area; in said processor, automatically centering said virtual layer relative to said loading area with at least some outer packages in said virtual layer located at selected locations at said edges of said loading area, thereby obtaining a centered virtual layer in said processor, and automatically assessing a stability of said centered virtual layer in said processor and generating a control signal dependent on the assessed stability; and from said processor, emitting said control signal in electronic form configured to control operation of an automated manipulator to cause packages to be stacked in a stack in said loading area dependent on the assessed stability of said centered virtual layer in said processor.