MOBILE AUTONOMOUS ROBOT FOR PICKING AND PICKING PROCEDURES

Description

Field of invention

[0001] The field of the invention is that of logistics, in particular for the preparation of orders within a warehouse storing products to be shipped.

[0002] The present invention relates in particular to assistance in the preparation of orders by means of autonomous robots (known as "Autonomous Mobile robots - AMR" in English), and more particularly to the collection capabilities of such autonomous robots for the optimization of order preparation. Prior art

[0003] The logistics industry has been constantly evolving for many years. Particularly in the area of ​​order picking, there have been numerous technical and technological advancements, ranging from management software to product conveyors and smart storage racks.

[0004] Here, we are particularly interested in order preparation carried out by operators and assisted by autonomous robots. Thus, operators and robots cooperate in the same workspace to optimally prepare the various orders that are received by the warehouse's order management system.

[0005] Typically, an operator is responsible for picking the various products from an order from different locations in the warehouse and placing them on the accompanying autonomous robot.

[0006] To do this, the autonomous mobile robot 1 is equipped, for example, with a collection support 3 to receive the products deposited by the operator, as illustrated in Figure 1a .

[0007] In order to increase the order preparation efficiency, this collection support 3 can for example have several shelves 31, 32 ( Figure 1b), so as to allow the preparation of different orders.

[0008] However, the order preparation field is a very competitive field and is always looking for solutions to improve order preparation efficiency, in particular by reducing the movements of operators and autonomous mobile robots, as well as by optimizing each of the stages of the supply chain.

[0009] Patent documents US 2017 / 113352 A1, WO 2020097502 A2, US2019291955 A1, WO2018087546 A1 and WO 2016 / 21026 A1 present logistics systems offering certain improvements, for example by securing the control of robots, by providing robot circulation paths, by allowing robots to carry several containers, by using a robot guidance system by computer vision or even a robot guide rail system.

[0010] There is therefore a need to provide a new approach that can adapt in real time to the different constraints of order preparation while optimizing the overall efficiency of the system, i.e. the efficiency of operators and robots. Summary of the invention

[0011] The present invention proposes a technical solution making it possible to optimize the overall efficiency of the system preparation using a mobile autonomous robot for preparing orders for products stored in a warehouse, comprising a device for receiving at least two mobile supports for collecting the products, called collection supports, and means for independently holding each of the at least two collection supports on the mobile autonomous robot.

[0012] Thus, the present technique proposes a new and inventive solution for order preparation implemented by mobile autonomous robots in a warehouse, making it possible to significantly increase the productivity of order preparation. To do this, the mobile autonomous robots are adapted to the preparation of orders for products stored in a warehouse, that is to say that they have specific characteristics such as, in particular: communication capabilities with other robots in the same fleet and with a supervision system responsible for managing a fleet of robots, with the aim of optimizing order preparation in a warehouse; ease of movement in warehouse aisles, in which other robots and order pickers circulate; energy autonomy to be able to prepare the greatest number of orders without having to be recharged; compactness and in particular a low thickness, for example to be able to slide under items to be transported.

[0013] Furthermore, according to the present technique, such autonomous mobile 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 separate orders directly in two separate containers.

[0014] The proposed solution therefore makes it possible to avoid any subsequent handling of products from different orders, at the time of finalizing these orders. Indeed, the respective products of each order are already grouped in a container, the latter being able to be directly used for the transport of the order (for example loaded onto a truck).

[0015] Order preparation is therefore optimized: in terms of the number of pickers required: no picker is required for the distribution of products from several orders that would have been collected in the same container, in terms of preparation time: product handling is limited, as collection can be selective thanks to the plurality of containers on the same autonomous mobile robot. The number of collections carried out by an operator is increased while limiting the movements of this operator, in terms of error rate in an order: the risks of erroneous allocation of products to an order are limited due to selective collection and the limitation of product handling.

[0016] This solution also allows the collection of frozen products in a specific refrigerated container at the same time as the collection of non-frozen products in a second, conventional container, on the same autonomous mobile robot.

[0017] The collection racks are specific to order preparation and are themselves mobile, for example via casters, so that they can be used to transport products directly at the end of order preparation. Such product collection racks correspond, for example, to high wire mesh cages on casters.

[0018] Finally, holding means are provided to independently hold each product collection support on the autonomous mobile robot. Thus, the product collection supports can be loaded or unloaded from the autonomous mobile robot also independently.

[0019] According to the invention, the receiving device is adaptable to the collection supports.

[0020] Thus, an autonomous mobile robot can receive any type of product collection support thanks to a reception device adaptable according to the type of support. For example, the robots of a fleet of robots in an order preparation warehouse can be adapted to the type of supports used in the warehouse, or even more specifically, to the type of supports used for a customer...

[0021] The adaptation of the receiving device to different types of support is understood, for example, in terms of dimension, to receive supports of different dimensions, in terms of shape, to receive supports of different shapes, or in terms of robustness, to receive supports of different weights.

[0022] For example, the receiving device is removable.

[0023] Thus, according to this embodiment, the adaptability of the receiving device to any type of product collection support is implemented via removable receiving devices, for example thanks to a robot attachment system adaptable to any type of receiving device, and having different characteristics.

[0024] In this way, it is sufficient to choose the receiving device suitable for the product collection support used and attach it to the robot, and when the product collection support changes, it is sufficient to remove the receiving device and replace it with another device suitable for the new product collection support.

[0025] According to another aspect, the receiving device has a modifiable structure to adapt to the collection media.

[0026] Thus, according to this embodiment, the adaptability of the receiving device to any type of product collection supports is implemented via a modifiable structure of the receiving device itself. For example, the dimensions of the receiving device can be modified by sliding systems of structural elements, thus making it possible to receive product collection supports of different sizes while holding them correctly. Similarly, systems for reinforcing the structure of the receiving device can be added to the device to receive heavier product collection supports or those intended to be heavily loaded...

[0027] According to a particular characteristic, the holding means are carried by the receiving device.

[0028] Thus, the means for holding the product collection supports are part of the device for receiving these product collection supports on the robot, thus also allowing the adaptability of the holding means to any type of product collection support. In this way, the product collection supports are always optimally held on the autonomous mobile robot when the latter moves and when products are deposited in the product collection supports.

[0029] For example, the means of maintenance are presented in the form of: of a magnetic system cooperating with the collection supports; a magnet may be provided on the receiving device so as to exert a retaining force on the metal collection supports. If these collection supports are not metallic, they may have a metallic part or an additional magnet allowing the support to be retained on the receiving device of the autonomous mobile robot; of a mechanical system corresponding to protrusions or retaining tabs of the collection supports; the receiving device may have higher edges in certain places, or simply kinds of retaining tabs, allowing the supports to be mechanically retained on the receiving device of the autonomous mobile robot; of a mechanical locking system cooperating with a part of the collection supports, such as for example a cam locking system.

[0030] According to a particular characteristic, the receiving device corresponds to a tubular structure or a solid structure removably secured to said robot.

[0031] Thus, according to this embodiment, a sort of low-height basket / crate, sized to receive at least two product collection supports, is attached to the robot in a removable manner.

[0032] Such a structure may be metallic or plastic, and has a robustness suitable for the weight of at least two product collection supports, including when loaded with collected products.

[0033] In addition, such a structure has a low height so as not to increase the access height to the supports to deposit the collected products and therefore to maintain an optimal level of ergonomics for the order pickers.

[0034] Such a structure can also be designed so that its dimensions can be adapted (for example via metal tube sliding systems which can therefore be lengthened or shortened) or so that certain parts can be reinforced (for example via solid structures which can be added to the sides of the metal structure).

[0035] According to a particular characteristic, the autonomous mobile robot comprises a module for detecting the deposit of at least one product in at least one of said mobile collection supports. This detection module not only makes it possible to detect when a product is deposited in a collection support, but it also makes it possible to determine whether the expected product has been deposited and whether it has been deposited in the correct collection support. Indeed, the presence of several collection supports on the same robot creates a risk of depositing error for a preparer. This detection module thus makes it possible to check the deposited products automatically, without the preparer having to take any action.

[0036] The present technique also relates to a method for preparing orders for products stored in a warehouse by at least one autonomous mobile robot as described previously, according to the different embodiments.

[0037] Such a process includes the following steps: depositing, by an order preparer, at least one product from a first order in at least one first mobile product collection support carried by at least one autonomous mobile robot; depositing, by an order preparer, at least one product from a second order in at least one second mobile product collection support carried by the autonomous mobile robot.

[0038] Thus, according to this embodiment, the number of product collections per hour carried out by an operator is significantly increased, while significantly reducing the movements of operators and robots.

[0039] According to a particular aspect, the method comprises a step of detecting, implemented by the mobile autonomous robot, the depositing of at least one product in at least one of the mobile collection supports. This step thus allows the control of the depositing of the products automatically, without the preparer having to do so or to communicate validation data for these picking and depositing actions. List of Figures

[0040] The proposed technique, as well as the various advantages it presents, will be more easily understood, in the light of the following description of several illustrative and non-limiting embodiments thereof, and the appended drawings among which: [ Fig 1a ] illustrates an autonomous mobile robot according to a prior art technique; [ Fig 1b ] illustrates a collection medium according to a prior art technique; [ Fig 2a] illustrates an autonomous mobile robot according to an embodiment of the present technique; [ Fig 2b ] illustrates an autonomous mobile robot according to another embodiment of the present technique; [ Fig 3 ] illustrates an autonomous mobile robot with two collection supports, according to an embodiment of the present technique; [ Fig 4 ] illustrates the main steps of the order preparation process, according to an embodiment of the present technique; [ Fig 5 ] illustrates an autonomous mobile robot with three collection supports, according to another embodiment of the present technique. Detailed description of the invention A - General principle of the proposed technique

[0041] The general principle of the proposed technique consists of optimizing the movements of picking operators, or order preparers, and autonomous mobile collection robots within a warehouse storing products to be shipped in order to maximize their use / efficiency. By improving the efficiency of operators and robots, a greater number of orders can be completed per unit of time (e.g. per hour).

[0042] To achieve this, the proposed technique provides that an autonomous mobile robot can carry at least two collection supports, in which a preparer places the collected products, unlike known techniques according to which a robot only moves a collection trolley.

[0043] Thus, according to the present technique, a picker can prepare two separate orders directly in two separate racks, which makes order finalization more efficient. Indeed, no additional handling is required when the robot has finished its collection, the products of the different orders being directly stored separately on the different collection racks.

[0044] In addition, the present technique also allows the use of mobile collection supports, i.e., those that can be easily handled by an operator when they are no longer on a mobile robot. Thus, when an order is completed, the collection support can, for example, be directly transported by an operator to the transport vehicle / truck for loading, without the operator having to carry the support. For example, these are collection supports with casters. B - Description of an embodiment

[0045] Known autonomous mobile robots are therefore not designed to carry more than one collection support. The present invention therefore allows compatibility with current autonomous mobile robots thanks to the implementation of a receiving device on the robot to be able to carry at least two mobile collection supports.

[0046] As illustrated in Figures 2a, 2b And 3 , an autonomous mobile robot 10 therefore comprises a device 2 for receiving at least two mobile collection supports 3a and 3b. For example, these mobile collection supports are of the type illustrated in Figure 1b , namely a sort of wire mesh shelf with wheels allowing it to move autonomously as well. The receiving device equipping an autonomous mobile robot therefore also ensures compatibility with known mobile collection supports.

[0047] Indeed, such mobile collection supports are particularly suitable for preparing orders for products stored in warehouses, in particular due to their autonomous mobility and their use on an autonomous mobile robot. This means that they can be transported and loaded directly into the transport vehicle once the orders have been prepared.

[0048] However, due in particular to the intrinsic mobility of these collection supports, it is necessary to provide a device for receiving these supports on the autonomous mobile robot. Indeed, it is necessary on the one hand for the robot to be able to carry more than one mobile collection support and on the other hand for the supports carried by the autonomous mobile robot to be held in place while the robot is moving.

[0049] As illustrated on the Figures 2a and 2b, this receiving device 2 is slightly longer than the robot 10, thus making it possible to carry two mobile collection supports positioned side by side.

[0050] Furthermore, in order to ensure that the two mobile collection supports are held on the robot, the latter also comprises independent holding means 21a, 21b for each of the two collection supports.

[0051] Thus, according to a first embodiment illustrated on the Figures 2a and 2b , first holding means 21a are provided at one end of the mobile collection support, to hold a first support 3a ( figure 3 ), and a second holding means 21b is provided at the other end of the mobile collection support, for holding a first support 3b ( figure 3 ).

[0052] According to this embodiment, the holding means 21a and 21b are carried by the receiving device 2 itself, for example in the form of protrusions or tabs making it possible to hold the mobile collection supports when they are carried by the mobile autonomous robot.

[0053] According to other embodiments, not illustrated, the holding means may take the form of a magnetic system cooperating with the collection supports, for example when these supports are metallic or when they have a magnetic system cooperating with that provided on the autonomous mobile robot, or the reception device.

[0054] The holding means may also be in the form of a mechanical locking system (carried by the receiving device or the robot itself) cooperating with part of the collection supports, such as for example a cam or a type of lock adapted to the shape of the collection supports carried by the robot.

[0055] The holding means are designed to hold the two collection supports when the robot is moving and in particular when the robot brakes and restarts, or, where appropriate, in the event of a collision with another robot or impacts with an obstacle on the robot's path.

[0056] Furthermore, the proposed technique also allows adaptability of autonomous mobile robots to all types of collection media, either because the receiving device is removable and therefore interchangeable depending on the type of media, or because the receiving device itself has a modifiable structure allowing it to adapt to the type of media.

[0057] Thus, according to a first variant, several receiving devices, of different shapes and sizes, are designed so as to be able to adapt to the different types of collection supports. For example, receiving devices can be manufactured specifically to adapt to collection supports used in a warehouse. Similarly, it is possible to equip a fleet of autonomous mobile robots with new receiving devices adapted to new collection supports that would come into use. This variant and the removable nature of the receiving devices therefore allow optimal adaptability to both the robots and the collection supports.

[0058] According to a second variant, a receiving device is designed so that it can itself adapt to different types of collection support, that is to say it can be lengthened or shortened, in all dimensions, thanks to adjustment systems.

[0059] For example, when the receiving device corresponds to a tubular metal structure, its dimensions can be modified via sliding systems of the tubes that compose it. This variant allows a more reactive adaptability to a change in the type of collection support, which does not require changing the receiving device itself.

[0060] THE Figures 2a And 3 illustrate an example of a receiving device 2 in the form of a tubular metal structure for receiving two collection supports held by tabs at these two ends. Such a shape makes it possible to obtain a lightweight and space-saving receiving device, only very slightly increasing the load of the robot on which it is installed.

[0061] According to another embodiment illustrated in Figure 2b, a receiving device 2 may be in the form of a solid, non-tubular, metallic or plastic structure.

[0062] The choice of the shape and material of the receiving device can be guided by considerations of robustness, since the collection supports can be very heavy at the end of the preparation of an order, or according to the type of robots or collection supports used.

[0063] Furthermore, due to the presence of several mobile collection supports on the same robot, the risks of errors in product deposit by the preparers are slightly increased. Thus, a preparer can use the wrong collection support to deposit a picked product. A classic solution would be to ask the preparer to validate each product deposit, for example via the mobile terminal they use to manage their order preparations (to scan products in particular).

[0064] The present technique proposes a new and inventive solution via a module for detecting the deposit of at least one product in at least one of the mobile collection supports, allowing: to know precisely where the preparer places the product on the robot: on the “front” support 3a or the “rear” support 3b; to know the number of packages / products placed on each support; to carry out a weight check by comparing the weight of the product placed with the known theoretical weight of the expected product.

[0065] This solution therefore avoids the order preparer having to carry out a check of the product placed and a confirmation of the conformity of the deposit, for each collection, thus increasing their efficiency while optimizing the quality of order preparation.

[0066] The drop detection module is based on a weighing system, for example a scale, in communication with a task manager integrated into the robot, allowing in particular to know the number of products expected, their type and their theoretical weight, in real time, at any time during order preparation.

[0067] The detection module can be integrated into the autonomous mobile robot or attached to the autonomous mobile robot, i.e. positioned on the autonomous mobile robot and connected to it via communication links. C - Order preparation process

[0068] The present technique also relates to a method of preparing orders assisted by at least one robot as described previously, according to the different embodiments and the different variants.

[0069] Indeed, if it is known to use mobile autonomous robots to assist order pickers, the solution described above makes it possible to optimize order preparation by using robots capable of moving at least two mobile collection supports. Such robots therefore allow a picker to deposit at least one product P1 of a first order in at least one first mobile collection support 3a carried by the mobile autonomous robot 10 which assists him and at least one product P2 of a second order in at least one second mobile collection support 3b carried by the same mobile autonomous robot 10.

[0070] In this way, the number of collections per hour for an order picker is significantly increased because they can deposit products in a greater number of collection supports.

[0071] This also makes it possible to prepare two orders separately at the same time, by placing the products of each order in the assigned collection support. In this way, at the end of the preparation of the two orders, there is no additional handling of the products to be done, that is to say no distribution or "dispatch" of the products of several orders which would be placed in the same support as in the known techniques of the prior art.

[0072] Furthermore, according to a particular embodiment, the order preparation method comprises a detection step, implemented by the mobile autonomous robot, of the depositing of at least one product in at least one of the mobile collection supports. This detection step is implemented for example by a detection module, integrated or connected to the mobile autonomous robot, in communication with the robot's task manager. In this way, the verification of the depositing of a product in the correct mobile collection support on the robot is carried out automatically, without requiring any specific action from the order preparer himself, thus reinforcing the quality of the orders by limiting errors while not slowing down the preparer in his tasks of picking and depositing the products. D - Other characteristics

[0073] The embodiments, variants and examples described above are not limiting in terms of the number of mobile collection supports that can be moved by a single autonomous mobile robot. Indeed, depending on the size of the robot and the mobile collection supports, the receiving device is adapted to be able to accommodate at least two mobile collection supports; it is therefore conceivable that a robot can move, for example, three or four mobile collection supports. An example of an autonomous mobile robot 10, however, three mobile collection supports 5a, 5b and 5c, is illustrated in Figure 5 The receiving device 2 is therefore suitable for receiving three collection supports, and is therefore notably much longer than for two collection supports.

[0074] Indeed, the adaptability of the receiving device equipping an autonomous mobile robot allows optimal compatibility with existing and future robots, existing and future collection supports, as well as the number of collection supports that can be carried by a robot.

Claims

1. Autonomous mobile robot (10) for picking orders of products stored in a warehouse, comprising a device (2) for receiving at least two movable picking holders (3a, 3b) for said products, referred to as picking holders, and independent means (21a, 21b) for retaining each of said at least two picking holders on said autonomous mobile robot, characterised in that said reception device is adaptable to said picking holders.

2. Autonomous mobile robot for picking orders according to claim 1, characterised in that said reception device is removable.

3. Autonomous mobile robot for picking orders according to any one of claims 1 and 2, characterised in that said reception device has a modifiable structure for adapting to said picking holders.

4. Autonomous mobile robot for picking orders according to any one of claims 1 to 3, characterised in that said retaining means are carried by said reception device.

5. Autonomous mobile robot for picking orders according to any one of claims 1 to 4, characterised in that said retaining means are in the form of: • a magnetic system cooperating with said picking holders; • a mechanical system corresponding to retaining protrusions or tongues of said picking holders; • a mechanical locking system cooperating with a part of said picking holders.

6. Autonomous mobile robot for picking orders according to any one of claims 1 to 5, characterised in that said reception device corresponds to a tubular or solid structure removably secured to said robot.

7. Autonomous mobile robot for picking orders according to any one of claims 1 to 6, characterised in that it comprises a module for detecting the depositing of at least one product in at least one of said movable picking holders.

8. Method for preparing orders for products stored in a warehouse by at least one autonomous mobile robot (10) according to any one of claims 1 to 7, characterised in that it comprises the following steps: • depositing (41), by an order picker, at least one product (P1) of a first order in at least one first movable product picking holder (3a) carried by said at least one autonomous mobile robot (10); • depositing (42), by an order picker, at least one product (P2) of a second order in at least one second movable product picking holder (3b) carried by said at least one autonomous mobile robot (10).

9. Method for preparing orders according to claim 8, characterised in that it comprises a step, implemented by said autonomous mobile robot (10), of detecting the depositing at least one product in at least one of said movable picking holders.