WAREHOUSE INVENTORY SYSTEM

Abstract

A warehouse inventory system includes an autonomous robotic device configured to move autonomously in aisles of a storage area of the warehouse and along the shelves arranged in the storage area; a support device integral in movement with the autonomous robotic device; a mast which is supported by the support device and which is equipped with image capturing devices configured to capture images of the objects stored on the shelves during the displacements of the autonomous robotic device along the shelves arranged in the storage area; and a stabilization device configured to vertically stabilize the mast during the displacements of the autonomous robotic device, the stabilization device including a drone connected to the mast.

Claims

1. A warehouse inventory system for carrying out an inventory of objects stored on shelves arranged in a storage area of a warehouse, the warehouse inventory system including: an autonomous robotic device configured to move autonomously in aisles of the storage area of the warehouse and along shelves arranged in the storage area; a support device integral in movement with the autonomous robotic device; a mast which is supported by the support device and which is equipped with image capturing devices configured to capture images of the objects stored on the shelves during displacements of the autonomous robotic device along the shelves arranged in the storage area, the mast being connected to the support device by an articulation with at least two degrees of freedom; and a stabilization device configured to vertically stabilize the mast during the displacements of the autonomous robotic device, the stabilization device including a drone connected to the mast.

2. The warehouse inventory system according to claim 1, wherein the at least articulation with two degrees of freedom is configured to enable a pivoting of the mast relative to the support device about a first pivot connection and about a second pivot connection substantially perpendicular to the first pivot connection.

3. The warehouse inventory system according to claim 2, wherein the first and second pivot connections extend transversely to a longitudinal axis of the mast.

4. The warehouse inventory system according to claim 1, wherein the stabilization device includes at least one movement sensor configured to detect movements of the mast relative to a terrestrial frame of reference, the stabilization device being configured to control the drone according to the movements detected by the at least one movement sensor.

5. The warehouse inventory system according to claim 1, wherein a counterweight is fastened to a lower portion of the mast, the counterweight being configured so as to place a center of gravity of an assembly formed by the mast and the counterweight in proximity of the articulation with two degrees of freedom.

6. The warehouse inventory system according to claim 1, wherein the mast is configured to occupy a first mast position in which the mast extends substantially vertically, and a second mast position in which the mast extends substantially horizontally.

7. The warehouse inventory system according to claim 6, further including a movement limiting device configured to limit an amplitude of movement of the mast relative to the support device when the mast occupies the first mast position.

8. The warehouse inventory system according to claim 6, further including an immobilizing device configured to immobilize the mast with respect to the support device when the mast occupies the second mast position.

9. The warehouse inventory system according to claim 1, wherein the mast includes a telescopic upper portion which is equipped with at least one of the image capturing devices.

10. The warehouse inventory system according to claim 9, wherein the telescopic upper portion is located above the drone.

11. The warehouse inventory system according to claim 1, wherein the mast is at least partially formed by an assembly of mast sections which are removably nested into each other.

12. The warehouse inventory system according to claim 1, further comprising a plurality of light sources fastened to the mast, each light source being configured to illuminate objects stored on the shelves and located in a field of view of at least one image capturing device.

13. The warehouse inventory system according to claim 1, further comprising a plurality of light intensity measuring devices fastened to the mast, each light intensity measuring device being configured to measure a light intensity in proximity of at least one image capturing device.

14. The warehouse inventory system according to claim 12, further comprising a setting unit configured to set a light intensity of each light source according to a light intensity measured by at least one light intensity measuring device which is located in proximity of said light source.

15. The warehouse inventory system according to claim 3, wherein the stabilization device includes at least one movement sensor configured to detect movements of the mast relative to a terrestrial frame of reference, the stabilization device being configured to control the drone according to the movements detected by the at least one movement sensor.

16. The warehouse inventory system according to claim 15, wherein a counterweight is fastened to a lower portion of the mast, the counterweight being configured so as to place a center of gravity of an assembly formed by the mast and the counterweight in proximity of the articulation with two degrees of freedom.

17. The warehouse inventory system according to claim 16, wherein the mast is configured to occupy a first mast position in which the mast extends substantially vertically, and a second mast position in which the mast extends substantially horizontally.

18. The warehouse inventory system according to claim 17, further including a movement limiting device configured to limit an amplitude of movement of the mast relative to the support device when the mast occupies the first mast position.

19. The warehouse inventory system according to claim 18, further including an immobilizing device configured to immobilize the mast with respect to the support device when the mast occupies the second mast position.

20. The warehouse inventory system according to claim 19, wherein the mast includes a telescopic upper portion which is equipped with at least one of the image capturing devices.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0095] Anyway, the invention will be well understood from the following description with reference to the appended schematic drawings representing, as a non-limiting example, an embodiment of this warehouse inventory system.

[0096] FIG. 1 is a perspective view of a warehouse inventory system according to the invention.

[0097] FIG. 2 is a partial perspective view of a lower portion of the warehouse inventory system of FIG. 1.

[0098] FIG. 3 is a partial perspective view of a stabilization device of the warehouse inventory system of FIG. 1.

[0099] FIG. 4 is a partial perspective view of a mast of the warehouse inventory system of FIG. 1.

[0100] FIG. 5 is a perspective view of the articulation with two degrees of freedom of the warehouse inventory system of FIG. 1.

[0101] FIG. 6 is a partial perspective view of the warehouse inventory system of FIG. 1 showing the mast in the second mast position.

[0102] FIG. 7 is a front view of a shelf arranged in a storage area of a warehouse and on which objects are stored.

[0103] FIG. 8 is a perspective view of a telescopic upper portion of the warehouse inventory system of FIG. 1, showing the telescopic upper portion in a retracted configuration.

[0104] FIG. 9 is a perspective view of the telescopic upper portion of FIG. 8 in an intermediate configuration.

[0105] FIG. 10 is a perspective view of the telescopic upper portion of FIG. 8 in a deployed configuration.

DETAILED DESCRIPTION

[0106] FIGS. 1 to 10 represent a warehouse inventory system 2 for carrying out an inventory of objects 100, such as products, boxes, cardboard boxes and/or pallets, stored on shelves 101 arranged in a storage area 102 of a warehouse.

[0107] The warehouse inventory system 2 includes an autonomous robotic device 3 configured to move autonomously in aisles of the storage area 102 of the warehouse and along the shelves 101 arranged in the storage area 102 according to a predefined movement path.

[0108] The autonomous robotic device 3 includes a support frame 4 including casters 5 configured to roll on a floor of the warehouse.

[0109] The autonomous robotic device 3 further includes exteroceptive sensors 6 fastened on the support frame 4 and configured to detect information on the environment in which the autonomous robotic device 3 is located. For example, the exteroceptive sensors 6 may include one or several LiDAR sensor(s), and are in particular configured to detect obstacles located on the movement path of the autonomous robotic device 3.

[0110] The autonomous robotic device 3 further comprises a control unit 7, formed for example by an electronic microcontroller, which is configured to process and analyze the information detected by the exteroceptive sensors 6 in order to identify characteristics of the environment in which the autonomous robotic device 3 is located, and which is also configured to control, in an autonomous control mode, the autonomous robotic device 3 based on the information detected by the exteroceptive sensors 6 and a digital map of the warehouse (including in particular the position of the aisles of the warehouse and of the storage locations in the shelves arranged in the storage area).

[0111] Advantageously, the autonomous robotic device 3 includes a rechargeable battery (not shown in the figures) configured to electrically power the autonomous robotic device 3.

[0112] The warehouse inventory system 2 also includes a support device 8, such as a support carriage, which is integral in movement with the autonomous robotic device 3, and which is for example fastened to the support frame 4 of the autonomous robotic device 3.

[0113] According to the embodiment represented in FIGS. 1 to 10, the support device 8 is equipped with casters 9 configured to roll on the floor of the warehouse.

[0114] The warehouse inventory system 2 further includes a mast 11 which is supported by the support device 8. The mast 11 advantageously has a length larger than six meters, and may for example reach about ten meters.

[0115] Advantageously, the mast 11 may be at least partially formed by an assembly of mast sections which are removably nested into each other. For example, each mast section has a length comprised between 1.5 meters and 2.5 meters, and for example about 2 meters.

[0116] More particularly, the mast 11 is connected to the support device 8 by an articulation 12 with two degrees of freedom which is configured to enable a pivoting of the mast 11 relative to the support device 8 about a first articulation axis A1 and about a second articulation axis A2 which is perpendicular to the first articulation axis A1. Advantageously, the first and second articulation axes A1, A2 extend perpendicularly to a longitudinal axis B of the mast 11, and are configured to enable roll and pitch movements of the mast 11. For example, the articulation 12 could be located at a height comprised between 1.5 m and 2 m relative to the ground on which the autonomous robotic device 3 is intended to move.

[0117] As shown in FIG. 5, the articulation 12 includes a first fastening part 12.1 which is annular and which is mounted articulated on the support device 8 about the first articulation axis A1, and a second fastening part 12.2 which is annular and surrounded by the first fastening part 12.1 and which is mounted articulated on the first fastening part 12.1 about the second articulation axis A2. The second fastening part 12.2 extends about the mast 11 and is fastened to the mast 11. Advantageously, the first and second fastening parts 12.1. 12.2 extend coaxially when the mast 11 extends vertically.

[0118] As shown in FIGS. 1, 2 and 6, the mast 11 is configured to occupy a first mast position, also called inventory position, in which the mast 11 extends substantially vertically, and a second mast position in which the mast extends horizontally.

[0119] The warehouse inventory system 2 further includes a counterweight 13 which is fastened to a lower portion 11.1 of the mast 11. Advantageously, the counterweight 13 is located below the articulation 12 when the mast 11 occupies the first mast position, and the mast 11 is configured such that the center of gravity of the mast 11 is located substantially at the level of the articulation 12.

[0120] The warehouse inventory system 2 includes a movement restricting device 14 configured to limit an amplitude of movement of the mast 11 about the first articulation axis A1 when the mast 11 occupies the first mast position, and to limit an amplitude of movement of the mast 11 about the second articulation axis A2 when the mast 11 occupies the first mast position. Advantageously, the movement restricting device 14 is provided on the support device 8.

[0121] According to the embodiment represented in FIGS. 1 to 10, the movement restricting device 14 includes a rear stop member 14.1 removably fastened to the support device 8 and against which a lower portion of the mast 11 could abut when the mast 11 is pivoted about the first articulation axis A1 such that the lower portion of the mast 11 is away from the autonomous robotic device 3.

[0122] The movement restricting device 14 further includes two lateral stop members 14.2 provided on the support device 8 and against each of which the lower portion of the mast 11 can abut when the mast 11 is pivoted about the second articulation axis A2.

[0123] The warehouse inventory system 2 further includes an immobilization device 15 configured to immobilize the mast 11 with respect to the support device 8 when the mast 11 occupies the second mast position.

[0124] As shown more particularly in FIG. 2, the immobilization device 15 includes a first immobilization member 15.1 removably fastened to the support device 8 and a second immobilization member 15.2 also removably fastened to the support device 8. The first and second immobilization members 15.1, 15.2 are configured to extend on either side of the mast 11 when the mast 11 is in the second mast position, so as to prevent any pivoting of the mast 11 about the second articulation axis A2. According to the embodiment represented in the figures, the first and second immobilization members 15.1, 15.2 extend substantially parallel to the first articulation axis A1, and are vertically offset with respect to each other.

[0125] In order to immobilize the mast 11 in the second mast position, all it needs is to dismantle, and for example to unscrew, the first and second immobilization members 15.1, 15.2, to pivot the mast 11 around the first articulation axis A1 until positioning the mast 11 in the second mast position, and finally to fasten the first and second immobilization members 15.1, 15.2 again to the support device 8. The warehouse inventory system 2 further includes image capturing devices 16 which are fastened to the mast 11 and which are configured to capture images of the objects 100 stored on the shelves 101 during the displacements of the autonomous robotic device 3 along the shelves 101 arranged in the storage area 102.

[0126] Advantageously, the image capturing devices 16 are offset with respect to each other along the longitudinal axis B of the mast 11, and are aligned with respect to each other along the longitudinal axis B of the mast 11. For example, each image capturing device 16 may include a digital photographic camera or a digital camera.

[0127] The warehouse inventory system 2 further includes a stabilization device 17 configured to vertically stabilize the mast 11 during the displacements of the autonomous robotic device 3. The stabilization device 17 advantageously includes a drone 18 which is fastened to the mast 11, and for example to an upper portion of the mast 11.

[0128] As shown more particularly in FIG. 3, the drone 18 includes in particular a central portion 19 which is fastened to the mast 11, a plurality of support arms 21 which are fastened to the central portion 19 and which are angularly offset from each other, and a plurality of air flow generating devices 22 each being fastened to a respective support arm 21.

[0129] According to the embodiment represented in FIGS. 1 to 10, the support arms 21 extend in the same plane of extension, and each air flow generation device 22 includes a propeller 23 having an axis of rotation which is substantially parallel to the direction of extension of the respective support arm 21, and a drive motor (not shown in the figures) configured to drive the respective propeller 23 in rotation. Advantageously, the axis of rotation of each propeller 23 extends substantially radially with respect to the longitudinal axis of the mast 11.

[0130] For example, each support arm 21 may be hollow so as to enable the passage of electric power supply cables configured to electrically power the respective air flow generation device, and the reception of the respective drive motor.

[0131] The stabilization device 17 further includes an inertial unit 24.1 including at least one movement sensor configured to detect movements of the mast 11 relative to the terrestrial frame of reference, namely gravity. More particularly, the stabilization device 17 is configured to control the propellers 23 of the drone 18 according to the data detected by the inertial unit, and in particular according to the movements detected by the movement sensor.

[0132] Advantageously, the inertial unit 24.1 is located in the proximity of the articulation 12. Such a positioning of the inertial unit 24.1 enables the stabilization device 17 to be more sensitive to the displacements of the mast 11, and therefore to ensure an optimum control of the propellers 23, which allows ensuring an optimum stabilization of the mast 11. For example, the inertial unit 24.1 may be fastened to the mast 11.

[0133] The stabilization device 17 further includes an automatic pilot 24.2 which is also located in the proximity of the articulation 12 and which is configured to transmit control signals to the drone 18. The control signals are advantageously defined in particular according to the data detected by the inertial unit 24.1.

[0134] The warehouse inventory system 2 also comprises a plurality of light sources 25 fastened to the mast 11. Advantageously, the light sources 25 are offset with respect to each other along the longitudinal axis B of the mast 11, and are aligned with respect to each other along the longitudinal axis B of the mast 11. Each light source 25 may include at least one light-emitting diode, and may for example consist of a light-emitting diode flash.

[0135] Advantageously, each light source 25 is located in the proximity of an image capturing device 16 and is configured to illuminate objects 100 stored on the shelves 101 and located in a field of view of the respective image capturing device 16 in order to improve the quality of the images captured by said image capturing device 16, in particular when the objects 100 are stored in the lower portion of the shelves 101, that is to say away from the lights of the warehouse or skylights of the warehouse. According to an embodiment of the invention, each light source 25 could be located between two adjacent image capturing devices 16, and be configured to illuminate objects located in the fields of view of the adjacent image capturing devices 16.

[0136] The warehouse inventory system 2 further comprises a plurality of light intensity measuring devices 26 fastened to the mast 11. Advantageously, the light intensity measuring devices 26 are offset with respect to each other along the longitudinal axis B of the mast 11, and are aligned with respect to each other along the longitudinal axis B of the mast 11.

[0137] Each light intensity measuring device 26 is located in the proximity of an image capturing device 16 and is configured to measure a light intensity in the proximity of the respective image capturing device 16.

[0138] The warehouse inventory system 2 further comprises a setting unit 27 configured to set the light intensity of each light source 25 according to the light intensity measured by the light intensity measuring device 26 which is located in the proximity of the image capturing device 16 associated with said light source 25. These arrangements allow improving the quality of the images captured by each image capturing device 16, while limiting the electrical consumption of the inventory system 2, since it is not necessary to electrically power some light sources. 25 when the light intensity at the level of these light sources 25 is enough.

[0139] The warehouse inventory system 2 comprises an on-board computer 28, for example fastened to the support device 8, which comprises the setting unit 27 and a processing unit 29. The processing unit 29 is configured to: [0140] process and analyze the images captured by the image capturing devices 16, [0141] detect identification codes 31, such as barcodes, carried by the stored objects 100 from the captured images, the identification codes 31 being possibly carried by labels glued on the stored objects, [0142] identify the stored objects 100 from the detected identification codes 31, [0143] inventorize the identified objects and the storage locations of said inventoried objects in the storage area 102.

[0144] Such a processing unit 29 is well known to those skilled in the art, and is not therefore described in detail in the present description.

[0145] Advantageously, the processing unit 29 is further configured to generate, for each inventory, an inventory report, for example in the .csv format, including: [0146] the inventory time and the actual movement path of the autonomous robotic device 3 during the inventory, [0147] the incidents encountered by the warehouse inventory system 2, [0148] for each detected identification code 31, the date and time of capture of the captured image from which the identification code 31 was detected (for example the year, the month, the day, the hour, the minute, the second and the time zone), [0149] for each detected identification code 31, the location code corresponding to the storage location of the object bearing the detected identification code 31, [0150] for each detected identification code 31, the position of the identification code 31 in the warehouse (for example the position in x, y, z of the detected identification code in meters with respect to a predefined origin of the warehouse), [0151] the number of the most relevant captured image for each detected identification code 31 and a link to said most relevant captured image, and [0152] a captured image of each storage location of each shelf 101 of the warehouse, whether empty or full.

[0153] As shown in FIGS. 8 to 10, the mast 11 further includes a telescopic upper portion 11.2 which is located above the drone 18, and which is fastened to the central portion 19 of the drone 18. Advantageously, the telescopic upper portion 11.2 extends parallel to the main portion of the mast 11 and is equipped with several image capturing devices 16.

[0154] The telescopic upper portion 11.2 of the mast is deployable between a deployed configuration (cf. FIG. 10) in which the image capturing devices 16 carried by the telescopic upper portion 11.2 are away from each other and a retracted configuration (cf. FIG. 8) in which the image capturing devices 16 carried by the telescopic upper portion 11.2 are brought close to each other. Advantageously, the warehouse inventory system 2 includes drive means configured to displace the telescopic upper portion 11.2 between the deployed and retracted configurations.

[0155] It goes without saying that the invention is not limited to the sole embodiment of this warehouse inventory system, described hereinabove as example, it encompasses on the contrary all variants thereof. Thus, in particular, the articulation 12 could be an articulation with three degrees of freedom, in other words a ball joint.