EP4179485A1 - Systèmes de chargement et de déchargement de supports mobiles de collecte sur un robot autonome mobile pour la préparation de commande - Google Patents
Systèmes de chargement et de déchargement de supports mobiles de collecte sur un robot autonome mobile pour la préparation de commandeInfo
- Publication number
- EP4179485A1 EP4179485A1 EP21754690.2A EP21754690A EP4179485A1 EP 4179485 A1 EP4179485 A1 EP 4179485A1 EP 21754690 A EP21754690 A EP 21754690A EP 4179485 A1 EP4179485 A1 EP 4179485A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- collection
- supports
- mobile
- autonomous robot
- positioning
- 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
- 238000000151 deposition Methods 0.000 claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 25
- 238000002360 preparation method Methods 0.000 description 35
- VJYFKVYYMZPMAB-UHFFFAOYSA-N ethoprophos Chemical compound CCCSP(=O)(OCC)SCCC VJYFKVYYMZPMAB-UHFFFAOYSA-N 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008520 organization Effects 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
- 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
-
- 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
- B65G65/00—Loading or unloading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/24—Lifting frames, e.g. for lifting vehicles; Platform lifts for raising or lowering vehicles by their own power
- B66F7/243—Ramps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- 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
- B65G2209/00—Indexing codes relating to order picking devices in General
- B65G2209/06—Use of order trucks
Definitions
- TITLE SYSTEMS FOR LOADING AND UNLOADING MOBILE COLLECTION SUPPORTS ON A MOBILE AUTONOMOUS ROBOT FOR ORDER PREPARATION
- the field of the invention is that of logistics, in particular for the preparation of orders within a warehouse for the storage of products to be dispatched.
- the present invention relates in particular to assistance in the preparation of orders by means of autonomous mobile robots (known as "Autonomous Mobile robots - AMR" in English), and more particularly the collection capacities of such autonomous robots for the optimization of the preparation of orders, including for the loading and unloading of these robots.
- autonomous Mobile robots - AMR autonomous mobile robots
- operators and robots cooperate in the same workspace in order to optimally prepare the various orders that are received by the warehouse order management system.
- an operator is responsible for picking the different products from an order at the different locations in the warehouse and placing them on the autonomous robot that accompanies it. More precisely, such robots adapted for order preparation are equipped with trolleys or collection supports, most often having several shelves for depositing the products taken by the operators.
- the field of order preparation is a very competitive field and is always looking for solutions to improve order preparation performance, in particular by reducing the movement of operators and autonomous mobile robots, as well as by optimizing each steps of the supply chain.
- the present invention proposes a technical solution making it possible to optimize the overall yield of the preparation of the system thanks to a system for loading at least two mobile supports for collecting products, called collection supports, on a mobile autonomous robot adapted for the preparation of orders for products stored in a warehouse, the loading system comprising:
- the present technique proposes a new and inventive solution for the preparation of orders implemented by mobile autonomous robots in a warehouse, making it possible to greatly increase the productivity of order preparation.
- mobile autonomous robots are suitable for preparing orders for products stored in a warehouse, i.e. they have specific characteristics such as, in particular:
- such mobile autonomous robots are designed to be able to carry and therefore move at least two product collection supports, thus allowing for example the preparation of two distinct orders directly in two distinct containers.
- the main advantage of this solution lies in the possibility of using several product collection supports on a single mobile autonomous robot and being able to use these same product collection supports for the transport of the products collected directly at the end of order preparation. .
- the proposed system includes:
- a device for positioning the product collection supports at a predetermined distance above the ground, so that a mobile autonomous robot can position itself below to receive them;
- the positioning and depositing devices comprise respective independent positioning and depositing means for each of the at least two collection supports.
- the collection media can be loaded independently on a mobile autonomous robot.
- This makes it possible, for example, to load a first product collection support onto a mobile autonomous robot in order to begin order preparation and then, during its journey through the warehouse, to load a second product collection support (for example for start preparing a second order).
- a second product collection support for example for start preparing a second order. Ditto for the independent unloading (described below) of two order racks, for example at two truck loading locations for the transport of two orders distinct.
- the positioning device comprises a device for raising the collection supports and a device for conveying the collection supports to said lifting device.
- the collection supports are first conveyed, by a specific conveying device of the proposed system, to the elevation device in order to be loaded onto a mobile autonomous robot.
- This routing device can be fully automated and further enhance the productivity and autonomy of the entire order picking chain. It is for example in the form of a slope on which the collection supports can roll and at the end of which is the lifting device.
- the lifting device is integrated into the mobile autonomous robot.
- the loading system conveys the collection supports to a location above the mobile autonomous robot, which activates its own lifting system to recover the collection supports and thus be able to move them in complete safety.
- the positioning and depositing devices correspond to a single device comprising two parallel walls spaced apart by at least one collection support width and each having on their internal face at least two vertical slides in which slide respectively and independently a vertical displacement element of a collection support.
- the loading system is in the form of a kind of corridor in which the product collection supports are routed and whose internal walls, facing each other, have slides for the sliding of vertical displacement elements (for positioning and removal) of the collection supports.
- each internal wall comprises at least two slideways for the sliding respectively of at least one positioning/depositing element, so as to be able to raise two product collection supports independently.
- the opposing positioning/depositing elements, on each internal wall, are of course coordinated to move the same support vertically, and the positioning/depositing elements of each collection support can also be synchronized so as to lift and deposit two collection supports at the same time on a mobile autonomous robot.
- This solution therefore makes it possible to raise vertically, automatically, at least two collection supports to allow the positioning of a mobile autonomous robot under the raised supports, before the automatic removal of the collection supports on the mobile autonomous robot via the same elements of vertical displacement sliding in the slides.
- the vertical movement elements are in the form of "fingers” sliding under the collection support to raise it and then deposit it on the mobile autonomous robot.
- the routing and depositing devices correspond to a single device for conveying the collection supports to the lifting device.
- the conveying device makes it possible to bring the collection supports to the lifting device, which makes it possible to load the supports directly onto the robot, without the need for a depositing device. To do this, it suffices that at the end of the routing device the supports are positioned directly above the robot.
- This embodiment is particularly appropriate in the case where the lifting device is that of the robot itself.
- the present technique also relates to a system for unloading at least two mobile product collection supports, called collection supports, from a mobile autonomous robot for preparing orders for products stored in a warehouse, the unloading system comprising:
- the unloading system has the same advantages as the loading and makes it possible to greatly increase the efficiency of the entire order preparation supply chain, by integrating the unloading of robots at the end of preparation.
- the positioning and depositing devices comprise respective independent positioning and depositing means for each of said at least two collection supports, thus making it possible to unload a robot from its multiple supports in two distinct locations for example.
- the positioning device comprises a device for raising the collection supports delivering raised collection supports
- the unloading system comprises a device for conveying the raised collection supports onto the separate support (usually warehouse floor).
- the lifting device is integrated into the mobile autonomous robot.
- the positioning and depositing devices correspond to a single device comprising two parallel walls separated by at least one collection support width and each having on their internal face at least two vertical slides in which slide respectively and independently a vertical displacement element of a collection support.
- the loading system described above and/or the unloading system described above comprise a module for detecting the presence and/or the absence of at least one collection medium on a mobile autonomous robot.
- FIG 1 illustrates a loading system according to the general principle of realization of the present technique
- FIG 2a illustrates a loading system according to a first embodiment of the present technique
- FIG 2b illustrates a loaded mobile autonomous robot according to the first embodiment of the present technique
- FIG 3a illustrates a loading system according to a second embodiment of the present technique
- FIG 3b illustrates a loaded mobile autonomous robot according to the second embodiment of the present technique
- FIG 4a illustrates a loading system according to a third embodiment of the present technique, when positioning the collection supports
- FIG 4b illustrates a loading system according to the third embodiment of the present technique, during the elevation of the collection supports
- FIG 4c illustrates a loading system according to the third embodiment of the present technique, during the removal of the collection supports
- FIG 4d illustrates a loaded mobile autonomous robot according to the third embodiment of the present technique
- FIG 5a illustrates a loading system according to a fourth embodiment of the present technique, during the routing and elevation of the collection supports
- FIG 5b illustrates a loading system according to the fourth embodiment of the present technique, during the removal of the collection supports
- FIG 6 illustrates an unloading system according to the general principle of realization of the present technique, during the positioning of the collection supports
- FIG 7a illustrates an unloading system according to the third mode of realization of this technique, during the positioning of the collection supports
- FIG 7b illustrates an unloading system according to the third embodiment of the present technique, during the elevation of the collection supports
- FIG 7c illustrates an unloading system according to the third embodiment of the present technique, during the removal of the collection supports.
- the general principle of the proposed technique consists in optimizing the loading and unloading of a mobile autonomous robot adapted to carry at least two mobile collection supports, as described for example in patent application FR2007360 by the same applicant filed on July 10, 2020 .
- Figures 1 and 6 respectively illustrate the general principle of a loading system 10 and an unloading system 60 of two mobile collection supports
- a loading system 10 comprises a device 11 for positioning the two collection supports 30,
- the mobile autonomous robot comes to slip under the previously raised supports in order to receive them (on a reception device as described in particular in the patent application of the same applicant mentioned above) and to move to start collecting, in the two collection supports, the products taken by one or more order pickers.
- FIG. 6 illustrates an unloading system 60 according to the proposed technique comprising a device 61 for positioning the two collection supports 30, 31 at a predetermined distance above the mobile autonomous robot and a device 62 for depositing the two supports collection 30, 31 on a separate support of the mobile autonomous robot 2, typically the floor of the warehouse.
- the mobile autonomous robot can extract itself from previously raised supports in order to unload them, when it has completed a collection task.
- FIGs 2a and 2b illustrate a first embodiment of the loading system 10, in which the positioning device 11 and the depositing device 12 form a single device 14 making it possible to lift two mobile collection supports 30 and 31, to hold them raised until the autonomous mobile robot 2 is positioned below, and depositing the two supports on the autonomous mobile robot 2 (for example, on the receiving device as described in particular in the patent application of the same applicant mentioned above).
- This loading system 10 consists of a fixed part 15 and a vertically movable part 14 in the fixed part (for example via a sliding system in a slide).
- This part 114 is itself made up of a horizontal part 140 (in black line in FIG. 2a) capable of lifting the two mobile collection supports.
- This horizontal part 140 is for example in the form of one or more forks.
- FIG. 2b illustrates a mobile autonomous robot 2 loaded with two mobile collection supports 30 and 31 (always raised above the ground) and ready to be used for order picking.
- the mobile collection supports 30 and 31 are brought into the loading zone, above the part 140 (positioned at the appropriate height with respect to the configuration of the mobile collection supports), by a operator for example or a mobile device dedicated to transporting collection media to the loading area or areas, in a warehouse.
- this first embodiment of the loading system can be used as an unloading system: at the end of the order preparation, the mobile autonomous robot 2 comes to place itself in the unloading zone, the part 140 of the device having been previously positioned at the appropriate height to be located under the mobile collection supports when the mobile autonomous robot is positioned. The part 140 of the unloading device is then actuated to raise the mobile collection supports to a sufficient height above the mobile autonomous robot, so that the latter can extract itself, without the mobile collection supports, from the unloading area. Part 140 of the unloading device is then actuated to deposit the mobile collection supports on the ground, or any other support (such as for example a device dedicated to conveying the collection supports to a transport truck).
- Figures 3a and 3b illustrate a second embodiment of the loading system 10, in which the positioning device comprising a routing device 110 of the mobile collection supports 30, 31 up to a lifting device 111 of these supports collection, before depositing them on the autonomous mobile robot 2.
- the loading system comprises an inclined plane 110 on which the collection supports can be routed.
- This zone 12 thus constitutes the device for depositing the loading system, according to this second embodiment, and the lifting device 111 is that of the mobile autonomous robot 2.
- the mobile autonomous robot 2 can actuate its own lifting device 111 to recover the mobile collection supports 30,
- this second embodiment of the loading system can also be used as an unloading system: at the end of order preparation, the autonomous mobile robot 2 comes to place itself in the unloading zone 12, after having previously activated its lifting device 111 so as to raise the mobile collection supports so that the latter rest on the part 12 of the unloading system.
- the mobile collection supports are then conveyed, via the inclined plane 110 to the ground, by an operator for example.
- the mobile autonomous robot, unloaded can then move and go for example to another loading zone for a new order, or to a zone for recharging its battery.
- FIGs 4a to 4d illustrate a third embodiment of the loading system 10, in which the positioning and depositing devices correspond to a single device comprising two parallel walls 41, 42 separated by at least one collection support width, as shown in Figure 4a.
- the collection supports 30 and 31 are for example positioned between these two walls 41 and 42 by an operator.
- a mobile autonomous robot 2 can also position itself between these two walls 41 and 42, with a view to its loading by two mobile collection supports 30, 31.
- each of the walls 41 and 42 has on its internal face at least two vertical slides (here four slides for the wall 420: 420, 421, 422, 423) in which slide respectively and independently a vertical displacement element (4100, 4101 for the wall 41 and 4200, 4201 for the wall 42) of a collection support (30, 31).
- the loading system makes it possible to raise the mobile collection supports to a predetermined height above the ground, independently for one and/or two supports and coordinated for each wall and a support. collection.
- the loading system actuates a single displacement element per vertical wall but synchronously/coordinatedly activates the two facing elements on each of the walls, i.e. 4100 and 4200 or 4101 and 4201.
- the elements 4100 and 4200 are actuated synchronously to raise the support 30 and the elements 4101 and 4201 are operated synchronously to raise the support 31.
- the wall 42 has two slides 420 and 421 for moving the element 4200, and two slides 422 and 423 for moving the element 4201.
- the wall 41 has the same slides, not illustrated.
- the elements 4100, 4101 for the wall 41 and 4200, 4201 for the wall 42 have an "L" shape, one part of which slides in the slides and the other part, for example in the form of horizontal "fingers", used to lift the mobile collection supports.
- a mobile collection support is raised at several points, for example by four fingers, facing each other two by two (two fingers for a vertical displacement element on each wall).
- FIG. 4b more particularly illustrates the step of raising the two mobile collection supports 30 and 31, before the step of depositing it on the mobile autonomous robot 2.
- This step of removing the mobile collection supports 30 and 31 is partly illustrated in FIG. 4c, on which a mobile autonomous robot 2 has come to position itself between the two walls 41 and 42 of the loading system.
- the mobile collection supports 30 and 31 are maintained at a predetermined height above the mobile autonomous robot 2, thanks to the elements 4100 and 4101 on the wall 41 (not illustrated) and 4200 and 4201 on the wall 42.
- the next step consists in lowering the elements 4100, 4101, 4200 and 4201 so as to deposit the mobile collection supports 30 and 31 on the mobile autonomous robot 2 (for example on the reception device as described in particular in the patent application of the same applicant mentioned above).
- FIG. 4d illustrates the mobile autonomous robot 2 loaded with the mobile collection supports 30 and 31 (still raised above the ground) and ready to be used for order picking.
- FIGS. 5a and 5b illustrate a fourth embodiment of the loading system 10, in which the positioning device comprises a device 110 for conveying the mobile collection supports 30, 31 to a mobile autonomous robot 2.
- the loading system 10 comprises an inclined plane 110 (for example consisting of two rails to receive the rollers of the mobile collection supports) on which the collection supports 30, 31 can be routed up to 'to a horizontal plane corresponding to a zone 12 of deposit under which the autonomous mobile robot 2 can slip.
- This zone 12 thus constitutes the device for depositing the loading system 10, according to this fourth embodiment, and the lifting device 111 is that of the mobile autonomous robot 2.
- the mobile autonomous robot 2 can actuate its own lifting device 111 to retrieve the mobile collection supports 30, 31, extract itself from the loading system and position its lifting device 111 in the appropriate configuration for moving the mobile collection supports 30, 31 in the context of order preparation.
- this fourth embodiment of the loading system can also be used as an unloading system: at the end of order preparation, the mobile autonomous robot 2 comes to stand under the unloading zone 12, after having previously activated its lifting device 111 so as to raise the mobile collection supports (full) so that the latter rest on the part 12 of the unloading system. The mobile collection supports are then routed via the inclined plane 110 to the ground. The mobile autonomous robot, unloaded, can then move and go for example to another loading zone for a new order, or to a zone for charging its battery.
- FIGS. 7a to 7c an embodiment of the unloading system 60, corresponding to the third embodiment of the loading system described above (in relation to FIGS. 4a to 4d).
- the positioning and depositing devices correspond to a single device comprising two parallel walls 61, 62 separated by at least one collection support width, as illustrated in FIG. 7a.
- the mobile autonomous robot 2 positions itself between these two walls 61 and 62, with a view to unloading it from the two mobile collection supports 30, 31 on which products have been placed for order preparation ( here, boxes illustrate these products).
- each of the walls 61 and 62 has on its internal face at least two vertical slides (here four slides 620, 621, 622, 623 for the wall 62) in which an element slides respectively and independently.
- vertical movement (6100, 6101 for the wall 61 and 6200, 6201 for the wall 62, as illustrated in Figure 7b) of a collection support (30, 31).
- the unloading system 60 makes it possible to raise the mobile collection supports 30 and 31 to a predetermined height above the mobile autonomous robot 2, independently for one and/or two supports and coordinated for each wall and a collection support.
- the unloading system actuates a single movement element per vertical wall but actuates in a synchronous/coordinated manner the two facing elements on each of the walls, i.e. 6100 and 6200 or 6101 and 6201.
- the elements 6100 and 6200 are actuated synchronously to raise the support 30 and the elements 6101 and 6201 are operated synchronously to raise the support 31.
- the wall 62 has two slides 620 and 621 for moving the element 6200 (illustrated only in Figure 7b), and two slides 622 and 623 for moving the element 6201.
- the wall 61 has the same slides, not shown.
- the elements 6100, 6101 for the wall 61 and 6200, 6201 for the wall 62 have an "L" shape, one part of which slides in the slides and the other part, for example in the form of horizontal "fingers", used to lift the mobile collection supports. In this way, a mobile collection support is raised at several points, for example by four fingers, facing each other two by two (two fingers for a vertical displacement element on each wall).
- FIG. 7b more particularly illustrates the step of raising the two mobile collection supports 30 and 31 to a predetermined height above the mobile autonomous robot 2, before the step of placing it on the ground, for example, once the robot autonomous mobile 2 party ( Figure 7c).
- FIG. 7c This step of depositing, on the ground, the mobile collection supports 30 and 31 is illustrated in FIG. 7c, the mobile autonomous robot 2 having extracted itself from the unloading system.
- the mobile collection supports 30 and 31 are now accessible to be transported, for example, to a loading area of a transport truck, and the mobile autonomous robot 2 is available for another preparation of orders, or to recharge its battery.
- Certain embodiments can be automated, these loading and unloading phases can therefore be integrated into the organization and management of the preparation of orders in a warehouse, further increasing the yield.
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- Engineering & Computer Science (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2007365A FR3112334B1 (fr) | 2020-07-10 | 2020-07-10 | Systemes de chargement et de déchargement de supports mobiles de collecte sur un robot autonome mobile pour la préparation de commande |
PCT/EP2021/068943 WO2022008635A1 (fr) | 2020-07-10 | 2021-07-08 | Systèmes de chargement et de déchargement de supports mobiles de collecte sur un robot autonome mobile pour la préparation de commande |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4179485A1 true EP4179485A1 (fr) | 2023-05-17 |
Family
ID=73793279
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21754690.2A Pending EP4179485A1 (fr) | 2020-07-10 | 2021-07-08 | Systèmes de chargement et de déchargement de supports mobiles de collecte sur un robot autonome mobile pour la préparation de commande |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230303344A1 (fr) |
EP (1) | EP4179485A1 (fr) |
JP (1) | JP2023533392A (fr) |
CA (1) | CA3188754A1 (fr) |
FR (1) | FR3112334B1 (fr) |
WO (1) | WO2022008635A1 (fr) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3632373A (en) | 1968-04-01 | 1972-01-04 | Eastman Kodak Co | Method for preparing silver halide layers having substantially uniform image contrast |
WO2016210126A1 (fr) * | 2015-06-24 | 2016-12-29 | Hds Mercury, Inc. | Système et procédé de chargeur-déchargeur à robot mobile |
US9682481B2 (en) * | 2015-10-26 | 2017-06-20 | X Development Llc | Communication of information regarding a robot using an optical identifier |
-
2020
- 2020-07-10 FR FR2007365A patent/FR3112334B1/fr active Active
-
2021
- 2021-07-08 WO PCT/EP2021/068943 patent/WO2022008635A1/fr unknown
- 2021-07-08 EP EP21754690.2A patent/EP4179485A1/fr active Pending
- 2021-07-08 CA CA3188754A patent/CA3188754A1/fr active Pending
- 2021-07-08 JP JP2023525118A patent/JP2023533392A/ja active Pending
- 2021-07-08 US US18/004,766 patent/US20230303344A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
US20230303344A1 (en) | 2023-09-28 |
JP2023533392A (ja) | 2023-08-02 |
WO2022008635A1 (fr) | 2022-01-13 |
CA3188754A1 (fr) | 2022-01-13 |
FR3112334A1 (fr) | 2022-01-14 |
FR3112334B1 (fr) | 2022-09-16 |
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