Patent Description:
Product manufacturing such as product assembly may involve a multitude of consecutive steps in which elements are added to the product. Provisioning said elements may involve storage and retrieval which is also commonly referred to as warehousing. To cope with a large number of elements, warehousing may be automated.

<CIT> (A1) shows a plant for robot operations comprising a robot and a plurality of workstations served by the robot, wherein an operating arm of the robot is movable to each workstation.

<CIT> is directed at building a cage for a robot based on switch cabinets.

<CIT> relates to assembling a plurality of parts using a robot employing a rotatable pallet for holding an array of the parts. Said rotatable pallet is held in place on the robot wrist head, which moves the pallet through a plurality of stationary work-stations located within the operating envelope of the robot, and rotates the pallet at each work-station to index the pallet and to present it to the work-station for an operation on a specific part or parts.

<CIT> relates to a work cell which includes a three-dimensional positioning robot positioned adjacent a plurality of operation stations.

The present disclosure provides a partially automated manufacturing cell and a method of supplying items to workstations of a manufacturing cell, arranged around an automated warehouse. In particular, the automated warehouse may be integrated into the manufacturing cell.

The partially automated manufacturing cell comprises a robot, a first workstation, a second workstation and a third workstation, wherein said workstations are arranged around said robot and said robot is configured to supply first items to said first workstation, second items to said second workstation and third items to said third workstation. The partially automated manufacturing cell may comprise a first store and the robot may retrieve said items from said first store. The robot and the first store may form an automated warehouse which is integrated into the manufacturing cell. In particular, the first store and the workstations may comprise a shared frame making the cell an integrated unit. The robot may also primarily or exclusively serve the workstations of the manufacturing cell by supplying said items. Notably, supplying said items may also include picking or collecting items from a periphery of the manufacturing cell. However, even if the robot is movable, an area within which the robot, particularly the robot's base and/or the robot's center of mass, operates may be limited to a space within (or physically occupied by) the manufacturing cell, i.e. a space within an area surrounded by the workstations.

The term "workstation", as used throughout the description and the claims, particularly refers to a place where work is to be performed. A workstation may be provided with tools that are required to perform the work. Furthermore, a workstation may comprise a desk and/or a seat for a human operator (e.g., a worker). In this regard, the formulation "partially automated", as used throughout the description and the claims, particularly refers to the involvement of manual labor (for example, work performed by said human operators). Moreover, the term "manufacturing cell", as used throughout the description and the claims, particularly refers to a setting in which product parts or unfinished products are passed from one workstation to the other, wherein different steps are performed on a product part or an unfinished product, at the different workstations. As the steps may be based on each other, an order may be given in which the product parts or unfinished products are passed from one workstation to the other. However, it may also be that the same step is performed at some or all of the workstations of a manufacturing cell and that the product parts or unfinished products are routed through only one or not all of the workstations of the manufacturing cell.

Furthermore, the term "robot", as used throughout the description and the claims, particularly refers to an assembly of serially connected links and joints that form an open kinematic chain. The robot may comprise a base, a shoulder, an arm and an end effector (e.g., a gripper) for retrieving said items. Moreover, the robot may unload incoming items from a conveyor or another robot or vehicle, store and retrieve the items, and as the case may be, assist in the manufacturing. For example, instead of simply supplying an item, the robot may mount the item to an assembly which has been prepared or which is then worked on by the human operator. Moreover, the robot may cooperate with the human operator during a manufacturing step. This may also involve a scenario in which both, the robot and the human operator are in physical contact with the item at the same time. In addition, the robot may be provided with several independently operable kinematic chains and/or the manufacturing cell may be provided with multiple robots. The robots may communicate with each other to decide on which task is performed by which robot. For example, a first robot may unload incoming items from a conveyor, another robot or a vehicle while a second robot supplies the workstations with items.

Moreover, the term "items", as used throughout the description and the claims, particularly refers to assembly parts which are part of the final product. However, it may also refer to tools/objects which are used in the production process but do not form part of the final product. Furthermore, the formulation "arranged around", as used throughout the description and the claims, particularly refers to a setting in which the workstations are arranged along a (substantially) closed curve with a convex outer side which (substantially) encircles the robot and which limits the range of movement of a base of said robot, especially if the robot is movable. Notably, other machines than a robot may be used to establish an automated warehouse.

Having the workstations arranged around an automated warehouse reduces the distance between the warehouse and the workstations.

Said first workstation comprises a first rack for a plurality of first storage bins and said robot is configured to supply said first storage bins containing said first items to said first rack, or to supply said first items to said first storage bins in said first rack.

In this regard, the term "rack", as used throughout the description and the claims, particularly refers to a structure in which a multitude of storage bins can be placed. The "rack" may comprise one or more inclined shelves (which may be provided with rollers for friction reduction) to direct storage bins (closer) to an operator of a workstation to which the rack is assigned. Furthermore, the term "storage bin", as used throughout the description and the claims, particularly refers to a container in which items can be placed and stored.

Said robot may be configured to access said first rack from a backside of said first rack and said first rack may be accessible to an operator of the first workstation from a frontside of said first rack.

In this regard, the term "frontside", as used throughout the description and the claims, particularly refers to a side which the operator faces when working at the workstation. Furthermore, the term "backside", as used throughout the description and the claims, particularly refers to a side which faces away from the operator, when the operator works at the workstation. Depending on the design of the manufacturing cell, the backside may be facing a center of the manufacturing cell. For example, if the manufacturing cell has a circular shape, the backside may face the center of the circle.

By loading the rack from the backside, interference between the robot and the operator can be prevented.

Said first workstation may comprise a first work desk and said first rack may extend above said first work desk.

This may increase accessibility for both, the operator and the robot.

Said robot may be configured to withdraw said first items from a first store, wherein said first store may be arranged below said first work desk and/or above said first rack.

In this regard, the terms "above/below", as used throughout the description and the claims, refer to a vertical range in which an object is placed but shall not be construed as implying that objects which are placed above or below each other do fully (or even partially) overlap when seen in a vertical direction, although such scenarios are contemplated. Moreover, there may be a vertical space between objects which are placed above or below each other, although scenarios where there is no (or substantially no) vertical space between objects which are placed above or below each other is also contemplated.

Said first workstation and said second workstation may be arranged side-by-side.

In this regard, the term "side-by-side", as used throughout the description and the claims, particularly refers to a setting in which a first edge of the first workstation abuts a second edge of the second workstation. For example, desks of different workstations may abut each other. In another example, tabletops of two or more workstations may be integrally formed.

This may facilitate passing the product parts or unfinished products between the first and the second workstation.

Said first workstation and said third workstation may be arranged at opposite sides of said robot.

Accordingly, if the robot is able to turn around its vertical axis, the first workstation and the third workstation may be accessed by the robot without a need for linearly moving the robot, particularly the robot's base. For example, the robot may comprise a link which is connected to the base by a rotary joint that allows for a rotation of the link around a vertical axis.

The partially automated manufacturing cell may further comprise a fourth workstation. Said robot may be configured to supply fourth items to said fourth workstation. Said first workstation may be arranged above said fourth workstation, or said fourth workstation may be arranged above said first workstation.

Said robot may have a base which is stationary, or horizontally immovable. For example, the base may be vertically movable.

According to another embodiment of the invention, the robot may have a base which is (also) horizontally movable, wherein the range of movability of said base is limited by a line connecting the workstations arranged around said robot.

A first distance between said first workstation and said base may be substantially equal to a second distance between said second workstation and said base.

Said workstations and one or more further workstations of the cell may form a ring around said robot.

In this regard, the term "ring", as used throughout the description and the claims, particularly refers to a shape with an outer edge and an inner edge that can be described by closed curves. The curves may (but do not have to) be symmetric to a central axis (i.e. concentric).

Said robot may be configured to be supplied with said items through a radial or axial conveyor and to store said items within said ring before supplying said items to said workstations.

A radial conveyor may transport items or storage bins form a periphery of the manufacturing cell to the inner edge (of the ring) for the items or storage bins to be picked up by the robot and/or vice versa. Moreover, although the radial conveyor may extend substantially in a horizontal direction, the radial conveyor may be inclined (for example, by less than <NUM>°, preferably by less than <NUM>°) for the items or storage bins to slide (e.g., over transport rollers) along the radial direction (from the periphery to the inner edge and/or from the inner edge to the periphery). Instead of (or in addition to) a radial conveyor, there may be a horizontal conveyor which transports items or storage bins form a periphery of the manufacturing cell to the inner edge (of the ring) for the items or storage bins be picked up by the robot and/or vice versa. Moreover, although the horizontal conveyor may extend substantially in a horizontal direction, the horizontal conveyor may be inclined (for example, by less than <NUM>°, preferably by less than <NUM>°) for the items or storage bins to slide (e.g., over transport rollers) along the horizontal direction (from the periphery to the inner edge and/or from the inner edge to the periphery).

Likewise, an axial conveyor may transport items or storage bins form a periphery of the manufacturing cell to the inner edge (of the ring) where the items or storage bins may be picked up by the robot and/or vice versa. Instead of (or in addition to) an axial conveyor, there may be a vertical conveyor which transports items or storage bins form a periphery of the manufacturing cell to the inner edge (of the ring) where the items or storage bins may be picked up by the robot and/or vice versa. Moreover, although the vertical conveyor may extend substantially in a vertical direction, the vertical conveyor may be inclined (for example by less than <NUM>°).

The local warehouse decouples the manufacturing cell from a central warehouse. Notably, the decoupling does not necessarily mean that there may be no transport of items between the manufacturing cell and the central warehouse but that the local warehouse may serve as a buffer which reduces the interdependence (and the required degree of synchronization) between the warehouses.

A system may comprise at least two manufacturing cells, wherein said rings form a figure of eight.

Accordingly, the cell edges may abut each other, which may facilitate passing the product parts or unfinished products between the cells. In addition, it may allow for a more compact placement. In particular, the manufacturing cells may be shaped as a pentagon, hexagon, heptagon, octagon, etc. and may be arranged to have two (or more) parallel edges.

The method of supplying items to workstations of a manufacturing cell, arranged around an automated warehouse, comprises storing said items in said warehouse, detecting that a workstation of said workstations requires one or more of said stored items and supplying the required one or more items to said workstation.

Said workstation comprises a rack for a plurality of storage bins and said supplying comprises supplying said storage bins containing said stored items to said rack, or supplying said stored items to said storage bins in said rack.

The workstations may be arranged along a substantially closed curve with a convex outer side.

Notably, all features of the manufacturing cell may be features of the method and vice versa.

The foregoing aspects and many of the attendant advantages will become more readily appreciated as the same becomes better understood by reference to the following description of embodiments, when taken in conjunction with the accompanying drawings, wherein like reference numerals refer to like parts throughout the various views, unless otherwise specified.

Notably, the drawings are not drawn to scale and unless otherwise indicated, they are merely intended to conceptually illustrate the structures and procedures described herein.

<FIG> shows a schematic top view of manufacturing cell <NUM>. Manufacturing cell <NUM> comprises robot <NUM> and workstations <NUM>, <NUM> and <NUM>. Workstations <NUM>, <NUM> and <NUM> are arranged around robot <NUM>. Each of workstations <NUM>, <NUM> and <NUM> may be occupied by one or more operators O who add items <NUM>, <NUM> and <NUM> to partially assembled products P, P' and P" (or perform another operation for which items <NUM>, <NUM> and <NUM> are required). Once the manufacturing step is completed at workstation <NUM>, <NUM> or <NUM>, the partially assembled products P, P' and P" (or the otherwise processed items <NUM>, <NUM> and <NUM>) may be passed clockwise to the next one of workstations <NUM> and <NUM>, respectively (indicated in <FIG> by the broken-line arrow), or transported to another manufacturing cell <NUM> or any other unit (not shown). In other examples, the partially assembled products P, P' and P" (or the otherwise processed items <NUM>, <NUM> and <NUM>) may also be passed counterclockwise to the next one of workstations <NUM> and <NUM>, respectively. According to an embodiment of the invention, the robot, particularly an end effector (e.g. a gripping or suction device) coupled to said robot, may be used to pass the partially assembled products P, P' and P" (or the otherwise processed items <NUM>, <NUM> and <NUM>) from a first workstation <NUM> to a second workstation <NUM>, both workstations <NUM>, <NUM> being assigned to one single manufacturing cell <NUM> and/or from a workstation of a first manufacturing cell to a workstation of a second manufacturing cell.

If workstation <NUM> runs out or is about to run out of items <NUM>, which are required in the manufacturing process, robot <NUM> may replenish the stock of items <NUM> available at workstation <NUM>. If workstation <NUM> runs out or is about to run out of items <NUM>, which are required in the manufacturing process, robot <NUM> may replenish the stock of items <NUM> available at workstation <NUM>. If workstation <NUM> runs out or is about to run out of item <NUM>, which is required in the manufacturing process, robot <NUM> may replenish the stock of items <NUM> available at workstation <NUM>. If different types of items <NUM>, <NUM> and <NUM> are required at any one of workstations <NUM>, <NUM> or <NUM>, robot <NUM> may supply all or only some of said types to workstations <NUM>, <NUM> and <NUM>, respectively. If there are one or more additional robots (not shown) different types of items <NUM>, <NUM> and <NUM> may be supplied by different robots. In other words, various modifications may be made to the example shown in <FIG> which is only merely intended to conceptually illustrate that items <NUM>, <NUM> and <NUM> are supplied to workstations <NUM>, <NUM> or <NUM> by robot <NUM>. Replenishment may be triggered manually (by the operators O) or automatically if a sensor measurement reveals that one of workstations <NUM>, <NUM> and <NUM> runs out or is about to run out of items <NUM>, <NUM> and <NUM>, respectively.

For example, a weight of a stock of items <NUM>, <NUM> and <NUM> available at workstations <NUM>, <NUM> and <NUM>, respectively, may be measured, a height of a stock of items <NUM>, <NUM> and <NUM> available at workstations <NUM>, <NUM> and <NUM>, respectively, may be measured, or the stock of items <NUM>, <NUM> and <NUM> may be visually inspected. Furthermore, a need for replenishment may be determined based on partially assembled products P, P' and P" (or otherwise processed items <NUM>, <NUM> and <NUM>). Moreover, instead of replenishing a stock of items <NUM>, <NUM> or <NUM> if one of workstations <NUM>, <NUM> and <NUM> runs out or is about to run out of items <NUM>, <NUM> and <NUM>, respectively, items <NUM>, <NUM> and <NUM> may be constantly supplied by robot <NUM> to workstations <NUM>, <NUM> and <NUM>, respectively. The supply rate of items <NUM>, <NUM> and <NUM> to workstations <NUM>, <NUM> and <NUM> may be fixed, based on measurements regarding the available stock, or based on a number of partially assembled products P, P' and P" (or otherwise processed items <NUM>, <NUM> and <NUM>), respectively.

As shown in <FIG>, <FIG> and <FIG>, manufacturing cell <NUM> may come in various shapes (when seen in top view) including, but not limited to, a substantially convex shape such as a convex polygon shape (triangular, rectangular, etc.) and a convex rounded shape (ellipsoid, circular, etc.). The shape of manufacturing cell <NUM> may be defined by the outer edges of workstations <NUM>, <NUM> and <NUM> projected in a horizontal plane. Manufacturing cell <NUM> may have a modular design, wherein a shape of workstations <NUM>, <NUM> and <NUM> projected in the horizontal plane may be substantially identical. Manufacturing cell <NUM> may be comprised of a rigid (rod) frame and boards (e.g., tabletops) mounted to the frame, wherein each of workstations <NUM>, <NUM> and <NUM> comprises boards of substantially the same width, length and height.

Moreover, manufacturing cell <NUM> may have one or more additional workstations <NUM> which are, analogously to workstations <NUM>, <NUM>, and <NUM>, supplied with items <NUM> by robot <NUM>. As shown in <FIG>, <FIG> and <FIG>, workstations <NUM> and <NUM> may be arranged at opposite sides of robot <NUM>. If workstations <NUM> and <NUM> are arranged at opposite sides of robot <NUM>, robot <NUM> may be enabled to rotate around a vertical axis (extending through base <NUM>). Moreover, workstations <NUM> and <NUM> may be placed side-by-side to facilitate passing partially assembled products P and P' (or otherwise processed items <NUM> and22) from one workstation <NUM> and <NUM> to the other workstation <NUM> and <NUM>. Passing partially assembled products P, and P' (or otherwise processed items <NUM> and <NUM>) from one workstation <NUM> and <NUM> to the other workstation <NUM> and <NUM> may be performed manually by the operators O, through conveyors (not shown) or - as already mentioned above - by robot <NUM>. For example, there may be an inclined or powered roller track which guides the partially assembled products P and P' (or otherwise processed items <NUM> and <NUM>) from one workstation <NUM> and <NUM> to the other workstation <NUM> and <NUM>. A sensor (not shown) along a conveyor (not shown) may be used to determine the number of partially assembled products P and P' (or otherwise processed items <NUM> and <NUM>).

If distances D1, D2, D3 and D4 (only for <FIG>, <FIG> and <FIG>) between base <NUM> of robot <NUM> and workstations <NUM>, <NUM>, <NUM> and <NUM> are substantially equal, as shown in <FIG>, <FIG>, <FIG> and <FIG>, base <NUM> may be horizontally immovable or stationary. If distances D1, D2, D3 and D4 (only for <FIG>, <FIG> and <FIG>) between base <NUM> of robot <NUM> and workstations <NUM>, <NUM>, <NUM> and <NUM> are not substantially equal, base <NUM> may be horizontally movable within area A which is surrounded by workstations <NUM>, <NUM>, <NUM> and <NUM>. Moreover, if area A is too large for robot <NUM>, base <NUM> may be horizontally movable within area A. For example, base <NUM> may be linearly movable along the semi-major axes of area A in manufacturing cell <NUM> of <FIG>.

<FIG> shows a schematic front view of workstations <NUM>, <NUM>, <NUM> and <NUM>. Each of workstations <NUM>, <NUM>, <NUM> and <NUM> comprises work desk <NUM> and rack <NUM>. Rack <NUM> has one or more (inclined) shelves (not shown) for storage bins <NUM>. When supplying workstation <NUM>, <NUM>, <NUM> or <NUM> with items <NUM>, <NUM>, <NUM> or <NUM>, respectively, robot <NUM> may retrieve items <NUM>, <NUM>, <NUM> or <NUM>, or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> from store <NUM>, which is arranged below work desk <NUM>, or from store <NUM>, which is arranged above rack <NUM>, as schematically illustrated in <FIG>. Moreover, items <NUM>, <NUM>, <NUM> or <NUM>, or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> may be retrieved from a store (not shown) which is arranged in area A. If area A is not used as storage space, less restrictions may apply as regards the trajectories along which an end-effector of robot <NUM> may travel.

<FIG> schematically illustrates a radial conveyor <NUM> for supplying robot <NUM> with items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM>. As shown in <FIG>, radial conveyor <NUM> may allow robot <NUM> to exchange items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> (containing items <NUM>, <NUM>, <NUM> or <NUM>) with another entity outside of manufacturing cell <NUM>. For example, another conveyor (not shown), an (autonomous) robot (not shown) or a vehicle (not shown) may provide manufacturing cell <NUM> with items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> upon demand by robot <NUM>, by another entity such as a local control unit (i.e., a control unit placed in or assigned to manufacturing cell <NUM>; not shown) or a central control unit (not shown) or in accordance with a fixed schedule. As shown in <FIG>, manufacturing cell <NUM> may comprise a frame made of interconnected rods. The frame supports a plurality of tabletop segments that are placed side-by-side on the frame. The frame also supports shelves for storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM>. In addition, first store <NUM> and <NUM> is integrated into (or forms part of) the structure supporting the tabletops and storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM>. Robot <NUM> which is arranged at the center of manufacturing cell <NUM>, is rotatable around a vertical axis and comprises several (rotary) joints and links and an end effector for handling storage bins <NUM> and/or items <NUM>, <NUM>, <NUM> or <NUM>. From the periphery to the center of manufacturing cell <NUM>, there is a step (in height) at the intersection between the tabletops and the shelves for storage bins <NUM>.

<FIG> and <FIG> illustrate an alternative to radial conveyor <NUM> of <FIG>. In <FIG> and <FIG>, radial conveyor <NUM> is replaced by passage <NUM>. Passage <NUM> may allow an (autonomous) robot (not shown) to provide items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> directly to robot <NUM>. Moreover, passage <NUM> may facilitate accessing robot <NUM> for maintenance and repair. As shown in <FIG>, the width of passage <NUM> may be substantially constant when advancing from the periphery to the inner edge of manufacturing cell <NUM>. Moreover, as shown in <FIG>, the width of passage <NUM> may also (steadily) decline when advancing from the periphery to the center of manufacturing cell <NUM>.

As shown in <FIG>, vertical conveyor <NUM> may be used to supply items <NUM>, <NUM>, <NUM> or <NUM> directly to robot <NUM>. Vertical conveyor <NUM> may serve several vertically stacked manufacturing cells <NUM> or provide items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> from a store (not shown) which is established above or below manufacturing cell <NUM>. For example, manufacturing cell <NUM> maybe placed in a building with multiple stories and a store (not shown) from which items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> are retrieved, may be established in a story above or below a story in which manufacturing cell <NUM> is located. When vertical conveyor <NUM> supplies items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> to manufacturing cell <NUM>, robot <NUM> may pick items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> from conveyor <NUM> and store items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM> in one of stores <NUM> and <NUM> of manufacturing cell <NUM>. Stores <NUM> and/or <NUM> (which are assigned to manufacturing cell <NUM>) and robot <NUM> (which is enabled to store and retrieve store items <NUM>, <NUM>, <NUM> or <NUM> or storage bins <NUM> containing items <NUM>, <NUM>, <NUM> or <NUM>) form a (private) automated warehouse of manufacturing cell <NUM>.

As shown in <FIG> additional storage capacity may be provided by extending manufacturing cell <NUM> below a floor level (not shown) or by adding store capacity above work desk <NUM> to manufacturing cell <NUM>. For example, manufacturing cell <NUM> may extend up to a ceiling of a building in which manufacturing cell <NUM> is placed. Moreover, as shown in <FIG>, a system <NUM> may comprise several manufacturing cells <NUM> that are placed adjacent to each other, such that two manufacturing cells <NUM> form a figure of eight. This facilitates passing partially assembled products P, P' and P" (or otherwise processed items <NUM>, <NUM> and <NUM>) between manufacturing cells <NUM>.

<FIG> shows a perspective view of several vertically interconnected manufacturing cells <NUM>, 10a. In vertically interconnected manufacturing cells <NUM>, 10a, workstations <NUM> and 14a are placed above each other. Manufacturing cells <NUM>, 10a may each be provided with robot <NUM> (as shown in <FIG>) or share one robot <NUM> which has a vertically movable base <NUM>.

Claim 1:
A partially automated manufacturing cell (<NUM>), comprising:
a robot (<NUM>);
a first workstation (<NUM>);
a second workstation (<NUM>); and
a third workstation (<NUM>);
wherein said workstations (<NUM>, <NUM>, <NUM>) are arranged around said robot (<NUM>); and
said robot (<NUM>) is configured to supply first items (<NUM>) to said first workstation (<NUM>), second items (<NUM>) to said second workstation (<NUM>) and third items (<NUM>) to said third workstation (<NUM>);
characterized in that
said first workstation (<NUM>) comprises a first rack (<NUM>) for a plurality of first storage bins (<NUM>) and wherein said robot (<NUM>) is configured to supply said first storage bins (<NUM>) containing said first items (<NUM>) to said first rack (<NUM>), or to supply said first items (<NUM>) to said first storage bins (<NUM>) in said first rack (<NUM>).