Order preparation method

Abstract

An order preparation method (100) comprises: moving a motor vehicle (30) on the ground of a transfer zone (11) at least in a first horizontal direction (X1) to align the vehicle (30) with a lane (Pi) of a storage zone (10) in a second horizontal direction (X2); moving the vehicle (30) in the lane (Pi) in a second horizontal direction (X2) until the vehicle (30) is positioned in a corridor (Ai) of the storage area (10), the corridor (Ai) serving the shelves (20) storing the collecting units (23c); wherein the vehicle (30) is configured to be freely movable on the ground, and the orientation of the vehicle (30) remains fixed during the execution of the method.

Description

Technical Field

[0001] The present invention specification relates to the field of order preparation methods. Background Art

[0002] Traditionally, in the logistics field, more specifically in the field of order preparation in a warehouse, manual operators move around in the warehouse to collect one or more items of an order from various shelves in the warehouse. The operator may need to cover long distances, which can cause fatigue. In addition, the operator must be fully familiar with the shelf layout in the warehouse to avoid taking non-optimized, longer routes, which increases the order preparation time.

[0003] To reduce operator fatigue and reduce order preparation time, it is known to use a fleet of motor vehicles. Each vehicle can move in the warehouse along an optimized route to collect the items in the order. In addition, automated guided vehicles (commonly referred to as "AGVs") are increasingly being used for order preparation.

[0004] Known guided vehicles only move on the ground, and each vehicle is configured to serve one column of shelves. However, the disadvantage of this collection method is that it moves the entire column of shelves, and thus all the items contained therein, even if only one or a few items need to be collected. Such vehicles must move slowly to prevent the column of shelves from tipping over. In addition, the height of the column of shelves carried by the vehicle must also be restricted to reduce the risk of items falling, which increases the number of columns required and thus requires an expensive warehouse expansion if possible.

[0005] It is also known that automated guided vehicles can move on the ground and are suitable for vertical lift racks to collect items.

[0006] Among these automated guided vehicles, the first known ones are those whose movement on the ground is restricted by rails leading to the warehouse shelves. However, the disadvantage of this solution is its inflexibility and the inability to easily and continuously rearrange the shelves when the need arises (such as during business growth).

[0007] Also, there are automated guided vehicles that can move in free space (i.e., without rails). Typically, such vehicles change their direction of movement by rotating the entire vehicle. In other words, these vehicles rotate about their own vertical axis. To this end, this type of vehicle includes coaxial wheel pairs mounted on the chassis and is driven to rotate in opposite directions, so that the chassis rotates about the vertical axis. However, it has been observed that vehicles rotating in this way require precise recalibration of the spatial position of the chassis after a change in direction. This recalibration increases the order preparation time and may lead to errors, resulting in incorrect robot paths. In addition, in order to transport standard parallelepiped containers, the vehicles usually have an adapted non-circular shape. Therefore, in order to change direction by rotating itself, the vehicle requires more floor space than the surface area it occupies due to its own dimensions. Therefore, in order to ensure the simultaneous rotation of two vehicles at an intersection where the direction must be changed, either the width of the vehicle passage needs to be increased and thus the size of the warehouse expanded, or the number of vehicles moving near the shelves needs to be restricted, which actually limits the order preparation rate.

[0008] This specification is particularly aimed at providing a simple, economical and effective solution to solve the above problems, thus avoiding the disadvantages of known automated guided vehicles. Summary of the Invention

[0009] Therefore, the present invention particularly relates to a method for preparing an order by means of at least one motor vehicle moving between a storage area and a transfer area, the method comprising the steps of:

[0010] a. Associating a vehicle located at an initial position in the transfer area with a container to be collected in the storage area, the container being arranged in a collection unit within one of a plurality of units in the storage area;

[0011] According to a first possibility, the method comprises the steps of:

[0012] bi. Moving the motor vehicle at least along a first horizontal direction on the ground in the transfer area so that the vehicle is aligned with a passage in the storage area in a second horizontal direction;

[0013] ci. Changing the direction at least once;

[0014] di. Moving the vehicle along the second horizontal direction on the ground of at least one passage until the vehicle is located in a corridor in the storage area, preferably a corridor serving the shelf where the collection unit is stored;

[0015] According to a second possibility, the method comprises the steps of:

[0016] bii. Moving the vehicle along the second horizontal direction on the ground of at least one passage until the vehicle is located in a corridor in the storage area, preferably a corridor serving the shelf where the collection unit is stored;

[0017] cii. Change direction at least once;

[0018] dii. Move the vehicle along the ground of the passageway in the storage area corridor in a first horizontal direction, preferably the corridor serving the shelves for storing the collection units, so as to align the vehicle with the collection unit in a second horizontal direction;

[0019] The method further comprises the following steps:

[0020] e. Move the vehicle in a vertical direction until the vehicle is at the level of the collection unit in the vertical direction;

[0021] f. Load the containers stored in the collection unit onto the vehicle by means of the grasping device of the vehicle;

[0022] g. Move the vehicle in a vertical direction until the vehicle reaches the ground level;

[0023] Wherein:

[0024] - The vehicle is configured to be able to move freely on the ground, which has no guide rails in two mutually perpendicular directions,

[0025] - When the vehicle moves on the ground in the transfer area, when in the storage area in steps bi, bii, di and dii, including when changing direction in steps ci and cii, and preferably when in steps e and g, the orientation remains fixed.

[0026] Therefore, during the order preparation method, the vehicle does not rotate its chassis, especially during the 90° direction change of the vehicle movement in steps ci and cii. Therefore, the vehicle requires less ground space during its path to the collection unit, especially during the 90° direction change between steps bi and di and between steps bii and dii. In addition, compared with a vehicle whose chassis rotates during the 90° direction change, the ground space occupied by the vehicle during the 90° direction change between the first horizontal direction and the second horizontal direction is reduced by √2 times. Therefore, a fleet of vehicles identical to the above-mentioned path vehicles can be guided in the transfer area while advantageously increasing the number of vehicles in transit at the same time. Therefore, the order preparation rate can be improved.

[0027] In addition, the non-rotation of the vehicle chassis reduces or even eliminates the need to recalibrate the position of the robotic chassis relative to the environment (such as relative to the shelves) after the 90° direction change between the movement of the vehicle in the first horizontal direction in step bi and the movement in the second horizontal direction in step di, and between the movement of the vehicle in the second horizontal direction in step bii and the movement in the first horizontal direction in step dii. Therefore, the movement of the vehicle is more precise and easier to implement. In addition, the order preparation method as described above is executed faster, which also results in an increase in the order preparation rate.

[0028] It should be noted that the horizontal moving device of the vehicle enables the vehicle chassis to move freely on the ground. It should be understood here that neither the storage area nor the transfer area has any guide rails for guiding the vehicle. This vehicle movement mode allows for a faster and more flexible installation of the storage area and the transfer area. Finally, the noise footprint is also reduced, providing greater comfort for the operators working in the storage area and / or the transfer area.

[0029] It should be understood that the vertical direction is perpendicular to the first horizontal direction and the second horizontal direction. In addition, the first extension axis of the chassis is perpendicular to the vertical direction.

[0030] The container can have a parallelepiped shape.

[0031] The change of direction in step ci can be carried out in the transfer area. The change of direction in step cii can be carried out in the storage area, preferably in the corridor of the shelf serving the storage unit for the collection unit.

[0032] Step bi can include the following sub-steps:

[0033] bi1 Move the motor vehicle in the first horizontal direction on the ground of the transfer area;

[0034] bi2 Move the motor vehicle in the second horizontal direction on the ground of the transfer area;

[0035] bi3 Move the motor vehicle in the first horizontal direction on the ground of the transfer area so as to align the vehicle with the passage of the free space formed by the column where the collection unit is located in the second horizontal direction.

[0036] According to a variant, steps bi1 and bi2 can be repeated one or more times before step bi3. Step bi can include steps of changing the direction (of vehicle movement) between step bi1 and bi2 and between the last step bi2 (if steps bi1 and bi2 are only executed once, it may be step bi2) and step bi3. The first possibility can also include steps before step bi, including one (or more) movements of the vehicle in the transfer area, especially in the second horizontal direction.

[0037] In appropriate cases, the vehicle movement in step di can be partially carried out in the transfer area before entering the corresponding passage.

[0038] The first possibility can include an additional step after step di, which includes moving the vehicle in the first horizontal direction in the storage area corridor of the shelf serving the storage unit for the collection unit to align the vehicle with the collection unit in the second horizontal direction.

[0039] Where appropriate, the vehicle movement in step bii can be partially carried out in the transfer area before entering the corresponding passageway.

[0040] Step bii can include the following sub-steps:

[0041] bii 1 Move the vehicle along the ground of the first passageway in the second horizontal direction until the vehicle is located in the first corridor;

[0042] bii2 Move the vehicle in the first corridor in the first horizontal direction until the vehicle is aligned with the second passageway in the second horizontal direction;

[0043] bii3 Move the vehicle along the ground of the second passageway in the second horizontal direction until the vehicle is located in the second corridor, which is preferably the corridor serving the shelves for storing the collection units.

[0044] Alternatively, steps bii 1 and bii2 can be repeated one or more times before step bii3. Step bii can include direction change steps (for the vehicle movement) between each of steps bii 1 and bii2 and between the last step bii2 (which may be step bii2 if steps bii 1 and bii2 are only carried out once) and step bii3. The second possibility can also include steps before step bii, including one (or more) movements of the vehicle in the transfer area.

[0045] In the case where the corridor involved in step dii is not the same as the corridor serving the shelves for storing the collection units, the second possibility can include an additional step after step dii, which includes moving the vehicle along the ground of another passageway in the second horizontal direction until the vehicle is located in the corridor serving the shelves for storing the collection units.

[0046] This method can include the first possibility (steps bi, ci, and di) and / or the second possibility (steps bii, cii, and dii). In other words, the method can be a combination of the first possibility and the second possibility.

[0047] Step a can include the following sub-steps:

[0048] a1 Select the container to be collected in the storage area, which is arranged in the collection unit within the unit in the storage area;

[0049] a2 Establish communication with the vehicle located at the initial position in the transfer area, for example, through a wireless communication network such as WiFi, WiMAX, IWLAN, GSM, GPRS, UMTS (registered trademark).

[0050] The vehicle can include:

[0051] - A chassis extending along a first horizontal extension axis;

[0052] - A horizontal moving device, adapted to move the chassis in at least two vertical directions while maintaining a fixed orientation of the first extension axis of the chassis, the horizontal moving device being configured to be freely movable without rails on the ground in the two mutually perpendicular directions;

[0053] - A climbing device, adapted to move the chassis in a vertical direction; and

[0054] - A gripping device, connected to the chassis and adapted to grip a container in the unit and load it onto the chassis.

[0055] Therefore, during steps bi, bii, di, and dii, and during the direction change in steps ci and cii, preferably during steps e and g, the orientation of the first extension axis of the vehicle chassis remains fixed. Preferably, the orientation of the vehicle remains fixed throughout its route, particularly on the ground, in the transfer area, and in the storage area. More preferably, the orientation of the vehicle remains fixed throughout the entire order preparation method.

[0056] The direction of the first extension axis of the vehicle chassis may include a component in the first horizontal direction and / or a component in the second horizontal direction. Therefore, in the above order preparation method, the component of the first extension axis of the vehicle chassis in the first horizontal direction and / or the component in the second horizontal direction does not change. Particularly during the movement of the vehicle in the first horizontal direction in steps bi and dii, during the movement of the vehicle in the second horizontal direction in steps di and bii, and during the 90° direction change in steps ci and cii, the orientation of the first extension axis of the vehicle chassis remains fixed.

[0057] The horizontal moving device of the vehicle may include at least one wheel set, which includes:

[0058] - Wheels, the rotation axes of which are perpendicular to the vertical direction, and connecting devices for connecting the wheels to the chassis, the wheels rotating about their rotation axes, so that the vehicle moves at least in the second horizontal direction during steps bi and dii and in the first horizontal direction during steps di and bii;

[0059] - A device for changing the moving direction, including a device for rotating the wheels and the connecting devices relative to the chassis about a vertical axis, which intersects the rotation axes of the wheels.

[0060] Steps ci and cii may include rotating the wheels and the connecting devices about a vertical axis to rotate the rotation axes of the wheels about the vertical axis between the second horizontal direction and the first horizontal direction.

[0061] Changing the vehicle's moving direction by 90° between the first horizontal direction and the second horizontal direction by rotating only the wheels and wheel connection devices is faster than rotating the entire vehicle chassis. In particular, a gain of 2 seconds has been observed when changing the vehicle's moving direction by 90°. Therefore, the order preparation rate is further increased.

[0062] The vertical axis extends in the vertical direction.

[0063] The connection device may include a wheel fork, and the wheel is mounted on the wheel fork so as to rotate about its rotation axis. The connection device, in particular the wheel fork, may include two flanges and a rod shaft. The flanges may be arranged on both sides of the wheel in the direction of the wheel rotation axis. The rod shaft may extend between the flanges in the direction of the wheel rotation axis. The rod shaft may be fixed to the flanges. The rod shaft may pass through holes in each flange and be fixed to the flanges by nuts engaging with threaded portions on the rod shaft. The wheel may be mounted on the rod shaft so as to rotate about its rotation axis.

[0064] The rotation device of the wheel may include a gear fixed to the wheel fork, which is mounted to be rotatable about the vertical rotation axis of the wheel, and a worm engages with the gear.

[0065] During step c, the wheel may be prevented from rotating about its rotation axis.

[0066] Therefore, when the vehicle's moving direction changes by 90°, the vehicle's orientation remains fixed. In addition, the drive device does not need to act on the wheel to compensate for the rotation of the wheel about its rotation axis because it rotates about the vertical axis. This reduces the vehicle's energy consumption.

[0067] In other words, step c is performed without the wheel rotating about its rotation axis.

[0068] The wheel set may include a drive device for rotating the wheel relative to the chassis about its rotation axis. The drive device includes a first bevel gear and a second bevel gear, which are arranged opposite to each other to form a bevel gear set. The first bevel gear is coaxial with the vertical axis, and the second bevel gear is coaxial with the rotation axis of the wheel. The wheel and the second bevel gear are arranged on both sides of the vertical axis respectively. The ratio of the radius of the wheel to the distance separating the center plane of the wheel and the vertical axis along the rotation axis and the relative difference between the reduction ratios of the second bevel gear and the first bevel gear is less than or equal to 2%.

[0069] This arrangement can prevent the wheel from rotating about its rotation axis when rotating about the vertical axis.

[0070] Since the first bevel gear is coaxial with the vertical axis, it can be understood that the first bevel gear includes a plurality of teeth arranged annularly around the vertical axis. Similarly, since the second bevel gear is coaxial with the rotation axis of the wheel, it can be understood that the second bevel gear includes a plurality of teeth arranged annularly around the wheel rotation axis.

[0071] The central plane of the wheel is the plane perpendicular to the rotation axis of the wheel, and in the direction of the rotation axis of the wheel, this central plane is equidistant from the first face and the second face of the wheel, and these two faces are opposite in the direction of the rotation axis of the wheel.

[0072] The reduction ratio between the second helical gear and the first helical gear corresponds to the ratio of the number of teeth of the second helical gear to the number of teeth of the first helical gear.

[0073] The horizontal movement device of the vehicle may include a plurality of wheel sets. Step c may include simultaneously rotating the wheels and the connecting devices of each wheel set around the corresponding vertical axis so as to rotate the rotation axis of the wheels of each wheel set around the vertical axis between the second horizontal direction and the first horizontal direction.

[0074] The chassis of the vehicle may be in the shape of a parallelepiped. The vehicle may include four wheel sets, and each wheel set is arranged at a lower corner of the chassis.

[0075] The vehicle may include an actuator for driving the rotating device of each wheel set. Alternatively, each wheel set may include an actuator for driving its rotating device. The actuator may be adapted to rotate the worm around its extension axis. The actuator may include a motor fixed to the vehicle chassis, and its output rod shaft is connected to the worm.

[0076] The vehicle may include an actuator for driving the driving device of each wheel set. Alternatively, each wheel set may include an actuator for driving its driving device.

[0077] The storage area may include a plurality of shelves, each shelf is served by at least one corridor extending in the first horizontal direction, each shelf includes a plurality of shelf columns arranged in sequence in the first horizontal direction, each shelf column includes a plurality of storage units, and these units are adapted to accommodate containers containing at least one item. The units of each column are stacked vertically between a plurality of levels, from the bottom level to the top level. Each column includes a free space vertically formed between the ground level and the units of the bottom level. The storage area includes a plurality of channels extending in the second horizontal direction perpendicular to the first vertical direction at the ground level, and each channel passes through the free space in one of the columns of each shelf. The transfer area may be adjacent to the storage area in the second horizontal direction.

[0078] According to the third possibility, the method may include the following steps:

[0079] biii. Move the vehicle along the second horizontal direction on the ground of at least the first channel until the vehicle is located below a shelf, preferably below the bottom level of the first shelf.

[0080] ciii. Change the direction at least for the first time, preferably below the first shelf.

[0081] diii. Move the vehicle horizontally along the first horizontal direction on the ground under the first shelf until the vehicle is located in the second aisle;

[0082] ciii'. Change the direction at least a second time, preferably under the second shelf,

[0083] diii'. Move the vehicle horizontally along the second horizontal direction on the ground in the second aisle until the vehicle is located in the corridor of the storage area, preferably the corridor serving the shelves for storing the collection units.

[0084] The orientation of the vehicle remains unchanged during the ground movement in the transfer area and during the storage area movement in steps biii, dii, and diii', including when changing the direction in the execution of ciii and ciii'.

[0085] Steps ciii and ciii' may include rotating the wheels and the connecting device about a vertical axis so that the axis of rotation of the wheels rotates about the vertical axis between the second horizontal direction and the first horizontal direction.

[0086] The method may include the first possibility and / or the second possibility and / or the third possibility. In other words, the method may be any combination of the first, second, and third possibilities.

[0087] The vehicle may include an automatic guidance unit. The method may include the steps of:

[0088] a' Transmit the position of the collection unit to the automatic guidance unit of the vehicle, where the position of the collection unit is identified by the corridor serving the shelves for storing the collection units, the shelf column in which the collection unit is located, and the level of the collection container in the column;

[0089] a” Command the automatic guidance unit of the vehicle to calculate the route between the initial position of the vehicle and the position of the collection unit, and the route preferably includes only the movement of the vehicle along the first horizontal direction and the second horizontal direction;

[0090] Steps a' and a” are performed between step a and step b.

[0091] The vehicle may be an automated guided vehicle (AGV).

[0092] The ground of the storage area and the transfer area may be provided with guiding marks for guiding the movement of the vehicle on the ground. The guiding marks include a first straight line along the first horizontal direction and a second straight line along the second horizontal direction. The route calculated in step a” follows the path selected from the first and the second.

[0093] The guiding marks may form a grid.

[0094] The vehicle may include a first pair of sensors arranged on both sides of the vehicle along a first horizontal direction and a second pair of sensors arranged on both sides of the vehicle along a second horizontal direction. The sensors of the first pair of sensors may be mounted one on each side of the vehicle chassis along a first extension axis, and the sensors of the second pair of sensors may be mounted one on each side of the vehicle chassis along a second extension axis perpendicular to the first extension axis.

[0095] One set of the first pair of sensors (K1) and the second pair of sensors (K2) is adapted to respectively monitor the alignment of the vehicle (30) in the first and second (X2) horizontal directions, and another set of the first pair of sensors (K1) and the second pair of sensors (K2) is adapted to respectively identify the position of the vehicle (30) in the first and second (X2) horizontal directions.

[0096] When the vehicle moves along the first horizontal direction:

[0097] - The first pair of sensors may be adapted to detect the deviation or misalignment of the vehicle in the first horizontal direction with respect to the first strip that the vehicle follows. If necessary, the alignment of the vehicle in the first horizontal direction can be corrected; and

[0098] - The second pair of sensors may be adapted to count the number of second strips passed through. In combination with the wheel revolution counter, the second pair of sensors can thus allow the identification of the position of the vehicle in the second horizontal direction.

[0099] When the vehicle moves along the second horizontal direction:

[0100] - The second pair of sensors may be adapted to detect the deviation or misalignment of the vehicle in the second horizontal direction with respect to the second strip that the vehicle follows. If necessary, the alignment of the vehicle in the second horizontal direction can be corrected; and

[0101] - The first pair of sensors may be adapted to count the number of first strips passed through. In combination with the wheel revolution counter, the first pair of sensors can allow the identification of the position of the vehicle in the first horizontal direction.

[0102] This ensures centering positioning on the strip. This also ensures that the vehicle can pass through the aisles of the storage area without hitting the rack uprights.

[0103] The sensors of the first pair of sensors and / or the second pair of sensors may be optical sensors. In particular, they may be LED sensors, preferably 750 nanometers. The sensors of the first pair of sensors and / or the second pair of sensors may be adapted to detect the color difference between black and white. For this purpose, the first strip and the second strip may include black borders that surround a white central part.

[0104] The strip can be implemented as a covering layer fixed to the ground (e.g., by gluing), or can be directly painted on the ground. Each aisle in the storage area can be equipped with a first strip along the first horizontal direction. Each passageway in the storage area can be equipped with a second strip along the second horizontal direction.

[0105] At least in the transfer area, two adjacent second strips can have a spacing in the first horizontal direction, between 500 mm and 600 mm, preferably between 525 mm and 575 mm, more preferably 560 mm. The relative difference between the spacing of two adjacent second strips in the first horizontal direction and the dimension of the vehicle in the first horizontal direction can be between 0% (excluding the boundary) and 35%, preferably between 0% (excluding the boundary) and 30%, more preferably between 0% (excluding the boundary) and 25%. The first distance can be significantly greater than the sum of twice the dimension of the vehicle in the first horizontal direction and the dimension of the rack uprights in the first horizontal direction.

[0106] At least in the transfer area, two adjacent first strips can have a spacing in the second horizontal direction, between 700 mm and 800 mm, preferably between 725 mm and 775 mm, more preferably 750 mm. The relative difference between the spacing of two adjacent first strips in the second horizontal direction and the dimension of the vehicle in the second horizontal direction can be between 0% (excluding the boundary) and 25%, preferably between 0% (excluding the boundary) and 20%, more preferably between 0% (excluding the boundary) and 15%.

[0107] The number of first and second strips in the transfer area can be higher, which increases the number of possible paths for the vehicle. Therefore, this increases the traffic density in the transfer area (i.e., the number of vehicles in transit in the transfer area at the same time), thereby increasing the order preparation rate.

[0108] The first extension axis of the vehicle can extend along the second horizontal direction. The dimension of the vehicle in the second horizontal direction can be consistent with the dimension of the vehicle, especially the chassis, along the first extension axis.

[0109] There can be multiple other motor vehicles operating in the transfer area and / or the storage area. The route calculated in step a” can be calculated based on the current positions of the other vehicles in the transfer area and / or the storage area to travel along a path that avoids collision with one of the other vehicles.

[0110] Each rack can include multiple pairs of uprights in the first horizontal direction, each upright extending in the vertical direction, the uprights of each pair of uprights being spaced apart from each other in the second horizontal direction, and the units of each column being arranged between two adjacent pairs of uprights in the first horizontal direction, and the dimension of the vehicle in the first horizontal direction being less than the distance between two pairs of uprights spaced apart in the first horizontal direction.

[0111] The first extension axis of the vehicle can extend along a second horizontal direction. The dimension of the vehicle in the first horizontal direction can be consistent with the dimension of the vehicle, especially the chassis, in a direction perpendicular to the direction of the first extension axis.

[0112] Each shelf can include engaging members extending vertically along each upright, such as linear gears or chains, and the climbing device includes one or more gears, each gear configured to ensure the movement of the vehicle along the uprights of the shelf by engaging with the engaging members of the uprights.

[0113] During ascent or descent, the rotational movement of each gear of the climbing device can be converted into the vertical movement of the vehicle along the uprights.

[0114] Each engaging member can be integrally formed with the corresponding upright.

[0115] Each gear of the climbing device of the vehicle can move between a retracted position in which the gear is received within or above the chassis and a deployed position in which the gear projects outwardly from the chassis. Step e includes sub-step e1 of deploying each gear of the climbing device from the retracted position to the deployed position, and step g includes sub-step g1 of folding each gear of the climbing device from the deployed position to the retracted position. During step e1 or g1, each gear of the climbing device can be respectively deployed from the retracted position or folded from the deployed position, and their respective deployment directions include components in the first horizontal direction and the second horizontal direction. In other words, the deployment axis of each gear of the deployment device can form an angle, preferably a non-zero angle, with the first extension axis of the vehicle and / or with the second extension axis of the vehicle perpendicular to the first axis. It can be understood that when the gears of the climbing device are in the retracted position, the vehicle can pass under the shelves (i.e., below the bottom layer of the shelves), especially in the aisles of the storage area, without hitting the uprights of the shelves. In this retracted configuration, the dimension of the vehicle in the first horizontal direction can be less than the distance between two pairs of uprights spaced apart in the first horizontal direction. Conversely, in the deployed position, the gears of the climbing device can be arranged towards the uprights in the second horizontal direction. Additionally, in this deployed configuration, the dimension of the vehicle in the first horizontal direction can be greater than the distance between two pairs of uprights spaced apart in the first horizontal direction.

[0116] The total height of the vehicle chassis and the container loaded on the vehicle chassis in the vertical direction is less than the dimension of the free space in each column of each shelf in the vertical direction.

[0117] Furthermore, the deployment of the climbing device can be carried out in a translational movement, preferably a single horizontal movement. This deployment of the climbing device can reduce the height of the vehicle, making it more compact in the vertical direction, thereby allowing the bottom layer of the shelf to be lowered to increase the storage capacity.

[0118] The method may include step h that is performed after step g. Step h includes moving a motor vehicle on the ground in a second horizontal direction in a passage until the vehicle is located in a transfer area, and the orientation of the vehicle preferably remains fixed during step h.

[0119] The transfer area may include at least one order preparation station. The method may include step i that is performed after step g. Step i includes moving the vehicle on the ground in the transfer area to the order preparation station, and the orientation of the vehicle preferably remains fixed during step i.

[0120] Step i may be performed after step h. Description of the Drawings

[0121] Other features, details and advantages of the present invention will be apparent from a reading of the following detailed description and an analysis of the drawings, in which:

[0122] Figure 1 is a schematic diagram of a fleet of motor vehicles for order preparation traveling back and forth between a storage area and a transfer area;

[0123] Figure 2 includes Figure 2a and 2b , respectively showing: a functional diagram of a method for preparing an order by at least one motor vehicle moving between a storage area and a transfer area, and Figure 1 a functional diagram of one of the steps of the method in Figure 2a ;

[0124] Figure 3 is a schematic diagram of several variant routes of the motor vehicle in the method of Figure 2;

[0125] Figure 3bis is a schematic diagram of other variant routes of the motor vehicle in the method of Figure 2;

[0126] Figure 4 is a perspective view of the vehicle for the method of Figure 2;

[0127] Figure 5 is a view of the tool for the vehicle to move on the ground in the method of Figure 2;

[0128] Figure 6 is Figure 5 a sectional view of the device in the V-V sectional plane;

[0129] Figure 7 is Figure 1 a schematic diagram of the storage area and the transfer area, in which motor vehicles travel back and forth, and illustrates the dimensional characteristics of the vehicle relative to the storage area and the transfer area. Detailed Description of the Invention

[0130] The accompanying drawings and the following description include elements that may not only facilitate understanding of the present invention but also, where appropriate, define the invention.

[0131] First, reference is made to Figure 1 , which shows a warehouse that includes a storage area 10 and a transfer area 11 for order preparation. In the following description of this specification, reference is made to a vertical direction Z, a first horizontal direction X1, and a second horizontal direction X2. It should be understood that the vertical direction Z is perpendicular to the first horizontal direction X1 and the second horizontal direction X2. In addition, the second horizontal direction X2 is perpendicular to the first horizontal direction X1.

[0132] The storage area 10 first includes a plurality of shelves 20. Each shelf 20 is served by at least one aisle Ai extending in the first horizontal direction X1. Each shelf 20 includes a plurality of pairs of uprights 21 along the first horizontal direction X1. Each pair of uprights 21 extends in the vertical direction Z. The uprights 21 in each pair of uprights are spaced apart from each other in the second horizontal direction X2. Each upright 21 has a dimension 21l in the first horizontal direction. Each shelf 20 forms a plurality of shelf columns 22 that are arranged in sequence along the first horizontal direction X1. Each shelf column 22 includes a plurality of storage units 23 adapted to accommodate a container 50 containing at least one item. The units 23 of each column 22 are arranged between two consecutive pairs of uprights 21 along the first horizontal direction X1. In the example shown, each unit 23 can receive two containers 50 that are arranged one after another in the second horizontal direction X2. Here, the container 50 has a parallelepiped shape. The units 23 of each column 22 are stacked between a plurality of levels in the vertical direction Z, from the bottom level to the top level. The units 23 at the bottom level are located above the ground level.

[0133] Each column 22 thus includes a free space 24 that is vertically formed between the ground level and the level of the bottom units 23. The storage area 10 thus includes a plurality of channels Pi that extend in the second horizontal direction X2 at the ground level, and each channel Pi passes under at least one unit 23, that is, through the free space 24 of one of the columns 22 of each shelf 20.

[0134] The transfer area 11 is adjacent to the storage area 10 in the second horizontal direction X2. Each channel Pi leads to the transfer area 11. The transfer 11 includes at least one order preparation station 12 where an operator extracts items to assemble an order.

[0135] As shown in FIG. 2, guiding marks are provided on the ground of the storage area 10 and the transfer area 11 for guiding the movement of the vehicle 30 on the ground (which will be described in detail below). The guiding marks include a first straight line 14 along the first horizontal direction X1 and a second straight line 15 along the second horizontal direction X2. Each corridor Ai of the storage area 10 thus includes a first strip 14 along the first horizontal direction X1. Each passage Pi of the storage area 10 thus partly includes a second strip 15 along the second horizontal direction X2. The guiding marks thus form a grid. The strips 14; 15 can be implemented as a covering layer fixed to the ground (e.g., by gluing), or can be directly coated on the ground.

[0136] A fleet of motor vehicles 30 ensures the transportation of the containers 50 between the storage area 10 and the order preparation station 12.

[0137] It is worth noting that there are no guide rails on the ground of the storage area 10 and the transfer area 11 for guiding the vehicle 30.

[0138] Reference Figure 2a 、 3 And 7, a method 100 for order preparation is now described by means of a motor vehicle 30 moving between the storage area 10 and the transfer area 11.

[0139] The method 100 includes a first step 101. The first step 101 includes associating the vehicle 30 located at the initial position of the transfer 11 with the container to be collected in the storage area. The container 50 is arranged in a collection unit 23c of one of the plurality of units 23 in the storage area 10. The container 50 may include one or more items to be collected for order preparation.

[0140] The first step 101 may include a first sub-step of selecting the container to be collected from the storage area 10, which allows the establishment of the position of the collection unit 23c. Here, the position of the collection unit 23c is identified by the corridor Ai serving the shelf 20 storing the collection unit 23c, the column 22 of the shelf 20 where the collection unit 23c is located, and the level of the collection unit 23c in the column 22.

[0141] The vehicle 30 here is an automated guided vehicle (AGV). For this purpose, the vehicle 30 includes an automatic guidance unit.

[0142] The first step 101 may further include a second sub-step of establishing communication with the vehicle 30 located at the initial position of the transfer area 11, for example, through a wireless communication network such as WiFi, WiMAX, IWLAN, GSM, GPRS, UMTS (registered trademark).

[0143] The method 100 includes a second step 102. The second step 102 includes transmitting the position of the collection unit 23c to the automatic guidance unit of the vehicle.

[0144] Method 100 includes a third step 103. The third step 103 includes sending an instruction to the automatic guidance unit of the vehicle 30 to calculate a route between the initial position of the vehicle 30 and the position of the collection unit 23c. The route calculated here includes only one or more movements of the vehicle 30 in the first horizontal direction X1 and / or one or more movements in the second horizontal direction X2. In particular, the route is calculated in the third step 103 to follow a path selected from these first and second paths 15. In addition, this route is calculated based on the current or planned positions of other vehicles 30 in the convoy within the transfer area 11 and / or the storage area 10 to establish a path that avoids collisions with other vehicles 30. To this end, rules can be established to send the current positions of other vehicles 30 in the convoy and / or their planned movement paths to the automatic guidance unit in real time.

[0145] Alternatively, the second step 102 and the third step 103 can be replaced by a route between the initial position of the vehicle 30 and the position of the collection unit 23c calculated by a remote central control unit, and the route is sent to the vehicle 30.

[0146] Method 100 includes a fourth step 104. The fourth step 104 includes moving the vehicle 30 along the first horizontal direction X1 on the ground so that the vehicle is aligned with the passage Pi of the storage area 10 leading to the column 22 where the collection unit 23c is stored in the second horizontal direction X2.

[0147] According to Figure 3 the first variant route i1 visible in Figure 3 In the fourth step 104, the movement of the vehicle 30 on the ground in the transfer area 11 can be performed only along the first horizontal direction X1. Alternatively, according to the second variant route i2 also visible in Figure 2b the fourth step 104 may include: a first sub-step 1041, i.e., moving the motor vehicle 30 along the first horizontal direction X1 on the ground in the transfer 1; a second sub-step 1042, i.e., moving the motor vehicle 30 along the second horizontal direction X2 on the ground in the transfer 1; a third sub-step 1043, i.e., moving the motor vehicle 30 along the first horizontal direction X1 on the ground in the transfer area 11 to align the vehicle with the passage Pi leading to the column 22 where the collection unit 23c is stored in the second horizontal direction X2. As shown in

[0148] To perform such movements on the ground, the vehicle 30 includes a chassis 31 extending along a first horizontally extending axis C1 and horizontal movement means adapted to move the chassis 31 on the ground in at least two vertical directions. The first extending axis C1 of the chassis 31 is perpendicular to the vertical direction Z.

[0149] Reference is now made Figures 4 to 6 , which shows the vehicle 30 in more detail. The chassis 31 of the vehicle 30 has a parallelepiped shape. The horizontal movement means of the vehicle 30 includes a plurality of wheel sets 32. The vehicle 30 here includes four wheel sets 32, each wheel set 32 being arranged at a corner below one of the chassis 31.

[0150] Each wheel set 32 includes a wheel 33, the axis of rotation R of which is perpendicular to the vertical direction Z. It should be understood that the axis of rotation R about which the wheel 33 rotates to move the vehicle 30 extends in the second horizontal direction X2 in the fourth step 104 and in the first horizontal direction X1 in the fifth step 105.

[0151] Each wheel set 32 further includes connecting means for connecting the wheel 33 to the chassis 31. The connecting means may include a wheel fork, on which the wheel 33 is mounted so as to rotate about its axis of rotation R. The wheel fork includes two flanges 34 and a rod shaft 35. The flanges 34 are arranged on both sides of the wheel 33 in the direction of the axis of rotation R of the wheel 33. The rod shaft 35 extends between the flanges 34 in the direction of the axis of rotation R of the wheel 33. The rod shaft 35 is fixed to the flanges 34. In the present case, the rod shaft 35 passes through holes in each flange 34 and is fixed to the flange 34 by nuts engaging with threaded portions on the rod shaft 35. The wheel 33 is thus mounted on the rod shaft 35 so as to rotate about its axis of rotation R.

[0152] The horizontal movement means is further configured to move freely on the ground without the guidance of rails, particularly in two mutually perpendicular directions. This movement mode of the vehicle 30 allows for a faster and more flexible installation of the storage area 10 and the transfer area 11. Finally, the noise footprint is also reduced, providing greater comfort for the operators working in the storage area 10 and / or the transfer area 11.

[0153] Each wheel set 32 includes drive means for rotating the wheel 33 relative to the chassis 31 about its axis of rotation R. The drive means includes a first bevel gear 37 and a second bevel gear 38 arranged to form a bevel gear set. The first bevel gear 37 is coaxial with the vertical axis V, and the second bevel gear 38 is coaxial with the axis of rotation R of the wheel 33. The wheel 33 and the second bevel gear 38 are located on opposite sides of the vertical axis V. Here, the vehicle 30 includes an actuator 39 for driving the drive means of each wheel set 32. Alternatively, each wheel set 32 may include its own actuator to drive the drive means.

[0154] Method 100 includes a fifth step 105. The fifth step 105 includes changing the moving direction of the vehicle from a first horizontal direction X1 to a second horizontal direction X2, and this direction change is performed under the condition of maintaining a fixed orientation of the vehicle relative to the first horizontal direction X1 and the second horizontal direction X2. In particular, the fifth step 105 includes rotating the wheels 33 of each wheel set 32 about a vertical axis V to prepare to move the vehicle 30 along the second horizontal direction X2. In the fifth step 105, the wheels 33 of each wheel set rotate about the vertical axis V from the second horizontal direction X2 to the first horizontal direction X1 to rotate the rotation axis R of the wheels 33 about the vertical axis V.

[0155] To this end, each wheel set 32 includes means for changing the moving direction. These means for changing the moving direction include rotating means for rotating the wheels 33 and the connecting means relative to the chassis 31 about the vertical axis V. The vertical axis V intersects the rotation axis R of the wheels 33. The rotating means of the wheels 33 includes a gear 40 fixed to the wheel fork, which is mounted to be rotatable about the vertical rotation axis V of the wheels 33, and a worm 41 meshing with the gear 40.

[0156] Here, each wheel set 32 includes an actuator 42 for driving the worm 41 to rotate about its extension axis to drive the rotating means. The actuator 42 may include a motor fixed to the chassis 31 of the vehicle 30, and its output shaft is connected to the worm 41. Alternatively, a single actuator may be provided to drive the rotating means of each wheel set 32.

[0157] Performing a 90° change in the moving direction of the vehicle 30 between the first horizontal direction X1 and the second horizontal direction X2 by only rotating the wheels 33 and the connecting means of the wheels 33 is faster than rotating the entire vehicle chassis 31. In particular, a gain of 2 seconds is observed in the 90° change in the moving direction of the vehicle 30. Therefore, the order preparation rate is further improved.

[0158] In addition, the wheels 33 and the connecting means of each wheel set 32 rotate simultaneously about the corresponding vertical axis V to change the rotation axis R of the wheels 33 of each wheel set 32 about the vertical axis V from the second horizontal direction X2 to the first horizontal direction X.

[0159] Finally, in the fifth step 105, the wheels 33 of each wheel set 32 are prevented from rotating about their rotation axis R. In other words, the wheels 33 rotate about the vertical axis V without rotating about their rotation axis R. Therefore, when the moving direction of the vehicle changes, the orientation of the vehicle 30 remains fixed. In addition, there is no need to act on the wheels 33 through the driving means to compensate for the rotation of the wheels 33 about their rotation axis R when rotating about the vertical axis V. This allows reducing the energy consumption of the vehicle.

[0160] This can be achieved by the relative difference between the ratio of the radius r of the wheel 33 and the distance d separating the central plane M of the wheel 33 from the vertical axis V along the rotation axis R and the reduction ratio between the second helical gear 38 and the first helical gear 37 being less than or equal to 2%. The reduction ratio between the second helical gear 38 and the first helical gear 37 corresponds to the ratio of the number of teeth of the second helical gear 38 to the number of teeth of the first helical gear 37. The central plane M of the wheel 33 is a plane perpendicular to the rotation axis R of the wheel 33, and in the direction of the rotation axis R of the wheel 33, this plane is equidistant from the first face and the second face of the wheel 33, which are opposite in the direction of the rotation axis R of the wheel 33.

[0161] Finally, the change in direction of the vehicle 30 carried out between the sub-steps 1041, 1042, 1043 of the fourth step 104 can be implemented in a manner similar to the fifth step 105.

[0162] The method 100 includes a sixth step 106. The sixth step 106 includes moving the motor vehicle 30 in the second horizontal direction X2 in the passage Pi leading to the storage area 10 of the column 22 of the storage and collection unit 23c, possibly moving first in the transfer area 11 until the vehicle 30 is located in the aisle Ai of the storage area 10 of the shelf 20 serving the storage and collection unit 23c. For example, in the case of the first route variant i1, the ground movement of the motor vehicle 30 in the second horizontal direction X2 includes a first part in the transfer area 11 and a second part in the corresponding passage Pi. On the other hand, in the case of the second route variant i2, the ground movement of the motor vehicle 30 in the second horizontal direction X2 is carried out only in the corresponding passage Pi.

[0163] It is worth noting that the orientation of the vehicle 30 remains fixed in the fourth step 104, the fifth step 105, and the sixth step 106.

[0164] As described above, the horizontal movement device is adapted to maintain a fixed orientation of the first extension axis C1 of the chassis 31. Therefore, the orientation of the first extension axis C1 of the chassis 31 of the vehicle 30 remains fixed from the fourth step 104 to the sixth step 106. In particular, the direction of the first extension axis C1 of the chassis 31 of the vehicle 30 is aligned with the second horizontal direction X2 here.

[0165] Thus, when the vehicle 30 changes its moving direction by 90° during the fifth step 105, it does not rotate its chassis 31. The chassis 31 of the vehicle 30 does not rotate about itself. Thus, the vehicle 30 requires less floor space during its journey to the collection unit 23c, especially during the 90° change in the moving direction of the vehicle 30 between the fourth step 104 and the sixth step 106. The minimum required floor space is strictly equal to the surface area occupied by the chassis 31 of the vehicle 30 due to its dimensions. For example, when the vehicle 30 changes its direction by 90° between the first horizontal direction X1 and the second horizontal direction X2, the required floor space is reduced by a factor of √(2) compared to a vehicle 30 of the same dimensions with a rotating chassis 31 when changing direction by 90°. Thus, the number of vehicles 30 in transit simultaneously can be increased without expanding the surface area of the transfer area 11. Thus, the order preparation rate can be increased.

[0166] Furthermore, since the chassis 31 of the vehicle 30 does not rotate, this allows for a reduction or even elimination of the re - calibration of the position of the robotic chassis 31 relative to the environment (e.g., relative to the shelves 20) after the 90° change in direction between the movement in the first horizontal direction X1 in the fourth step 104 and the movement in the second horizontal direction X2 in the sixth step 106. Thus, the movement of the vehicle 30 is more precise and easier to implement. Furthermore, the order preparation method 100 is executed faster and safer.

[0167] According to Figure 3 and 7 the example shown, the dimension of the vehicle 30 along the second horizontal direction X2 is consistent with the length L of the vehicle 30, especially the chassis 31, along the first extension axis C1. Similarly, the dimension of the vehicle 30 along the first horizontal direction X1 is consistent with the width l of the vehicle 30, especially the chassis 31, in the direction perpendicular to the first extension axis C1. The width l of the vehicle 30 can be 450 mm. The length L of the vehicle 30 can be 650 mm.

[0168] Since the vehicle chassis 31 does not rotate, the spacing between two consecutive second strips 15 in the transfer area 11 in the first horizontal direction X1 can be between 500 mm and 600 mm, preferably between 525 mm and 575 mm, more preferably 560 mm. Additionally or alternatively, the first relative difference between the spacing d1 between two consecutive second strips 15 in the transfer area 11 in the first horizontal direction X1 and the width l of the vehicle 30 can be between 0% (excluding the boundaries) and 35%, preferably between 0% (excluding the boundaries) and 30%, more preferably between 0% (excluding the boundaries) and 25%. Furthermore, the first distance should be determined such that it is significantly greater (e.g., about 1 to 50 mm) than the sum of twice the width l of the vehicle 30 and the dimension 21l of the upright 21 in the first horizontal direction.

[0169] Similarly, the spacing between two consecutive first strips 14 in the transfer area 11 in the second horizontal direction X2 can be between 700 mm and 800 mm, preferably between 725 mm and 775 mm, and more preferably 750 mm. Additionally or alternatively, the second relative difference between the spacing d2 between two consecutive first strips 14 in the transfer area 11 in the second horizontal direction X2 and the vehicle length L can be between 0% (excluding the boundaries) and 25%, preferably between 0% (excluding the boundaries) and 20%, and more preferably between 0% (excluding the boundaries) and 15%.

[0170] For vehicles that change direction by rotating themselves, especially when Figure 7 two vehicles are adjacent in the first horizontal direction, in order to avoid collision between the two vehicles, the first relative difference must be greater than the range value described in this specification. Similarly, in the case where two vehicles are adjacent in the second horizontal direction, the same observation applies to the second relative difference. Therefore, the method in this specification allows for more first strips 14 and second strips 15 to be arranged in the transfer area 11. This increases the number of possible routes for the vehicle 30. Thus, eliminating the rotation of the vehicle 30 in the convoy and increasing the number of the first and second strips 14, 15 allows for an increase in the number of vehicles 30 moving simultaneously in the transfer area 11, thereby further improving the order preparation rate.

[0171] The vehicle 30 can include a first pair of sensors K1 arranged on both sides of the vehicle 30 along the first horizontal direction X1 and a second pair of sensors K2 arranged on both sides of the vehicle 30 along the second horizontal direction X2. The sensors of the first pair of sensors can be installed on both sides of the first extension axis of the vehicle 30 chassis, and the sensors of the second pair of sensors K2 can be installed on both sides of the second extension axis of the vehicle 30 chassis, which is perpendicular to the first extension axis.

[0172] According to the moving direction of the vehicle 30, a group of the first pair of sensors K1 and the second pair of sensors K2 can be adapted to respectively control the alignment of the vehicle 30 in the first and second horizontal directions X2, and the other group can be adapted to respectively identify the position of the vehicle 30 in the first and second horizontal directions X2.

[0173] When the vehicle 30 moves along the first horizontal direction X1:

[0174] - The first pair of sensors K1 can be adapted to detect the deviation or misalignment of the vehicle 30 in the first horizontal direction X1 relative to the first strip 14 that the vehicle 30 follows. If necessary, the alignment of the vehicle 30 in the first horizontal direction X1 can be corrected; and

[0175] - The second pair of sensors K2 can be adapted to count the second strips 15 passed through. In combination with the revolution counter,

[0176] The second pair of sensors K2 may allow the position of the vehicle 30 in the second horizontal direction X2 to be identified.

[0177] When the vehicle 30 moves along the second horizontal direction X2:

[0178] - The second pair of sensors K2 may be adapted to detect a deviation or misalignment of the vehicle 30 in the second horizontal direction X2 with respect to the second strip 14 that the vehicle 30 follows. If necessary, the alignment of the vehicle 30 in the second horizontal direction X2 may be corrected; and

[0179] - The first pair of sensors K1 may be adapted to count the first strips 14 passed through. In combination with a revolution counter,

[0180] The first pair of sensors K1 may allow the position of the vehicle 30 in the first horizontal direction X1 to be identified.

[0181] This ensures centering positioning on the strip. This also ensures that the vehicle 30 can travel through the aisles of the storage area without hitting the uprights of the shelves.

[0182] The sensors of the first pair of sensors K1 and / or the second pair of sensors may be optical sensors. In particular, they may be LED sensors, preferably with a wavelength of 750 nanometers. The sensors of the first pair of sensors K1 and / or the second pair of sensors may be adapted to detect color differences between black and white. For this purpose, the first strip 14 and the second strip 15 may include black borders that frame white central portions.

[0183] In order for the vehicle 30 to pass through one of the aisles Pi, the dimension of the vehicle 30 in the first horizontal direction X1 is less than the distance between two consecutive pairs of opposing uprights spaced apart along the first horizontal direction X1.

[0184] Method 100 includes a seventh step 107. The seventh step 107 includes moving the vehicle 30 in the vertical direction Z until the vehicle 30 is at the level of the collection unit 23c in the vertical direction.

[0185] For this purpose, the vehicle 30 includes a climbing device adapted to move the chassis 31 in the vertical direction Z. The climbing device includes one or more gears 43, each gear configured to ensure the movement of the vehicle 30 along the uprights 21 of the shelves by meshing with the meshing members 25 of the uprights 21. Here, each shelf 20 includes meshing members 25 that extend vertically along each upright 21, and the meshing members are linear gears. During ascent or descent, the rotational movement of each gear 43 of the climbing device is thus converted into a vertical movement of the vehicle 30 along the upright 21. The meshing members 25 are integrally formed with the corresponding uprights 21.

[0186] Each gear 43 of the climbing device is movable between a retracted position in which the gear is received within or above the chassis and a deployed position in which the gear projects outwardly from the chassis. The seventh step 107 includes a preparatory sub-step of deploying each gear 43 of the climbing device from the retracted position to the deployed position.

[0187] The climbing device includes at least a first gear 43 capable of engaging with an engaging member 25 of a column 21 of a first shelf 20, and a second gear 43 capable of engaging with an engaging member 25 of a column 21 of a second shelf 20 adjacent to the first shelf, and these columns 21 are aligned in a second horizontal direction X2. In this case, the climbing device includes four gears 44, namely:

[0188] - Two gears 43 capable of engaging with two columns 21 of the first shelf, and these two columns 21 of the first shelf 20 are consecutive in a first horizontal direction X1;

[0189] - Two gears 43 capable of engaging with two columns 21 of a second shelf 20 adjacent to the first shelf 20, and these two columns 21 of the second shelf 20 are consecutive in a first horizontal direction X1, and

[0190] Face the consecutive columns 21 of the first shelf 20 in the second horizontal direction X2 respectively.

[0191] The method 100 includes an eighth step 108. The eighth step 108 includes loading the container 50 in the collection unit 23c onto the vehicle. For this purpose, the vehicle 30 includes a gripping device. Here, the shape of the chassis 31 of the vehicle 30 is adapted to receive the container.

[0192] The method 100 includes a ninth step 109. The ninth step 109 includes moving the vehicle 30 in the vertical direction Z until the vehicle 30 reaches the ground, in particular by means of the climbing device. The ninth step 109 includes a final sub-step (i.e., when the vehicle 30 reaches the ground level), which includes folding each gear 43 of the climbing device from the deployed position to the retracted position.

[0193] The method 100 includes a tenth step 110. The tenth step 110 includes moving the motor vehicle 30 in the second horizontal direction X2 in the passage Pi until the vehicle 30 is again located in the transfer area 11. The orientation of the vehicle 30 is preferably kept fixed in the tenth step 110.

[0194] In order to enable the vehicle 30 carrying the container 50 to move along the passage Pi, the total height of the chassis 31 of the vehicle 30 and the container 50 loaded on the chassis 31 in the vertical direction Z is less than the dimension of the free space 24 formed by each column 22 of each shelf 20 in the vertical direction Z.

[0195] Method 100 includes an eleventh step 111. The eleventh step 111 includes moving the ground vehicle 30 to the order preparation station 12 in the transfer area 11. Also herein, the orientation of the vehicle 30 is preferably kept fixed in the eleventh step 111.

[0196] The present invention is not limited to the above examples and can have various variations.

[0197] Figure 3bis A first variant represented by the third route variant i3 is shown. In the first variant, the fourth step 104, the fifth step 105, and the sixth step 106 are different from the above method. According to this first variant, the fourth step 104 includes moving the vehicle 30 along the second horizontal direction X2 on the ground in one of the channels between the transfer area and the storage area until the vehicle 30 is located in the corridor Ai of the shelf 20 serving the storage collection unit 23c. According to the third route variant i3, the ground movement of the vehicle 30 in the fourth step 104 on the storage area 10 and the transfer area 11 can be performed only along the second horizontal direction X2.

[0198] According to the first variant, the fifth step 105 includes changing the vehicle movement direction from the second horizontal direction X2 to the first horizontal direction X1, and this direction change is performed under the condition of keeping the fixed orientation of the vehicle relative to the first horizontal direction X1 and the second horizontal direction X2. The fifth step 105 is performed in a similar manner as described above. It is worth noting that the direction change occurs in the storage area.

[0199] According to the first variant, the sixth step 106 includes moving the motor vehicle 30 along the first horizontal direction X1 in the corridor Ai of the shelf 20 serving the storage collection unit 23c until the vehicle reaches the bottom of the shelf column for storing the collection unit.

[0200] Figure 3bis A second variant represented by the fourth route variant i4 is also shown. The second variant is a combination of the above method and the first variant. Thus, in the second variant, the initially described fourth step 104, fifth step 105, and sixth step 106 are first performed, and then the fourth step 104, fifth step 105, and sixth step 106 described with reference to the first variant are performed.

[0201] It can also be seen from the fourth route variant i4 that the fourth step 104 according to the first variant may include a first sub-step 1041, that is, moving the vehicle 30 in the first channel P5 along the second horizontal direction X2 until the vehicle is located in the first corridor A1, a second sub-step 1042 includes moving the vehicle 30 along the first horizontal direction X1 on the ground of the first corridor A1 until the vehicle is aligned with the second channel P2 in the second horizontal direction X2, and a third sub-step 1043 includes moving the vehicle 30 along the second horizontal direction X2 on the ground of the second channel P2 until the vehicle is located in the second corridor A2, where the second corridor A2 is the corridor serving the shelves storing the collection unit 23c. Also in this case, before implementing the third sub-step, the first sub-step and the second sub-step can be repeated one or more times. The change in the direction of the vehicle 30 between sub-steps can also be implemented in a manner similar to the fifth step 105.

Claims

1. A method (100) for preparing an order by moving at least one motor vehicle (30) between a storage area (10) and a transfer area (11), the method comprising: a. Associating a vehicle (30) located at an initial position in the transfer area (11) with a container to be collected in the storage area (10), b. The container (50) is arranged in a collection unit (23c) of one of a plurality of units (23) in the storage area (10); According to a first possibility, the method includes the steps of: bi. On the ground of the transfer area (11), moving the motor vehicle (30) at least along a first horizontal direction (X1) so that the vehicle (30) is aligned with a passage (Pi) in the storage area (10) in a second horizontal direction (X2); ci. Changing the direction at least once; di. Moving the vehicle (30) along the second horizontal direction (X2) on the ground of at least one passage (Pi) until the vehicle (30) is located in a corridor (Ai) of the storage area (10), preferably a corridor serving a shelf (20) where the collection unit (23c) is stored; According to a second possibility, the method includes the steps of: bii. Moving the vehicle (30) along the second horizontal direction (X2) on the ground of at least one passage (Pi) until the vehicle (30) is located in a corridor (Ai) of the storage area (10), preferably a corridor serving a shelf (20) where the collection unit (23c) is stored; cii. Changing the direction at least once; dii. Moving the vehicle (30) along the first horizontal direction (X1) on the ground of the corridor (Ai) of the storage area (10) so as to align the vehicle (30) with the collection unit (23c) in the second horizontal direction (X2); The method further includes the steps of: e. Moving the vehicle (30) in the vertical direction (Z) until the vehicle (30) is at the level of the collection unit (23c) in the vertical direction; f. Loading the container (50) stored in the collection unit (23c) onto the vehicle (30) by a grasping device of the vehicle (30); g. Moving the vehicle (30) in the vertical direction (Z) until the vehicle (30) reaches the ground level; Wherein: - The vehicle (30) is configured to be capable of freely moving on the ground, where the ground has no guide rails in two mutually perpendicular directions. - When the vehicle (30) moves on the transfer area ground, when in the storage areas of steps bi, bii, di, and dii, when changing direction in steps ci and cii, and preferably when in steps e and g, the orientation remains fixed.

2. The method (100) according to the preceding claims, the vehicle (30) comprising: - A chassis (31) extending along a first horizontally extending axis (C1); - A horizontal moving device adapted to move the chassis (31) on the ground in at least two perpendicular directions while maintaining a fixed orientation of the first extending axis (C1) of the chassis (31), the horizontal moving device being configured to move freely without a guide rail on the ground in the two mutually perpendicular directions; - A climbing device adapted to move the chassis in the vertical direction (Z); and - A grasping device connected to the chassis (31) and adapted to grasp the container (50) in the unit (23) and load it onto the chassis (31).

3. The method (100) according to the preceding claims, the horizontal moving device of the vehicle (30) includes at least one wheel set (32), the wheel set (32) comprising: - A wheel (33) whose axis of rotation (R) is perpendicular to the vertical direction (Z), and connecting means for connecting the wheel to the chassis (31), the wheel (33) rotating about the axis of rotation (R) such that the vehicle (30) in the step Moving at least along the second horizontal direction (X2) in bi and dii, and moving along the first horizontal direction (X1) in steps di and bii; - Device for changing the direction of movement, comprising means for rotating a wheel and a connecting device relative to a chassis (31) about a vertical axis (V) which intersects the axis of rotation (R) of the wheel (33), steps ci and cii comprising rotating the wheel (33) and the connecting device about the vertical axis (V) so as to rotate the axis of rotation (R) of the wheel (33) about the vertical axis (V) from a second horizontal direction (X2) to a first horizontal direction (X1).

4. The method (100) according to the preceding claim, wherein during steps ci and cii, the wheel (33) is prevented from rotating about its axis of rotation (R).

5. The method (100) according to claim 3, wherein the wheel set (32) comprises drive means for rotating the wheel (33) relative to the chassis (31) about its axis of rotation (R), the drive means comprising a first bevel gear (37) and a second bevel gear (38) which are arranged opposite one another to form a bevel gear set, the first bevel gear (37) being coaxial with the vertical axis (V), the second bevel gear (38) being coaxial with the axis of rotation (R) of the wheel (33), the wheel (33) and the second bevel gear (38) being arranged on opposite sides of the vertical axis (V) respectively, and the ratio of the radius (r) of the wheel (33) to the distance (d) separating the central plane (M) of the wheel (33) and the vertical axis (V) along the axis of rotation (R) is less than or equal to 2% relative to the reduction ratio between the second bevel gear (37) and the first bevel gear (38).

6. The method (100) according to any one of claims 3 to 5, wherein the horizontal movement means of the vehicle (30) comprises a plurality of wheel sets (32), and steps ci and cii comprise simultaneously rotating the wheels (33) of each wheel set (32) and their connecting means about the corresponding vertical axis (V) to rotate the axis of rotation (R) of the wheels (33) of each wheel set about the vertical axis (V) between a second horizontal direction (X2) and a first horizontal direction (X1).

7. The method (100) according to any one of the preceding claims, wherein the storage area (10) comprises a plurality of shelves (20), each shelf (20) being served by at least one aisle (Ai) extending in a first horizontal direction (X1), each shelf (20) comprising a plurality of rows (22) of shelves (20) arranged in sequence in the first horizontal direction (X1), each row (22) of shelves (20) comprising a plurality of storage units (23) adapted to receive containers (50), the units (23) of each row (22) being stacked vertically between a plurality of levels, from a bottom level to a top level, each row (22) comprising a free space (24) formed vertically between the ground level and the bottom unit (23), the storage area (10) comprising a plurality of passages (Pi) extending in a second horizontal direction (X2) perpendicular to the first vertical direction at the ground level, each passage (Pi) passing through the free space (24) in one of the rows (22) of each shelf, and the transfer area (11) being adjacent to the storage area (10) in the second horizontal direction (X2).

8. The method (100) according to the preceding claim, wherein the vehicle (30) comprises an automatic guidance unit, and the method (100) comprises the steps: a' Transmits the position of the collection unit (23c) to the automatic guidance unit of the vehicle (30), the position of the collection unit (23c) being identified by the position of the aisle (Ai) of the rack (20) serving to store the collection unit (23c), the position of the column (22) of the rack (20) where the collection unit (23c) is located, and the position of the level of the collection unit (23c) in the column (22); a” Instructs the automatic guidance unit of the vehicle (30) to calculate the route between the initial position of the vehicle (30) and the position of the collection unit (23c), which route preferably includes only the movement of the vehicle (30) in the first horizontal direction (X1) and the second horizontal direction (X2); Steps a' and a” are performed between step a and step bi or bii.

9. The method (100) according to the preceding claim, wherein the ground of the storage area (10) and the transfer area (11) is provided with guiding marks for guiding the vehicle (30) on the ground, the guiding marks including a first straight line (14) along the first horizontal direction (X1) and a second straight line (15) along the second horizontal direction (X2), and the route calculated in step a” follows a path selected from the first line (14) and the second line (15).

10. The method (100) according to the preceding claim, wherein the vehicle (30) includes a first pair of sensors (K1) arranged on both sides of the vehicle (30) along the first horizontal direction (X1) and a second pair of sensors (K2) arranged on both sides of the vehicle (30) along the second horizontal direction (X2), and depending on the moving direction of the vehicle (30), one set of the first pair of sensors (K1) and the second pair of sensors (K2) is adapted to respectively monitor the alignment of the vehicle (30) in the first and second (X2) horizontal directions, and the other set of the first pair of sensors (K1) and the second pair of sensors (K2) is adapted to respectively identify the position of the vehicle (30) in the first and second (X2) horizontal directions.

11. The method (100) according to claim 9 or 10, wherein in the transfer area (11), the distance between two adjacent second lines (15) in the first horizontal direction (X1) is a first distance (d1), which distance is between 500 mm and 600 mm, preferably 560 mm, or the relative difference between the first distance (d1) between two adjacent second lines (15) in the transfer area (11) in the first horizontal direction (X1) and the dimension of the vehicle (30) in the first horizontal direction (X1) is between 0% (excluding the boundary) and 35%, preferably between 0% (excluding the boundary) and 30%, more preferably between 0% (excluding the boundary) and 25%.

12. The method (100) according to any one of claims 9 to 11, wherein in the transfer area (11), the spacing between two adjacent first strips (14) in the second horizontal direction (X2) is a second distance (d2), which is between 700 millimeters and 800 millimeters, preferably 750 millimeters, or the relative difference between the second distance (d2) between two adjacent first strips (14) in the transfer area (11) and the dimension of the vehicle (30) in the second horizontal direction (X2) is between 0% (excluding the boundary) and 25%, preferably between 0% (excluding the boundary) and 20%, more preferably between 0% (excluding the boundary) and 15% in the second horizontal direction (X2).

13. The method (100) according to any one of claims 8 to 12, wherein there are multiple other motor vehicles (30) operating in the transfer area (11) and / or the storage area (10), and the route calculated in step a” is calculated according to the current positions of the other vehicles (30) in the transfer area (11) and / or the storage area (10) to travel along a path that avoids collision with any of the other vehicles (30).

14. The method (100) according to any one of claims 7 to 13, each shelf (20) includes a plurality of pairs of uprights (21) along the first horizontal direction (X1), each upright (21) extends along the vertical direction (Z), each pair of uprights (21) is spaced apart from each other in the second horizontal direction (X2), the units (23) of each column (22) are arranged between two adjacent pairs of uprights spaced apart along the first horizontal direction (X1), and the dimension of the vehicle (30) in the first horizontal direction (X1) is less than the distance between two pairs of uprights spaced apart along the first horizontal direction (X1).

15. The method (100) according to the foregoing claims, claim 2 applies, each shelf (20) includes engaging members (25) extending vertically along each upright, such as linear gears or chains, and the climbing device includes one or more gears (43), each gear (43) is configured to ensure the movement of the vehicle (30) along the uprights (21) of the shelf by engaging with the engaging members (25) of the uprights (21).

16. The method (100) according to the foregoing claims, each gear (43) of the climbing device of the vehicle (30) is movable between a retracted position in which the gear (43) is received inside or above the chassis (31) and an extended position in which the gear projects outward from the chassis (31), step e includes sub-step e1 for deploying each gear (43) of the climbing device from the retracted position to the extended position, and step g includes sub-step g1 for folding each gear (43) of the climbing device from the extended position to the retracted position.

17. The method (100) according to any one of claims 7 to 16, claim 2 applies, the cumulative height in the vertical direction (Z) of the chassis (31) of the vehicle (30) and the container (50) loaded on the chassis (31) of the vehicle (30) is less than the dimension in the vertical direction (Z) of the free space (24) formed by each column (22) of each shelf (20).

18. The method (100) according to any one of the preceding claims, the method (100) comprising a step h carried out after step g, the step h comprising moving the motor vehicle (30) along a second horizontal direction (X2) on the ground in the channel (Pi) until the vehicle (30) is located in the transfer area (11), the orientation of the vehicle (30) preferably remaining fixed during step h.

19. The method (100) according to any one of the preceding claims, the transfer area (11) comprising at least one order preparation station (12), the method (100) comprising a step i carried out after step g, the step i comprising moving the vehicle (30) on the ground of the transfer area (11) to the order preparation station (12), the orientation of the vehicle (30) preferably remaining fixed during step i.

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