Method and system for preparing and disinfecting orders

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

Description Title: Process and system for preparing and disinfecting orders Technical field

[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 as ASRS. More specifically, the present disclosure relates to a method and a system for preparing and disinfecting orders. Prior art

[0002] As is well known, automated storage and retrieval systems include computer-controlled autonomous vehicles designed to automatically place and retrieve items in a storage area of ​​a warehouse. The storage area includes, among other things, compactly arranged storage shelves.

[0003] One of the challenges of such automated storage and retrieval systems is to improve the efficiency of order picking. 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 hygiene requirements have increased significantly with the threat of pandemics. In particular, items to be shipped are typically handled by multiple parties in succession, increasing the risk of carrying bacteria or viruses on their surface. Therefore, there is a need to disinfect items to be shipped. However, disinfection of items can be time-consuming and ineffective.

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

[0006] A method for preparing orders at an order preparation station for at least one item conveyed in an input container and intended to be transferred into an output container is proposed, the station including a three-dimensional scanning device and a device for disinfection by irradiation with ultraviolet light, the method comprising: - take the item from the input container, - scanning by three-dimensional scanning at least a 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, - determining a disinfection time sequence by a calculation unit based on the three-dimensional model, the disinfection time sequence comprising 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, - implement the determined disinfection time sequence.

[0007] Position refers to the three-dimensional coordinates of a reference point of the article in a reference frame. The reference point may, for example, be the center of gravity of the article. Orientation then corresponds to the orientation of a reference frame of the article relative to the reference frame for a given position.

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

[0009] The method according to the present disclosure offers the considerable advantage of allowing the articles to be shipped to be disinfected, sterilized and / or decontaminated and thus meeting the users' health requirements. Indeed, the installation of the disinfection device at the order preparation station is advantageous because the majority of articles pass through the order preparation station before being shipped. In addition, carrying out 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.Furthermore, it may 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 disinfection time sequence may comprise alternating poses and relative movements between the article and the disinfection device. Each pose is defined by a position, an orientation and an exposure duration. In other words, at each pose, the article is positioned and oriented fixedly relative 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 disinfection time sequence may advantageously be determined so that each elementary external surface of said at least one portion of the article's envelope 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 may advantageously comprise scanning the envelope of the article prior to determining and implementing the disinfection time sequence. In other words, the entire envelope of the article is scanned prior to determining and implementing the disinfection time sequence.

[0014] The method may comprise, for each portion of a plurality of portions of the article's envelope, scanning said portion and determining and implementing the disinfection time sequence. In other words, the method is composed of a succession of scanning portions of the article's envelope followed by determining and implementing the sequence disinfection time for the given portion. This allows scanning and disinfection of the item to be carried out in parallel, to carry out disinfection of one portion while scanning of the next portion has already started, and therefore to reduce the overall preparation time of a disinfected order.

[0015] The disinfection device may advantageously be active during at least part of the scanning of the article, in particular prior to determining the disinfection time sequence. In particular, the disinfection device may be activated in parallel with the scanning of the article. This feature makes it possible to use the scanning time to begin disinfection of the article, and thus further reduce the order preparation time.

[0016] Advantageously, the method may comprise a step of disinfecting an external gripping surface of the article when the article is located in the input 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 article from the input container to the output container. Alternatively, the method may comprise a step of disinfecting an external gripping surface of the article once the article is placed in the output container and after the article has been moved.

[0017] The order picking station comprising a robot, the gripping of the item and the relative movements between the item 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 accuracy of the preparation of the order and the disinfection of the item.

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

[0019] According to another aspect, there is provided a system for preparing orders for at least one item conveyed in an input container and intended to be transferred into 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 at least a portion of an envelope of the item so as to acquire a three-dimensional model of said at least one portion of the envelope of the item and a device for disinfection by irradiation with ultraviolet light. The order preparation system further comprises a calculation unit configured to determine a disinfection time sequence according to the three-dimensional model.The disinfection time sequence includes a time sequence of position and orientation of the item relative to the disinfection device with which a dosage of ultraviolet light irradiation is associated.

[0020] The order picking system may advantageously comprise the robot capable of gripping the item from the input container and moving the item 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

[0022] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached 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 method according to one embodiment in the form of a diagram. Fig. 6

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

[0030] The automated storage and retrieval system 100 comprises a plurality of storage shelves 4 (also referred to as “storage racks”) intended to receive items for 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 includes one or more order preparation stations, 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 taken to prepare orders for shipment.

[0032] Inbound conveyors are configured to convey inbound containers, each containing at least one item from the storage shelves 4, to the order preparation station 10. At the order preparation station 10, each item is transferred from an inbound container to an outbound container, so as to prepare an order in the outbound container. Outbound conveyors are configured to retrieve the outbound containers from the order preparation station 10 for shipment. For example, the outbound conveyors may convey the outbound containers to a packing and shipping station. It should be noted that, in the present context, the term "order" refers to a set of one or more items intended to be shipped together to a single 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 (referred to as “Automatic Guided Vehicles” in English) controlled by a computer, in particular by wireless communication means. The fleet of autonomous vehicles 3 may in particular be used to automatically place and retrieve the articles in the storage shelves 4, to route the articles from the storage shelves to the order preparation stations and from the order preparation stations for dispatch. Each of the autonomous vehicles 3 may carry one or more input containers or output containers.

[0034] The input and / or output conveying 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. The conveying devices may also comprise 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 into an output container Cout. The input container Cin is carried by an input 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.

[0036] The order preparation system may comprise a robot 14 arranged at the order preparation station 10. The robot 14 is in particular controlled to grasp the article 2 in the input container Cin, to move the article 2 and to place the article 2 in the output container Cout. To this end, the robot 14 may comprise 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] In addition, 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 the article 2, in particular the envelope of the article 2, so as to acquire a three-dimensional model of said at least a 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 11. Then, a computing unit of the order preparation system can process the three-dimensional model in order to determine a positioning of the article 2 in the output container Cout. The article 2 is then transferred into the output container Cout according to the determined positioning. This makes it possible to improve the compactness of the orders, in particular when an order comprises more than one article.

[0038] 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 may in particular be positioned so that the measuring field of the three-dimensional scanning device 11 is oriented towards an area through which the article passes, such as an area receiving the input containers Cin. For example, the three-dimensional scanning device 11 may be positioned at a height and oriented in a substantially vertical direction downwards and the area receiving the input containers, themselves opening from above. Other positions of the three-dimensional scanning device 11 may be envisaged. The three-dimensional scanning device 11 may 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.

[0040] The three-dimensional scanning device 11 can be fixed to a supporting structure 16 at the order preparation station 10. The supporting structure 16 can, for example, have an arch shape overhanging the area receiving the input containers Cin. The three-dimensional scanning device 11 can then be fixed to an upper part of the supporting structure 16 so as to be opposite the area receiving the input containers Cin.

[0041] Furthermore, the order preparation system comprises a disinfection device 13 using ultraviolet light irradiation (also referred to as 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 items to be shipped, which are generally handled by several successive actors and can consequently carry bacteria or viruses to their surface. The disinfection device 13 thus makes it possible to meet users' health requirements.

[0042] 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 the articles 2 pass through the order preparation station before their dispatch.

[0043] The disinfection device 13 may in particular be positioned so that the disinfection field of the disinfection device 13 is oriented towards an area through which the article passes, such as the area receiving the input containers Cin. For example, the disinfection device 13 may be positioned high up and oriented in a substantially vertical direction downwards and the area receiving the input containers, themselves opening from above. Other positions of the disinfection device 13 may be envisaged. The disinfection device 13 may thus disinfect 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.

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

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

[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 respectively allow the article 2 to be scanned and disinfected. 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, accuracy and reliability of the preparation of the order and the disinfection of the article. Alternatively, the operations implemented by the robot 14 can instead be carried out by an operator, for example for articles that are particularly fragile or difficult to grasp and handle. In this case, the system can comprise a human-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 protective device, in particular to protect against ultraviolet radiation.

[0047] In addition, the three-dimensional scanning device 11 and the disinfection device 13 may be fixed relative to the ground and / or fixed relative to each other. The robot 14 may carry out the 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 may 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 easier to combine the operations of moving the article from one container to another, the three-dimensional scanning and the 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 time 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 method implemented by the order preparation station 10. The method comprises: - take E1 item 2 from input container Cin, - digitizing E2 by three-dimensional scanning at least a portion of the 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 envelope of the article 2, - determine E3 the time 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 time sequence may comprise the activation of the emission of an ultraviolet radiation beam by the disinfection device 13. This activation may then be followed by the exposure of the article 2 to the ultraviolet radiation according to the time sequence of position and orientation of the article 2 relative to the disinfection device 13. The light intensity of the ultraviolet radiation beam emitted by the disinfection device may remain constant or may be adapted during the disinfection time sequence. In embodiments, the ultraviolet radiation source is switched on throughout the disinfection sequence and switched off between two sequences (between two articles). Alternatively, the source may remain switched on continuously or be switched off between two phases of the same disinfection sequence.

[0050] 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 duration of exposure. The dosage of irradiation can in particular be expressed in J / m 2 , the luminous intensity E in W / m 2 and the exposure time 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 the arrows represent a sequence evolving over time of 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 disinfection time sequence is determined so that each elementary external surface dSi of the 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 Dseuil is, here, determined according to the species targeted for disinfection. For example, the predetermined dose Dseuil 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 germs at a time to on a surface and N(t) is a number of germs remaining at a time t on said surface.

[0055] [MATH. 2]

[0056] Then, the time 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 specifically, the time sequence of position and orientation of the article can comprise determining a distance between the disinfection device 13 and the elementary external surface dSi receiving the dosage D of the ultraviolet light irradiation and the exposure duration as a function of the predetermined dose Dthreshold.

[0057] According to one embodiment, the disinfection time 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 an exposure duration. 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 time sequence may comprise the movements of the article 2 relative to the disinfection device 13 along predetermined paths and at a controlled speed so that the disinfection also takes place during movements of the article and not only during poses Pi (stationary article). The path and the speed are then adapted so that each elementary external surface dSi of the article can receive a dosage D of the ultraviolet light irradiation which is greater than or equal to the predetermined dose Dseuil. 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 ultraviolet radiation source and 0max corresponds to the maximum angle of the ultraviolet radiation beam.

[0059] [MATH. 3] E0 tan (0 max ) Threshold = ~h V

[0060] Furthermore, the method may advantageously comprise 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 scanned before determining and implementing the disinfection time sequence.

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

[0062] Furthermore, the disinfection device 13 may be active during at least part of the scanning of the article 2. In particular, the disinfection device 13 may be activated in parallel with the scanning of the article 2. The calculation unit 12 may then be configured to determine, a posteriori, the dosage D received by each elementary external surface dSi of the article 2 during the scanning of the article 2. The calculation unit 12 may then determine the disinfection time sequence to be carried out following the scanning, such that each elementary external surface dSi of the article 2 receives a total dosage (i.e. during and after the 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 time 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 characteristic makes it possible to use the scanning time to start disinfection of the article, and thus reduce the order preparation time.

[0063] Furthermore, the method may comprise a disinfection step E0 of an external gripping surface of the article 2 when the article 2 is located in the input container Cin and prior to gripping the article 2. This disinfection step E0 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 article from the input container to the output container. Similarly, disinfection of an external gripping surface of the article 2 when the article 2 is located in the output container Cout and after gripping the article 2 may be implemented, in order to treat surfaces that had remained protected from radiation by the gripping members (of the robot or the operator) during the transfer.

[0064] When the order preparation station 10 comprises 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 carried out in particular 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 disinfection time sequence.

Claims

Claims

1. Method for preparing orders at a station (10) for preparing orders for at least one item (2) conveyed into an input container (Cin) and intended to be transferred into 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 item (2) from the input container (Cin), - digitizing (E2) by three-dimensional scanning at least a 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 envelope of the article (2), - determining (E3) a disinfection time sequence by a calculation unit (12) as a function of the three-dimensional model (M3D), the disinfection time sequence comprising a time sequence of position and orientation of the article (2) relative to the disinfection device (13) with which is associated a dosage (D) of irradiation with ultraviolet light, - implement (E4) the determined disinfection time sequence.

2. Method according to claim 1, in which the disinfection time 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.

3. Method according to one of claims 1 and 2, in which the disinfection time sequence 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 irradiation with ultraviolet light which is greater than or equal to a predetermined dose (Dseuil), the predetermined dose (Dseuil) being selected according to the species targeted for disinfection.

4. Method according to one of the preceding claims, in which scanning (E2) the envelope of the article (2) is implemented prior to determining (E3) and implementing (E4) the disinfection time sequence.

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), digitizing (E2) said portion and determining (E3) and implementing (E4) the disinfection time sequence.

6. Method according to one of the preceding claims, wherein 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).

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

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 disinfection time sequence being carried out by said robot (14).

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

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

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

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