Method for order preparation and packaging

Abstract

Method for order preparation and packaging, comprising:-conveying at least one storage container (16) for at least one item to an order preparation station (121) by means of at least one of a first set (17) of self-guided vehicles adapted to travel on the ground; -selecting a first carton (241) intended to form a package of parcels of one of the orders; -conveying the selected first carton to the order preparation station (121) by means of at least one of a second set (18) of self-guided vehicles adapted to travel on the ground; -retrieving at least one item from one of the storage containers (16) and placing the retrieved item in the selected first carton (241). The transport is carried out by moving the vehicle in a driving zone (Z1) provided on an inclined ramp (21) for entering the order preparation station. The acquisition is carried out in a parking area (Z3) accessible from the inclined ramp (21), the parking area comprising at least two adjacent parking spaces (23, 25) intended to receive the first group of vehicles and the second group of vehicles, respectively. The method comprises adjusting the height of at least one of the adjacent parking spaces (23, 25) according to the size of the first carton (241) and / or the storage container (16).

Description

Technical Field

[0001] The present disclosure relates to the field of cargo terminal or warehouse logistics, and in particular, to the automation of a logistics chain.

[0002] More specifically, the present disclosure relates to a method for preparing and packaging at least a portion of an order.

[0003] The present disclosure is particularly suitable for the automation of process management within storage warehouses and / or cargo terminals, for example in warehouses for preparing orders in a logistics chain, for the automation of item sorting in cargo terminals or warehouses, or for the automation of order delivery services at picking locations ("drives"). Background Art

[0004] In the entire logistics chain, process management and product handling in the warehouse or freight station play a decisive role.

[0005] Conventionally, order pickers / packers move within the warehouse to pick each product in an order from its location on a shelf in a shelving unit.

[0006] This system means that pickers / packers have to walk long distances during the working day, which is tiring and results in time loss when routes are not optimized.

[0007] Another disadvantage is that the pickers / packers must know the layout of the warehouse very well to avoid wasting time.

[0008] In order to reduce process fatigue, improve picking management and reduce the time spent on order preparation, it has been envisaged to organize warehouses in a "goods to man" model (according to which products are delivered to order pickers / packers by mechanized means).

[0009] Therefore, it is known to use conveyor belts to transport products from a storage area of ​​the warehouse to an order preparation station and from the order preparation station to a dispatching station. It is also known to use robots to transport products from this storage area to the order preparation station, which are guided on travel tracks arranged in the warehouse floor.

[0010] Patent document US2018 / 0305123A1 describes a technology according to which a robot is guided to an order preparation station on a guide rail or gear mechanism in an order sequence determined by a centralized order management system. Patent document US2019 / 0270591 describes a similar technology.

[0011] However, this known technology has the disadvantage that it is complex and expensive to implement and requires large warehouse dimensions due to the space occupied by the travel tracks or conveyor belts alone.

[0012] Furthermore, once the storage containers are loaded on the conveyor, or the robots are engaged on the travel tracks or ramps to access the order preparation station, it is no longer possible to change the order in which they are delivered to the order pickers / packers, which means that the order sequence in which the orders are prepared cannot be changed at short notice. Specifically, the robots or storage containers must be presented to the operator in the order in which they are engaged on the mechanical members that deliver them to the order preparation station. Therefore, if the priority order of the orders changes, there is no scope for changing the order in which the orders are prepared, and this method of order preparation is therefore inflexible.

[0013] In order to overcome these disadvantages, it has been proposed to use mobile robots, in particular automated guided vehicles (AGVs), to take products from shelf units and deliver them to order preparation stations. Another idea is to use robots to transport products belonging to orders grouped together at order preparation stations to order dispatch stations. These robots preferably move around autonomously, thereby providing greater flexibility in the organization of order preparation stations. Examples of such mobile robots can be found in particular in patent applications WO 2017 / 064428, WO 2018 / 189110 and WO 2022 / 058569.

[0014] Therefore, patent document US2021 / 0221615A1 proposes a technology for preparing orders according to the concourse preparation principle, in which order preparation stations can be designed instantly at any point in the warehouse according to the requirements and volume of the orders to be prepared.

[0015] One drawback of this known technology is that the operation of transferring the products from the robot arriving at the order station to the robot assigned to deliver the products belonging to the order to the dispatch station is inconvenient for the operator: it can cause the products to fall or to collide and make the work of the order picker / packer difficult to such an extent that it can even affect his health and, in the long run, cause musculoskeletal problems. In particular, such mobile order preparation stations, while offering the advantage that they can be designed "on the fly", have the drawback of being ergonomic.

[0016] In addition to the preparation of the orders, another important step is the packaging of said orders. In this regard, there are two different types of procedures. The first is called "pick and pack" and consists in taking out the items in the warehouse and then conveying them to a preparation station where they will be sorted into orders and placed together in collecting containers and then packed in cartons. The second procedure, called "pick and pack", consists in collecting all the items belonging to the same order directly together in cartons. The latter method is particularly advantageous because it combines the picking and packing operations and therefore allows a considerable saving of order preparation time by eliminating the step of transferring the items assembled in the collecting containers into cartons for dispatching the order.

[0017] Thus, for example, techniques are known in which an order picker / packer takes items delivered by a mobile robot to an order preparation station and places the items in a carton placed on a conveyor belt or on a table equipped with a shelf, where the mobile robot can grab this carton from below, in particular using a forklift-based system in which a fork arm slides into an opening in the shelf.

[0018] A first disadvantage of these known techniques is that the operator has to perform significant movements in order to place each item in the carton, which represents a loss of time. Moreover, these operations of transferring the items into the cartons are often inconvenient for the operator, which can cause the products to fall or collide, and make the work of the order picker / packer difficult, to the extent that it can even affect his health. Another disadvantage of this known “pick and pack” technique is that, unlike the collecting containers used in the “pick then pack” technique, the cartons used to dispatch the orders may have very different sizes, depending on the size and quantity of the items ordered. The operators therefore need to adapt to this variety of sizes of cartons, which means that they have to perform a wider range of movements, making their work more difficult and more time-consuming.

[0019] Furthermore, managing a fleet of mobile robots in a storage bay or on a shop floor in general is a complex operation and is constantly seeking improvements in efficiency in terms of flexibility of processes, simplicity of operation (particularly packaging) and speed of transferring products to form orders and deliver them to dispatch stations. Therefore, a solution that meets these requirements is needed. Summary of the invention

[0020] The present disclosure meets this need by proposing a method for order preparation and packaging, the method comprising:

[0021] - delivering at least one storage container for at least one item to the order preparation station by means of at least one vehicle of a first group of self-guided vehicles adapted to travel on the ground;

[0022] - selecting a first carton of a package intended to form a parcel of one of the orders;

[0023] - delivering the selected first carton to the order preparation station by means of at least one vehicle of a second group of self-guided vehicles adapted to travel on the ground;

[0024] - Retrieving at least one item from one of the storage containers and placing the retrieved item in the selected first carton.

[0025] Furthermore, the delivery is performed by moving the vehicle in a driving area arranged on an inclined ramp for accessing the order preparation station; the acquisition is performed in a parking area accessible from the inclined ramp, the parking area comprising at least two adjacent parking spaces intended to receive the vehicles of the first group and the vehicles of the second group, respectively. Furthermore, the method comprises adjusting the height of at least one of the adjacent parking spaces according to the size of the first carton and / or the storage container.

[0026] According to another aspect, a system for order preparation and packaging is provided, comprising:

[0027] - At least one order preparation station;

[0028] - a first group of self-guided vehicles adapted to travel on the ground and to deliver at least one storage container for at least one item to an order preparation station;

[0029] - a second group of self-guided vehicles adapted to travel on the ground and to deliver at least one carton intended to form a package of a parcel of one of the orders to the order preparation station.

[0030] Additionally, the order preparation station includes:

[0031] - an inclined ramp for vehicles to enter the order preparation station, comprising at least one driving area for the vehicles,

[0032] - a parking area, accessible from an inclined ramp, comprising at least two adjacent parking spaces, the at least two adjacent parking spaces being intended to receive vehicles of a first group and vehicles of a second group, respectively,

[0033] - Adjustment means for adjusting the height of at least one of the adjacent parking spaces according to the dimensions of the carton and / or storage container.

[0034] According to another aspect, a computer program product is proposed comprising program code instructions for implementing the method defined herein when this program is executed by a processor.

[0035] According to another aspect, a non-transitory computer-readable recording medium having such a program recorded thereon is provided.

[0036] Such a recording medium may be any entity or device capable of storing a program. For example, the medium may include a storage member, such as a ROM, such as a CD ROM or a microelectronic circuit ROM, or a magnetic recording medium, such as a USB key or a hard disk.

[0037] In addition, such a recording medium may be a transmissible medium, such as an electrical or optical signal, which may be sent via an electrical or optical cable, by radio or by other means, so that the computer program contained therein may be remotely executed. The program according to the invention may be downloaded in particular via a network (e.g., the Internet).

[0038] Alternatively, the recording medium may be an integrated circuit in which the program is incorporated, the circuit being suitable for executing or for executing the above-described order preparation method.

[0039] The features set out in the following paragraphs may optionally be implemented independently of one another or in combination with one another:

[0040] Parking spaces are at different heights.

[0041] The adjacent parking space faces the position of the operator or robot arm.

[0042] At least one of the adjacent parking spaces is inclined relative to a horizontal plane.

[0043] In the event that an error occurs in selecting the first carton, the method comprises:

[0044] - selecting a second carton of packaging intended to form the parcel of the order;

[0045] - moving a second group of vehicles that deliver the first carton from a first one of the adjacent parking spaces to a second one of the adjacent parking spaces, thereby freeing up the first parking space;

[0046] - transporting the selected second carton to the vacated first parking space by means of at least one vehicle of the second group;

[0047] - Retrieving items placed in a first carton and placing the retrieved items into a second carton.

[0048] The selection of the first and / or second carton takes into account at least one of the parameters belonging to the group comprising:

[0049] - the quantity of items constituting the order;

[0050] - the dimensions of the items that make up the order;

[0051] - the nature of the items constituting the order;

[0052] - the fragility of the items that make up the order;

[0053] - the size of the elements to be inserted into the carton for wedging and / or protecting the items constituting the order;

[0054] - Available cardboard box sizes.

[0055] The selection of the first and / or second carton includes transmitting a piece of information representing the selected carton to a unit for managing carton inventory.

[0056] The method further includes determining an arrangement of the one or more items constituting the order within the first and / or second cartons based on the order order in which storage containers for the one or more items constituting the order are presented in the parking area.

[0057] At least some of the vehicles of the first group of vehicles are also vehicles belonging to the second group of vehicles, or vice versa.

[0058] The method includes a transport vehicle that delivers the selected first or second carton to a means for closing the carton at an order dispatch station.

[0059] In the case of modifying the order of preparing orders, the method includes free movement of at least one vehicle of the first and / or second group of vehicles in at least two vertical directions in order to travel from a parking area or from a driving area to a temporary storage area for vehicles arranged on an inclined ramp, and vice versa.

[0060] This method includes:

[0061] - temporarily storing at least one vehicle of the second group in a temporary storage area until an order associated with cartons delivered by the temporarily stored vehicle becomes prioritized;

[0062] - moving the temporarily stored vehicles from the temporary storage area to the driving area in a first movement direction, and moving the temporarily stored vehicles from the driving area to the parking area in a second movement direction perpendicular to the first movement direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Other features and advantages of the invention will become more apparent from a reading of the following description of embodiments of the invention, provided by way of non-limiting illustrative example only, and the accompanying drawings, in which:

[0064] Figure 1

[0065] [ Figure 1 ] depicts a distribution warehouse of an online business in which an example of an embodiment of the order preparation method according to the present invention is implemented;

[0066] Figure 2

[0067] [ Figure 2 ] is a reference Figure 1 A detailed perspective view of the warehouse's order preparation and packing station is presented;

[0068] Figure 3

[0069] [ Figure 3 ] is a reference Figure 2 A partial end view of the order preparation and packing station is presented;

[0070] Figure 4

[0071] [ Figure 4 ] is a reference Figure 2 A partial side view of the order preparation and packing station is presented. DETAILED DESCRIPTION

[0072] The general principle of the technology forming the subject of the present disclosure is based on an order preparation method of the "pick and pack" type, according to which the items constituting an order are collected from storage areas of a warehouse and assembled in cartons directly for dispatching the order at an order preparation station. In particular, this method for order preparation and packing is based on the design of an ergonomic order preparation station into which the autonomous robot enters via an inclined access ramp in order to park in a parking area comprising several adjacent parking spaces, the height of which is adjustable.

[0073] Thus, the position of the parking space in terms of height can be adjusted depending on the size of the storage container and / or the size of the cartons delivered by the robot in order to improve the ergonomics of the order preparation station and facilitate handling by an order picker / packer or a robotic arm.

[0074] An example of an embodiment of this order preparation method will now be described with reference to the accompanying drawings.

[0075] In this document, the term vehicle or robot means any electric machine equipped with at least two wheels for traveling on the ground (and thus may have two, three, four or even more traveling wheels) and intended to transport a load, except for an aircraft. The terms robot and vehicle are used interchangeably. Examples of such vehicles are described, for example, in patent documents WO2023001449 and FR3125514 in the name of the applicant.

[0076] Preferably, such a robot or vehicle is autonomous in its movement and is able to change direction very quickly within a confined footprint. For example, such a robot or vehicle is equipped with a drive wheel mounted on a vertical axis: when the drive wheel turns about this vertical axis, it pivots just enough to change the direction of travel without turning the body of the robot, which thus makes it possible to change the direction of travel of the robot more or less instantly.

[0077] In one embodiment, such a robot not only moves in 2D on the ground, but can also move in 3D by supporting itself on shelf units in the warehouse to climb up these shelf units in order to search for storage containers or collection containers stored there.

[0078] The term "container" refers to any device suitable for transport by a robot and containing one or more articles, objects or products. In the following, the term "container" may also refer to a box or basket, a crate, a box, a carton, etc.

[0079] It should also be noted that in this document, the term carton refers to a container having a substantially parallelepiped shape or any other known suitable shape, i.e. a box made of cardboard. This box is usually made by folding and / or assembling various cardboard sheets, for example using adhesive tape. By way of example, this box can be closed by at least one flap or by a lid. The term cardboard denotes a material, i.e. a material based on paper or paper-like material, whether this is simple, corrugated, cellular or laminated cardboard, to name just a few examples.

[0080] Furthermore, the terms "article" and "product" are used interchangeably. They simply refer to objects, especially commercial objects, stored in a workshop, store or warehouse and intended to be delivered alone or in combination with one or more other articles to the final customer who has placed an order for it.

[0081] Finally, without departing from the context of the present disclosure, a temporary storage area may be an area intended for storing orders awaiting delivery at a "drive by".

[0082] Figure 1 An automated distribution warehouse 10 of an online trading company is depicted. This warehouse is structured into three areas: a storage area 11, an order preparation and packaging area 12 equipped with order preparation and packaging stations 121, and a dispatch area 13 equipped with parcel dispatch stations 131 including means 132 for closing cartons.

[0083] The storage area 11 is made up of a plurality of shelf units 14 formed by shelves on a plurality of levels, supported by uprights 15 and organized in continuous parallel rows. Storage containers 16, which may contain all similar articles or a plurality of different articles belonging to the same product range, are stored on these shelves. Furthermore, it should be noted that some of these shelf units are reserved for the temporary storage of cartons pre-filled with one or more articles belonging to the same order, awaiting transport to the preparation and packaging station 121, so that other missing articles can be placed therein to complete the packaging of the order to which they have been allocated or awaiting transport to the dispatch station 131.

[0084] A first fleet of self-guided vehicles 17 , for example equipped with four wheels for traveling on the ground, transports the storage containers 16 between the storage area 11 and the order preparation and packaging station 121 .

[0085] When the vehicle 17 receives an instruction to go to and take out a box 16 on a shelf unit containing one or more items belonging to an order, the vehicle 17 travels on the ground until it reaches the base of the shelf unit 14 storing the box 16, and climbs along the shelf unit, supporting itself on the shelf unit facing the shelf unit until it reaches the shelf storing the box 16 and grabs the box. The vehicle 17 then returns downward between the two shelf units and, once back on the ground, transports the box 16 to the order preparation station 121.

[0086] This first group 17 thus comprises a first group of self-guided vehicles suitable for travelling on the ground, which are intended to retrieve storage containers holding one or more articles stored on the shelf units and to transport them to the order preparation station.

[0087] A second fleet of self-guided vehicles 18 transports the selected cartons to form the packages that will contain the order. These vehicles 18 take the selected cartons from the unit 110 for delivering cartons for managing the stock of cartons, transport the selected cartons to the order preparation and packaging station 121, and transport the cartons already placed with one or more items belonging to the same order and taken from the storage box 16 delivered to the order preparation station 121 by the vehicle 17 from the order preparation station 121 to the means 132 for closing the cartons of the dispatch station 131.

[0088] Therefore, this second group 18 comprises a second group of self-guided vehicles suitable for traveling on the ground, which are intended to transport cartons containing at least some items belonging to the same order from the order preparation station 121 to a dispatch station 131 for dispatching orders, a temporary storage area, or a conveyor belt connected to a dispatch station for dispatching orders.

[0089] In this particular embodiment of the invention, the carton selected is a carton of cuboid shape known per se, open at the top face and equipped with four flaps for closing the opening of the carton. These cartons can be of various sizes, depending on the number and size of the different articles they are intended to contain.

[0090] Vehicle 17 or 18 may be provided for both transporting storage containers 16 to order preparation and packing station 121 and intermittently for transporting cartons to dispatch station 131, or vice versa, as required and depending on the availability of other vehicles in the fleet at any given moment.

[0091] This provides a great deal of flexibility in the management of the vehicle fleet, since the same vehicle can be used for transporting storage containers or collection containers and can therefore form part of the first or second group of vehicles as required. Thus, at least some of the vehicles in the first group of vehicles are also vehicles belonging to the second group of vehicles, or vice versa, so that the total number of vehicles used for transporting storage containers and collection containers can be reduced.

[0092] The second group of vehicles may be a subset of the first group of vehicles, or vice versa.

[0093] When starting to prepare an order or part of an order:

[0094] - it is assigned a first carton 241, whose ID is recorded in the centralized management system in association with the order number;

[0095] - a vehicle belonging to the second group 18 takes this first carton 241 from the shelf unit;

[0096] - This vehicle 18 transports the removed carton 241 to the order preparation station 121 where it is positioned in a first parking space facing the position of an operator or a robot arm.

[0097] Likewise, a storage container containing at least one item constituting an order or a part of an order is assigned to a vehicle belonging to the first group 17, the ID of the vehicle and the ID of the storage container being recorded in association in the centralized management system. The vehicle 17 takes the storage container assigned to it from the shelf unit and delivers it to a second parking space of the order preparation station 121, adjacent to the first space where the collection container is parked and likewise facing the position of the operator or the robot arm.

[0098] An operator or robotic arm may then retrieve one or more items making up the order from a storage container parked in the second parking space and place them in a carton parked in a first parking space adjacent thereto.

[0099] If all the items making up the order have been placed in the carton 241 , the vehicle 18 can transport the carton to a dispatch station or to a conveyor belt for transporting it to this dispatch station, or to a device for closing the carton for dispatch.

[0100] This order preparation technique advantageously allows to quickly and simultaneously compose several orders consisting of items stored at various different storage locations in a workshop, store or warehouse, as described below. Figures 2 to 4 The description will be more clearly understood.

[0101] Figure 2 The order preparation and packing station 121 is shown in a detailed outline perspective view.

[0102] This order preparation and packaging station 121 is equipped with a robot arm 26 known per se, which can likewise be replaced by a human operator. The base 261 of the robot arm is fixed or rotates about an axis fixed relative to the ground. In another embodiment, the base of the robot arm is slidably mounted on at least one track. This increases the range of movement of the robot arm, which can prove advantageous in a configuration in which the parking area of ​​the order preparation station comprises more than two adjacent parking spaces for receiving cartons or storage containers, as will be seen in more detail below.

[0103] The storage containers 16 are delivered to this order preparation and packing station 121 by a vehicle 17 of the first group of self-guided vehicles, which enters the inclined access ramp 21, for example, from the left. In this particular embodiment of the invention, a vehicle 18 of the second group of self-guided vehicles exits the inclined access ramp 21 via the right side of the inclined access ramp 21. In this example, the access ramp 21 is a lift ramp that allows the robots 17, 18 to ascend to the order preparation station 121, which move around by driving on the floor of the warehouse from the storage area 11 to the order preparation area 12. In another example where the robots drive around on the upper floors of the warehouse, the inclined access ramp 21 can also allow the robots to descend from this upper floor to the order preparation station 121.

[0104] Such robots 17 , 18 are autonomous in their movements and can in particular move in 2D on inclined ramps 21 .

[0105] As in Figure 4 You can see in more detail, Figure 4 yes Figure 2 , the inclined access ramp 21 comprises two distinct areas:

[0106] - Vehicle driving zone marked as Z1;

[0107] - An area marked Z2 for temporary storage of vehicles.

[0108] Thus, the robots 17, 18 can freely travel between the driving zone Z1, the temporary storage zone Z2 and the parking zone Z3, which will be described below, depending on the priority level of the orders to which they are assigned.

[0109] The temporary storage area Z2 is substantially horizontal and can temporarily store at least two vehicles, for example vehicles of the first group 17 and vehicles of the second group 18. The temporary storage area can also be sized to allow a larger number of vehicles to be stored simultaneously, if desired.

[0110] The presence of a temporary storage area Z2 at the order preparation station advantageously allows temporary storage of some items of an order being prepared, for example while waiting for replenishment of ordered but out-of-stock items at a warehouse or depot, or when dispatch of an order needs to be delayed.

[0111] This zone Z2 may include means for charging the batteries of the vehicles 17, 18 when they are temporarily stationary in the zone Z2. This may consist, for example, of an inductive charging module (also referred to as a pad), which makes it possible to charge the batteries of the vehicles when they are parked on a ramp. This saves time and space, since no additional charging stations need to be provided, or at least the capacity and / or number of other charging stations can be reduced. These charging means may also be positioned in the travel zone Z1. For example, a charging pad 28 is provided on each edge of the ramp 21 to charge the batteries of the robot 17 or 18.

[0112] The vehicle driving zone Z1 includes at least two arrival paths and at least two departure paths for vehicles, Figure 2 , to allow a very smooth movement of the vehicles 17, 18 and thus to manage the preparation of several orders simultaneously. For example, the width of the inclined ramp 21 is greater than or equal to the width of four vehicles, preferably greater than or equal to the width of six vehicles, to allow the vehicles 17, 18 to move up and down the access ramp 21 simultaneously and for several vehicles to pass each other. Thus, the vehicle 17 transporting the first storage container and the vehicle 18 transporting the first carton can simultaneously ascend along the access ramp 21 to enter the order preparation station to start preparing the order to which they are assigned, while the vehicle 17 transporting the second storage container and the vehicle 18 transporting the second carton descend simultaneously as the preparation of the order to which they are assigned is completed.

[0113] The order preparation station further comprises a parking area, referenced Z3, into which vehicles 17, 18 enter from an inclined ramp 21. The upper end of the ramp 21 is covered by a fence 27, which separates the parking area Z3 from the driving area Z1 for vehicles 17 and 18 and the temporary storage area Z2. In addition, an opening 29 is formed in this fence to allow vehicles 17 and 18 to enter a parking space in this parking area Z3 within reach of the robot arm 26. Figures 2 to 4 In the example of the embodiment shown in , a parking zone Z3 is depicted which comprises exactly two parking spaces, so the opening 29 is dimensioned to allow two vehicles to pass through simultaneously. However, depending on the width of the ramp 21, the parking zone may comprise a greater number of parking spaces, for example four or six. In this case, the opening 29 in the barrier 27 is of course adapted to allow four or six vehicles to pass through simultaneously, depending on the number of parking spaces.

[0114] The presence of more than two adjacent spaces 23, 25 in parking area Z3 advantageously makes it possible to reduce the time spent preparing orders. Therefore, several storage containers (e.g., containers for table tennis balls and containers for table tennis rackets) of different items required for transporting orders can be located in parking area Z3. Table tennis balls are taken from the first container and placed in cardboard boxes 241, and then table tennis rackets are taken from the second container immediately afterwards, without having to wait for the container for rackets to replace the container for balls in the parking space reserved for storage containers. It is also possible to have several cardboard boxes 24 in the parking area, which is advantageous when the same items are needed to prepare several orders. For example, if three customers have ordered table tennis balls, three cardboard boxes 24 can be placed in parking area Z3 together with storage containers containing table tennis balls. Table tennis balls can then be taken from storage containers 16 and placed in each of the three cardboard boxes 24 continuously and quickly.

[0115] The adjacent space of parking zone Z3 is preferably facing and within reach of the operator or robotic arm 26 to enhance the ergonomics of the order preparation station 121. Thus, the operator does not have to walk around or move the motorized arm on the ground to transfer the items of the order between the storage container 16 and the carton 24. This transfer is achieved in a short time with a simple and ergonomic movement of the operator's arm or the robotic arm 26.

[0116] Furthermore, these adjacent spaces, accessible from the inclined ramp 21 entering the order preparation station, are preferably placed at personal height so that the operator does not have to bend over to handle the items that make up the order. This reduces the range of motion required of the operator and therefore reduces the risk of musculoskeletal problems.

[0117] In order to further improve the ergonomics of the order preparation station, provision can be made for the respective parking spaces 23 and 25 of the robots 18 and 17 to be height-adjustable or to be at different heights in order to adapt to the dimensions of the storage container and the carton. Thus, the height of the top opening of the storage container and the height of the top opening of the carton can be adjusted independently, for example so as to position these openings substantially at the same level in the case where the storage container and the carton have different height dimensions. This is particularly advantageous for parking spaces intended to receive cartons for dispatch orders, since, obviously, the dimensions can vary from one order to another, depending on the number of items ordered by the customer or on their size. In the case of preparing several orders in parallel and in the case where several dispatch cartons are therefore parked in adjacent spaces of the parking area, the height of the parking space for each collection carton can therefore be adjusted individually according to the size of the collection carton that has been selected according to the volume of the ordered items.

[0118] Therefore, if the height of the carton 24 is less than the height of the storage container 16, the parking space receiving the carton 24 is higher than the parking space receiving the storage container 16, so that the top opening of the carton 24 is at the same height as the top opening of the storage container 16.

[0119] The ergonomics of the order preparation station is enhanced by allowing the height of the parking space for the collection carton to be adjusted to the height of the collection carton, ensuring that the top opening of the collection carton is always at the correct height for the operator or the robot arm. Such height adjustment can be performed by means of adjusting a rack or using an electric lifting member that can be controlled by the centralized management system according to the dimensions of the collection carton selected from the shelf unit. These dimensions are known to the centralized management system according to the ID of the collection carton associated with the ID of the order being prepared.

[0120] The robot arm 26 mounted on a fixed base 261 is intended to be positioned from a predetermined parking space 25 at the end of the ramp 21 (in the end view as an end view of the order preparation and packaging station 121). Figure 2 and Figure 3 The storage container 16 transported by the vehicle 17 in FIG. 1 (depicted in dotted lines) retrieves the item and places the item in a predetermined parking space 23 (at the end of the ramp 21) provided by the vehicle 17. Figure 2 and 3 In the cardboard box 241 transported by the vehicle 18 in (depicted by dotted lines).

[0121] This carton 241 selected to form the package of the order being prepared has been taken out by the vehicle 18 from the unit 110 for managing the inventory of carton boxes. The format of this carton is selected from a set of available formats of carton boxes stored in the unit 110 for managing the inventory of carton boxes by a dedicated software application based on the number of items constituting the order, the size of the items, the nature of the items, the shape of the items or the fragility of the items and how these items need to be wedged to ensure that they are properly protected. This software application can receive all this information as input parameters, which is stored, for example, in association with the reference of the ordered items in the database of the centralized management system of the warehouse. The packaging optimization algorithm calculates the optimal size of the carton 241 to be selected from the inventory of carton boxes of the inventory management unit 110 according to all these input parameters. When the vehicle 18 selects the best carton 241, a piece of information representing the selected carton is transmitted to the unit for managing the inventory of carton boxes, so that it deducts one unit from the managed inventory of carton boxes. The ID of the carton 241 can also be stored in the central management system in association with the ID of the order.

[0122] This software application can also determine the optimal arrangement of the items constituting the order in the selected carton 241, for example based on their respective shape and fragility or available wedging and protection elements, and control the order of presentation of the storage containers of the items in the parking area Z3 based on the determined optimal arrangement.

[0123] In another embodiment, the application can also determine the optimal arrangement of the items constituting the order in the selected carton 241 based on the order in which the storage containers of the items constituting the order are presented in parking area Z3, as determined by a central management system for managing the fleet of robots 17, 18.

[0124] In another embodiment, the selection of cartons 241 is performed by a fully autonomous operator, or with the assistance of a dedicated software application.

[0125] Because the first parking space 25 and the second parking space 23 for vehicles are advantageously adjacent to and facing the robot arm 26, the movement of the arm 26 for each handled article is limited to: taking the article from the storage box 16, rotating the arm to position the arm above the carton 24, placing the article in the carton 24 via a substantially vertical movement, and returning to its initial position, which means that these operations can be repeated at a high rate. The same applies to configurations with three, four or six adjacent parking spaces, and then only the amplitude of the arm movement is increased.

[0126] Thus, as will be readily appreciated, in a variation of this particular embodiment of the invention in which the operations performed by the robotic arm are performed by an operator, in addition to the time savings provided by this arrangement, the risk of musculoskeletal problems for the operator is greatly reduced, as is the risk of an item falling to the ground if it slips from the operator's hands.

[0127] The first parking space 25 and the second parking space 23 are formed by two substantially adjacent flat surfaces constituting a parking zone Z3 forming part of the upper part of the extension ramp 21. In a configuration with four or six parking spaces, the zone Z3 takes the form of an inclined flat surface of the upper part of the extension ramp and has a width that corresponds substantially to the width of four or six vehicles, depending on the number of parking spaces.

[0128] Thus, the items to be retrieved can be easily placed at the operator's height, which also makes it easier to place them in the carton 24 .

[0129] like Figure 4It can also be seen in FIG. 2 that the parking area marked Z3 is inclined relative to the horizontal plane. When the inclined access ramp 21 is a lifting ramp, this parking area Z3 in particular has an angle of inclination relative to the horizontal plane, the sign of which is opposite to the inclination angle of the access ramp 21. Thus, the respective parking spaces 23 and 25 for the vehicles 18 and 17 are in a plane 31 inclined relative to the horizontal plane at the upper end of the ramp 21, which facilitates the access of the robot arm to the items in the storage container 16 and makes it easier to place them in the cardboard box 24.

[0130] The design of this access ramp 21 has the technical effect of providing a highly ergonomic order preparation station and also allows great flexibility in managing cartons 24 of different sizes and great flexibility in adapting in case of errors in selecting the carton suitable for an order. This makes it possible to significantly reduce the time spent on preparing an order and optimize the efficiency of processing multiple orders.

[0131] Specifically, Figures 2 to 4 As can be seen, with the help of the first cardboard box 241 delivered by the vehicle 18 of the second group, the preparation of the order can be started at the order preparation station 121 by requiring the operator or the robot arm 26 to place some items constituting the order therein, which items are contained in various storage containers that have been pre-transported to the order preparation station 121 by multiple vehicles of the first group 17 of vehicles.

[0132] In the event that the dimensions of the first carton 241 are ultimately not suitable for the volume of items constituting the order (for example because the customer has added additional items to his order after the first carton 241 has been selected, or in the event of an initial error by the operator when selecting the format of the carton), a second carton 242 of more appropriate dimensions is selected and delivered to a parking space in the parking zone Z3 by the vehicles of the second group 18. The first and second cartons are preferably placed in adjacent parking spaces.

[0133] For example, in an embodiment where parking zone Z3 comprises two adjacent parking spaces, the vehicles of the second group 18 conveying the first carton 241 move from the first parking space 25 to the second parking space 23, thereby vacating the first parking space 25. The vehicles of the second group 18 then convey the second carton 242 to the already vacated first parking space 25. The operator or the robot arm 26 can then retrieve the items placed in the first carton 241 in order to place them in the second carton 242. When all the items have been taken out of the first carton 241, the vehicle 18 conveying the items can give up its position in the parking space 23 to the vehicle 17 conveying the storage container 16 containing the items missing from the order. The missing items are again taken from the storage container 16 and placed in the second carton 242. When all the items constituting the order have been placed in the second carton 242, the second carton can be conveyed to a device for closing the carton at the order dispatch station before dispatching to the final customer.

[0134] Thus, this method makes it possible to correct errors regarding the size of the carton selected by the operator or the software application. In particular, if, as the items of the order are successively placed in the selected cartons, the operator or the software application notices, for example when trying to place a new item in the carton, that the initially selected carton is in fact too small to accommodate all the items for which this carton has been provided, the operator or the application can select another larger carton, which will be taken out by another vehicle of the second group and transported to the second space, while the vehicle of the second group carrying the initially selected carton will receive an instruction to leave the second space in order to make room for the vehicle carrying the newly selected carton and move to the first space.

[0135] An operator or robotic arm can then remove the items from the initially selected carton and place them in the newly selected carton.

[0136] In addition, with the aid of a first carton 241 delivered by a vehicle 18 of the second group, the first order can also be started at the order preparation station 121 by requiring an operator or a robotic arm 26 to place therein some items constituting the first order, these items being contained in various storage containers that have been pre-transported to the order preparation station 121 by multiple vehicles of the first group 17 of vehicles.

[0137] In the case where the preparation of the second order becomes a priority, or if it is not possible to complete the preparation of the first order because one of the items in the order is missing, the vehicle of the second group 18 gives up its position in the first parking space 23 to another vehicle of the second group 18, which carries a second carton 24 to prepare the second order and transports the first carton 24, in which some items of the first order have been placed, to a temporary storage area Z2 to await completion of the first order.

[0138] If the heights of the first and second cartons are not the same, the height of the parking space in which the vehicle 18 carrying the cartons of the second order is located can be adjusted so as to position the second carton as ergonomically as possible. This adjustment can be performed automatically, for example by scanning a barcode or QR code located on the second carton using a scanning device arranged in or near the parking zone Z3. This code contains information about the height of the carton, for example. The electric system for adjusting the height of the parking space sets the optimal position of the carton facing the operator or the robot arm according to the height of the carton derived from the scanned barcode or QR code.

[0139] Preparation of the second order can then begin, requiring an operator or a robotic arm to place the items of the second order contained in the storage containers delivered to the order preparation station 121 by the vehicles of the first group 17 into the second carton 24. Once some or all of the items of the second order have been placed in the second carton, the second carton can be sent to a temporary storage area Z2 (in the case where preparation of this second order is not complete, for example because an item is lost), to a dispatch station (in the case where preparation of this second order is complete) or to a conveyor belt linked to the dispatch station.

[0140] In short, with the help of Figures 2 to 4 With the system, at least three operating modes for preparing orders can be envisaged:

[0141] Example 1: Preparation of a "simple" order consisting of a single item

[0142] After a vehicle of the first group 17 has been assigned to a storage container containing a single item of an order, this vehicle transports the storage container to the order preparation station 121: the vehicle drives up via the driving zone Z1 of the access ramp 21 to the parking zone Z3, where it is parked in the second predetermined parking space 25. An operator or a robot arm 26 takes the item and places it in a cardboard box 24 located in the first predetermined parking space 23. This collection container has been transported by a vehicle of the second group 18 of vehicles through the driving zone Z1 to the parking zone Z3. The collection container can then be transferred to a temporary storage area (e.g., waiting for the end customer to "drive" to pick up the order) or to a dispatch station.

[0143] If several "simple" orders for several customers consist of the same articles, several cartons 24 can also be positioned in several adjacent spaces in the parking zone Z3, where the storage containers contain the ordered single articles. In this case, the height of the parking space for each of these cartons is preferably adjusted according to their respective heights. The operator or the robot arm takes the articles and places them successively in each carton, the respective top openings of which have all been adjusted to the same level. These cartons can then be transferred to a temporary storage area or a dispatch station.

[0144] Example 2: Preparing a "simple" order consisting of several different items stored in different locations in a warehouse

[0145] The preparation of the order is carried out in a manner substantially similar to that of Example 1. Since the order comprises several items, in this case several vehicles of a first group 17 are provided to go to and take out each storage container containing one of the items constituting the order, after assigning one of the storage containers to be taken out to each vehicle, and present the storage containers one after another at a second predetermined parking space 25. An operator or a robot arm 26 then successively takes out the various items constituting the order and places them in cartons located in the first predetermined parking space 23 delivered by a vehicle of the second group 18 of vehicles.

[0146] Thus, if the parking area contains two parking spaces 23 and 25, a first vehicle 17 conveying a first storage container with a first item of an order ascends via the travel zone Z1 to the access ramp 21 and enters the parking area Z3. The first item is taken out by the robot arm 26 and placed in a cardboard box located in the space 23 next to the parking space 25 of this first vehicle 17. This first vehicle can then return straight down along the inclined ramp 21 via the same path of the travel zone Z1 from which it ascended or via another downward path of this travel zone Z1. By performing a movement in a direction perpendicular to the direction of these travel paths, for example by rotating its drive wheels on the spot, the vehicle can easily travel from one path to another. While this first vehicle is traveling down the ramp 21, a second vehicle 17 conveying a second storage container with a second item of the order travels up along the access ramp 21 via the free travel path of the access ramp 21. Both vehicles can travel up and down at the same time, which saves a lot of time for the preparation of the order. When the vehicle reaches the top of the ramp 21, if the upward path taken by the vehicle is not opposite to the parking area, the second vehicle 17 can move in a direction perpendicular to its ascending direction until the vehicle is opposite to its parking space. The vehicle then pivots again by 90° to proceed to its parking space in a direction parallel to its ascending direction along the ramp 21.

[0147] Again, the robot arm 26 takes the second item constituting the order from the storage container parked in the parking space 25 and places the second item in the carton parked in the adjacent parking space 23. Then, the second vehicle 17 can leave the parking zone Z3 and return to the storage area 11 via the driving zone Z1, where the second vehicle puts the storage container back into the shelf unit 14. The vehicle can also leave the parking zone Z3 and proceed to another order preparation station, where the items contained by the vehicle are required to prepare another order. Finally, in the case where the items contained by the vehicle can be used to prepare another order to be immediately constituted at this same order preparation station 121, the vehicle can leave the parking zone Z3 and temporarily park in the temporary storage area Z2. In particular, in this case, it is advantageous that the vehicle remains at the order preparation station to avoid any unnecessary movement and thus reduce the time spent on processing the order. Therefore, it is advantageous that the temporary storage area Z2 is able to store all vehicles if several vehicles can be used to prepare future orders.

[0148] When the preparation of an order is complete, since all the items constituting the order have been collected, the cartons assigned to it can be transferred to a temporary storage area or dispatch station where they can be closed before being dispatched.

[0149] On the other hand, if parking zone Z3 contains more than two parking spaces, the cartons transported by vehicle 18 and the various storage containers transported by the first group of vehicles 17 and each containing the items constituting the order can be parked simultaneously in this zone. This further speeds up the time taken to process the order, because the various items can be taken out from each storage container continuously and quickly by the robot arm and placed in the carton. In order to enhance ergonomics, the height of the parking space for each storage container or carton is adjusted according to the size of the storage container or carton. This adjustment can be automatic or performed manually by the operator. Once the operator or the robot arm has taken the items from the storage container, the vehicle transporting the items can leave the ramp and give up its position to another vehicle.

[0150] Example 3: Preparing part of an order consisting of several items and placing this order on standby to prepare another order that becomes priority at the same time

[0151] In this example, the preparation of order C1 starts in the same way as in example 2. If another order C2 becomes priority, the objects constituting the order C1 being prepared are interrupted and transferred into cartons in parking zone Z3, and this carton is transported on vehicles of the second group 18, which carry the cartons to the temporary storage zone Z2. This frees up the first reserved parking space 23 for the second group 18 of vehicles carrying cartons assigned to order C2, which has become priority, and the preparation of order C2, which has become priority, can begin with the transport of storage containers containing the objects constituting order C2 to the second parking space 25 with the help of a vehicle of the first group 17 of vehicles. Preferably, before starting the preparation of order C2, the height of the parking space for the cartons assigned to the vehicles is first adjusted, in particular if said cartons do not have the same format as the cartons assigned to the first order C1.

[0152] Thus, the vehicle 18 assigned to the order C1 is temporarily parked in the temporary storage area Z2. During this time, the vehicles 17 conveying storage containers with items constituting the order C2 travel via the travel area Z1 so as to sequentially enter the parking area Z3. When the robot arm 26 has taken the items of the order C2 from one of these vehicles 17, the vehicle can leave the ramp 21 via the travel area Z1, while the next vehicle 17 rises in parallel via another path of the access ramp. When the preparation of the order C2 is completed, the vehicle 18 assigned to the order C1 leaves the temporary storage area Z2 and returns to the parking area Z3, where the preparation of the order C1 can be started. The vehicle can travel from one access path to another, or from the travel area to the temporary storage area, or from the temporary storage area to the parking area, by moving in at least two perpendicular directions, namely, a direction parallel to the access path and a direction perpendicular to the access path.

[0153] The above examples of operating modes in no way limit the manner in which vehicles, items and orders are managed when implementing the method of the present disclosure. The examples are merely intended to illustrate the flexibility provided by the method with respect to the management of vehicle and carton inventory and with respect to order composition.

[0154] Specifically, the configuration of the order preparation station into three zones, the possible height adjustment of adjacent parking spaces for vehicles, the inclined access ramp with several paths for the vehicle to travel up and down, combined with the large mobility of the vehicle, allows a high degree of flexibility in managing the order of preparing orders, placing orders in standby and restarting orders as needed, depending on the priority level of the orders and the variation in the size of the cartons used for the dispatch of the orders.

[0155] In order to limit the time lost in delivering the various storage containers for making up an order to the parking spaces 25, the vehicles 17 are advantageously positioned one after the other in a straight line on the ramp 21, waiting until a position in one of the parking spaces 25 is vacated by the preceding vehicle, after the robotic arm 26 has retrieved one or more items making up the order from the storage containers supported by such vehicles, by moving away to the side in order to return down the ramp via a downward path parallel to the upward path.

[0156] Citation list

[0157] Patent Literature

[0158] The following patent documents are cited for all appropriate purposes:

[0159] -patcit1: US2018 / 0305123A1 (publication number);

[0160] -patcit2: US2019 / 0270591 (publication number);

[0161] -patcit3: US2021 / 0221615A1 (publication number);

[0162] -patcit4: WO2023001449A1 (publication number);

[0163] -patcit5:FR3125514A1 (publication number);

[0164] -patcit6: WO2017064428A1 (publication number);

[0165] -patcit7: WO2018189110A1 (publication number);

[0166] -patcit8:WO2022058569A1(publication number).

Claims

1. A method for order preparation and packaging comprising: - transporting at least one storage container (16) for at least one item to an order preparation station (121) by means of at least one vehicle of a first group (17) of self-guided vehicles adapted to travel on the ground; - selecting a first carton (241) of packaging intended to form a parcel of one of said orders; - delivering the selected first carton to the order preparation station (121) by means of at least one vehicle of a second set (18) of self-guided vehicles adapted to travel on the ground; - retrieving at least one article from one of the storage containers (16) and placing the retrieved at least one article in the selected first carton (241); characterised in that the transport is performed by moving the vehicle in a travel zone (Z1) arranged on an inclined ramp (21) for access to the order preparation station, wherein said acquisition is performed in a parking area (Z3) accessible from said inclined ramp (21), said parking area comprising at least two adjacent parking spaces (23, 25) intended to receive respectively vehicles of said first group and vehicles of said second group, And wherein the method includes adjusting the height of at least one of the adjacent parking spaces (23, 25) according to the size of the first carton (241) and / or the at least one storage container (16).

2. The method for order preparation and packaging according to claim 1, characterized in that The at least two parking spaces (23, 25) are located at different heights.

3. A method for order preparation and packaging according to any one of claims 1 and 2, characterized in that The at least two adjacent parking spaces (23, 25) face the position of an operator or a robot arm (26).

4. A method for order preparation and packaging according to any one of claims 1 to 3, characterized in that At least one of the adjacent parking spaces (23, 25) is inclined (31) relative to a horizontal plane.

5. A method for order preparation and packaging according to any one of claims 1 to 4, characterized in that In the event of an error in selecting the first carton (241), the method comprises: - selecting a second carton (242) of packaging intended to form the parcel of said order; - moving the second group (18) of vehicles that transport the first carton (241) from a first one of the adjacent parking spaces to a second one of the adjacent parking spaces, thereby freeing up the first parking space; - transporting the selected second carton (242) to the vacated first parking space by means of at least one vehicle of the second group (18); - Retrieving at least one article placed in said first carton (241) and placing said retrieved at least one article in said second carton (242).

6. A method for order preparation and packaging according to any one of claims 1 to 5, characterized in that The selection of the first carton and / or the second carton takes into account at least one of the parameters belonging to the group comprising: - the quantity of items constituting said order; - the dimensions of the items constituting the order; - the nature of the items constituting the order; - the fragility of the items constituting said order; - the size of the elements to be inserted into said carton for wedging and / or protecting the items constituting said order; - Available cardboard box sizes.

7. A method for order preparation and packaging according to any one of claims 1 to 6, characterized in that The selection of the first carton and / or the second carton includes transmitting a piece of information representing the selected carton to a unit for managing carton inventory.

8. A method for order preparation and packaging according to any one of claims 1 to 7, characterised in that The method further comprises determining the arrangement of one or more items constituting the order in the first and / or second cartons according to the order order in which at least one storage container (16) for the one or more items constituting the order is presented in the parking area (Z3).

9. A method for order preparation and packaging according to any one of claims 1 to 8, characterised in that At least some of the vehicles of the first group (17) of vehicles are also vehicles belonging to the second group (18) of vehicles, or vice versa.

10. A method for order preparation and packaging according to any one of claims 1 to 9, characterised in that The method includes transporting the vehicle, which delivers the selected first or second carton to a means for closing the carton at an order dispatch station.

11. A method for order preparation and packaging according to any one of claims 1 to 10, characterised in that In the case of modifying the order of preparing orders, the method includes free movement of at least one vehicle of the first group of vehicles and / or the second group of vehicles in at least two vertical directions so as to travel from the parking area (Z3) or from the driving area (Z1) to a temporary storage area (Z2) for the vehicle arranged on the inclined ramp (21), and vice versa.

12. The method for order preparation according to claim 11, characterized in that The method comprises: - temporarily storing at least one vehicle of said second group in said temporary storage zone (Z2) until an order associated with cartons delivered by the temporarily stored vehicle becomes a priority; - moving the temporarily stored vehicle from the temporary storage area (Z2) to the driving area (Z1) in a first moving direction, and moving the temporarily stored vehicle from the driving area (Z1) to the parking area (Z3) in a second moving direction perpendicular to the first moving direction.

13. A computer program product comprising program code instructions for implementing the method according to any one of claims 1 to 12 when the program is executed by a processor.

14. A non-transitory computer-readable recording medium having recorded thereon a program for implementing the method according to any one of claims 1 to 12 when the program is executed by a processor.

15. A system for order preparation and packaging comprising: - at least one order preparation station (121); - a first group (17) of self-guided vehicles adapted to travel on the ground and to deliver at least one storage container (16) for at least one item to said at least one order preparation station (121); - a second group (18) of self-guided vehicles adapted to travel on said ground and to deliver at least one carton (24) to said at least one order preparation station, said at least one carton intended to form a package of a parcel of one of said orders; Characterized in that the at least one order preparation station (121) comprises: - an inclined ramp (21) for said vehicles to enter said at least one order preparation station, comprising at least one driving zone (Z1) for said vehicles, a parking area (Z3), accessible from said inclined ramp, comprising at least two adjacent parking spaces (23, 25), said at least two adjacent parking spaces being intended to receive respectively said first group (17) of vehicles and said second group (18) of vehicles, - an adjustment member for adjusting the height of at least one of the adjacent parking spaces (23, 25) according to the dimensions of the at least one carton and / or the at least one storage container.

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