WO2024068782A1

WO2024068782A1 - Method and system for preparing and disinfecting orders

Info

Publication number: WO2024068782A1
Application number: PCT/EP2023/076790
Authority: WO
Inventors: David Barbe
Original assignee: Exotec
Priority date: 2022-09-27
Filing date: 2023-09-27
Publication date: 2024-04-04
Also published as: FR3140077A1

Abstract

The present disclosure relates to a method for preparing orders at a station (10) for preparing orders for at least one item (2) conveyed in an input container (Cin) and intended to be transferred to an output container (Cout), the station (10) including a device (11) for performing three-dimensional scanning and a device (13) for disinfecting by means of irradiation with ultraviolet light, the method comprising: - taking the item (2) in the input container (Cin), - digitizing by three-dimensional scanning at least one segment of a periphery of the item (2) by means of the device (11) for performing three-dimensional scanning, so as to acquire a three-dimensional model of said at least one segment of the periphery of the item (2), - determining a disinfection time sequence by means of a computing unit depending on the three-dimensional model, - implementing the determined disinfection time sequence.

Description

Title: Process and system for preparing and disinfecting orders

Technical area

[0001] The present disclosure relates to the field of automated storage and retrieval systems for products in warehouses, commonly referred to as “Automated Storage and Retrieval Systems” in English and abbreviated ASRS. More specifically, the present disclosure relates to a method and system for preparing and disinfecting orders.

Prior art

[0002] As is known, automated storage and retrieval systems include computer-controlled autonomous vehicles intended to automatically place and retrieve items from a storage area of a warehouse. The storage area includes storage shelves arranged in a compact manner.

[0003] One of the challenges of such automated storage and retrieval systems consists of improving the efficiency of order preparation. Document WO 2022/058569A1 describes such an automated storage and retrieval system in which autonomous vehicles transport items from a storage area to order picking stations.

[0004] Furthermore, user requirements in terms of health have increased significantly with the threat of pandemics. In particular, items to be shipped are generally handled by several successive parties, thus increasing the risks of carrying bacteria or viruses on their surface. There is therefore a need to disinfect items to be shipped. However, disinfecting items can be time-consuming and ineffective.

[0005] This document aims to resolve at least in part the problems mentioned above, by proposing a method and a system for preparing and disinfecting orders.

Summary

[0006] A method is proposed for preparing orders at an order preparation station for at least one item transported in an input container and intended to be transferred to an output container, the station including a scanning device three-dimensional and a device for disinfection by irradiation with ultraviolet light, the method comprising:

- take the item from the entry container,

- digitize by three-dimensional scanning at least one portion of an envelope of the article by the three-dimensional scanning device so as to acquire a three-dimensional model of said at least one portion of the envelope of the article,

- determine a temporal sequence of disinfection by a calculation unit according to the three-dimensional model, the temporal sequence of disinfection comprising a temporal sequence of position and orientation of the article relative to the disinfection device with which is associated a dosage of ultraviolet light irradiation,

- implement the determined disinfection time sequence.

[0007] By position we mean in particular three-dimensional coordinates of a reference point of the article in a reference frame. The reference point can, for example, be the center of gravity of the article. The orientation then corresponds to the orientation of a mark of the article in relation to the reference mark for a given position.

[0008] The term envelope of the article means an external surface of the article.

[0009] The method according to the present disclosure offers the considerable advantage of making it possible to disinfect, sterilize and/or decontaminate the articles to be shipped and thus to meet the requirements of users in health terms. Indeed, the installation of the disinfection device at the order preparation station is advantageous because the majority of items pass through the order preparation station before being shipped. In addition, performing disinfection based on the three-dimensional model of the article offers the considerable advantage of improving the efficiency of disinfection and managing the duration of disinfection operations. In addition, it can be combined with other operations distinct from disinfection, such as extracting the article from a first container to place it in a second container, so that at least part of the disinfection operations are carried out concomitantly with other operations so as to limit the total duration of the operations.

[0010] Advantageously, the temporal disinfection sequence may comprise an alternation of poses and relative movements between the article and the disinfection device. Each pose is defined by a position, orientation and exposure duration. In other words, at each installation, the article is positioned and oriented fixedly in relation to the disinfection device for a given exposure duration.

[0011] Alternatively, the disinfection time sequence may include moving the article relative to the disinfection device at a controlled speed.

[0012] The temporal sequence of disinfection can advantageously be determined so that each elementary external surface of said at least one portion of the envelope of the article receives a dosage of ultraviolet light irradiation which is greater than or equal to a predetermined dose, the predetermined dose being selected according to the species targeted by the disinfection.

[0013] The method can advantageously include scanning the envelope of the article before determining and implementing the disinfection time sequence. In other words, the entire envelope of the article is digitized before determining and implementing the disinfection time sequence.

[0014] The method may comprise, for each portion of a plurality of portions of the envelope of the article, scanning said portion and determining and implementing the disinfection time sequence. In other words, the process is composed of a succession of digitization of portions of the envelope of the article followed by the determination and implementation of the sequence disinfection time for the given portion. This makes it possible to carry out the scanning and disinfection of the article in parallel with each other, to carry out the disinfection of one portion while the scanning of the next portion has already started, and therefore to reduce the overall time preparation of a disinfected order.

[0015] The disinfection device can advantageously be active during at least part of the scanning of the article, in particular before determining the disinfection time sequence. In particular, the disinfection device can be activated in parallel with the scanning of the article. This feature allows the scanning time to be used to begin disinfection of the item, and thus further reduce order preparation time.

[0016] Advantageously, the method may include a step of disinfecting an external gripping surface of the article when the article is located in the entry container and prior to gripping the article. This disinfection step makes it possible to provide gripping surfaces that are already disinfected and therefore to avoid the transmission of germs during the transfer of the item from the entry container to the exit container. Alternatively, the method may include a step of disinfecting an external gripping surface of the article once the article is placed in the outlet container and subsequent to the movement of the article.

[0017] The order preparation station comprising a robot, the gripping of the article and the relative movements between the article and the disinfection device during the implementation of the disinfection time sequence can be carried out by said robot . The use of the robot makes it possible to automate both the preparation of the order and the disinfection of the item, and thus improve the efficiency and precision of the preparation of the order and the disinfection of the article.

[0018] According to another aspect, a computer program is proposed comprising instructions for the implementation of all or part of a method as defined herein when this program is executed by the calculation unit. According to another aspect, there is provided a non-transitory recording medium, readable by a computer, on which such a program is recorded.

[0019] According to another aspect, a system is proposed for preparing orders for at least one item transported in an input container and intended to be transferred to an output container. The order preparation system comprises, at an order preparation station, a three-dimensional scanning device configured to digitize by three-dimensional scanning of at least a portion of an envelope of the article so as to acquire a model three-dimensional of said at least a portion of the envelope of the article and a device for disinfection by irradiation with ultraviolet light. The order picking system further includes a calculation unit configured to determine a disinfection time sequence based on the three-dimensional model. The disinfection time sequence comprises a time sequence of position and orientation of the article relative to the disinfection device with which is associated a dosage of ultraviolet light irradiation. [0020] The order preparation system can advantageously comprise the robot capable of grabbing the article from the entry container and moving the article relative to the three-dimensional scanning device and the disinfection device.

[0021] Advantageously, the three-dimensional scanning device and the disinfection device are fixed relative to each other.

Brief description of the drawings

Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the appended drawings, in which:

Fig. 1

[0023] [Fig. 1] schematically illustrates an example of an automated storage and retrieval system for items in a warehouse according to one embodiment.

Fig. 2

[0024] [Fig. 2] schematically illustrates an example of an order preparation station according to one embodiment.

Fig. 3

[0025] [Fig. 3] schematically illustrates an example of an order preparation system according to one embodiment.

Fig. 4

[0026] [Fig. 4] schematically illustrates an example of an order preparation station according to one embodiment.

Fig. 5

[0027] [Fig. 5] schematically illustrates an order preparation process according to one embodiment in diagram form.

Fig. 6

[0028] [Fig. 6] schematically illustrates a temporal sequence of disinfection of an elementary external surface by a disinfection device according to one embodiment.

Description of embodiments

[0029] Reference is now made to Figure 1 schematically representing an automated storage and retrieval system 100 (designated “Automated Storage and Retrieval Systems” in English and abbreviated ASRS) of articles in a warehouse.

The automated storage and retrieval system 100 comprises a plurality of storage shelves 4 (also referred to as “storage racks”) intended to receive articles for their storage. The storage shelves 4 are in particular equipped with shelves arranged in such a way compact. Each item is referenced and stored according to its reference in the shelves of storage departments 4.

[0031] An order preparation system, also called a “picking system” in English, is integrated into the automated storage and retrieval system in order to prepare orders, each consisting of one or more items to be shipped. To this end, the order preparation system comprises one or more order preparation station(s), each corresponding in particular to a defined area of the warehouse where the orders are prepared. The establishment of order preparation stations makes it possible to improve efficiency and thus reduce the time it takes to prepare orders for shipment.

[0032] Input routing devices are configured to transport input containers, each containing at least one item from the storage shelves 4, to the order preparation station 10. At the order preparation station orders 10, each item is transferred from an input container to an output container, so as to prepare an order in the output container. Output routing devices are configured to extract output containers from the order picking station 10 for shipment. For example, output routing devices can transport output containers to a packing and shipping station. Note that, in this context, the term “order” designates a set of one or more items intended to be shipped together to the same destination, and not the commercial act of purchase by a user.

[0033] The input and/or output routing devices may in particular comprise a fleet of autonomous vehicles 3 (designated “Automatic Guided Vehicle” in English) controlled by computer, in particular by means of wireless communication. The fleet of autonomous vehicles 3 can in particular be used to automatically place and retrieve articles in the storage shelves 4, to transport the articles from the storage shelves to the order preparation stations and from the order preparation stations in view of their expedition. Each of the autonomous vehicles 3 can carry one or more entry containers or exit containers.

[0034] The input and/or output routing devices may alternatively comprise conveyors (not shown in the figures) intended to convey the input containers to the order preparation station, and the output containers from the order preparation station. Routing devices can also include a combination of autonomous vehicles and conveyors adapted according to the configuration of the premises.

[0035] Figure 2 schematically represents an example of an order preparation station 10 in which an article 2 carried by an input container Cin is intended to be transferred to an output container Cout. The entry container Cin is carried by an entry routing device 6, which is, here, an autonomous vehicle. The output container Cout is carried by an output routing device 7, which is, here, an autonomous vehicle. The order preparation system may include a robot 14 arranged at the order preparation station 10. The robot 14 is in particular controlled to grasp the article 2 in the entry container Cin, to move the article 2 and to place item 2 in the Cout output container. To this end, the robot 14 may include an arm surmounted by a gripper 15 capable of grasping the article 2. The robot 14 thus makes it possible to compose an order automatically.

[0037] Furthermore, the order preparation system comprises a three-dimensional scanning device 11 configured to scan by three-dimensional scanning at least a portion of an envelope of article 2, in particular the envelope of article 2, so as to acquire a three-dimensional model of said at least one portion of the envelope of the article 2. More precisely, the article 2 arriving in the input container Cin is scanned by the three-dimensional scanning device 1 1. Then , a calculation unit of the order preparation system can process the three-dimensional model in order to determine a positioning of the article 2 in the Cout output container. Item 2 is then transferred to the Cout output container according to the determined positioning. This makes it possible to improve the compactness of orders, particularly when an order contains more than one item.

The three-dimensional scanning device 11 may in particular consist of a 3D camera or LIDAR (“Laser Imaging Detection and Ranging”) type device.

[0039] The three-dimensional scanning device 11 can in particular be positioned so that the measurement field of the three-dimensional scanning device 11 is oriented towards a zone through which the article passes, such as a zone accommodating the entry containers Cin . For example, the three-dimensional scanning device 11 can be positioned in height and oriented in a substantially vertical direction towards the bottom and the area accommodating the entry containers, themselves opening from above. Other positionings of the three-dimensional scanning device 11 can be considered. The three-dimensional scanning device 11 can thus scan the article 2 when the latter is in the input container Cin or during the transfer of the article from the input container Cin to the output container Cout.

The three-dimensional scanning device 11 can be fixed to a supporting structure 16 at the level of the order preparation station 10. The supporting structure 16 can, for example, have an arch shape overhanging the area accommodating the containers of Cin entry. The three-dimensional scanning device 11 can then be fixed to an upper part of the supporting structure 16 so as to be facing the area accommodating the entry containers Cin.

[0041] Furthermore, the order preparation system includes a disinfection device 13 by irradiation with ultraviolet light (also designated UVGI for “Ultraviolet Germicidal Irradiance”). The disinfection device 13 comprises a source of ultraviolet radiation capable of emitting a beam of ultraviolet radiation. The disinfection device 13 makes it possible to disinfect, sterilize and/or decontaminate the articles to be shipped, which are generally handled by several successive actors and can therefore carry bacteria or viruses to their surface. The disinfection device 13 thus makes it possible to meet the requirements of users in terms of health.

The disinfection device 13 is intended in particular to sterilize the articles 2 passing through the order preparation station. The installation of the disinfection device 13 at the order preparation station is advantageous because the majority of items 2 pass through the order preparation station before their shipment.

The disinfection device 13 can in particular be positioned so that the disinfection field of the disinfection device 13 is oriented towards a zone through which the article passes, such as the zone accommodating the entry containers Cin. For example, the disinfection device 13 can be positioned at height and oriented in a substantially vertical direction towards the bottom and the area accommodating the entry containers, themselves opening from above. Other positions of the disinfection device 13 can be considered. The disinfection device 13 can thus disinfect the article 2 when the latter is in the entry container Cin or during the transfer of the article from the entry container Cin to the exit container Cout.

[0044] In addition, the disinfection device 13 can be fixed to the supporting structure 16 at the level of the order preparation station 10, in particular to an upper part of the supporting structure 16 so as to overhang the area accommodating the food containers. entry Cin.

[0045] Figure 3 schematically illustrates the order preparation system comprising the calculation unit 12. The calculation unit 12 is configured to determine a temporal sequence of disinfection according to the three-dimensional model of said at least one portion of the 'envelope of the item. The disinfection temporal sequence comprises a temporal sequence of position and orientation of the article relative to the disinfection device 13 with which is associated a dosage of ultraviolet light irradiation. Determining the temporal sequence of disinfection as a function of the three-dimensional model of said at least one portion of the envelope of the article offers the considerable advantage of improving the effectiveness of disinfection and management of the duration of operations disinfection.

[0046] As shown in Figure 4, the robot 14 can also grasp and move the article 2 relative to the three-dimensional scanning device 11 and/or the disinfection device 13, in order to allow the article to be scanned and disinfected respectively. 2. The use of the robot 14 makes it possible to automate both the preparation of the order and the disinfection of the article, and thus improve the efficiency, precision and reliability of the preparation of the order and disinfection of the article. Alternatively, the operations implemented by the robot 14 can instead be carried out by an operator, for example for particularly fragile or difficult to grasp and handle items. In this case, the system may include a man-machine interface, such as a screen, capable of guiding the operator in the operations to be implemented. Such an operator is then equipped with any suitable protection device, in particular to protect himself from ultraviolet radiation.

[0047] Furthermore, the three-dimensional scanning device 11 and the disinfection device 13 can be fixed relative to the ground and/or fixed relative to each other. The robot 14 can carry out the implementation movement of the article relative to the three-dimensional scanning device 11 and relative to the disinfection device 13. However, the three-dimensional scanning device 11 and/or the disinfection device 13 can also have adjustable positioning and/or orientation, for example automatically. Moving the article rather than moving the three-dimensional scanning device 11 and/or the disinfection device 13 around the article makes it possible to facilitate the combination of operations of moving the article from one container to another, scanning three-dimensional and disinfection (making these operations at least partly concomitant). In addition, a fixed position relative to each other of the three-dimensional scanning device 11 and the disinfection device 13 simplifies the calculations for acquiring a three-dimensional model and determining the temporal sequence of decontamination. In doing so, the speed of implementation is improved and the computing resource requirements remain modest.

[0048] According to another aspect, Figure 5 illustrates an order preparation process implemented by the order preparation station 10. The process includes:

- take E1 item 2 in the entry container Cin,

- digitize E2 by three-dimensional scanning at least one portion of the envelope of article 2 by the three-dimensional scanning device 11 so as to acquire a three-dimensional model M3D of said at least one portion of the envelope of article 2,

- determine E3 the temporal sequence of disinfection by the calculation unit 12 according to the three-dimensional model M3D obtained,

- implement E4 the determined disinfection time sequence.

[0049] The implementation of the determined disinfection temporal sequence may include the activation of the emission of a beam of ultraviolet radiation by the disinfection device 13. This activation can then be followed by the exposure of the article 2 to ultraviolet radiation according to the temporal sequence of position and orientation of article 2 relative to the disinfection device 13. The light intensity of the ultraviolet radiation beam emitted by the disinfection device can remain constant or can be adapted during the disinfection time sequence. In embodiments, the ultraviolet radiation source is turned on during the entire disinfection sequence and turned off between two sequences (between two items). Alternatively, the source can remain on continuously or be turned off between two phases of the same disinfection sequence.

The dosage D of ultraviolet light irradiation is expressed in particular according to the following equation, in which E is the light intensity on an exposed surface and At is the exposure duration. The dosage of irradiation can in particular be expressed in J/m ² , the light intensity E in W/m ² and the exposure duration At in s.

[0051] [MATH. 1]

D = E.at

[0052] Figure 6 schematically represents an elementary external surface dSi of said at least one portion of the envelope of the article facing the disinfection device 13. The dashed lines and arrows represent a sequence evolving over time from position and orientation of the surface dSi of the article 2 relative to the disinfection device 13. The dotted lines represent an opening angle of the ultraviolet radiation beam.

[0053] More precisely, the temporal sequence of disinfection is determined so that each elementary external surface dSi of article 2 receives a dosage D of ultraviolet light irradiation which is greater than or equal to a predetermined dose Dthreshold.

[0054] The predetermined dose Dthreshold is, here, determined according to the species targeted for disinfection. For example, the predetermined dose Dthreshold can be determined from charts, or alternatively from the following equation, in which k is an elimination constant of the corresponding species expressed in W ^-1 m ² /s, N(to) is a number of seeds at a time to on a surface and N(t) is a number of seeds remaining at a time t on said surface.

[0055] [MATH. 2]

[0056] Then, the temporal sequence of position and orientation of the article relative to the disinfection device can be determined as a function of the predetermined dose Dthreshold. More precisely, the temporal sequence of position and orientation of the article may include the determination of a distance between the disinfection device 13 and the elementary external surface dSi receiving the dosage D of irradiation with ultraviolet light and of the duration of exposure according to the predetermined dose Dthreshold.

[0057] According to one embodiment, the temporal disinfection sequence may comprise an alternation of poses Pi and relative movements between the article 2 and the disinfection device 13, each pose Pi being defined by a position, an orientation and a duration of exposure. In other words, at each pose Pi, the article is positioned and oriented fixedly relative to the disinfection device 13 for a given exposure duration.

[0058] According to another embodiment, the disinfection temporal sequence may include the movement of the article 2 relative to the disinfection device 13 along predetermined paths and at a controlled speed so that disinfection takes place, also, during movements of the article and not only during Pi poses (immobile article). The path and speed are then adapted so that each elementary external surface dSi of the article can receive a dosage D of ultraviolet light irradiation which is greater than or equal to the predetermined dose Dthreshold. For example, for a given controlled speed V, the distance h between the disinfection device 13 and the elementary external surface dSi can be deduced from the following equation, in which E0 corresponds to the light intensity at the level of the radiation source ultraviolet and 0max corresponds to the maximum angle of the ultraviolet radiation beam.

[0059] [MATH. 3]

E0 tan (0 _max )

Mourning =

~h V [0060] Furthermore, the method can advantageously include scanning the envelope of the article beforehand, then determining and implementing the disinfection time sequence. In other words, the entire envelope of the article is digitized before determining and implementing the disinfection time sequence.

[0061] The method may include, for each portion of a plurality of portions of the envelope of the article, scanning said portion and determining and implementing the corresponding disinfection time sequence. In other words, the process is composed of a succession of digitization of portions of the envelope of the article followed by the determination and implementation of the temporal sequence of disinfection for the given portion. This makes it possible to carry out the scanning and disinfection of the item at least in part concomitantly, and therefore to reduce the overall preparation time for a disinfected order.

[0062] Furthermore, the disinfection device 13 can be active during at least part of the scanning of the article 2. In particular, the disinfection device 13 can be activated in parallel with the scanning of the article 2. The calculation unit 12 can then be configured to determine, a posteriori, the dosage D received by each elementary external surface dSi of the article 2 during the digitization of the article 2. The calculation unit 12 can then determine the temporal sequence of disinfection to be carried out following scanning, so that each elementary external surface dSi of article 2 receives a total dosage (that is to say during and after scanning) which is greater than or equal to the predetermined dose Dthreshold. In other words, a first disinfection step is carried out “blindly” during the scanning of the article, then is estimated a posteriori when the 3D model is obtained, then is followed by a disinfection step determined according to the temporal sequence in order to achieve the desired dosage on the surface of the article. In other words, the dose received by each elementary surface during scanning is subtracted from the predetermined dose (threshold) to be received to calculate the subsequent disinfection time sequence. This feature allows the scanning time to be used to begin disinfection of the item, and thus reduce order preparation time.

[0063] Furthermore, the method may comprise a step of disinfection E0 of an external gripping surface of the article 2 when the article 2 is located in the entry container Cin and prior to gripping the article 2. This E0 disinfection step makes it possible to provide gripping surfaces that are already disinfected and therefore to avoid the transmission of germs to the robot or to the operator transferring the item from the input container to the output container. Likewise, disinfection of an external gripping surface of the article 2 when the article 2 is located in the Cout output container and subsequent to the gripping of the article 2 can be implemented, in order to treat surfaces which had remained protected from radiation by the gripping organs (of the robot or the operator) during the transfer.

[0064] When the order preparation station 10 includes a robot 14, the gripping of the article 2 and the relative movements between the article 2 and the disinfection device 13 during the implementation of the disinfection time sequence are in particular carried out by said robot 14. The robot 14 can in particular bring the article opposite the disinfection device and adapt the position and orientation of the article 2 relative to the disinfection device 13 according to the temporal disinfection sequence.

Claims

[Claim 1] Method for preparing orders at a station (10) for preparing orders for at least one item (2) transported in an input container (Cin) and intended to be transferred to an output container (Cout ), the station (10) including a three-dimensional scanning device (11) and a disinfection device (13) by irradiation with ultraviolet light, the method comprising:

- take (E1) the article (2) in the entry container (Cin),

- digitize (E2) by three-dimensional scanning at least one portion of an envelope of the article (2) by the three-dimensional scanning device (11) so as to acquire a three-dimensional model (M3D) of said at least one portion of the 'item envelope (2),

- determine (E3) a temporal sequence of disinfection by a calculation unit (12) according to the three-dimensional model (M3D), the temporal sequence of disinfection comprising a temporal sequence of position and orientation of the article (2) by relative to the disinfection device (13) with which is associated a dosage (D) of ultraviolet light irradiation,

- implement (E4) the determined disinfection time sequence.

[Claim 2] Method according to claim 1, in which the temporal disinfection sequence comprises an alternation of poses (Pi) and relative movements between the article (2) and the disinfection device (13), each pose (Pi) being defined by a position, an orientation and an exposure duration.

[Claim 3] Method according to one of claims 1 and 2, in which the temporal sequence of disinfection is determined so that each elementary external surface (dSi) of said at least one portion of the envelope of the article (2 ) receives a dosage (D) of ultraviolet light irradiation which is greater than or equal to a predetermined dose (Dthreshold), the predetermined dose (Dthreshold) being selected according to the species targeted for disinfection.

[Claim 4] Method according to one of the preceding claims, in which digitizing (E2) the envelope of the article (2) is implemented before determining (E3) and implementing (E4) the temporal sequence of disinfection.

[Claim 5] Method according to one of claims 1 to 3, comprising, for each portion of a plurality of portions of the envelope of the article (2), scanning (E2) said portion and determining (E3) and implement (E4) the disinfection time sequence.

[Claim 6] Method according to one of the preceding claims, in which the disinfection device (13) is active during at least part of the scanning of said at least one portion of the envelope of the article (2).

[Claim 7] Method according to one of the preceding claims, comprising a step of disinfection (E0) of an external gripping surface of the article (2) when the article (2) is located in the entry container (Cin) and prior to gripping article (2).

[Claim 8] Method according to one of the preceding claims, in which the order preparation station (10) comprises a robot (14), gripping the article (2) and the relative movements between the article (2) and the disinfection device (13) during the implementation of the temporal disinfection sequence being carried out by said robot (14).

[Claim 9] Order preparation system (1) of at least one item (2) conveyed in an input container (Cin) and intended to be transferred to an output container (Cout), the order preparation system orders (1) comprising, at an order preparation station (10), a three-dimensional scanning device (11) configured to scan by three-dimensional scanning at least a portion of an envelope of the article (2) so as to to acquire a three-dimensional model (M3D) of said at least one portion of the envelope of the article (2) and a disinfection device (13) by irradiation with ultraviolet light, the order preparation system (1) comprising furthermore a calculation unit (12) configured to determine a temporal sequence of disinfection as a function of the three-dimensional model (M3D), the temporal sequence of disinfection comprising a temporal sequence of position and orientation of the article (2) relative to to the disinfection device (13) to which is associated a dosage of ultraviolet light irradiation.

[Claim 10] Order preparation system (1) according to claim 9, comprising a robot (14) capable of grabbing the article (2) from the entry container (Cin) and moving the article (2) relative to the three-dimensional scanning device (11) and the disinfection device (13).

[Claim 11] Order preparation system (1) according to one of claims 9 or 10, in which the three-dimensional scanning device (11) and the disinfection device (13) are fixed relative to each other. other.