EP4000026A1 - Warehouse inventory system - Google Patents
Warehouse inventory systemInfo
- Publication number
- EP4000026A1 EP4000026A1 EP20751611.3A EP20751611A EP4000026A1 EP 4000026 A1 EP4000026 A1 EP 4000026A1 EP 20751611 A EP20751611 A EP 20751611A EP 4000026 A1 EP4000026 A1 EP 4000026A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- inventory system
- warehouse
- warehouse inventory
- autonomous robotic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000006641 stabilisation Effects 0.000 claims abstract description 25
- 238000011105 stabilization Methods 0.000 claims description 23
- 230000005484 gravity Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0866—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted to captive aircraft
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/141—Control of illumination
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
- B64U2201/202—Remote controls using tethers for connecting to ground station
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Definitions
- the present invention relates to a warehouse inventory system for performing an inventory of objects stored on shelves arranged in a storage area of a warehouse.
- Such a warehouse inventory system comprises, in a known manner:
- an autonomous robotic device configured to move autonomously in the aisles of the storage area of the warehouse and along the shelves arranged in the storage area
- a mast which is supported by the support device and which is equipped with image capture devices configured to capture images of the objects stored on the shelves during the movements of the autonomous robotic device along the shelves arranged in the storage area .
- This mast must be sufficiently stable to guarantee the quality of the image capture and to guarantee the position of the image capture in space with respect to the warehouse frame of reference.
- the inventory system is then equipped with a stabilization device configured to vertically stabilize the mast during the movements of the autonomous robotic device.
- a mast that is completely integral with the support device of the inventory system in the warehouse requires a large-size and heavy-weight support device in order to avoid any tilting of the mast during, for example, a sudden stop of the autonomous robotic device, and requires the presence of a complex guying system, as a device for stiffening the mast.
- the ground irregularities will transmit parasitic movements to the mast, which has a direct impact on both the quality of the images but also the precision of the position of the image captures.
- the use of a bulky support device does not allow the autonomous robotic device to be easily circulated through narrow aisles of the warehouse, and the presence of a complex guying system increases the costs of the system. inventory and complicates the assembly of the latter.
- a mast in connection with the recessing of the support device integral in motion of the autonomous robotic device reduces the quality of the images taken and the position accuracy of the images taken.
- the present invention aims to remedy all or part of these drawbacks.
- the technical problem underlying the invention therefore consists in providing a warehouse inventory system which is simple and economical in structure, while making it possible to easily carry out inventories in warehouses provided with narrow aisles.
- the present invention relates to a warehouse inventory system for carrying out an inventory of objects stored on shelves arranged in a storage area of the warehouse, the warehouse inventory system comprising:
- an autonomous robotic device configured to move autonomously in the aisles of the storage area of the warehouse and along the shelves arranged in the storage area
- a mast which is supported by the support device and which is equipped with image capture devices configured to capture images of the objects stored on the shelves during the movements of the autonomous robotic device along the shelves arranged in the storage area , the mast being connected to the support device by an articulation with at least two degrees of freedom,
- a stabilization device configured to vertically stabilize the mast during the movements of the autonomous robotic device, the stabilization device comprising a drone connected to the mast, and for example fixed to the mast.
- Such a configuration of the inventory system in the warehouse, and in particular the presence of a stabilization device equipped with a drone, makes it possible to significantly reduce the size and the weight of the support device which supports the mast, eliminating the need for a guying system to vertically stiffen the mast, increases the quality of the images taken as well as the precision of the position of the image captures, while being able to use a high mast.
- the significant reduction in the size of the support device makes it possible in particular to significantly reduce the footprint of the inventory system in the warehouse, and therefore to circulate the autonomous robotic device in narrow aisles of the warehouse, while being able to capture images. objects stored up to the full height of the warehouse shelves in a single pass.
- the presence of the drone makes it possible to stabilize the mast in a vertical position, for example, regardless of the fluctuations in trajectories, speeds, accelerations of the autonomous robotic device.
- the fact of connecting the mast to the support device by an articulation with at least two degrees of freedom makes it possible to easily stabilize the mast in numerous positions of the autonomous robotic device and of the support device.
- the presence of such an articulation makes it possible to be able to easily stabilize the mast even when the autonomous robotic device tilts on its roll axis, for example by rolling sideways on inclined terrain, such as terrain inclined at 45 ° from the horizontal, or when passing over uneven ground.
- the presence of such a joint also allows the drone to vertically stabilize the mast without the drone producing significant forces, which makes it possible in particular to preserve the integrity and the lifespan of the drone.
- the forces produced by the drone to compensate for the differences in position of the mast, and therefore to straighten the mast when it deviates from the vertical are very low when a counterweight is attached to a lower part of the mast.
- the efforts produced by a drone to compensate for the differences in the position of the mast would be relatively large if the latter were flexible, which would require the use of a very powerful drone, and thus relatively expensive.
- the warehouse inventory system may further have one or more of the following features, taken alone or in combination.
- the image capture devices are offset with respect to one another along a longitudinal axis of the mast. According to an alternative embodiment of the invention, the image capture devices are substantially aligned with respect to one another.
- each image capture device comprises a digital still camera or a digital camera.
- the stored objects are products, boxes, cartons and / or pallets.
- the autonomous robotic device is configured to move autonomously in aisles of the storage area of the warehouse and along the shelves arranged in the storage area according to a movement path. predefined.
- the autonomous robotic device is equipped with a rechargeable battery.
- the autonomous robotic device is equipped with casters configured to roll on a warehouse floor.
- the support device is equipped with casters configured to roll on the warehouse floor.
- the support device is a support carriage.
- the articulation with at least two degrees of freedom is configured to allow pivoting of the mast relative to the support device around a first pivot connection and around a second pivot connection substantially. perpendicular to the first pivot link.
- the first and second pivot links extend transversely, and for example perpendicularly, to a longitudinal axis of the mast.
- the first and second pivot links are configured to allow roll and pitch movements of the mast.
- the articulation comprises a first fixing part which is annular and which is mounted articulated on the support device about a first articulation axis, and a second fixing part which is annular and which is mounted articulated on the first fixing part about a second articulation axis, the second fixing part extending around the mast and being fixed to the mast.
- the mast is configured such that the center of gravity of the mast is located substantially at the level of the articulation with at least two degrees of freedom, and for example at a height of between 1.5 and 2 m relative to the ground on which the autonomous robotic device is intended to move.
- the articulation with at least two degrees of freedom is a articulation with three degrees of freedom, in other words a ball joint.
- the stabilization device comprises at least one movement sensor configured to detect movements of the mast relative to the support device, the stabilization device being configured to control the drone as a function of the movements detected. by at least one motion sensor.
- the stabilization device comprises at least one movement sensor configured to detect movements of the mast relative to the terrestrial reference frame, namely gravity, the stabilization device being configured to control the drone in function of the movements detected by the at least one movement sensor.
- the stabilization device is configured to control the propellers of the drone as a function of the movements detected by the at least movement sensor.
- the at least one motion sensor is located near the joint with at least two degrees of freedom.
- the stabilization device comprises an inertial unit which is placed near the joint with at least two degrees of freedom, the stabilization device being configured to control the drone as a function of the data detected. by the inertial unit.
- the stabilization device comprises an automatic pilot (“autopilot” in English) which is configured to transmit control signals to the drone.
- autopilot is located near the joint with at least two degrees of freedom.
- the control signals are for example defined as a function of the data detected by the inertial unit.
- a counterweight is fixed to a lower part of the mast, the counterweight being configured so as to place the center of gravity of the assembly formed by the mast and the counterweight close to the joint with two degrees of freedom.
- the mast is configured to occupy a first mast position, also called inventory position, in which the mast extends substantially vertically, and a second mast position in which the mast s 'extends substantially horizontally.
- the counterweight is located below the articulation with at least two degrees of freedom when the mast occupies the first mast position.
- the warehouse inventory system comprises a movement limitation device, also called a safety device, configured to limit an amplitude of movement of the mast relative to the support device when the mast occupies the first mast position.
- a movement limitation device also called a safety device
- the movement limitation device is configured to allow a limited amplitude of movement of the mast relative to the support device, and for example around the joint with at least two degrees of freedom, when the mast occupies the first mast position.
- the movement limitation device is configured to limit an amplitude of movement of the mast around the first pivot connection, and for example of the first articulation axis, when the mast occupies the first position mast, and to limit an amplitude of movement of the mast around the second pivot connection, and for example the second articulation axis, when the mast occupies the first mast position.
- the movement limitation device is configured to allow a first limited amplitude of movement of the mast around the first pivot connection, and for example around the first articulation axis, when the mast occupies the first mast position, and to allow a second amplitude of movement of the mast around the second pivot connection, and for example around the second articulation axis, when the mast occupies the first mast position.
- the movement limitation device is provided on the support device. According to one embodiment of the invention, the movement limitation device is configured to trigger an emergency stop of the inventory system in the warehouse.
- the warehouse inventory system comprises an immobilization device configured to immobilize the mast relative to the support device when the mast occupies the second mast position.
- the mast comprises a telescopic upper part which is equipped with at least one of the image capture devices.
- the telescopic upper part is located above the drone.
- the telescopic upper part can be deployed between a deployed configuration and a retracted configuration in a direction of deployment which is substantially parallel to the longitudinal axis of the mast.
- the mast is at least partly formed by an assembly of mast sections which are fitted into each other in a removable manner.
- each mast section has a length of between 1.5 meters and 2.5 meters, and for example around 2 meters.
- the mast has a length greater than six meters, and for example around ten meters.
- the warehouse inventory system comprises a plurality of light sources attached to the mast, each light source being configured to illuminate objects stored on the shelves and located in a field of view of the mast. 'at least one image capture device in order to improve the quality of the images captured by said image capture device.
- each light source is located near an image capture device.
- each light source comprises at least one light-emitting diode, and can for example be a light-emitting diode flash.
- the warehouse inventory system comprises a plurality of light intensity measuring devices attached to the mast, each light intensity measuring device being configured to measure a light intensity close to it. at least one image capture device.
- each light intensity measuring device is located near an image capture device.
- the warehouse inventory system comprises an adjustment unit configured to adjust the light intensity of each light source as a function of the light intensity measured by at least one measuring device. light intensity which is located close to said light source, and for example close to the image capture device which is located close to said light source.
- the autonomous robotic device comprises exteroceptive sensors configured to detect information on an environment in which the autonomous robotic device is located.
- the exteroceptive sensors include at least one LIDAR sensor.
- the exteroceptive sensors are configured to detect obstacles located on the path of movement of the autonomous robotic device.
- the autonomous robotic device comprises a control unit which is configured to process and analyze the information detected by the exteroceptive sensors in order to identify characteristics of the environment in which the robotic device is located.
- autonomous and which is configured to control, in an autonomous control mode, the autonomous robotic device based on the information detected by the exteroceptive sensors.
- control unit is configured to control the autonomous robotic device from a digital plan of the warehouse (including in particular the position of the aisles of the warehouse and of the storage locations. in the shelves), and so that full or partial warehouse inventories can be planned in a repeatable manner.
- the warehouse inventory system comprises a processing unit configured for: - process and analyze the images captured by the image capture devices,
- identification codes such as bar codes
- the processing unit is configured to generate, for each inventory, an inventory report, for example in the form of an archive.
- the inventory report of each inventory comprises:
- the date and time of capture of the captured image from which the identification code was detected for example year, month, day, time , minute, second and time zone
- the date and time of capture of the captured image from which the identification code was detected for example year, month, day, time , minute, second and time zone
- the position of the identification code detected in the warehouse for example the position in x, y, z of the identification code detected in meters relative to a predefined origin of the warehouse ), and or
- each inventory report is a file in .csv format.
- the warehouse inventory system comprises an on-board computer comprising the processing unit.
- the drone comprises a central part which is fixed to the mast, a plurality of support arms which are fixed to the central part and which are angularly offset from each other, and a plurality of devices air flow generators which are attached to the support arms.
- the support arms extend in the same extension plane.
- each device for generating air flow comprises a propeller.
- the axis of rotation of each propeller is substantially parallel to the direction of extension of the respective support arm.
- each device for generating air flow comprises a drive motor configured to drive the respective propeller in rotation.
- the support device is configured to be at least partly supported by the autonomous robotic device.
- the support device is configured to be towed by the autonomous robotic device.
- the support device is configured to be pushed by the autonomous robotic device.
- FIG. 1 is a perspective view of a warehouse inventory system according to the invention.
- FIG. 2 is a partial perspective view of a lower portion of the warehouse inventory system of Figure 1.
- FIG. 3 is a partial perspective view of a device for stabilizing the warehouse inventory system of FIG. 1.
- FIG. 4 is a partial perspective view of a mast of the warehouse inventory system of Figure 1.
- FIG. 5 is a perspective view of the two-degree-of-freedom articulation of the warehouse inventory system of Figure 1.
- FIG. 6 is a partial perspective view of the warehouse inventory system of Figure 1 showing the mast in the second mast position.
- FIG. 7 is a front view of a shelf arranged in a storage area of a warehouse and on which objects are stored.
- FIG. 8 is a perspective view of a telescoping top portion of the warehouse inventory system of Figure 1, showing the telescoping top portion in a retracted configuration.
- FIG. 9 is a perspective view of the telescopic upper part of FIG. 8 in an intermediate configuration.
- FIG.10 is a perspective view of the telescopic upper part of Fig. 8 in an extended configuration.
- Figures 1 to 10 show a warehouse inventory system 2 for carrying out an inventory of objects 100, such as products, boxes, cartons and / or pallets, stored on shelves 101 arranged in a storage area 102 of a warehouse.
- objects 100 such as products, boxes, cartons and / or pallets
- the warehouse inventory system 2 comprises an autonomous robotic device 3 configured to move autonomously in the aisles of the storage area 102 of the warehouse and along the shelves 101 arranged in the storage area 102 according to a path. predefined displacement.
- the autonomous robotic device 3 comprises a support frame 4 comprising casters 5 configured to roll on a warehouse floor.
- the autonomous robotic device 3 further comprises exteroceptive sensors 6 fixed to the support frame 4 and configured to detect information on the environment in which the autonomous robotic device 3 is located.
- the exteroceptive sensors 6 may for example include one or more. LiDAR sensors, and are in particular configured to detect obstacles on the path of movement of the autonomous robotic device 3.
- the autonomous robotic device 3 further comprises a control unit 7, formed for example by an electronic microcontroller, which is configured to process and analyze the information detected by the exteroceptive sensors 6 in order to identify characteristics of the environment in which it takes place. finds the autonomous robotic device 3, and which is also configured to control, in an autonomous control mode, the autonomous robotic device 3 based on the information detected by the exteroceptive sensors 6 and a digital map of the warehouse (including in particular the position of the aisles of the warehouse and the storage locations in the shelves arranged in the storage area).
- a control unit 7 formed for example by an electronic microcontroller, which is configured to process and analyze the information detected by the exteroceptive sensors 6 in order to identify characteristics of the environment in which it takes place. finds the autonomous robotic device 3, and which is also configured to control, in an autonomous control mode, the autonomous robotic device 3 based on the information detected by the exteroceptive sensors 6 and a digital map of the warehouse (including in particular the position of the aisles of the warehouse and the storage locations in the shelves arranged in the storage area
- the autonomous robotic device 3 comprises a rechargeable battery (not visible in the figures) configured to supply electrically the autonomous robotic device 3.
- the warehouse inventory system 2 also comprises a support device 8, such as a support trolley, which is integral in movement with the autonomous robotic device 3, and which is for example fixed to the support frame 4 of the autonomous robotic device. 3.
- the support device 8 is equipped with rollers 9 configured to roll on the floor of the warehouse.
- the warehouse inventory system 2 further comprises a mast 11 which is supported by the support device 8.
- the mast 11 advantageously has a length greater than six meters, and may for example reach about ten meters.
- the mast 11 can advantageously be at least partly formed by an assembly of mast sections which are fitted into each other in a removable manner.
- Each mast section has for example a length between
- the mast 11 is more particularly connected to the support device 8 by an articulation 12 with two degrees of freedom which is configured to allow a pivoting of the mast 11 relative to the support device 8 around a first articulation axis Al and around a second articulation axis A2 which is perpendicular to the first articulation axis Al.
- the first and second articulation axes A1, A2 extend perpendicularly to a longitudinal axis B of the mast
- the articulation 12 may for example be located at a height of between 1.5 m and 2 m relative to the ground on which is intended to move. the autonomous robotic device 3.
- the articulation 12 comprises a first fixing part 12.1 which is annular and which is mounted articulated on the support device 8 about the first articulation axis A1, and a second fixing part
- the second fixing part 12.2 which is annular and surrounded by the first fixing part 12.1 and which is mounted articulated on the first fixing part 12.1 around the second articulation axis A2.
- the second fixing part 12.2 extends around the mast 11 and is fixed to the mast 11.
- 12.1. 12.2 extend coaxially when the mast 11 extends vertically.
- the mast 11 is configured to occupy a first mast position, also called inventory position, in which the mast 11 extends substantially vertically, and a second mast position in which the mast extends horizontally.
- the warehouse inventory system 2 further comprises a counterweight 13 which is fixed to a lower part 11.1 of the mast 11.
- the counterweight 13 is located below the articulation 12 when the mast 11 occupies the first position.
- mast, and the mast 11 is configured such that the center of gravity of the mast 11 is located substantially at the level of the articulation 12.
- the warehouse inventory system 2 comprises a movement limitation device 14 configured to limit an amplitude of movement of the mast 11 around the first articulation axis A1 when the mast 11 occupies the first mast position, and to limit an amplitude movement of the mast 11 around the second hinge axis A2 when the mast 11 occupies the first mast position.
- the movement limitation device 14 is provided on the support device 8.
- the movement limitation device 14 comprises a rear stop member 14.1 removably fixed to the support device 8 and against which a lower part of the mast 11 can come into abutment when the mast 11 is pivoted about the first articulation axis A1 so that the lower part of the mast 11 is away from the autonomous robotic device 3.
- the movement limitation device 14 further comprises two lateral stop members 14.2 provided on the support device 8 and against each of which the lower part of the mast 11 can come into abutment when the mast 11 is pivoted about the second articulation axis A2.
- the warehouse inventory system 2 further comprises an immobilization device 15 configured to immobilize the mast 11 relative to the support device 8 when the mast 11 occupies the second mast position.
- the immobilization device 15 comprises a first immobilization member 15.1 removably attached to the support device 8 and a second immobilization member 15.2 also removably attached to the support device 8
- the first and second immobilization members 15.1, 15.2 are configured to extend on either side of the mast 11 when the mast 11 is in the second mast position, so as to prevent any pivoting of the mast 11 around the mast.
- the first and second immobilization members 15.1, 15.2 extend substantially parallel to the first articulation axis Al, and are offset vertically with respect to one another.
- the first and second immobilization members 15.1, 15.2 In order to immobilize the mast 11 in the second mast position, it suffices to dismantle, and for example unscrew, the first and second immobilization members 15.1, 15.2, to pivot the mast 11 around the first articulation axis Al until the mast 11 is positioned in the second mast position, and finally to fix again the first and second immobilization members 15.1, 15.2 to the support device 8.
- the warehouse inventory system 2 further comprises image capture devices 16 which are attached to the mast 11 and which are configured to capture images of the objects 100 stored on the shelves 101 during the movements of the autonomous robotic device 3 on the. along the shelves 101 arranged in the storage area 102.
- the image capture devices 16 are offset with respect to each other along the longitudinal axis B of the mast 11, and are aligned with respect to each other along the longitudinal axis B of the pole. mast 11.
- Each image capture device 16 may for example include a digital still camera or a digital camera.
- the warehouse inventory system 2 further comprises a stabilization device 17 configured to vertically stabilize the mast 11 during the movements of the autonomous robotic device 3.
- the stabilization device 17 advantageously comprises a drone 18 which is fixed to the mast 11, and for example to an upper portion of the mast 11.
- the drone 18 comprises in particular a central part 19 which is fixed to the mast 11, a plurality of support arms 21 which are fixed to the central part 19 and which are angularly offset from each other, and a plurality of airflow generating devices 22 which are each attached to a respective support arm 21.
- each air flow generation device 22 comprises a propeller 23 having an axis of rotation which is substantially parallel to the direction of extension of the respective support arm 21, and a drive motor (not shown in the figures) configured to rotate the respective propeller 23.
- the axis of rotation of each propeller 23 extends substantially radially with respect to the longitudinal axis of the mast 11.
- Each support arm 21 can for example be hollow so as to allow the passage of electrical supply cables configured to supply power. electrically the respective air flow generation device, and the reception of the respective drive motor.
- the stabilization device 17 further comprises an inertial unit
- the stabilization device 17 is more particularly configured to control the propellers 23 of the drone 18 as a function of the data detected by the inertial unit, and in particular as a function of the movements detected by the motion sensor.
- the inertial unit 24.1 is located near the articulation 12. Such a positioning of the inertial unit 24.1 allows the stabilization device 17 to be more sensitive to the movements of the mast 11, and therefore to ensure control. optimal propellers 23, which ensures optimal stabilization of the mast 11.
- the inertial unit 24.1 can for example be fixed to the mast 11.
- the stabilization device 17 further comprises an automatic pilot
- control signals are advantageously defined as a function in particular of the data detected by the inertial unit 24.1.
- the warehouse inventory system 2 also includes a plurality of light sources 25 attached to the mast 11.
- the light sources 25 are offset with respect to each other along the longitudinal axis B of the mast 11. , and are aligned with respect to each other along the longitudinal axis B of the mast 11.
- Each light source 25 may include at least one light-emitting diode, and can for example be a light-emitting diode flash.
- each light source 25 is located near an image capture device 16 and is configured to illuminate objects 100 stored on shelves 101 and located in a field of view of the image capture device. 16 respectively in order to improve the quality of the images captured by said image capture device 16, in particular when the objects 100 are stored in the lower part of the shelves 101, that is to say away from the lights of the warehouse or warehouse skylights.
- each light source 25 could be located between two adjacent image capture devices 16, and be configured to illuminate objects located in the fields of view of the image capture devices 16. adjacent.
- the warehouse inventory system 2 further comprises a plurality of light intensity measuring devices 26 attached to the mast 11.
- the light intensity measuring devices 26 are offset with respect to each other along the longitudinal axis B of the mast 11, and are aligned with respect to each other along the longitudinal axis B of the mast 11.
- Each light intensity measuring device 26 is located near an image capture device 16 and is configured to measure a light intensity near the respective image capture device 16.
- the warehouse inventory system 2 further comprises an adjustment unit 27 configured to adjust the light intensity of each light source 25 according to the light intensity measured by the light intensity measuring device 26 which is located. near the image capture device 16 associated with said light source 25.
- the warehouse inventory system 2 comprises an on-board computer 28, for example attached to the support device 8, which comprises the adjustment unit 27 and a processing unit 29.
- the processing unit 29 is configured for:
- identification codes 31 such as bar codes, carried by the stored objects 100 from the captured images, the identification codes 31 possibly being carried by labels stuck on the stored objects,
- Such a processing unit 29 is well known to those skilled in the art, and is therefore not described in detail in the present description.
- processing unit 29 is further configured to generate, for each inventory, an inventory report, for example in .csv format, comprising:
- the position of the identification code 31 in the warehouse (for example the position in x, y, z of the identification code detected in meters relative to a predefined origin of the warehouse),
- the mast 11 further comprises a telescopic upper part 11.2 which is located above the drone 18, and which is fixed to the central part 19 of the drone 18.
- the upper part telescopic 11.2 extends parallel to the main part of the mast 11 and is equipped with several image capture devices 16.
- the telescopic upper part 11.2 of the mast is deployable between a deployed configuration (see figure 10) in which the image capture devices 16 carried by the telescopic upper part 11.2 are spaced apart from each other and a retracted configuration (see figure 8) in which the image capture devices 16 carried by the telescopic upper part 11.2 are brought closer to each other.
- the warehouse inventory system 2 comprises drive means configured to move the telescopic upper part 11.2 between the deployed and retracted configurations.
- the invention is not limited to the sole embodiment of this inventory system in a warehouse, described above by way of example, it embraces on the contrary all the variant embodiments thereof.
- the articulation 12 could be an articulation with three degrees of freedom, in other words a ball joint.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1908257A FR3098748B1 (en) | 2019-07-19 | 2019-07-19 | Warehouse inventory system |
PCT/FR2020/051262 WO2021014071A1 (en) | 2019-07-19 | 2020-07-13 | Warehouse inventory system |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4000026A1 true EP4000026A1 (en) | 2022-05-25 |
Family
ID=68987804
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20751611.3A Pending EP4000026A1 (en) | 2019-07-19 | 2020-07-13 | Warehouse inventory system |
Country Status (4)
Country | Link |
---|---|
US (1) | US20220267096A1 (en) |
EP (1) | EP4000026A1 (en) |
FR (1) | FR3098748B1 (en) |
WO (1) | WO2021014071A1 (en) |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3015997C2 (en) * | 1980-04-25 | 1983-02-03 | Messerschmitt-Bölkow-Blohm GmbH, 8000 München | Extendable mast |
US20160371544A1 (en) * | 2015-06-22 | 2016-12-22 | Vivint Solar, Inc. | Photovoltaic measurement system |
US10019803B2 (en) * | 2016-10-17 | 2018-07-10 | Conduent Business Services, Llc | Store shelf imaging system and method using a vertical LIDAR |
US10521914B2 (en) * | 2017-09-07 | 2019-12-31 | Symbol Technologies, Llc | Multi-sensor object recognition system and method |
-
2019
- 2019-07-19 FR FR1908257A patent/FR3098748B1/en not_active Expired - Fee Related
-
2020
- 2020-07-13 WO PCT/FR2020/051262 patent/WO2021014071A1/en unknown
- 2020-07-13 EP EP20751611.3A patent/EP4000026A1/en active Pending
- 2020-07-13 US US17/628,446 patent/US20220267096A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
FR3098748A1 (en) | 2021-01-22 |
FR3098748B1 (en) | 2023-07-14 |
WO2021014071A1 (en) | 2021-01-28 |
US20220267096A1 (en) | 2022-08-25 |
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