METHOD FOR RELOCATING AN AUTONOMOUS MOBILE ROBOT
The method for verifying AMR position using locating devices on guide rails addresses localization issues, ensuring safe and efficient operation by accurately determining position and recalculating tasks.
Patent Information
- Authority / Receiving Office
- FR · FR
- Patent Type
- Applications
- Current Assignee / Owner
- FIVES XCELLA
- Filing Date
- 2024-12-27
- Publication Date
- 2026-07-03
AI Technical Summary
The localization of autonomous mobile robots (AMRs) in automated storage systems can be compromised due to electrical failures, restarts, or emergency braking, leading to potential collisions and system inefficiencies.
A method for verifying the position of AMRs using locating devices on guide rails, allowing them to read information from tracking devices and deduce their actual position, which is then communicated to the global management system for recalculating tasks and ensuring safe operation.
Ensures reliable and safe movement of AMRs by accurately determining their position, preventing collisions and optimizing task recalibration post-localization loss.
Smart Images
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Abstract
Description
Title of the invention: METHOD FOR RELOCATING AN AUTONOMOUS MOBILE ROBOT Technical field of the invention
[0001] The invention relates to the field of intralogistics and in particular to automated storage systems for items. It relates to a method for verifying the position of an Autonomous Mobile Robot, particularly under certain circumstances. State of the art
[0002] The present invention relates to an automated storage system designed to optimize the management and handling of items in a logistics environment. This type of system generally comprises a warehouse consisting of storage shelves distributed over several levels, allowing for maximum use of available space. To ensure the movement of items within the warehouse, conveying means, such as conveyors and shuttles, are traditionally used. However, in the most recent automated storage systems, these conveying means are increasingly being replaced by autonomous mobile robots (AMRs).
[0003] AMRs provide increased flexibility and efficiency in the transport of items between storage shelves and different areas of the warehouse, particularly order picking areas. In these areas, pickers transfer products from storage containers to order containers, thus facilitating the assembly of shipments.
[0004] However, in certain circumstances, the location of an AMR may be compromised, leading to risks to the security and effectiveness of the system. These situations include, for example: • An electrical failure or an AMR restart, resulting in a reset of location data; • An emergency braking causing the wheels to slip along the rails, which makes the data provided by the encoders inaccurate compared to the actual translation carried out.
[0005] In such cases, loss of localization can cause critical errors, such as the loss of the AMR within the system or potential collisions with other AMRs. It therefore becomes necessary to develop a technical solution to ensure the safe movement of the AMR, even after a loss of localization or an unexpected restart.
[0006] The present invention aims to solve these problems by proposing an innovative system guaranteeing the reliability and safety of the movement of AMRs within automatic storage systems. Summary of the invention
[0007] To this end, the invention relates to a method for verifying the location of an autonomous mobile robot in an automated storage system comprising a warehouse with a plurality of storage levels, a plurality of autonomous mobile robots and an overall management system, the warehouse comprising a plurality of locating devices arranged at precise positions on a storage level, the method comprising the following steps: - The robot initiates a check of its position at a given moment in this storage level, - The robot identifies the nearest tracking device, - The robot reads information from the nearest tracking device, - The robot deduces its actual position and communicates it to the management system global or transmits the information from the tracking device to the global management system which consequently deduces the actual position of the robot.
[0008] The method according to the invention therefore makes it possible to check the position of an AMR at any time either in a programmed manner (for example to check the reliability of the position and thus avoid drifts), at the initiative of the AMR when certain conditions are met or at the request of the global management system.
[0009] Advantageously, the robot can deduce its actual position by comparing the information from the tracking device with an internal database. In this case, the AMR can autonomously verify its position with internal data.
[0010] Advantageously, the method may further include a step in which the global management system redefines tasks to be assigned to the robot after an update of its position. By checking and updating the position, the global management system can recalculate the paths and define new tasks, which may be a continuation of previous tasks, to ensure the reliability of the robot's execution.
[0011] Advantageously, the step in which the robot initiates a check of its position can be preceded by a step in which the global management system transmits to the robot a request to identify its position.
[0012] In some embodiments, the robot travels on two guide rails arranged in a storage aisle on the floor, and the tracking devices are placed on one or both of the two rails to identify storage shelves. This is practical and easy to implement.
[0013] Advantageously, the marking device can be a plate comprising a code formed by a plurality of slots and readable by the movement of a laser. Such a plate has the advantage of being easy to install. Furthermore, the reading method is simple and practical, since an AMR (Automatic Marking Device) generally has guide lasers; it is not necessary to install additional means (more economical), and reading is easy while the device is in motion.
[0014] Advantageously, to identify a tracking device, the robot moves in a predetermined direction and at a maximum safety distance. By defining a direction and a safety distance, accidents with neighboring AMRs (Automatic Vehicles) moving nearby are avoided.
[0015] Advantageously, the locating device includes at least one of the following information: the position in the aisle, the aisle number and / or the storage floor number.
[0016] Advantageously, the robot can initiate a position check following a power outage, a loss of communication with the global management system, or an emergency braking event. Such situations require a restart of the AMR or of the communication between the AMR and the global management system. Thus, a position check allows for recalculating missions and ensuring the safe operation of the AMR and the automated storage system.
[0017] The invention also relates to an automated storage system comprising a stock having a plurality of storage levels, a plurality of autonomous mobile robots and an overall management system, each storage level comprising locating devices disposed at precise positions (each comprising locating information), the autonomous mobile robots being configured to check their positions by implementing the method according to the invention and according to one or more combinations described above. Brief description of the figures
[0018] Other features and advantages of the invention will become apparent from the following description in relation to the accompanying drawings, given by way of non-limiting examples, in which:
[0019] [Fig.1] [Fig.1] represents an overall view of an automated storage system;
[0020] [Fig.2] [Fig.2] is a partial top view of a storage aisle;
[0021] [Fig.3] [Fig.3] is a view of an Autonomous Mobile Robot on guide rails including tracking devices.
[0022] In the rest of the description, elements having an identical structure or analogous functions will be designated by the same references. Detailed description
[0023] Figure 1 illustrates an example of an automated storage system 1 according to the invention. This system comprises a warehouse 2 with a plurality of storage levels 20 connected by elevators 5. The system may also include order picking stations 4 and Autonomous Mobile Robots 3 (AMRs) for moving items to be stored to a storage level 20 or items to be retrieved from the warehouse to an order picking station 4. The tasks of each autonomous mobile robot are defined by an overall management system.
[0024] Figure 2 shows a partial top view of a storage floor 20, zoomed in on a storage aisle 23 and two storage units 21, 22 located on either side of the storage aisle. Autonomous mobile robots 3 move along the aisle to deposit and / or retrieve objects.
[0025] Fig. 3 illustrates one of the autonomous mobile robots 3 in the storage aisle 23 of one of the floors 20. The robot 3 moves on two guide rails 231, 232.
[0026] The position of an AMR in a stock can be known from several pieces of information, for example: - the global management system can track the aisle and floor number in which the AMR moves. - The AMR can know its position in translation along an aisle, for example thanks to sensors such as encoders integrated into the drive wheels.
[0027] This position may need to be checked to ensure the reliability of the positioning and to avoid accidents.
[0028] In particular, in certain situations, a location check may be necessary, for example, following an electrical failure or an AMR restart, resulting in a reset of the odometry data, or following emergency braking causing the wheels to slip along the guide rails. The check may also be performed for other reasons, either on a scheduled basis or triggered when certain conditions are met, either by the robot 3 or by the overall management system.
[0029] In the example of [Fig. 3], to allow such a position check, one or both of the two guide rails 231, 232 is / are equipped with marker devices, each corresponding to a unique position of the AMR in the stock. For example, the marker devices may be plates 233, as seen in [Fig. 3], comprising a binary code 234 formed by laser-readable holes.
[0030] In other embodiments not shown, the unique marker may be different, for example a QR code engraved on a plate.
[0031] Generally, a locating device may include the position in aisle 23, the number of aisle 23 and / or of storage floor 20.
[0032] To perform a check, the following steps are followed: - Robot 3 initiates a check of its position at a given moment on this storage floor 20, - Robot 3 identifies the nearest tracking device 233, - Robot 3 reads information 234 from the nearest tracking device 233, - Robot 3 deduces its actual position and communicates it to the global management system or transmits information 234 from the tracking device 233 to the global management system which consequently deduces the actual position of robot 3.
[0033] The robot 3 can for example deduce its real position by comparing the information from the tracking device 233 with an internal database.
[0034] Advantageously, to identify a locating device, the robot 3 can move in a predetermined direction and within a maximum safety distance. This can be the case when the robot is far from the nearest device and needs to search for it.
[0035] Advantageously, the global management system can redefine / recalculate tasks to be assigned to robot 3 after an update of its position and resume movement safely.
Claims
Demands
1. A method for verifying the location of an autonomous mobile robot (3) in an automated storage system (1) comprising a warehouse (2) having a plurality of storage levels (20), a plurality of autonomous mobile robots (3) and an overall management system, the warehouse (2) comprising a plurality of locating devices (233) disposed at precise positions on a storage level (20), the method comprising the following steps: - The robot (3) initiates a verification of its position at a given time in this storage level (20), - The robot (3) identifies the nearest locating device (233), - The robot (3) reads information (234) from said nearest locating device (233),- The robot (3) deduces its actual position and communicates it to the overall management system or transmits the information (234) from the tracking device (233) to the overall management system, which consequently deduces the actual position of the robot (3).
2. A method according to the preceding claim in which the robot (3) deduces its actual position by comparing the information from the tracking device with an internal database.
3. A method according to any one of the preceding claims further comprising a step in which the global management system redefines tasks to be assigned to the robot (3) after an update of its position.
4. A method according to any one of the preceding claims wherein the step in which the robot (3) initiates a check of its position is preceded by a step in which the global management system transmits to the robot (3) a request to identify its position.
5. A method according to any one of the preceding claims wherein the robot (3) travels on two guide rails (231, 232), arranged in a storage aisle (23) on the floor (20), and the locating devices are placed on one of the two rails (231, 232) to identify storage shelves.
6. A method according to any one of the preceding claims, wherein the marking device (233) is a plate comprising a code (234) formed by a plurality of slits and readable by moving a laser.
7. A method according to any one of the preceding claims, wherein, in order to identify a tracking device, the robot (3) moves in a predetermined direction and within a maximum safety distance.
8. A method according to any one of the preceding claims wherein the locating device includes at least one of the following information: the position in the aisle (23), the aisle number and / or the storage floor (20).
9. A method according to any one of the preceding claims wherein the robot (3) initiates a check of its position following a power outage, a loss of communication with the global management system or following an emergency braking.
10. Automated storage system comprising a stock (2) having a plurality of storage levels (20), a plurality of autonomous mobile robots (3) and an overall management system, each storage level (20) comprising locating devices (233, 234) disposed at precise positions known to the overall management system, the autonomous mobile robots being configured to verify their positions by implementing the method according to any one of claims 1 to 9.