AUTOMATIC INVENTORY OF A WAREHOUSE

For updating an inventory of objects located in a hoisting area wherein a load is handled by a hoisting appliance equipped with a scanning device and spanning a hoisting area, the inventory comprising physical data and log data associated with objects and being provided by a supervisory system supervising the hoisting area, a control device:generates (S2) a trajectory of the hoisting appliance for navigating through the hoisting area taking in account a time interval and the log data,wherein the traj ectory comprises a starting point, a target point and a number of consecutive line segments connecting the starting point and the target point,optimizes (S3) the trajectory for allowing a scan of objects associated with old log data during the time interval,executes (S4) the optimized trajectory and scanning objects during the optimized trajectory, yielding to scan data related to the scanned objects,sends (S5) the scan data to the supervisory system for updating the inventory with the scan data.