DEVICE AND METHOD FOR INVENTORY AND DEFRAGMENTATION FOR AN AUTOMATED STORAGE SYSTEM

Abstract

TITLE: INVENTORY AND DEFRAGMENTATION DEVICE AND METHOD FOR AUTOMATED STORAGE SYSTEMS. The invention relates to a robotic inventory and / or defragmentation device (10) for use in an automated item storage system (1). The device is capable of being moved by an autonomous mobile robot (6) and placed in a storage location of the system (1). The device (10) comprises: a frame (11) having an open bottom; a vision means capable of imaging, through the open bottom, the contents of a storage container (3) positioned below said device (10); a power supply means; and a means for communicating with a control system of the automated storage system (1). The invention also relates to an automated storage system (1) and an inventory or defragmentation method using said device (10). Figure for the abstract: Figure 4.

Description

Title of the invention: DEVICE AND METHOD FOR INVENTORY AND DEFRAGMENTATION FOR AUTOMATED STORAGE SYSTEM Technical field of the invention

[0001] The invention relates to the field of intralogistics, in particular automated storage systems for items.

[0002] More particularly, it relates to a device and a method for carrying out inventories and defragmentations in stock. State of the art

[0003] Automated storage systems play a key role in optimizing intralogistics flows. These systems are designed to improve the efficiency, speed, and accuracy of storage and order picking operations in various industrial sectors, such as distribution and e-commerce.

[0004] A typical automated storage system comprises a stock consisting of a set of storage shelves or a storage structure in which storage containers are stacked to maximize the use of available space, as well as conveying means or autonomous mobile robots (AMRs) to move the items. These robots transport the items between storage areas and order picking stations, where the items are transferred into containers according to specific customer requirements.

[0005] Despite technological advances, certain operations, such as inventory, maintenance, or defragmentation of items on shelves, still require the direct intervention of a human operator. These interventions often result in partial or total downtime of the automated storage system, reducing its overall efficiency and impacting the system's ability to respond to real-time demand. They also introduce risks of errors related to the handling performed during these operations; such errors can include theft or misplacement of products by operators. This limitation hinders the ability to guarantee continuous and optimized operation of automated storage systems. It is therefore necessary to minimize, or even eliminate, such downtime.

[0006] Furthermore, the fact that inventory and defragmentation operations are manual means they are not carried out regularly, which can lead to a discrepancy in the actual stock contents, and stock fragmentation over time can limit the availability of empty containers or locations for restocking with new products.

[0007] The objective of the invention is to provide a solution to the technical problems described above in order to guarantee continuous availability of the system and minimize the risks of errors that may affect the overall performance of the system. Summary of the invention

[0008] To this end, the invention relates to a robotic inventory and / or defragmentation device intended for use in an automated item storage system, the device being capable of being moved by an autonomous mobile robot and deposited in a storage location of the system, the device comprising: - a frame with an open background, - vision systems capable of imaging, through the open bottom, the contents of a storage container positioned below said robotic device, - a means of electrical power supply, and - a means of communication with a control system of the automated storage system.

[0009] The device according to the invention allows for automated inventory management. Human intervention is therefore no longer necessary, eliminating system downtime for these operations and the risk of errors associated with manual handling. Furthermore, no operator workstation is required for inventory operations.

[0010] Advantageously, the robotic inventory and / or defragmentation device may further include a gripping means capable of being moved through the open bottom to the storage container positioned below said device, in order to pick up and move an item. For example, the item may be moved to a neighboring storage container or to a compartment within the same container.

[0011] The gripper makes it possible to carry out the inventory in situations where the data of the The means of viewing are not sufficient, and also this allows items to be moved during defragmentation.

[0012] Thanks to the device according to the invention, it is possible to carry out inventory and / or defragmentation operations in mask time without any negative impact on the automated storage system, in particular without immobilizing the conveying means or autonomous mobile robots.

[0013] Furthermore, automation allows these operations to be performed more frequently, thus improving system performance. Indeed, by regularly performing inventory, the control system knows exactly what is in stock and can Anticipating the need to restock prevents running out of certain products. Furthermore, regular defragmentation performed in the background optimizes the availability of empty containers or slots for restocking with new products.

[0014] Optionally, the frame can also be open on at least one side to allow the gripper to access neighboring storage containers.

[0015] The frame may optionally have a shape and / or dimensions substantially similar to those of a storage container in the automated storage system. Thus, it can be picked up by the robot like any other storage container and can naturally position itself on top of the container where possible for improved stability.

[0016] Advantageously, the gripper can be supported by a movement device arranged in the upper part of said frame and having a longitudinal movement axis, a transverse movement axis, and a vertical movement axis. Thus, the gripper can be easily moved to reach the items in the container below and also to reach neighboring containers.

[0017] The invention also relates to an automated item storage system comprising storage locations where item storage containers can be placed, autonomous mobile robots for moving the storage containers, a control system and at least one inventory and / or defragmentation device according to the invention.

[0018] Advantageously, the automated storage system may optionally include a resting location with electrical charging means arranged to charge the power supply of the inventory and / or defragmentation device. This ensures that the device is always ready for use.

[0019] The invention also relates to a method for carrying out an inventory in the automated storage system described above, in which: - The inventory and / or defragmentation device is moved by an autonomous mobile robot to be placed above the first storage container to be inventoried. - the control system activates the vision system to acquire data concerning the items in the first container, and - the control system determines the nature and number of items contained in the first container based on data acquired by means of vision.

[0020] Advantageously, the method for carrying out an inventory may further include a step in which, in order to determine the nature and / or number of items in the first storage container, the gripper moves at least a part Items are transferred from the first storage container (for example, from one compartment to another) or from the first storage container to a second storage container. This allows for inventory management when scanning using vision technology is insufficient.

[0021] The invention also relates to a method of carrying out defragmentation in an automated storage system described above, comprising moving items from one storage container and / or compartment to another storage container and / or compartment.

[0022] For example, the process for performing a defragmentation may include the following steps: - The inventory and / or defragmentation device is moved by an autonomous mobile robot to be placed above a second storage container, adjacent to a first storage container. - the control system triggers a defragmentation operation in which the gripper reorganizes the items of the two containers by moving items from the first container and / or storage compartment to the second container and / or storage compartment and / or vice versa.

[0023] Since the operation is automated, as is the inventory, it is not necessary to have a defragmentation and / or inventory station or a person to carry out these tasks.

[0024] Advantageously, the method for performing a defragmentation may include the following preliminary steps: - The inventory and / or defragmentation device is moved by an autonomous mobile robot to be placed successively above each of the storage containers, - the control system activates the vision means to acquire data concerning the items in each of the storage containers.

[0025] Advantageously, the method for carrying out an inventory and / or the method for carrying out a defragmentation may include an initial step of determining an opportune time to carry out the inventory or the defragmentation, according to predetermined criteria including a level of activity below a certain threshold.

[0026] It is therefore possible to perform system defragmentations automatically in the background. Brief description of the figures

[0027] Other features and advantages of the invention will become apparent from the following description in connection with the accompanying drawings, given by way of non-limiting examples, in which:

[0028] [Fig.1] [Fig.1] represents a device according to an embodiment of the invention;

[0029] [Fig.2] [Fig.2] is a partial view of an automated storage system including a device of the [Fig.1] in a resting state;

[0030] [Fig.3] [Fig.3] is a partial view of the storage system shown by [Fig.2], in which the device is moved by an AMR;

[0031] [Fig.4] [Fig.4] is a partial view of the storage system shown by [Fig.2], in which the device according to the invention is in inventory or defragmentation position;

[0032] [Fig.5] [Fig.5] is a partial view of the storage system shown by [Fig.2], in which the device is being inventoried or defragmented.

[0033] In the rest of the description, elements having an identical structure or analogous functions will be designated by the same references. Detailed description

[0034] Figure 1 shows an example of an inventory and / or defragmentation device 10 according to the invention. The device 10 may be in the form of a partially open box or crate, particularly at the bottom, or simply have a three-dimensional, cuboid-shaped frame 11. It may include detection means, such as one or more cameras 13, for detecting the presence and shape of items 4 in the storage location where the operation is planned. It may also include means for manipulating items 4, for example, a gripper 15 carrying a grasping means 16 at its end. The grasping means 16 may be a suction cup or a clamp. The gripper is, for example, supported by a horizontally arranged support 14, allowing the gripper to be moved longitudinally and transversely for precise positioning.The gripper itself can have a vertical axis of movement to reach objects arranged below the device 10 as illustrated in Figure IB.

[0035] In other examples of embodiments not illustrated, the means of manipulation may be a multi-articulated arm.

[0036] Figures 2 to 5 partially show an automated storage system 1 comprising inventory and defragmentation devices like that shown in [Fig. 1],

[0037] The automated storage system 1 is partially represented here. It comprises a storage structure 2, in which storage containers 3 are stacked and arranged in storage columns. The storage containers 3 may contain items 4.

[0038] Autonomous mobile robots 6 are used to pick up storage containers 3 and move them within and to the warehouse. In this example, the AMRs 6 are mobile above the storage structure 2.

[0039] In other unillustrated embodiments, the stock shape may be different, the AMRs may circulate in the storage levels or along corridors dedicated to the movement of the AMRs.

[0040] The automated storage system 1 further includes one or more inventory and / or defragmentation devices 10, 10' and a computer control system to control the operations of the device 10.

[0041] Advantageously, the system may also include one or more locations in which the power supply 12 of the device 10 can be recharged. For example, a charging device 5 may be associated with each level of the storage containers 3.

[0042] In the example of [Fig.2], the autonomous mobile robot 6 is moved on the storage structure 2 by wheels 7, up to the location where the device 10 is located. For example in a loading location.

[0043] To move it to another location, the AMRs includes gripping means in the form of hooks 9 and elevator means 8 allowing the device 10 to be raised up to the AMR as seen in [Fig.3].

[0044] The AMR then moves the device 10 to the top of a storage container 3 which is to be inventoried. The device 10 is then lowered by the AMR's elevator means 8 and placed on the storage container 3 as in [Fig.4].

[0045] To perform the inventory of container 3, the control system can automatically activate camera 13, which will take images enabling the control system to determine the nature and number of items in container 3. In some cases, to perform the inventory, it may be necessary to move items 4 to an empty neighboring container 3'. For example, in the example of [Fig. 5], gripper 15 has already moved some items 41 and is in the process of moving another item 40.

[0046] Alternatively, when defragmentation is necessary, for example because the control system already has information regarding the need for defragmentation, for example between the two adjacent containers 3 and 3", in this case the operation concerns the movement of items 4 from one container 3, 3" to the other, either to empty a container or to gather items of the same nature or shape into.

[0047] Advantageously, the control system can move the device 10 from one storage container to another to acquire the data enabling the system to decide if and where defragmentation is necessary.

Claims

Demands

1. Robotic inventory and / or defragmentation device (10) intended for use in an automated item storage system (1), the device being capable of being moved by an autonomous mobile robot (6) and of being placed in a storage location of the system (1), the device (10) comprising: - a frame (11) having an open bottom, - vision means (13) capable of imaging through the open bottom the contents of a storage container (3) positioned below said robotic device (10), - a power supply means (12), and - a means of communication with a control system of the automated storage system (1).

2. Device (10) according to claim 1 further comprising a gripper (15) capable of being moved through the open bottom to the storage container (3) positioned below said device (10), for picking up and moving an article.

3. Device (10) according to the preceding claim in which the gripper (15) is carried by a displacement device (14) arranged in the upper part of said frame (11) and having a longitudinal displacement axis, a transverse displacement axis and a vertical displacement axis.

4. Automated item storage system (1) comprising storage locations where item storage containers (3) can be placed, autonomous mobile robots (6) for moving the storage containers (3), a control system and at least one inventory and / or defragmentation device (10) according to any one of the preceding claims.

5. Automated storage system (1) according to the preceding claim further comprising a resting location having electrical loading means (5) arranged to load the power supply means (12) of the inventory and / or defragmentation device (10).

6. A method for carrying out an inventory in an automated storage system according to claim 4 or 5, wherein: - the inventory and / or defragmentation device (10) is moved by an autonomous mobile robot (6) to place it above a first storage container (3) to be inventoried, - the control system activates the vision means (13) to acquire data concerning the items in the first container (3), and - the control system determines the nature and number of items (4) contained in the first container based on data acquired by the vision means (13).

7. Method of carrying out an inventory according to the preceding claim comprising further a step in which, in order to determine the nature and / or number of items in the first storage container (3), the gripper (15) of the device (10) according to claim 2 or 3, moves at least a part of the items in the first storage container (3) or from the first storage container (3) to a second storage container (3').

8. Method of carrying out defragmentation in an automated storage system (1) according to any one of claims 4 or 5, comprising moving items from one storage container (3) to another storage container (3") by a device (10) according to any one of claims 2 or 3.

9. Method of carrying out a defragmentation according to the preceding claim comprising the following preliminary steps: - the inventory and / or defragmentation device (10) is moved by an autonomous mobile robot (6) to place it successively above each of the storage containers (3, 3"), - the control system activates the vision means (13) to acquire data concerning the items in each of the storage containers (3, 3").

10. A method for carrying out an inventory according to claim 6 or 7 or a defragmentation according to claim 8 or 9, comprising an initial step of determining an opportune time to carry out the inventory or defragmentation, according to predetermined criteria including an activity level below a certain threshold.

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