System for cleaning a storage structure comprising cells, and corresponding assembly and method

Abstract

The invention relates to a cleaning system suitable for cleaning a storage structure forming storage cells, the cleaning system comprising a robot (5) comprising a cleaning device suitable for being transported from one cell to another cell of the structure by a transport system. The robot comprises an acquisition device (507) for acquiring information about the three-dimensional configuration of at least one area of its environment. The cleaning system comprises a library of pre-recorded cell configurations, each pre-recorded cell configuration being associated with a specific cleaning sequence. The device also comprises means for comparing the information about the three-dimensional configuration acquired by the acquisition device with the pre-recorded cell configurations of the library, and means for determining the pre-recorded cell configuration that is closest to the acquired information about the three-dimensional configuration. The cleaning system is configured such that the robot (5) applies the cleaning sequence corresponding to the determined pre-recorded cell configuration.

Description

[0001] System for cleaning a storage structure comprising cells, corresponding assembly and method

[0002] TECHNICAL FIELD OF THE INVENTION

[0003]

[0001] The invention relates to a system for the automated cleaning of certain industrial and storage environments.

[0004]

[0002] The system which is the subject of the present invention comprises or consists of a robot which aims to clean in particular dry and wet dust, and any other type of residue likely to be deposited in structures adapted to the storage of goods, which may be difficult to access.

[0005]

[0003] The invention applies in particular to so-called open structures, such as shelves or "racks" intended for storing pallets or other merchandise supports. The term pallet generally designates any loading platform designed to allow its handling, in particular by automated means. This includes in particular, in the case of a stack of bins, the bin located at the base of the stack when it can be used to handle the entire stack. By merchandise support, we mean any element adapted to support a product or its container and to move it, in particular pallets.

[0006]

[0004] Storage structures can be “horizontal”, i.e. organized on a single level, or “vertical”, i.e. on several levels, and form cells adapted to the storage of products. By cell, we generally mean a location (whether closed, open, or partially open) configured to receive a given merchandise support, and which is defined by the storage structure. In the classic case of a storage shelf, a cell can thus be defined as the receiving volume between two storage levels and all or part of the width between two vertical uprights of the shelf.

[0007]

[0005] The subject of the present invention finds applications in many industrial, agricultural and commercial fields, in which products are stored. It is of particular interest in the context of the storage of products which may promote the presence of dust or powdery products (for example the storage of cereals, flours, etc.), and / or in the context of storage structures which are not accessible to an operator without wearing numerous or restrictive safety equipment.

[0006] For example, the present invention is applicable to so-called "vertical" farms, in which plants or mushrooms are cultivated or animals raised in shelving systems, on several floors. The stored products may then correspond to containers (bins, cages, pots, etc.) and their contents, namely in particular the plants, fungi, animals which are cultivated or raised there, as well as where appropriate their cultivation or breeding environment. The notion of storage, within the meaning of the present invention, therefore also includes the growth phases of living organisms in this type of farm. A particularly relevant application of the invention concerns insect breeding workshops, for example a workshop such as that described in the European patent published under the reference EP3282837.

[0008] STATE OF THE ART

[0009]

[0007] The cleaning of industrial or storage environments by automated means is envisaged in certain prior art documents.

[0008] Document JPH0661814 discloses a cleaning system for pallet racks. In particular, it discloses a sweeping device which, transported using a stacker crane, is adapted to pass between the shelves of the racks and which comprises sweepers on each of its sides. A vacuum or blowing device is also provided, to recover or, on the contrary, expel the swept dust or residue.

[0010]

[0009] Document CN212421318 discloses that for access to complex areas, namely here the interior of an oil tank, the use of a robot equipped with a six-axis arm can be envisaged.

[0011]

[0010] Document CN109813285 discloses that a floor cleaning robot, namely here a domestic automatic vacuum cleaner, can be equipped with means for acquiring an image of an area above the cleaning robot to enable its location in its environment. Location information is extracted, and the current position of the cleaning robot is determined in a map based on the location information.

[0012]

[0011] Document US20220032347 relates to a cleaning system for semiconductor storage shelves. According to this document, a semiconductor storage shelf is provided with a plurality of locations. The cleaning system for the semiconductor storage shelf comprises a transport system and a cleaning device. The cleaning device is configured to clean each location of the semiconductor storage shelf. The cleaning device is removably connected to the transport system. The transport system is configured to transport the cleaning device to each cell of the semiconductor storage shelf. The system that is the subject of this document, specific to semiconductor shelves, nevertheless proves to be unsuitable in many other applications. In particular, the cells of the shelf have a simple configuration, without areas likely to retain dust.But above all, the storage environment is generally clean, undisturbed by suspended dust or the presence of insects such as moths.

[0013]

[0012] It is notable that for many applications, the creation of a dust-tight structure with closed storage cells is not feasible and would not be a solution. For example, in the context of large-scale insect breeding, an open design that allows air circulation is preferred. Furthermore, a structure with an open design is certainly more exposed to dust than a structure with a closed design, but it is less likely to form areas of dust and residue accumulation. Such a structure nevertheless necessarily has such areas of accumulation, which are potentially difficult to access. Periodic manual cleaning of the structures is therefore necessary.

[0014]

[0013] Thus, no system is known for automated cleaning of vertical storage structures which may have complex configurations and possibly areas conducive to the accumulation of residues, in the context of an industrial or storage environment which may be disturbed by the presence of suspended dust or flying insects, etc.

[0015] STATEMENT OF THE INVENTION

[0016]

[0014] In the context stated above, the present invention aims to remedy all or part of the drawbacks of the state of the art cited above.

[0017]

[0015] To this end, the invention relates to a cleaning system, suitable for cleaning a storage structure forming storage cells, the cleaning system comprising a robot suitable for being transported from one cell to another cell of the structure by a transport system, the robot comprising a cleaning device, and a device for acquiring information on the three-dimensional configuration of at least one area of ​​the robot's environment. The cleaning system comprises a library of pre-recorded cell configurations, each pre-recorded cell configuration being associated with a specific cleaning sequence.The device comprises means for comparing the information on the three-dimensional configuration acquired by said acquisition device and the pre-recorded cell configurations of the library, as well as means for determining, on the basis of a comparison carried out by the comparison means, the pre-recorded cell configuration closest to the information acquired on the three-dimensional configuration. The cleaning system is configured so that the robot applies the cleaning sequence corresponding to the determined pre-recorded cell configuration.

[0018]

[0016] Comparing the information acquired on the three-dimensional configuration of the robot's environment with configurations from a library, which are finite or even limited in number, in order to determine which cleaning sequence to apply (namely the sequence corresponding to the closest pre-recorded cell configuration) makes it possible to largely overcome the problems of detection in an environment that may be disturbed by suspended dust, the presence of flying insects, cobwebs, or even large local differences in brightness, depending on the detection technology(ies) used.

[0019]

[0017] Since it is not necessary to determine a particular, ad hoc sequence when cleaning each cell (as a robot would do which would adapt its trajectory in real time to the obstacles detected), cleaning can be carried out more quickly, and with less computing resources.

[0020]

[0018] The use of a transport system to bring the robot into the different cells of the storage structure to be cleaned makes it possible to use the transport system used elsewhere for the production flow of the workshop. The movement of the robot(s) can thus be part of this flow, and the cleaning is carried out without it being necessary to stop the movement of products around a cell being cleaned.

[0019] The cleaning device can be configured to carry out cleaning by suction, by blowing, by brushing, by washing (application of a cleaning liquid such as water), or by a combination of several of these cleaning modes.

[0021]

[0020] The robot may comprise a computer memory in which the library is stored. Alternatively or in addition, the cleaning system may comprise a computer system remote from the robot and the robot may comprise communication means adapted to communicate with the computer system, the computer system comprising the library and / or being configured to order the cleaning of the cells of the storage structure. In other words, the means allowing the selection of the cleaning sequence to be applied for a given cell are either decentralized at the level of the robot, offering it a great deal of operational autonomy, or centralized at the level of a remote computer system which can also manage all or part of the production of the workshop (farm, factory, etc.) which comprises the cleaning system.

[0022]

[0021] The acquisition device may comprise a three-dimensional camera, preferably of the “time of flight” type. Other acquisition means may be envisaged, comprising for example a stereoscopic camera or a three-dimensional scanner.

[0023]

[0022] The robot cleaning device may comprise a poly-articulated arm, for example a six-axis arm. The poly-articulated arm, for example the six-axis arm, may comprise a curved cannula at its end. A cannula is a conduit allowing air to pass through, and here preferably forms a suction nozzle of a central vacuum unit. The curved shape makes it easier for the nozzle of the curved cannula to reach corners. A poly-articulated arm refers to a mechanical arm comprising several joints, which give it several degrees of freedom. The combination of a poly-articulated arm and a curved cannula makes it possible to reach a maximum number of areas to be cleaned. More details on the development of the curved cannula are given below. Other solutions are possible for ensuring cleaning. For example, as an alternative or in addition to the poly-articulated arm, a fluid spraying device may allow cleaning.The fluid can be air, water, or a liquid disinfectant product (aqueous or not). The spraying device can include nozzles for diffusing the fluid.

[0024]

[0023] According to various possible modalities: the cleaning system can be configured so that the robot is inactivated while it is carried by the transport system; the robot can include a battery supplying the robot with electricity.

[0025]

[0024] The battery powers in particular the cleaning device that the robot includes, and its electronic control systems. When the robot includes a battery, the latter can be recharged periodically (at regular intervals or when it is determined that a recharge is desirable) in a recharging station, and if necessary for maintenance, provided in the storage area or next to the storage area. Alternatively or in addition to periodic recharging in a recharging station, it may be provided to provide electrical supplies, ensuring partial recharges of the battery, while the robot is in the storage structure. For this, one or more cells of the structure can be equipped to allow these electrical supplies to the robot. Such partial and regular recharges of the robot's battery can be referred to as "bottle feeding" of the robot.

[0025] The invention also relates to an assembly comprising a cleaning system as defined above, a storage structure forming storage cells, and a transport system. The storage structure may be a set of shelves, for example a pallet rack, or any type of similar storage structure defining cells for receiving products, for example palletized.

[0026]

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

[0027]

[0027] The invention also relates to a storage area comprising an assembly as defined above. The invention also relates to a farm (for example a vertical farm) for cultivation or breeding comprising such a storage area. This farm may be an insect breeding farm.

[0028]

[0028] Such a vertical farm may in particular be an insect breeding farm.

[0029]

[0029] The invention finally relates to a method for cleaning a storage structure forming storage cells comprising the steps of: a) providing an assembly as defined above; b) transporting to a storage cell of the cleaning robot; c) acquisition by the robot of information on the three-dimensional configuration of at least one zone of its environment; d) comparison between the information acquired on the three-dimensional configuration and pre-recorded cell configurations of a library; e) determination, on the basis of the comparison step, of the pre-recorded cell configuration closest to the information acquired on the three-dimensional configuration; f) application by the robot of a cleaning sequence corresponding to the determined pre-recorded cell configuration.

[0030] This method may further comprise determining a subsequent cell to be cleaned and repeating steps b) to f) for this cell. It is thus possible to clean all the cells of the structure successively, and / or to carry out continuous cleaning of this structure, without stopping production to carry out the cleaning operations.

[0031] BRIEF DESCRIPTION OF THE FIGURES

[0032]

[0030] Other advantages, aims and particular characteristics of the present invention will emerge from the following non-limiting description of at least one particular embodiment of the devices and methods which are the subject of the present invention, with reference to the appended drawings, in which: Figure 1 is a three-dimensional schematic view of a workshop comprising a storage structure, and in which the invention can be implemented; Figure 2 is a three-dimensional schematic view of a storage structure which can be cleaned by a system according to the invention; Figure 3 is a three-dimensional schematic view of a robot which can be part of a cleaning system according to an embodiment of the invention or constitute such a cleaning system; Figure 4 represents the robot of Figure 3 placed in a storage cell to be cleaned;Figure 5 represents a point cloud in space that can be acquired by an acquisition device of a robot implemented in an embodiment of the invention; Figure 6 represents the point cloud of Figure 5 after post-processing; Figure 7 represents a portion of the point cloud of Figure 6, after a second post-processing. DETAILED DESCRIPTION OF THE INVENTION;

[0033]

[0031] The present description is given as a non-limiting example of embodiment.

[0034]

[0032] Figure 1 represents a workshop, namely a vertical farm, here represented in the form of a three-dimensional schematic view.

[0035]

[0033] The vertical farm shown may in particular be an insect breeding farm. Insects that may be bred in such a farm include Coleoptera, Diptera, Lepidoptera, Neuroptera, Isoptera, Orthoptera, Hymenoptera, Blattoptera, Hemiptera, Heteroptera, Ephemeroptera and Mecoptera.

[0036]

[0034] Insect farming can in particular be considered as an organized set allowing the laying of eggs by adult insects for the production of larvae, certain larvae being raised to the adult stage for the laying of new eggs, the adults being regularly renewed (for example following their death) by young adults ensuring new clutches and so on. The final product of the production can be eggs, and / or larvae, and / or nymphs, and / or adult insects. The term "insect" therefore designates any stage of development from egg to adult.

[0037]

[0035] The workshop of Figure 1 comprises, in addition to technical installations and / or installations for carrying out certain production operations, a storage structure 1. This is a so-called vertical storage structure, with several floors, which allows so-called vertical storage of products. Said products can, in the case of a vertical farm, be the plants or animals that the farm produces, for example insects during growth.

[0038]

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

[0039]

[0037] The storage structure may in particular comprise pallet racks 101, 102 (generally called “pallet racks”) or similar shelving structures.

[0038] In the example shown in FIG. 1, pallet racks 101, 102 are separated by an aisle 103 allowing movement between the racks. Several parallel sets of racks / aisles / racks may be present in the workshop.

[0040]

[0039] The aisle 103, and more generally the aisles which are formed between the pallet racks, allow the movement of a transport system 2, for example a stacker crane, allowing the movement of the products to be placed in the racks or extracted from them.

[0041]

[0040] The products or the containers receiving the products can be stacked on pallets, for example standardized pallets (for example “Euro pallets” 120 cm long by 80 cm wide, or half-pallets of this type, 80 cm long by 60 cm wide), or be stacked on any element forming a suitable support.

[0042]

[0041] An example of a storage structure in which a cleaning system according to the present invention can be used is shown in Figure 2. The structure 101 is a pallet rack. It is a so-called “open” structure. Thus, it comprises a frame 111 comprising a set of horizontal 112, vertical 113 and reinforcing 114 beams, and it is devoid of partitions which would create closed volumes.

[0043]

[0042] Depending on the environment of the workshop and the products present in the storage structure 1, this structure is likely to become loaded with dust and residues. The dust and residues come from the environment of the workshop, the outside atmosphere, the operation of the machines, the people who may circulate in the workshop, etc. In the context of breeding insects, or other animals, they may come from the activity of the animals, their breeding environment, etc. They also include residues linked to parasitic insects and spiders present in the breeding, such as their droppings, their webs, and their corpses.

[0044]

[0043] For example, beams may have dust and residue deposited on them.

[0045]

[0044] Storage cells 3 are formed between the beams of the storage structure 1.

[0046]

[0045] Products 4 can be stored in each cell 3. Preferably, the cells 3 therefore have a certain uniformity in their dimensions and more generally in their general shape.

[0046] Nevertheless, the cells are generally not strictly formed in an identical manner. The position of the beams varies depending on whether the cell is at the end of the rack or not, depending on the floor on which it is located, depending on whether it is a left or right aisle (according to a conventional orientation of the aisles), etc.

[0047]

[0047] A finite number of different cell configurations are thus present in a storage structure. However, each cell configuration potentially has different dust accumulation zones. The areas to be cleaned are thus different depending on the configuration of the cell considered, and the obstacles that can prevent this cleaning and / or constrain the movements of a cleaning robot are different.

[0048]

[0048] Figure 3 shows, in a three-dimensional schematic view, a robot 5 which may be part of a cleaning system according to the present invention or which may constitute it. The robot 5 is intended to ensure the cleaning of the cells in which it is successively placed, and comprises a cleaning device adapted to this.

[0049]

[0049] The robot 5 comprises a casing 501 shown transparently in FIG. 3 in order to allow the visualization of a certain number of elements internal to the robot 5.

[0050]

[0050] The robot 5 is intended to be transported using a transport system 2 used to place the products in the storage cells and extract them from them. For this, the robot 5 comprises, for example, a base 502 compatible with its transport by the transport system 2, for example a base 502 adapted to be supported by a stacker crane.

[0051]

[0051] Since the robot is preferably transported by the same transport system as that intended for the stored products, the robot can be integrated into the flow of products, according to a precise cleaning plan. Thus, it is not necessary, for example, to stop production in an area of ​​the workshop to clean the cells in this area, this cleaning being carried out when the products, for example palletized, are extracted from a given cell. Cleaning is carried out at the same time as production, for example during production hours.

[0052]

[0052] The integration of the robot into the production flow, according to the cleaning plan, also leads to planning operations for recharging the robot's battery pack (see below), unloading the collected dust and residues, or even maintenance operations. These operations can be planned in advance, or be launched as needed (for example when a robot's tank is full of dust), thus modifying the current cleaning plan.

[0053]

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

[0054]

[0054] Obviously, in a workshop with a large storage structure, several robots 5 can operate at the same time. The workshop production management system then takes into account the use of several robots to adapt the cleaning plan for each robot.

[0055]

[0055] Furthermore, it is important to ensure that the robot is inactive, i.e. that it does not start moving (for example, that its arm or other mobile element of the robot does not start moving), when it is transported by the transport system between two cells, or from one cell to a recharging and / or maintenance station, or from one station to a cell, etc. It is indeed necessary to ensure that movements of the robot do not disturb the transport system, and for example that the deployment of a mobile element of the robot could not interfere with the structures present in the workshop.

[0056]

[0056] Similarly, it is preferable to ensure that the robot remains inactive when it is in a charging and / or maintenance station.

[0057]

[0057] Various means can be used for this.

[0058]

[0058] First of all, a physical means may be provided, making it possible to deactivate the robot 5 when it is supported by the transport system 2 or present in a recharging and / or maintenance station. This means may be, for example, a contactor configured to be actuated when the robot 5 is on the transport system 2 or in the station. On the contrary, it may be a contactor configured to be actuated when the robot is correctly positioned in a storage cell.

[0059]

[0059] Furthermore, communication can be established between the robot 5 on the one hand and the means of transport 2 and / or a computer system 6 on the other hand. This communication aims to confirm to the robot, via an activation command, that it can be activated.

[0060]

[0060] The computer system 6 may be (or be interfaced with) the system that manages the production of the workshop, and in particular the flows of products in the storage structure and in the workshop. The computer system 6 thus makes it possible in particular to plan the recharging of the set of batteries of the robot 5, or to manage the movements of the robot in the storage structure, by the transport means 2, in order to clean the cells in a predefined order, according to a cleaning plan. The computer system knowing the position of the robot 5 in the workshop can transmit an activation command to it when the robot is in position in a cell. This can also be done via the transport system 2, which is itself in communication with the computer system 6.

[0061]

[0061] In the workshop, communications between the robot 5, the computer system 6, the transport system 2, and potentially other devices present in the workshop can be carried out using various wireless communication protocols, including WiFi, Bluetooth, Bluetooth Low Energy, Sigfox, Zigbee, or any other suitable protocol, including long-range and low-speed protocols and / or any protocol associated with the Internet of Things.

[0062]

[0062] Finally, the robot's movements can be inactivated until the robot has determined that it is in position in a cell whose three-dimensional configuration has been determined according to the methods explained below.

[0063]

[0063] The cleaning device of the robot 5 comprises, in the example shown, an articulated arm 503 making it possible to reach the areas to be cleaned in each of the cells of the structure. The arm 503 may in particular be a “six-axis” arm. A six-axis arm is a system commonly used in industry for carrying out operations which require complex and / or combined movements.

[0064]

[0064] In order to reach all or almost all areas where dust and residues can accumulate in a cell of a given configuration, the arm 503 is equipped at its end with a curved cannula 504. The curved cannula 504 is hollow and allows the dust and residues to be sucked up.

[0065]

[0065] The shape of the curved cannula is the subject of significant development and may vary depending on the storage structure in which the cleaning system according to the invention is used.

[0066]

[0066] The principle of development of the curved cannula 504 is as follows. The different three-dimensional configurations of the cells present in the storage structure are modeled. For each configuration, the areas to be cleaned are determined. The robot and its arm (or other mechanism) are modeled. The shape of the curved cannula 504 is determined so as to maximize the areas to be cleaned that can be reached by the end of the curved cannula 504. This is thus to maximize the surface to be cleaned that will actually be cleaned, with the objective that all the surfaces to be cleaned are cleaned.

[0067]

[0067] This maximization can be carried out for each cell configuration or for the entire structure. For example, if certain cell configurations are less present in number than other configurations in the storage structure, it is possible to weight the importance of the various configurations. In other words, it is possible to favor the complete or almost complete cleaning of the cells having the most common configurations to the detriment of the cleaned surface for the cells whose configuration is less frequent, for example to maximize the total cleaned surface over the entire storage structure.

[0068]

[0068] In the example shown here, the robot is configured to clean by simple suction. According to other provisions of the invention, the end of the arm 503, namely the end of the curved cannula 504 if the robot has such a cannula, can be equipped with a brush. This brush can be fixed, the arm making it possible to ensure sweeping using the brush. Alternatively, this brush can be motorized. It can be, for example, a rotating brush, which can advantageously be actuated in both directions of rotation, to ensure back-and-forth brushing of an area to be cleaned.

[0069]

[0069] The robot 5 comprises one or more central suction units 505. The central suction unit(s) are connected to the curved cannula 504 by the end of which the suction is carried out. The fluid connection between the central suction unit(s) and the curved cannula can be made inside or outside the arm 503, for example using a flexible hose. In the example shown, two central suction units 505 are present. The central suction units can be formed from conventional industrial vacuum cleaners. According to various embodiments, the central suction units 505 can be used simultaneously, for example to increase the vacuum at the outlet of the curved cannula 504, or one after the other (for example, as soon as a dust container of a central suction unit is full, another is used).

[0070]

[0070] The robot is advantageously powered by a set of batteries 506. Different battery technologies, in particular different battery chemistries, can be used. In the context of the present invention, the robot being for industrial use and transported by a transport system independent of the robot, a reliable battery technology will generally be preferred, namely a technology posing few safety problems (overheating, etc.), and having a long lifespan, compared to technologies which may have a better mass energy but are less reliable, and / or likely to present safety risks in the event of a fall, the robot being used in a vertical storage structure.

[0071]

[0071] A set of lead batteries can for example be used.

[0072]

[0072] The robot 5 comprises an acquisition device 507. The acquisition device is a device for capturing and acquiring information on the three-dimensional configuration of at least one area of ​​the environment of the robot 5. By information on the three-dimensional configuration, we mean information making it possible to reconstruct the three-dimensional shape of a part of the environment of the robot 5. This may be a point cloud corresponding to a raw or post-processed signal. By environment of the robot, we mean the elements which surround the robot, visible in a direct line by the acquisition device. We can thus speak of the “immediate” environment of the robot.

[0073]

[0073] The acquisition device can thus advantageously comprise a three-dimensional camera, for example of the “time of flight” type (translation of the English expression “time of flight” designating this type of camera, also designated by the corresponding acronym “TOF”). Time of flight technology, based on the reflection time of radiation (typically infrared), associates with each pixel of the sensor’s field of vision a distance to the sensor. An “image” of distances, or depth field, is thus obtained, and corresponds to the three-dimensional representation of the elements visible in a direct line from the sensor.

[0074]

[0074] Other information acquisition technologies, for example by stereophotography, or three-dimensional scanner type, can be used.

[0075]

[0075] The acquisition device may be fixed or mounted mobile. In the example shown, the acquisition device 507 is mounted mobile in rotation in two directions. This makes it possible to scan a larger area of ​​the sensor's environment, and thus to reconstruct the three-dimensional configuration of a relatively large part of the robot's immediate environment.

[0076]

[0076] It is also possible to carry out the acquisition of information, by the acquisition device 507, when the robot 5 is placed in a storage cell 3. The movement of the robot imposed by the transport system 2 thus allows a certain scanning of the cell by the detection field of the acquisition device. The acquisition device then allows the robot to acquire information representative of the three-dimensional configuration of the cell or of a part of it.

[0077]

[0077] The information acquired via the acquisition device can be stored directly in the robot 5 or transmitted and stored in the computer system 6 for subsequent processing (for example to optimize the cleaning sequences, or to check their correct execution).

[0078]

[0078] The robot further comprises a control device 508. The control device 508 brings together the various control and communication functions of the robot 5. These functions could alternatively be provided by several separate modules.

[0079]

[0079] The control device 508 thus comprises the means for controlling the arm 503 so that it performs the movements necessary for applying a cleaning sequence appropriate for the cell 3 in which the robot is present. The cleaning sequence thus comprises the movements of the arm 503, but also, where appropriate, the instructions for actuating the suction, the brushes, the instructions for changing the robot's tool, etc.

[0080]

[0080] The control device 508 also comprises the means for controlling the acquisition device. The means for controlling the acquisition of information on the three-dimensional configuration in the environment of the robot 5 make it possible to control the acquisition of information on the three-dimensional configuration in the environment of the robot 5. This involves triggering this acquisition, typically once the robot is in position in a cell to be cleaned, and where appropriate controlling the movements of the acquisition device (for example the movements of the sensor or the three-dimensional camera).

[0081]

[0081] The control device 508 also makes it possible to collect a certain amount of information on the state of the robot. This information on the state of the robot 5 may include the charge level of the battery pack 506, the filling level of the tank(s) of the suction units 505, the occurrence of certain breakdowns, etc. This information may also include information on the position of the robot in the storage structure, which may be acquired by the robot 5 or obtained from the transport system 2 or from a workshop management system.

[0082] The control device 508 may also comprise communication means. The communication means of the robot are adapted to communicate with the computer system 6 remote from said robot 5.

[0082]

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

[0083]

[0084] The pre-recorded cell configuration with the best match is determined. This determination is carried out using conventional comparison or shape recognition algorithms, for example, aimed at minimizing the differences between measured (acquired) points and corresponding points of the pre-recorded cell configurations.

[0084]

[0085] By pre-recorded cell configuration is meant the three-dimensional configuration of all or only part of a cell, said part being distinctive from other pre-recorded configurations.

[0085]

[0086] This comparison can be carried out by the control device 508. The control device can comprise the library of pre-recorded cell configurations, i.e. comprise the computer memory in which the library is recorded. This library can then be updated, if necessary, during maintenance operations on the robot 5.

[0086]

[0087] Alternatively, the library of pre-recorded cell configurations may be included in the computer system 6, i.e. be recorded in a computer memory included in the computer system 6. In this case, the configurations may be transmitted to the robot via its communication means, and the control device 508 of the robot performs the comparison. Otherwise, the robot may transmit via its communication means the information acquired on the three-dimensional configuration of at least one area of ​​its environment to the remote computer system 6 which will perform the comparison.

[0087]

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

[0088]

[0089] Figure 4 shows the robot 5 positioned in an example of a storage cell 3 to be cleaned. The volume located between two vertical beams 113 being adapted to receive two pallets side by side, it is considered here that a cell corresponds to half of this volume, that is to say that it corresponds to the receiving volume of a pallet and the products that it carries.

[0089]

[0090] The beams 112, 113, 114 forming the cell 3 and to be cleaned by the robot 5 are marked with dots in figure 4.

[0090]

[0091] Figure 5 represents an example of a point cloud, in space, which can be obtained by the acquisition device 507 (which in the example represented comprises a “time of flight” camera).

[0091]

[0092] As can be seen, this raw point cloud contains a large amount of noise resulting in points that are not significant. This is due to various factors, but significant noise is particularly present when the robot and sensor environment contains suspended particles, flying insects, cobwebs, etc.

[0092]

[0093] This raw point cloud is then post-processed, which makes it possible to extract a three-dimensional shape evoking the position of the beams which are around the robot, as shown in figure 6. Further post-processing makes it possible to extract a set of points allowing to visualize the general configuration of the beams, and more generally of a part of the environment of the robot 5, as shown in figure 7.

[0093]

[0094] Figures 5-7 illustrate, among other aspects, why it is advantageous in the context of the present invention to compare the acquired information to pre-recorded cell configurations.

[0094]

[0095] It is thus remarkable that, in the context of the present invention, the cleaning sequence which is applied to a given cell is not determined in real time directly and for each cell on the basis of the configuration information acquired by the acquisition device 507. The cleaning sequence applied is on the contrary a predefined sequence for the pre-recorded cell configuration which is determined at the end of the comparison.

[0095]

[0096] Indeed, on the one hand, only a part of the cell to be cleaned is "scanned" by the robot 5. It would possibly be possible to configure the robot so that the acquisition device could scan the entire area to be cleaned, but the acquisition device would then be very complex. On the other hand, and above all, as illustrated in Figures 5 to 7, the acquisition device only allows obtaining a very approximate representation of the three-dimensional configuration of the cell. The sensor is in fact disturbed by a certain number of elements in the detection field (dust, residues, insects, etc.).Furthermore, some surfaces to be cleaned simply cannot be perceived by the sensor (the sensor of the acquisition device can, for example, acquire information about the three-dimensional shape of the underside of a beam located above it, while the upper surface of this beam, which is invisible to the sensor, must be cleaned.

[0096]

[0097] It turns out that even in a relatively complex industrial environment such as that of a vertical farm, the number of different cell configurations is finite and relatively limited. For example, the Applicant has determined that in an example of a vertical insect farm, comprising pallet racking type shelving defining between them several aisles for the passage of stacker cranes, the shelving allowing the storage of stacks of containers two levels deep, the storage structure comprises around twenty three-dimensional cell configurations.

[0097]

[0098] The cleaning system developed within the framework of the present invention, comprising a robot or consisting of a robot transported in the cells of a storage structure, makes it possible to clean such a storage structure while avoiding the problems of detecting the robot's environment. In particular, the comparison of information acquired by the robot on its environment with configurations pre-recorded in a library makes it possible to apply the correct cleaning sequence for a given cell, even if the robot's acquisition means are disturbed by suspended dust, flying insects, etc.

[0098]

[0099] Cleaning can also be carried out in parallel with production, by integrating the robot into the logistics flows provided by a workshop transport system.

Claims

Claims 1. Cleaning system, suitable for cleaning a storage structure (1) forming storage cells, the cleaning system comprising a robot (5) suitable for being transported from one cell (3) to another cell (3) of the structure by a transport system (2), the robot (5) comprising a cleaning device, and a device (507) for acquiring information on the three-dimensional configuration of at least one area of ​​the environment of the robot (5), characterized in that the cleaning system comprises a library of pre-recorded cell configurations, each pre-recorded cell configuration being associated with a specific cleaning sequence, and in that the device comprises means for comparing the information on the three-dimensional configuration acquired by said acquisition device and the pre-recorded cell configurations of the library, as well as means for determining,on the basis of a comparison carried out by the comparison means, of the pre-recorded cell configuration closest to the information acquired on the three-dimensional configuration, the cleaning system being configured so that the robot (5) applies the cleaning sequence corresponding to the determined pre-recorded cell configuration., 2. Cleaning system according to claim 1, wherein the robot comprises a computer memory in which the library is stored.

3. Cleaning system according to claim 1 or claim 2, comprising a computer system remote from the robot and in which the robot comprises communication means adapted to communicate with the computer system, the computer system comprising the library and / or being configured to order the cleaning of the cells of the storage structure.

4. Cleaning system according to any one of the preceding claims, in which the acquisition device comprises a three-dimensional camera, preferably of the “time of flight” type.

5. Cleaning system according to any one of the preceding claims, wherein the cleaning device of the robot comprises a poly-articulated arm, preferably a six-axis arm.

6. Cleaning system according to claim 5, in which the poly-articulated arm has a curved cannula at its end.

7. Cleaning system according to one of the preceding claims, configured so that the robot is inactivated while it is carried by the transport system.

8. Cleaning system according to one of the preceding claims, in which the robot comprises a battery supplying the robot with electricity.

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

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

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

12. Storage area comprising an assembly according to one of claims 9 to 11.

13. Farm for growing or breeding, for example for breeding insects, comprising a storage area according to claim 12.

14. A method for cleaning a storage structure forming storage cells comprising the steps of: a) providing an assembly according to one of claims 9 to 11; b) transporting to a storage cell of the cleaning robot; c) acquiring by the robot information on the three-dimensional configuration of at least one area of ​​its environment; d) comparing the information acquired on the three-dimensional configuration with pre-recorded cell configurations of a library; e) determining, on the basis of the comparison step, the pre-recorded cell configuration closest to the information acquired on the three-dimensional configuration; f) applying by the robot a cleaning sequence corresponding to the determined pre-recorded cell configuration.

15. The method of claim 14 further comprising determining a subsequent cell to be cleaned and repeating steps b) to f) for that cell.

Images