Storage structure cleaning system with storage unit, corresponding assembly and method

Abstract

The invention relates to a cleaning system suitable for cleaning storage structures forming storage units, comprising a robot (5) having cleaning means suitable for transport from one storage unit to another by means of a transport system. The robot comprises an acquisition device (507) for acquiring three-dimensional configuration information of at least one area in its environment. The cleaning system includes a library of pre-recorded storage unit configurations, each pre-recorded storage unit configuration being associated with a particular cleaning sequence. The cleaning system further comprises a comparison means for comparing the three-dimensional configuration information acquired by the acquisition device with the pre-recorded storage unit configuration in the library, and a determination means for determining the pre-recorded storage unit configuration closest to the acquired three-dimensional configuration information. The cleaning system is configured to cause the robot (5) to execute a cleaning sequence corresponding to the determined pre-recorded storage unit configuration.

Description

Technical Field

[0001] The present invention relates to a system for automatically cleaning certain industrial and storage environments.

[0002] The system of the present invention comprises or consists of a robot intended to clean in particular dry and wet dust, as well as any other type of residue that may be deposited in structures suitable for storing goods, which structures may be difficult to access.

[0003] The present invention is particularly applicable to so-called open structures, such as shelves or "racks" for storing pallets or other goods supports. The term "pallet" generally refers to any loading platform designed to facilitate handling, particularly by automation means. This particularly includes, in the case of a stack of containers, the container located at the bottom of the stack when it can be used to manipulate the entire stack. A goods support is any element suitable for supporting a product or its container and moving it, particularly a pallet.

[0004] The storage structure can be "horizontal", i.e., organized on a single level, or "vertical", i.e., multi-level, forming storage units suitable for storing products. A storage unit generally refers to the position (whether enclosed, open or partially open) defined by the storage structure and configured to receive a given goods support. In the case of a typical storage shelf, the storage unit can be defined as the receiving space between two storage levels and between the two vertical struts of the shelf and for all or part of the width therebetween.

[0005] The object of the present invention has applications in many industrial, agricultural and commercial fields where products are stored. It is particularly significant in the case of storing products that may promote the presence of dust or powdered products (such as storing grains, flours, etc.), and / or in the case of storage structures that cannot be accessed by operators without wearing a large amount or cumbersome safety equipment.

[0006] For example, the present invention is applicable to so-called "vertical farms" where plants or mushrooms are grown or animals are raised in a multi-level shelf system. The stored products may correspond to containers (boxes, cages, pots, etc.) and their contents, i.e., in particular the plants, mushrooms, animals grown or raised therein, as well as the appropriate cultivation or rearing medium. Thus, the storage concept referred to in the present invention also includes the growth stages of organisms in such farms. A particularly relevant application of the present invention relates to insect breeding workshops, such as those described in European patent EP3282837. Background Art

[0007] Automated cleaning of industrial or storage environments has been considered in the prior art literature.

[0008] Document JPH0661814 discloses a pallet rack cleaning system. It particularly discloses a scanning device which is transported by a stacker, adapted to pass between the racks, and equipped with brooms on each of its sides. A dust suction or blowing device is also provided for collecting or discharging the swept dust or residues.

[0009] Document CN212421318 discloses that in order to enter a complex area, namely the inside of a fuel tank here, a robot equipped with a six-axis robotic arm can be considered.

[0010] Document CN109813285 discloses that a floor cleaning robot, namely a household automatic vacuum cleaner here, can be equipped with a device for obtaining an image of the area above the robot in order to locate itself in its environment. The positioning information is extracted and the current position of the cleaning robot is determined in a map based on the positioning information.

[0011] Document US20220032347 relates to a semiconductor storage rack cleaning system. According to this document, the semiconductor storage rack is equipped with a plurality of storage units. The cleaning system of the semiconductor storage rack includes a transport system and a cleaning device. The cleaning device is configured to clean each storage unit of the semiconductor storage rack. The cleaning device is detachably connected to the transport system. The transport system is configured to transport the cleaning device to each storage unit of the semiconductor storage rack. The system described in this document is specifically for semiconductor racks but is not applicable in many other applications. In particular, the storage units of the rack have a simple configuration and there are no areas where dust is likely to accumulate. More importantly, the storage environment is usually a clean environment, not affected by the presence of suspended dust or insects (such as moths).

[0012] It should be noted that for many applications, implementing a "dust-proof" structure, namely an enclosed storage unit, is not feasible and does not constitute a solution. For example, in the case of large-scale insect farming, an open design that allows air circulation is preferred. In addition, although the structure of the open design is more vulnerable to dust than the structure of the enclosed design, the possibility of forming dust and residue accumulation areas is smaller. However, such a structure still necessarily has these accumulation areas and may be difficult to access. Therefore, manual cleaning of the structure needs to be carried out regularly.

[0013] Therefore, there is currently no system that can automatically clean a vertical storage structure that may have a complex configuration and areas that are conducive to residue accumulation, especially in an industrial or storage environment that may be disturbed by suspended dust or flying insects. Summary of the Invention

[0014] In the above context, the present invention aims to solve all or part of the above-mentioned technical drawbacks.

[0015] To this end, the present invention relates to a cleaning system suitable for cleaning a storage structure forming storage units. The cleaning system includes a robot adapted to be transported from one storage unit to another by a transportation system. The robot includes a cleaning device and an acquisition device for acquiring three-dimensional configuration information of at least one area in the robot's environment. The cleaning system includes a pre-recorded library of storage unit configurations, each pre-recorded storage unit configuration being associated with a specific cleaning sequence. The cleaning system includes comparison means for comparing the three-dimensional configuration information acquired by the acquisition device with the pre-recorded storage unit configurations in the library, and determination means for determining, based on the comparison made by the comparison means, the pre-recorded storage unit configuration that is closest to the acquired three-dimensional configuration information. The cleaning system is configured to cause the robot to execute the cleaning sequence corresponding to the determined pre-recorded storage unit configuration.

[0016] Comparing the three-dimensional configuration information of the robot's environment acquired with the configurations in the library (which are limited or even restricted in number) to determine the cleaning sequence to be executed (i.e., the sequence corresponding to the pre-recorded storage unit configuration that is closest) largely avoids the problem of detection in an environment that may be disturbed by suspended dust, flying insects, cobwebs, or large local brightness differences depending on the detection technology used.

[0017] Since there is no need to determine a specific, ad-hoc sequence when cleaning each storage unit (like a robot that would adjust its trajectory in real time based on detected obstacles), the cleaning can be carried out faster and with fewer computational resources required.

[0018] Using the transportation system to bring the robot to different storage units of the storage structure to be cleaned, the transportation system used in the workshop production process can be utilized. Thus, the movement of one or more robots can be incorporated into this process, and cleaning can be carried out without stopping the movement of products around the storage unit being cleaned.

[0019] The cleaning device can be configured to clean by suction, blowing, brushing, rinsing (using a cleaning liquid such as water), or a combination of these cleaning modes.

[0020] The robot can include a computer memory of a repository. Alternatively, the cleaning system can include an information system remote from the robot, and the robot can include communication means adapted to communicate with the information system. The information system includes the library and / or is configured to instruct the cleaning of the storage units of the storage structure. In other words, the means for selecting the cleaning sequence to be executed on a given storage unit are either decentralized at the robot level, providing a high degree of operational autonomy, or centralized at the level of a remote information system, which can also manage all or part of the production of the workshop (farm, factory, etc.) containing the cleaning system.

[0021] The acquisition device may include a three-dimensional camera, preferably of the "time-of-flight" type. Other acquisition methods may be considered, such as including a stereo camera or a three-dimensional scanner.

[0022] The cleaning device of the robot may include a multi-joint robotic arm, such as a six-axis robotic arm. The multi-joint robotic arm, such as a six-axis robotic arm, may include a curved nozzle at its end. The nozzle is a duct that allows air to pass through and preferably forms the suction nozzle of the suction unit here. The curved shape facilitates the tip of the curved nozzle to reach the corners. A multi-joint robotic arm refers to a robotic arm with multiple joints, giving it multiple degrees of freedom. The combination of the multi-joint robotic arm and the curved nozzle can reach the areas that need to be cleaned the most. More details about the development of the curved nozzle will be given below. Other solutions may be considered to ensure cleaning. For example, as an alternative or supplement to the multi-joint robotic arm, a fluid injection device may be used for cleaning. The fluid may be air, water, or a liquid disinfectant (aqueous or non-aqueous). The injection device may include a fluid diffusion nozzle.

[0023] According to various possible ways: - The cleaning system may be configured to be in an inactive state while the robot is carried by the transportation system; - The robot may include a battery for powering the robot.

[0024] The battery mainly powers the cleaning device and the electronic control system of the robot. When the robot includes a battery, it can be charged regularly (at regular intervals or when it is determined that charging is required) at a charging station inside or near the storage area, and maintenance can be carried out if necessary. In addition to or as an alternative to regular charging at the charging station, partial charging can be carried out when the robot is located in the storage structure to supplement the power. For this purpose, one or more storage units in the structure can be equipped with devices for providing power supplementation to the robot. This regular partial charging of the robot's battery can be referred to as the "minor supplementation" of the robot.

[0025] The present invention also relates to a combination, including the cleaning system defined above, a storage structure forming a storage unit, and a transportation system. The storage structure may be a set of shelves, such as pallet racks, or any similar storage structure defining a storage unit for receiving products (such as palletized products).

[0026] The transportation system may be a stacker crane.

[0027] The present invention also relates to a storage area including the combination defined above. The present invention also relates to a planting or farming farm (such as a vertical farm) including such a storage area. Such a farm may be an insect farm.

[0028] Such a vertical farm may especially be an insect farm.

[0029] Finally, the present invention relates to a method for cleaning a storage structure forming a storage unit, comprising the following steps: a) providing the combination defined above; b) transporting a cleaning robot to the storage unit; c) the robot acquiring three-dimensional configuration information of at least one area in its environment; d) comparing the acquired three-dimensional configuration information with the pre-recorded storage unit configuration in the library; e) based on the comparison step, determining the pre-recorded storage unit configuration that is closest to the acquired three-dimensional configuration information; f) the robot executing a cleaning sequence corresponding to the determined pre-recorded storage unit configuration. The method may further comprise determining the next storage unit to be cleaned and repeating steps b) to f) for that storage unit. In this way, all the storage units in the structure can be cleaned sequentially, and / or the structure can be cleaned continuously without stopping production for the cleaning operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other advantages, objectives and specific features of the present invention will emerge from the following non-limiting description, which relates to at least one specific embodiment of the device and method of the object of the present invention, with reference to the drawings: Figure 1 is a three-dimensional schematic diagram of a workshop containing a storage structure in which the present invention can be implemented; Figure 2 is a three-dimensional schematic diagram of a storage structure that can be cleaned by the system of the present invention; Figure 3 is a three-dimensional schematic diagram of a cleaning system - part of which or a robot constituting such a cleaning system - that can be used in accordance with an embodiment of the present invention; Figure 4 shows Figure 3 the situation where the robot in Figure 5 is placed in the storage unit to be cleaned; Figure 6 shows Figure 5 the spatial point cloud that can be acquired by the acquisition device of the robot used in an embodiment of the present invention; Figure 7 shows Figure 6 the situation after post-processing of the point cloud in DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] This description is given as a non-limiting example.

[0032] Figure 1Represents a workshop, i.e., a vertical farm, shown here in the form of a three-dimensional schematic diagram.

[0033] The vertical farm represented can in particular be an insect farm. Insects that can be reared in such a farm include Coleoptera, Diptera, Lepidoptera, Neuroptera, Isoptera, Orthoptera, Hymenoptera, Blattodea, Hemiptera, Heteroptera, Ephemeroptera, and Megaloptera.

[0034] Insect rearing can be particularly regarded as an organized whole that allows adult insects to lay eggs to produce larvae, some of which are reared to the adult stage to lay new eggs, and the adult insects are regularly renewed (e.g., after death) by young adult insects to ensure new egg-laying, and so on in a cycle. The final products can be eggs and / or larvae and / or pupae and / or adult insects. Thus, the term "insect" refers to any developmental stage from egg to adult.

[0035] Figure 1 The workshop in [[ ]] includes, in addition to the technical installations and / or facilities for certain production operations, a storage structure 1. This is a so-called vertical storage structure with multiple levels that allows for the so-called vertical storage of products. In the case of a vertical farm, these products can be the plants or animals produced by the farm, such as growing insects.

[0036] For example, in an insect-rearing workshop, the insects grow in suitable containers placed in the storage structure, under controlled and optimized environmental conditions (defined by environmental parameters such as temperature, humidity, etc.).

[0037] The storage structure can in particular include pallet racks 101, 102 (commonly referred to as "pallet racks") or similar rack structures.

[0038] In [[ ]] Figure 1 In the example shown, the pallet racks 101, 102 are separated by a passage 103 that allows passage between the racks. There can be multiple sets of parallel rack / passage / rack combinations in the workshop.

[0039] The passage 103, and more generally the passages formed between the pallet racks, allow a transport system 2 to move, such as a stacker crane, for moving products that need to be placed on or removed from the racks.

[0040] The products or the containers loaded with products can be stacked on pallets, such as standardized pallets (e.g., the "European pallet" that is 120 cm long and 80 cm wide, or a half pallet that is 80 cm long and 60 cm wide), or stacked on any element that forms a proper support.

[0041] Figure 2Shows an example of a storage structure where a cleaning system according to the present invention can be used. Structure 101 is a pallet rack. This is a so-called "open" structure. Thus, it includes a frame structure 111, composed of a set of horizontal crossbeams 112, vertical beams 113, and reinforcements 114, and there are no partitions forming an enclosed space.

[0042] Depending on the workshop environment and the products present in storage structure 1, this structure may accumulate dust and residues. The dust and residues come from the workshop environment, the external atmosphere, machine operation, personnel who may walk in the workshop, etc. In the case of insect or other animal breeding, they may come from animal activities, breeding environment, etc. They also include residues related to parasites and spiders present in the breeding farm, such as their excrement, cobwebs, and corpses.

[0043] For example, dust and residues may be deposited on the crossbeams.

[0044] Storage units 3 are formed between the crossbeams of storage structure 1.

[0045] Products 4 can be stored in each storage unit 3. Preferably, the storage units 3 have a certain uniformity in terms of size and more generally overall shape.

[0046] However, the storage units are usually not strictly identical. The position of the crossbeams varies depending on whether the storage unit is at the end of the rack, the level it is on, whether it is in the left or right aisle (according to the conventional direction of the aisle), etc.

[0047] Therefore, there is a limited number of different storage unit configurations in the storage structure. And each storage unit configuration may have different dust accumulation areas. Thus, depending on the storage unit configuration under consideration, the areas to be cleaned are different, and the obstacles that may hinder cleaning and / or limit the movement of the cleaning robot are also different.

[0048] Figure 3 Represents in the form of a three-dimensional schematic a robot 5 that can be part of or constitute a cleaning system according to the present invention. The robot 5 is intended to ensure the cleaning of the storage units in which it is continuously placed and is equipped with cleaning means suitable for this purpose.

[0049] The robot 5 includes a housing 501, shown in Figure 3 in a transparent manner so as to be able to see some of the elements inside the robot 5.

[0050] The robot 5 is intended to be transported by a transport system 2 for putting products into and taking them out of the storage units. For this purpose, the robot 5 includes, for example, a base 502 compatible with the transport system 2, such as a base 502 suitable for being supported by a stacker.

[0051] Since the robot is preferably transported by the same transport system used for storing products, the robot can be integrated into the product flow according to an exact cleaning plan. Thus, for example, it is not necessary to stop production in a certain area of the workshop to clean the storage units in that area. This cleaning is carried out when the product (e.g., a palletized product) is removed from a given storage unit. The cleaning is carried out simultaneously with production, for example, during production hours.

[0052] Integrating the robot into the production process according to the cleaning plan also results in scheduling charging operations for the robot's battery pack (see below), unloading operations for the collected dust and residues, and even maintenance operations. These operations can be planned in advance or initiated when needed (e.g., when the robot's dust storage bin is full), thereby modifying the current cleaning plan.

[0053] These operations can be carried out at one or more dedicated stations in the workshop.

[0054] Obviously, in a workshop with large storage structures, multiple robots 5 can be operated simultaneously. Then, the production management system of the workshop will consider using multiple robots to adjust the cleaning plan for each robot.

[0055] In addition, it is important to ensure that the robot remains inactive when it is being transported by the transport system between two storage units, or from a storage unit to a charging and / or maintenance station, or from a station to a storage unit, etc., i.e., it does not start moving (e.g., its robotic arm or other movable parts of the robot do not start moving). It is indeed necessary to ensure that the movement of the robot does not interfere with the transport system, for example, ensuring that the deployment of the movable parts of the robot does not interfere with the structures present in the workshop.

[0056] Similarly, it is preferably ensured that the robot remains inactive when at the charging and / or maintenance station.

[0057] Various methods can be adopted to achieve this.

[0058] First, a physical method can be provided to keep the robot 5 inactive when it is supported by the transport system 2 or located at the charging and / or maintenance station. This method can be, for example, a contact switch configured to be triggered when the robot 5 is on the transport system 2 or in the station. Conversely, it can also be a contact switch configured to be triggered when the robot is correctly positioned in the storage unit.

[0059] In addition, communication can be established between the robot 5 and the transport system 2 and / or the information system 6. This communication is intended to confirm to the robot via an activation command that it can be activated.

[0060] The information system 6 can be (or interface with) a system for managing workshop production, in particular a system for managing the storage structure and the product flow in the workshop. Thus, the information system 6 particularly allows for scheduling the charging of the battery pack of the robot 5 or managing the movement of the robot within the storage structure, via the transportation system 2, in order to clean the storage units in a predetermined order, according to a cleaning plan. The information system knows the position of the robot 5 in the workshop and can send an activation command to it when the robot is located within a storage unit. This can also be achieved via the transportation system 2, which itself communicates with the information system 6.

[0061] In the workshop, the communication between the robot 5, the information system 6, the transportation system 2 and any other possible devices can be achieved using various wireless communication protocols, in particular WiFi, Bluetooth, Bluetooth Low Energy, Sigfox, Zigbee or any other suitable protocol, especially long-range low-power protocols and / or any protocol related to the Internet of Things.

[0062] Finally, the movement of the robot will remain disabled until the robot determines that it has located itself within a storage unit, the three-dimensional configuration of which has been determined in the manner explained below.

[0063] In the example shown, the cleaning device of the robot 5 includes a robotic arm 503 that can reach the areas within each storage unit in the structure that need to be cleaned. The robotic arm 503 can particularly be a "six-axis" robotic arm. Six-axis robotic arms are systems commonly used in industry for performing operations that require complex and / or combined movements.

[0064] In order to be able to reach almost all the areas within a storage unit of a given configuration where dust and residues may accumulate, the end of the robotic arm 503 is equipped with a curved nozzle 504. The curved nozzle 504 is hollow and can suck in dust and residues.

[0065] The shape of the curved nozzle is an important object of development and may vary depending on the storage structure in which the cleaning system of the present invention is used.

[0066] The development principle of the curved nozzle 504 is as follows. The three-dimensional configurations of the different storage units present in the storage structure are modeled. The areas that need to be cleaned in each configuration are determined. The robot and its robotic arm (or other mechanisms) are modeled. The shape of the curved nozzle 504 is determined to maximize the areas that need to be cleaned that can be reached by the end of the curved nozzle 504. In this way, the surface area that can actually be cleaned is maximized, with the aim of cleaning all the surfaces that need to be cleaned.

[0067] This maximization can be carried out for each storage unit configuration or for the entire structure. For example, if the number of certain storage unit configurations in the storage structure is less than that of other configurations, the importance of various configurations can be weighted. In other words, priority can be given to cleaning the storage units of the most common configurations completely or almost completely, sacrificing the cleaning area of the storage units with fewer configurations, for example, in order to maximize the total cleaning area of the entire storage structure.

[0068] In the example shown here, the robot is configured to clean only by vacuuming. According to other arrangements of the present invention, the end of the robotic arm 503, i.e., the end of the curved nozzle 504 (if the robot has such a nozzle), can be equipped with a brush. This brush can be fixed, and the robotic arm can sweep with the brush. Alternatively, this brush can be electric. For example, it can be a rotary brush, preferably drivable in two rotational directions to ensure back-and-forth brushing of the area to be cleaned.

[0069] The robot 5 includes one or more vacuuming units 505. The vacuuming units are connected to the curved nozzle 504, and vacuuming is carried out through the end of the nozzle. The fluid connection between the vacuuming unit and the curved nozzle can be made inside or outside the robotic arm 503, for example, using a hose. In the example shown, there are two vacuuming units 505. The vacuuming units can consist of conventional industrial vacuum cleaners. According to different embodiments, the vacuuming units 505 can be used simultaneously, for example, to increase the negative pressure at the outlet of the curved nozzle 504, or one after another (for example, when the dust collection box of one vacuuming unit is full, another one is used).

[0070] The robot is preferably powered by a battery pack 506. Different battery technologies can be used, especially different battery chemical compositions. Within the scope of the present invention, since the robot is used for industrial purposes and is transported by a transportation system independent of the robot, a reliable battery technology is usually preferred, that is, a technology with fewer safety problems (such as overheating) and a long lifespan. In contrast, some technologies may have a better mass energy density but lower reliability, and / or may pose a safety risk when dropped because the robot is used in a vertical storage structure.

[0071] For example, a lead-acid battery pack can be used.

[0072] The robot 5 includes an acquisition device 507. The acquisition device is a device capable of capturing and obtaining three-dimensional configuration information of at least one area in the environment of the robot 5. The three-dimensional configuration information refers to information capable of reconstructing the three-dimensional shape of a part of the environment of the robot 5. It can be a point cloud corresponding to the original signal or after post-processing. The environment of the robot refers to the elements around the robot that the acquisition device can directly see. Therefore, it can be called the "direct" environment of the robot.

[0073] The acquisition device can thus advantageously include a 3D camera, such as of the "time of flight" type (abbreviated as "TOF"), which is also used to refer to this type of camera in English as "time of flight". The time-of-flight technology is based on the reflection time of radiation (usually infrared), associating each pixel in the sensor's field of view with the distance to the sensor. A distance "image", or depth map, is thus obtained, corresponding to the three-dimensional representation of the elements directly visible from the sensor.

[0074] Other information acquisition techniques can be used, such as stereophotography, or of the 3D scanner type.

[0075] The acquisition device can be fixedly or movably mounted. In the example shown, the acquisition device 507 is mounted to be rotatable in two directions. This allows a larger area of the sensor environment to be scanned, thus reconstructing the three-dimensional configuration of a relatively large part of the robot's immediate environment.

[0076] Information acquisition can also be performed by the acquisition device 507 when the robot 5 is placed in the storage unit 3. The movement imposed on the robot by the transport system 2 thus allows the detection area of the acquisition device to scan the storage unit to a certain extent. The acquisition device thus enables the robot to acquire information representing the three-dimensional configuration of the storage unit or parts thereof.

[0077] The information obtained by the acquisition device can be directly stored in the robot 5, or transmitted and stored in the information system 6 for subsequent processing (e.g., optimizing the cleaning sequence or checking its correct execution).

[0078] The robot also includes a control device 508. The control device 508 integrates the various control and communication functions of the robot 5. These functions can also be performed by several different modules.

[0079] Thus, the control device 508 includes means for controlling the robotic arm 503 so that it performs the necessary actions to execute a cleaning sequence suitable for the storage unit 3 in which the robot is located. The cleaning sequence thus includes the actions of the robotic arm 503, and, where appropriate, start commands for vacuuming, brushing, robot tool change commands, etc.

[0080] The control device 508 also includes means for controlling the acquisition device. The control means for the acquisition device are used to control the acquisition of three-dimensional configuration information in the environment of the robot 5. This involves triggering the acquisition, usually when the robot is in the storage unit that needs to be cleaned, and, where appropriate, controlling the movement of the acquisition device (e.g., the movement of the sensor or 3D camera).

[0081] The control device 508 also allows for the collection of some information regarding the state of the robot. This information about the state of the robot 5 may include the charging level of the battery pack 506, the filling level of the storage tank of the suction unit 505, the occurrence of certain faults, etc. This information may also include the position information of the robot within the storage structure, which can be obtained by the robot 5 or acquired from the transportation system 2 or the workshop management system.

[0082] The control device 508 may also include communication means. The communication means of the robot are suitable for communicating with an information system 6 that is remote from the robot 5.

[0083] According to the present invention, when the robot 5 is placed in a storage unit, the cleaning sequence to be executed is determined by comparing the three-dimensional configuration information of at least one area in the robot's environment with the pre-recorded storage unit configuration existing in the library.

[0084] The pre-recorded storage unit configuration with the best correspondence is determined. This determination is made according to classical comparison or shape recognition algorithms, such as those aimed at minimizing the difference between the measured (acquired) points and the corresponding points in the pre-recorded storage unit configuration.

[0085] The pre-recorded storage unit configuration refers to the entire or only a part of the three-dimensional configuration of the storage unit, which is distinguished from other pre-recorded configurations.

[0086] This comparison can be performed by the control device 508. The control device may include a library of pre-recorded storage unit configurations, i.e., a computer memory storing this library. If necessary, this library can be updated during maintenance operations on the robot 5.

[0087] Alternatively, the library of pre-recorded storage unit configurations may be included in the information system 6, i.e., stored in the computer memory included in the information system 6. In this case, the configuration can be transmitted to the robot through the communication means of the robot and compared by the control device 508 of the robot. Otherwise, the robot can transmit the three-dimensional configuration information of at least one area in the acquired environment to the remote information system 6 through its communication means, and the latter will perform the comparison.

[0088] Therefore, the comparison means implemented in the present invention can be included in the control device 508 of the robot 5 or be at the level of the information system 6.

[0089] Figure 4 Illustrates the case where the robot 5 is placed in the storage unit 3 example that needs to be cleaned. The space between the two vertical beams 113 is suitable for accommodating two trays side by side. Here, we consider that one storage unit corresponds to half of this space, i.e., corresponds to the receiving space of one tray and the product it carries.

[0090] Figure 4 The crossbeams 112, 113, 114 that form the storage unit 3 and need to be cleaned by the robot 5 are marked with dots in the figure.

[0091] Figure 5 An example of a spatial point cloud that can be obtained by the acquisition device 507 (which includes a "time-of-flight" camera in the example shown) is represented.

[0092] As can be seen, this raw point cloud contains a large amount of noise, resulting in meaningless points. This is caused by different factors, but especially when there are suspended particles, flying insects, spider webs, etc. in the robot and sensor environment, a large amount of noise will appear.

[0093] Then this raw point cloud is post-processed, which allows the extraction of a three-dimensional shape representing the position of the crossbeams around the robot, as Figure 6 shown. Further post-processing allows the extraction of a set of points, which can visualize the overall configuration of the crossbeams, and more generally, a part of the environment of the robot 5, as Figure 7 shown.

[0094] Figures 5 to 7 Among other things, it is also explained why it is advantageous to compare the acquired information with the pre-recorded storage unit configuration within the framework of the present invention.

[0095] Therefore, it is worth noting that within the framework of the present invention, the cleaning sequence executed on a given storage unit is not directly determined in real time according to the configuration information acquired by the acquisition device 507. Instead, the executed cleaning sequence is a predefined sequence for the pre-recorded storage unit configuration determined after comparison.

[0096] In fact, on the one hand, the robot 5 only "scans" a part of the storage unit that needs to be cleaned. It may be possible to configure the robot so that the acquisition device can scan the entire area that needs to be cleaned, but then the acquisition device will become very complex. On the other hand, and more importantly, as Figures 5 to 7 shown, the acquisition device can only obtain a very approximate representation of the three-dimensional configuration of the storage unit. The sensor is indeed disturbed by some elements in the detection area (dust, residues, insects, etc.). In addition, some surfaces that need to be cleaned cannot be sensed by the sensor at all (for example, the sensor of the acquisition device can obtain the three-dimensional shape information of the bottom of the crossbeam above it, while the upper surface of this crossbeam is invisible to the sensor but needs to be cleaned).

[0097] It has been proven that even in a relatively complex industrial environment such as a vertical farm, the number of different storage unit configurations is limited and relatively small. For example, the applicant has determined that in an example of a vertical farm for insect farming, the farm includes shelves of the pallet rack type, with several passages defined between the shelves for the stacker crane to pass through, and the shelves allow the storage of stacks of containers at two depth levels, and the storage structure includes approximately twenty three-dimensional configurations of storage units.

[0098] The cleaning system developed within the framework of the present invention includes a robot or consists of a robot that is transported into the storage units of the storage structure, allowing the cleaning of such a storage structure while avoiding the problem of detecting the robot's environment. In particular, comparing the environmental information obtained by the robot with the configurations pre-recorded in the library allows the execution of the correct cleaning sequence for a given storage unit, even if the acquisition means of the robot are disturbed by suspended dust, flying insects, etc.

[0099] Cleaning can also be carried out simultaneously with production by integrating the robot into the logistics process ensured by the workshop transportation system.

Claims

1. A cleaning system, suitable for cleaning a storage structure (1) forming a storage unit, the cleaning system comprising a robot (5), the robot being adapted to be transported from one storage unit (3) to another storage unit (3) by a transport system (2), wherein the robot (5) comprises a cleaning device, and an acquisition device (507) for acquiring three-dimensional configuration information of at least one area in the environment of the robot (5), Characterized in that the cleaning system comprises a pre-recorded storage unit configuration library, each pre-recorded storage unit configuration being associated with a specific cleaning sequence, and the cleaning system comprises means for comparing the three-dimensional configuration information acquired by the acquisition device with the pre-recorded storage unit configurations in the library, and determination means for determining the pre-recorded storage unit configuration that is closest to the acquired three-dimensional configuration information based on the comparison made by the comparison means, the cleaning system being configured to cause the robot (5) to execute the cleaning sequence corresponding to the determined pre-recorded storage unit configuration.

2. The cleaning system according to claim 1, wherein the robot comprises a computer memory, and the library is recorded in the memory.

3. The cleaning system according to claim 1 or 2, comprising an information processing system separate from the robot, the robot comprising communication means adapted to communicate with the information processing system, the information system comprising the library and / or being configured to instruct cleaning of the storage unit of the storage structure.

4. The cleaning system according to any one of the preceding claims, wherein the acquisition device comprises a three-dimensional camera, preferably a camera of the "time-of-flight" type.

5. The cleaning system according to any one of the preceding claims, wherein the cleaning device of the robot comprises a multi-joint robotic arm, preferably a six-axis robotic arm.

6. The cleaning system according to claim 5, wherein the end of the multi-joint robotic arm comprises a curved nozzle.

7. The cleaning system according to any one of the preceding claims, configured to be in an inactive state while the robot is carried by the transport system.

8. The cleaning system according to any one of the preceding claims, wherein the robot comprises a battery for powering the robot.

9. An assembly, comprising the cleaning system according to any one of the preceding claims, a storage structure forming a storage unit, and a transport system.

10. The assembly according to claim 9, wherein the storage structure is a set of shelves.

11. The assembly according to claim 9 or 10, wherein the transport system is a stacker crane.

12. A storage area, comprising the assembly according to any one of claims 9 to 11.

13. A farming or aquaculture farm, such as an insect farm, comprising the storage area according to claim 12.

14. A method of cleaning a storage structure forming a storage unit, comprising the steps of: a) providing the assembly according to any one of claims 9 to 11; b) transporting a cleaning robot to the storage unit; c) having the robot acquire three-dimensional configuration information of at least one area in its environment; d) Compare the obtained three-dimensional configuration information with the storage unit configurations pre-recorded in the library; e) Based on the comparison step, determine the pre-recorded storage unit configuration that is closest to the obtained three-dimensional configuration information; f) Have the robot execute a cleaning sequence corresponding to the determined pre-recorded storage unit configuration.

15. The method according to claim 14, further comprising determining the next storage unit to be cleaned and repeating steps b) to f) for that storage unit.

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