System and method for picking orders

Abstract

An order-picking system comprises: • - at least one order-picking station (121); • - a first set (17) of self-guided trucks capable of conveying storage containers for at least one article to said at least one order-picking station (121) • - a second set (18) of self-guided trucks capable of conveying containers for collecting at least one article as far as said at least one order-picking station (121), such an order-picking station (121) comprising: • - an inclined ramp (21) via which the trucks can access the order-picking station(s) (121), comprising at least: • - a zone (Z1) for circulation of the trucks, and • - a zone (Z2) for temporary storage of the trucks, • - a parking zone (Z3) accessible from the inclined ramp (21) comprising at least two adjacent parking spaces (23, 25) intended to receive respectively a truck of the first set and a truck of the second set. Such trucks are able to roll freely on the inclined ramp in at least two perpendicular directions in order to pass from the circulation zone to any one of the temporary storage and parking zones, and vice versa.

Description

DESCRIPTION TITLE: ORDER PREPARATION SYSTEM AND METHOD Scope of the invention

[0001] The scope of this disclosure is that of warehouse or store logistics and in particular the automation of the supply chain.

[0002] More specifically, this disclosure relates to a system and process for preparing at least part of an order.

[0003] It finds particular application in the automation of flow management within a store and / or storage warehouse, for example in an order preparation warehouse of a logistics chain, in the automation of sorting of items in a store or warehouse, or in the automation of a delivery service for orders to a collection point, commonly known as "drive". Previous art

[0004] In the global supply chain, the management of flows and the handling of products within a warehouse or store play a crucial role.

[0005] Traditionally, an order picker moves around a warehouse to collect each product of an order from its location on a shelf of shelving.

[0006] It is observed that such an organization implies that the preparer travels long distances during a working day, which causes fatigue and loss of time when the journey is not optimized.

[0007] Another disadvantage is that the order picker must have a thorough knowledge of the warehouse layout to avoid wasting time.

[0008] To limit fatigue due to travel, improve the management of picking, and reduce order preparation time, a "Goods to man" warehouse organization was devised (in which products are brought by mechanized means to order pickers).

[0009] It is known to use conveyors to transport products from a warehouse storage area to an order picking station, and from the order picking station to a shipping station. It is also known to use robots to move products from this storage area to an order picking station, guided by rails installed on the warehouse floor.

[0010] Patent document US2018 / 0305123A1 presents such a technique, in which robots are guided to the order preparation station by means of guide rails, or of gear mechanisms, according to an order determined by a centralized command management system. Patent document US2019 / 0270591 presents a similar technique.

[0011] This well-known technique, however, has the disadvantages of being complex and costly to implement and requires the design of large warehouses, due to the bulkiness of the conveyors or traffic rails themselves.

[0012] Furthermore, once a storage container is loaded onto a conveyor, or a robot is engaged on a rail or access ramp to the order picking station, it is no longer possible to change the order in which it is routed to the order picker. This prevents any last-minute changes to the order picking process. Indeed, the robots or storage containers are necessarily presented to the operator in the order in which they entered the mechanical system transporting them to the order picking station. Therefore, there is no flexibility to change the order picking process based on changes in priority: such an order picking method is thus inflexible.

[0013] To overcome these drawbacks, the implementation of mobile robots, particularly automated guided vehicles (AGVs), has been proposed to retrieve products from shelves and transport them to an order picking station. Transporting grouped order items from an order picking station to a shipping station using robots has also been considered. Such robots ideally operate autonomously, offering greater flexibility in the organization of order picking stations.

[0014] Patent document US2021 / 0221615A1 thus proposes a technique for order preparation based on an appointment preparation principle, in which order preparation stations can be designed, on the fly, at any point in the warehouse, according to the needs and volume of orders to be prepared.

[0015] One drawback of this known technique is that transferring products from robots arriving at a picking station to robots destined for a shipping station is difficult for an operator. This can lead to products being dropped or bumped, making the work of an order picker arduous and potentially affecting their health and, in the long term, causing musculoskeletal disorders. Indeed, while such mobile order picking stations have the advantage of being able to be designed "on the fly," they are not very ergonomic.

[0016] Furthermore, and more generally, managing a fleet of robots within a warehouse or storage facility is a complex operation. Constant efforts are being made to improve efficiency in terms of flow flexibility, operational simplicity, and the speed of product transfers for order fulfillment and delivery to a shipping station. Implementing order picking stations in variable locations complicates the management of the autonomous mobile robot fleet by multiplying the possible destinations of these robots. Robots, and therefore the traffic patterns in warehouses, complicate the management of collision risks between robots. There is thus a need for solutions that meet these requirements. Description of the invention

[0017] This disclosure addresses this need by proposing an order preparation system comprising: at least one order preparation station; - a first set of self-guided trolleys capable of rolling on the ground and transporting storage containers of at least one item to the order preparation station(s); - a second set of self-guided trolleys capable of rolling on the ground and transporting collection containers of at least one item to the order preparation station(s).

[0018] Such an order preparation station includes: - an inclined ramp for trolley access to the order preparation station(s), including at least one trolley circulation area and a temporary trolley storage area, - a parking area accessible from the inclined ramp comprising at least two adjacent parking spaces intended to accommodate respectively one trolley from the first set and one trolley from the second set.

[0019] In addition, the trolleys are able to roll freely on the inclined ramp in at least two perpendicular directions to move from the traffic area to any of the temporary storage and parking areas, and vice versa.

[0020] From another perspective, a proposed order preparation process includes: - the transport of at least one storage container of at least one item by at least one trolley from a first set of self-guided trolleys capable of rolling on the ground to an order preparation station; - the transport of at least one collection container of at least one item by at least one trolley from a second set of self-guided trolleys capable of rolling on the ground to the order preparation station; - a removal of at least one item from one of the storage containers and a deposit of the removed item(s) in one of the collection containers.

[0021] According to this method, transport is carried out by moving trolleys within a designated circulation area on an inclined ramp providing access to the order preparation station. Picking is carried out in a parking area accessible from the inclined ramp, comprising at least two adjacent parking spaces intended to accommodate, respectively, one trolley from the first set and one trolley from the second set. In the event of a modification to an order preparation order, the method includes the free movement of at least one trolley from the first and / or second set of trolleys in at least two perpendicular directions to move from the parking area or the picking area. traffic to a temporary storage area for trolleys provided on the inclined ramp, and vice versa.

[0022] According to another aspect, a computer program product is proposed comprising program code instructions to control the movements of trolleys of a first set and a second set of self-guided trolleys capable of rolling on the ground according to the process as defined herein when this program is executed by a processor.

[0023] According to another aspect, a non-transient recording medium readable by a computer is proposed on which such a program is recorded.

[0024] Such a recording medium can be any entity or device capable of storing the program. For example, the medium may include a storage means, such as a ROM, for example a CD-ROM or a microelectronic circuit ROM, or a magnetic recording means, for example a USB flash drive or a hard drive.

[0025] On the other hand, such a recording medium can be a transmissible medium such as an electrical or optical signal, which can be transmitted via an electrical or optical cable, by radio, or by other means, so that the computer program it contains can be executed remotely. The program according to the invention can, in particular, be uploaded to a network, for example, the Internet.

[0026] Alternatively, the recording medium may be an integrated circuit in which the program is incorporated, the circuit being adapted to execute or to be used in the execution of the aforementioned order preparation process.

[0027] The features described in the following paragraphs may optionally be implemented, independently of each other or in combination with each other:

[0028] The inclined ramp has a width greater than or equal to the width of four trolleys, preferably greater than or equal to the width of six trolleys.

[0029] The trolley traffic area includes at least two arrival lanes and at least two departure lanes for trolleys.

[0030] The temporary storage area is essentially horizontal and configured to temporarily store at least two trolleys.

[0031] The parking area is inclined relative to the horizontal.

[0032] The parking area has an angle of inclination relative to the horizontal of opposite sign to that of the access ramp.

[0033] The temporary storage area and / or the circulation area include means for charging a battery of the trolleys.

[0034] Storage containers and collection containers belong to the group that includes: bins; cardboard boxes.

[0035] The adjacent parking spaces are at different heights.

[0036] At least some of the trolleys in the first set of trolleys are also trolleys belonging to the second set of trolleys or vice versa.

[0037] The adjacent parking spaces face the position of an operator or robotic arm.

[0038] According to one aspect, the order preparation process includes: temporary storage of at least one trolley from the second set in the temporary storage area until an order associated with a collection container transported by the temporarily stored trolley becomes a priority; movement of the temporarily stored trolley from the temporary storage area to the traffic area along a first direction of movement and movement of the temporarily stored trolley from the traffic area to the parking area along a second direction of movement perpendicular to the first direction of movement. List of figures

[0039] Other features and advantages of the invention will become clearer upon reading the following description of an embodiment of the invention, given by way of simple illustrative and non-limiting example, and the accompanying drawings, among which:

[0040] Fig. 1 [Fig 1] is a representation of an online commerce distribution warehouse in which an example of an embodiment of an order preparation process according to the invention is implemented.

[0041] Fig. 2 [Fig2] is a detailed perspective view of an order preparation station in the warehouse shown with reference to figure 1.

[0042] Fig. 3 [Fig 3] is a partial front view of the order preparation station shown with reference to figure 2.

[0043] Fig. 4 [Fig 4] is a partial side view of the order preparation station shown with reference to figure 2. Detailed description of the invention

[0044] The general principle of the invention is based on the design of an order preparation station which autonomous robots access by using an inclined ramp, and which advantageously has three zones, namely: a trolley circulation zone; - a temporary storage area for trolleys, in which they can be put on hold if the order to which they are associated is not a priority, or must be put on "stand-by", waiting for a restocking of items for example; - a parking area, which includes at least two adjacent spaces intended to receive respectively a robot transporting a storage container from the warehouse storing the items and a robot transporting a collection container, intended to receive the items of an order being prepared.

[0045] Such robots are autonomous in their movement, and can in particular move in 2D on the inclined ramp, and circulate freely between the three zones of circulation, temporary storage and parking, depending on the more or less priority nature of the command to which they are associated.

[0046] It is therefore very easy to modify the order preparation sequence by sending a robot, which has entered the circulation area or is already in the parking area, the order to move to the temporary storage area for a temporary hold. Conversely, as soon as the processing of the order it is assigned to becomes a priority again, or as soon as missing items have been delivered to the order preparation station, the robot can easily leave the temporary storage area to return to the circulation area or directly to the parking area.This results in a high degree of fluidity in order preparation, which can begin, be temporarily interrupted to intersperse the processing of another order at the order preparation station, and resume quickly, through a simple, rapid and low-amplitude movement of the robots within the three planned zones of circulation, parking and temporary storage.

[0047] The existence of a temporary storage area at the order preparation station advantageously allows the temporary storage of part of the items of an order being prepared, for example while waiting for the restocking of an ordered item that is missing from the warehouse or store, or when it is necessary to postpone the shipment of the order.

[0048] Furthermore, such an order preparation station is particularly ergonomic: it includes at least two adjacent locations facing the operator or a robotic arm, and preferably within easy reach, to receive one or more storage containers and one or more collection containers for the items of the order being prepared. Thus, the operator does not need to walk or move the robotic arm on the floor to transfer the items of an order between the storage containers and the collection containers. collection. This transfer takes place in a simple and ergonomic movement of an operator's arm or a robotic arm and in a reduced time.

[0049] Furthermore, these adjacent locations, accessible from the inclined ramp leading to the order preparation station, are preferably placed at eye level so that the operator does not have to bend down to handle the order items. This reduces the operator's range of motion and therefore the risk of developing musculoskeletal disorders.

[0050] Having more than two adjacent parking spaces in the parking area also reduces order preparation time. This is because it's possible to place several storage containers holding different items required for the order (for example, a container of ping-pong balls and a container of ping-pong paddles) within the parking area. The ping-pong balls are taken from the first container and placed in the collection container, and then the ping-pong paddles are immediately taken from the second container, without having to wait for the paddle container to replace the ball container in the parking space designated for storage containers. It's also possible to place multiple collection containers in the parking area, which is advantageous when the same item is required for several orders.For example, if three customers have ordered ping-pong balls, three collection containers can be placed in the parking area, along with the storage container holding the ping-pong balls. It is then possible to take ping-pong balls from the storage container and deposit them successively and quickly into each of the three collection containers.

[0051] Thus, the design of such an access ramp produces the combined technical effect of high ergonomics of the order preparation station and flexibility in the organization of the order preparation order, which makes it possible to substantially reduce order preparation times, and to optimize the efficiency of the multi-order processing.

[0052] We now focus on describing an example of the implementation of an order preparation system, and the associated order preparation process, in relation to the figures.

[0053] Throughout this document, the term "cart" or "robot" refers to any motorized device equipped with at least two wheels for travel on the ground (and therefore potentially having two, three, four, or even more wheels) and designed to transport a load, excluding any flying device. The terms "robot" and "cart" are used interchangeably. Examples of such carts are described, for instance, in patent documents W02023001449 and FR3125514 filed by the Applicant.

[0054] Preferably, such robots or carts are autonomous in their movement and capable of changing trajectory very quickly, within a small footprint. For example, such robots or carts are equipped with a drive wheel mounted on a vertical axis: when the drive wheel is rotated around this vertical axis, it pivots just enough to change the directly from rolling, without turning the robot's chassis, which can thus change direction of movement almost on the spot.

[0055] In one embodiment, such robots not only move in 2D on the ground, but can also move in 3D, using the warehouse racking to rise up along these racks to retrieve a storage container or a collection container stored there.

[0056] The term "container" refers to any device capable of being transported by a robot and of holding one or more items, objects, or products. Hereafter, the term "container" may refer to a bin, a basket, a crate, a chest, a box, etc.

[0057] Furthermore, the terms "articles" and "products" can be used interchangeably. They simply refer to an object, particularly a commercial object, stored in a workshop, store or warehouse, intended for delivery to an end customer who has placed an order, alone or in association with one or more other articles.

[0058] Finally, the temporary storage area may be an area intended to store orders awaiting delivery at a "drive", without falling outside the scope of this disclosure.

[0059] Figure 1 illustrates a robotic distribution warehouse 10 of an online retail company. This warehouse is organized into three areas: a storage area 11, an order preparation area 12 equipped with order preparation stations 12i and a shipping area 13 equipped with a parcel assembly and shipping station 13i.

[0060] Storage area 11 comprises multiple racks 14 made up of shelves on several levels supported by uprights 15, and arranged in successive parallel rows. Storage containers 16, which may contain all similar items or a plurality of different items from the same product range, are stored on these racks. Furthermore, it should be noted that some of these racks are reserved for storing collection containers, intended to collect the various items constituting an order, before their transport to the shipping station 13i.

[0061] A first fleet of automated guided vehicles 17, equipped for example with four wheels for rolling on the ground, provides transport of storage containers 16 between the storage area 11 and the order preparation stations 12i.

[0062] When a robot 17 receives instructions to retrieve a bin 16 from a shelf, the robot 17 rolls along the floor to the base of the shelf 14 where the bin 16 is stored and climbs along this shelf, using the shelf opposite it for support, until it reaches the shelf where the bin 16 is stored and retrieves it. The cart 17 then descends between the two shelves, and once on the floor, transports the bin 16 to the order picking station 12i.

[0063] This first set 17 therefore includes a first set of self-guided trolleys capable of rolling on the ground, intended to pick up storage containers of one or more item(s) stored in the racks and transport them to the order preparation station.

[0064] A second fleet of 18 automated guided vehicles ensures the transport of collection containers: - on the one hand, when they are empty, from the shelving units 14 to the order preparation stations 12i; - on the other hand, when they have collected one or more items from the same order previously taken from storage bins 16 transported to the order preparation station 12i, from the latter to the shipping station 13i.

[0065] This second set 18 therefore includes a second set of self-guided trolleys capable of rolling on the ground, intended to transport collection containers containing at least part of the items of the same order from an order preparation station 12i to a dispatch station 13i of the order, to a temporary storage area or to a conveyor connected to a dispatch station of the order.

[0066] It may be envisaged that a robot 17 or 18 will be used both to transport storage bins 16 to an order preparation station 12i and, intermittently, to transport collection bins to the shipping station 13i or vice versa, depending on the evolution of needs and the availability of the other robots in these fleets at any given time.

[0067] This offers great flexibility in managing the fleet of forklifts, as the same forklift can be used to transport either storage containers or collection containers, and therefore belong to the first or second set of forklifts as needed. Thus, at least some of the forklifts in the first set also belong to the second set, or vice versa, reducing the total number of forklifts required to transport storage and collection containers.

[0068] The second set of trolleys can be a subset of the first set of trolleys or vice versa.

[0069] When the preparation of an order or part of an order begins: - it is associated with a collection container, the identifier of which is recorded in a centralized management system in association with an order number; - a trolley from the second set 18 retrieves this collection container from the shelves; - this trolley 18 transports the collected collection container to an order preparation station 12i, where it is positioned in a first parking location facing the position of an operator or a robotic arm.

[0070] Similarly, a storage container containing at least one item from the order or part of the order is associated with a cart from the first set 17, by recording in association in a centralized management system of a trolley identifier and a storage container identifier. The trolley 17 picks up the storage container associated with it from the racks, and transports it to a second parking location of the order preparation station 12i, which is adjacent to the first location on which the collection container was placed, and which also faces the position of an operator or a robotic arm.

[0071] The operator or robotic arm can then pick one or more items from the order in the storage container that has been placed in the second parking space, and place them in the collection container that has been placed in the first parking space adjacent to it.

[0072] If all items in the order have been placed in the collection container, it can be transported by trolley 18 to a shipping station or on a conveyor to that shipping station, or to a shipping carton closing device in the case where the collection container is a carton.

[0073] This order preparation technique advantageously allows several orders consisting of items stored in different storage locations in the workshop, store or warehouse to be carried out simultaneously and in a reduced time, as will be better understood from the description of figures 2 to 4 below.

[0074] Figure 2 shows a detailed representation of an order preparation station 12i in a perspective profile view.

[0075] This order preparation station 12i is equipped with a robotic arm 26, which is known in itself and could also be replaced by a human operator. The base 26i of the robotic arm is fixed or rotates around a fixed axis relative to the ground.

[0076] The storage containers 16 are transported to this order picking station 12i by trolleys 17 of the first set of automated guided vehicles (AGVs) which use an inclined access ramp 21, for example, from the left side. The trolleys 18 of the second set of AGVs exit the inclined access ramp 21 from its right side, in this particular embodiment of the invention. In this example, the access ramp 21 is a lifting ramp that allows the robots 17, 18, which move by rolling on the warehouse floor from the storage area 11 to the order picking area 12, to rise onto the order picking station 12i. In another example where the robots would drive on an upper floor of the warehouse, the inclined access ramp 21 could also allow the robot to descend, from this upper floor, to the order preparation station 12i.

[0077] As can be seen in more detail in Figure 4, which is a side view of the order preparation station 12i illustrated in Figure 2, the inclined access ramp 21 comprises two distinct zones: a zone referenced Z1 for trolley circulation; - a zone referenced Z2 for the temporary storage of trolleys.

[0078] The temporary storage area Z2 is substantially horizontal and allows for the temporary storage of at least two trolleys, for example one trolley from the first set 17 and one trolley from the second set 18. It can also be sized to allow the simultaneous storage of a larger number of trolleys, as required.

[0079] This zone Z2 may include means for charging the batteries of the trolleys 17 and 18 during their temporary stop in zone Z2. These may be, for example, inductive charging modules, also called "pads," which allow the trolley batteries to be charged while they are parked on the ramp. This results in savings in time and space, as it eliminates the need for additional charging stations, or at least reduces the capacity and / or number of existing charging stations. These charging means may also be positioned in the circulation zone Z1. For example, charging pads 28 are provided on each side of the ramp 21 to recharge the batteries of the robots 17 or 18.

[0080] The Z1 trolley traffic zone includes at least two arrival lanes and at least two departure lanes for trolleys, symbolized by arrows in Figure 2, to allow for smooth movement of trolleys 17, 18, and therefore the simultaneous handling of multiple order preparation. For example, the inclined ramp 21 has a width greater than or equal to the width of four trolleys, preferably greater than or equal to the width of six trolleys to allow for multiple crossings and simultaneous entry and exit of trolleys 17, 18 on the access ramp 21.Thus, a trolley 17 carrying a first storage container and a trolley 18 carrying a first collection container can simultaneously go up the access ramp 21 to access the order preparation station, where the preparation of the order to which they are associated begins, while a trolley 17 carrying a second storage container and a trolley 18 carrying a second collection container come down simultaneously, because the preparation of the order to which they are associated is finished.

[0081] The order preparation station also includes a parking area, referenced Z3, which the trolleys 17 and 18 access from the inclined ramp 21. The upper end of the ramp 21 is surmounted by a grid 27 separating the parking area Z3 from the circulation area Z1 and the temporary storage area Z2 for the trolleys 17 and 18. An opening 29 is also formed in this grid to allow access for the trolleys 17 and 18 to the parking spaces in this parking area Z3, within reach of the robotic arm 26. In the embodiment shown in Figures 2 to 4, a parking area Z3 is depicted comprising exactly two parking spaces, and the opening 29 is therefore sized to allow the simultaneous passage of two trolleys. The parking area can, however, include a larger number of parking spaces, for example, four or six, depending on the width of the ramp 21.In this case, the opening 29 in the grid 27 is of course adapted to allow the simultaneous passage of four or six trolleys, depending on the number of parking spaces.

[0082] The robotic arm 26, mounted on a fixed base 26i, is intended to pick up an item from a storage container 16 transported by a trolley 17 to a predetermined parking location 25 at the end of the ramp 21 (shown by dashed lines in Figure 2 and in Figure 3, which is a front view of the order preparation station 121) and to place it in an item collection bin 24 transported by a trolley 18 to a predetermined parking location 23 at the end of the ramp 21 (shown by dashed lines in Figures 2 and 3).Since the first parking positions 25 and 23 of the robots are advantageously adjacent and facing the robotic arm 26, the movements of the arm 26, for each item handled, are limited to picking up an item from the storage bin 16, rotating the arm to position it above the collection bin 24, depositing the item in the collection bin 24 with a substantially vertical movement, and returning to its initial position. This allows these operations to be repeated at a high rate. The same applies in a configuration with three, four, or six adjacent parking positions; only the range of motion of the arm is then increased.

[0083] It is also easy to understand that, in variants of this embodiment, where the operations carried out by the robotic arm are performed by an operator, in addition to the time saving that this arrangement provides, the risks of musculoskeletal disorders for the operator and the risks of items falling to the ground if they escape from the operator's hand are greatly reduced.

[0084] The first parking space 25 and the second parking space 23 are formed of two substantially adjacent flat surfaces which constitute the parking area Z3 forming a portion extending from the upper part of the ramp 21. In a configuration with four or six parking spaces, the area Z3 is in the form of a flat inclined surface which extends from the upper part of the ramp, and whose width corresponds substantially to the width of four or six trolleys, depending on the number of parking spaces.

[0085] The items to be collected can thus be easily placed at an operator's height, which also makes their placement in the collection containers easier.

[0086] Figure 4 also shows that the parking area referenced Z3 is inclined relative to the horizontal. When the inclined access ramp 21 is a lift ramp, this parking area Z3 has an angle of inclination relative to the horizontal opposite to that of the access ramp 21. Thus, the respective parking positions 23 and 25 of the robots 18 and 17 are located on an inclined surface 31, which facilitates access for the robotic arm 26 to the items in the storage containers 16 and their placement in the collection containers 24.

[0087] To further improve the ergonomics of the order preparation station, the respective parking positions 23 and 25 of robots 18 and 17 can be made height-adjustable, or at different heights, to adapt to the dimensions of the Storage and collection containers. The height of the top opening of the storage containers and the top opening of the collection containers can thus be adjusted independently, for example, to place these openings at approximately the same level if the storage and collection containers have different heights. This is particularly advantageous for the parking space intended to receive the collection container, in cases where this collection container is directly the shipping box for the order, the dimensions of which can easily vary from one order to another, depending on the number of items ordered by the customer, or their size.In the case where several orders are prepared in parallel, and where several shipping cartons are therefore parked in adjacent locations in the parking area, the height of the parking space can thus be individually adjusted for each of the collection cartons, according to their dimensions, which have been chosen according to the volume of items ordered.

[0088] By allowing the height of the collection box's parking space to be adjusted to the box's height, it is ensured that its top opening is always positioned at the correct level for the operator or robotic arm, thus improving the ergonomics of the order picking station. This height adjustment can be achieved using a rack and pinion system or motorized lifting devices, which can be controlled by the centralized management system, based on the dimensions of the collection box selected on the racks. These dimensions are known to the centralized management system from the collection box's identifier, which is linked to the identifier of the order being prepared.

[0089] As can be seen from Figures 2 to 4, we can thus begin to carry out a first order at the order preparation station 12i, using a first collection container brought by a trolley 18 from the second set, by asking an operator or a robotic arm 26 to place a part of the items of the first order into it, these items contained in different storage containers having been transported beforehand to the order preparation station 12i, by a plurality of trolleys from the first set 17 of trolleys.

[0090] In the event that the preparation of a second order becomes a priority or if it is not possible to finalize the preparation of the first order because an item of it is missing, the cart of the second set 18 makes room on the first parking space 23 for another cart of the second set 18 carrying a second collection container for the preparation of a second order and transports the first collection container in which part of the items of the first order have been placed in the temporary storage area Z2, while waiting to finalize the first order.

[0091] The preparation of the second order can then begin, by instructing the operator or the robotic arm to place items from the second order, contained in storage containers brought to the order preparation station 12i by trolleys from the first set 17, into the second collection container. Once all or part of the items from the second order have been placed in the second collection container, the latter can be sent to the Z2 temporary storage area (if the preparation of this second order is not completed, for example because an item is missing), to a shipping station (if the preparation of this second order is completed) or a conveyor connected to a shipping station.

[0092] In summary, we can consider at least three operating methods for preparing an order using the system shown in figures 2 to 4:

[0093] Example 1: Preparing a "simple" order consisting of a single item

[0094] After attaching a trolley from the first set 17 to the storage container holding the single item in the order, this trolley transports the storage container to the order preparation station 12i. It travels, via the Z1 circulation zone of the access ramp 21, to the Z3 parking zone, where it parks in the second predetermined parking space 25. The operator or a robotic arm 26 picks the item and places it in a collection container located in the first predetermined parking space 23. This collection container was transported by a trolley from the second set 18, through the Z1 circulation zone, to the Z3 parking zone. The collection container can then be transferred to a temporary storage area (for example, while awaiting order pickup by the end customer) or to a shipping station.

[0095] If several "simple" orders for multiple customers consist of the same item, multiple collection containers can be positioned in several adjacent locations within parking area Z3, with the storage container holding the single ordered item. The operator or robotic arm retrieves the item and places it successively into each of the collection containers, which can then be transferred to a temporary storage area or to a shipping station.

[0096] Example 2: preparing a "simple" order consisting of several different items stored in different locations within a warehouse.

[0097] The order preparation takes place in a manner substantially similar to example 1. The order contains several items, here several trolleys from the first set 17 are planned to retrieve the storage containers, each containing one of the items in the order, after associating each one of the storage containers to be retrieved, and to present them one after the other at the second predetermined parking location 25. An operator or a robotic arm 26 then successively retrieves the different items of the order and places them in a collection container located on the first predetermined parking location 23, brought by a trolley from the second set 18 of trolleys.

[0098] Thus, if the parking area has two parking spaces 23 and 25, a first trolley 17 carrying a first storage container for the first item of the order ascends the access ramp 21 via the circulation zone Z1 and enters the parking area Z3. The first item is picked up by the robotic arm 26 and placed in the container The collection point is located at position 23, directly adjacent to the parking position 25 of the first trolley 17. This first trolley can then descend the inclined ramp 21 directly, either via the same lane in traffic zone Z1 that it used on the ascent, or via another descent lane in this traffic zone Z1. The trolley can easily switch from one lane to the other by moving in a direction perpendicular to the direction of these traffic lanes, for example, by rotating its drive wheel in place. While this first trolley is descending the ramp 21, a second trolley 17, carrying a second storage container for a second item in the order, ascends the access ramp 21 using a free traffic lane on the access ramp 21. The ascent and descent of both trolleys can occur simultaneously, ensuring a substantial time saving for order preparation.When it reaches the top of ramp 21, if the ascent route it took was not opposite the parking area, the second trolley 17 can move in a direction perpendicular to its direction of ascent, until it is opposite its parking location. It then pivots again 90° to move forward to its parking location, in a direction parallel to its direction of ascent on ramp 21.

[0099] Again, the robotic arm 26 retrieves the second item from the order from the storage container parked in parking space 25 and places it in the collection container parked in the adjacent parking space 23. The second trolley 17 can then leave parking area Z3 and travel, via circulation area Z1, to storage area 11 where it will place the storage container back on the shelving 14. It can also leave parking area Z3 to go to another order picking station where the items it contains are needed to prepare another order. Finally, it can leave parking area Z3 and park temporarily in temporary storage area Z2 if the items it contains can be used for another order picking scheduled soon at the same order picking station 12i.Indeed, in this case, it is advantageous for the trolley to remain at the order preparation station to avoid unnecessary movement and thus reduce order processing time. It is therefore beneficial for the temporary storage area Z2 to be able to store several trolleys, if all of them could be used to prepare a future order.

[0100] When order preparation is complete because all items in the order have been collected, the associated collection container can be transferred to a temporary storage area or to a shipping station.

[0101] If, however, parking zone Z3 has more than two parking spaces, it is possible to simultaneously park in this zone a collection container transported by a trolley 18 and several storage containers transported by trolleys 17 from the first set, each containing an item from the order. This further accelerates order processing time, since the different items can be successively and quickly retrieved by the robotic arm from each of the storage containers and placed in the collection container. As soon as an item has been retrieved from a storage container Thanks to the robotic arm, the trolley that transports it can leave the ramp to make way for another trolley.

[0102] Example 3: preparing part of an order containing several items and putting this order on hold to prepare another order which has meanwhile become a priority.

[0103] In this example, order preparation for order C1 begins according to the procedure in Example 2. If another order, C2, becomes more important, the transfer of items from order C1 being prepared into the collection container in parking area Z3 is interrupted, and this collection container is transported to the cart of the second set 18, which carries it to temporary storage area Z2. This frees up the first predetermined parking space 23 for a cart from the second set 18 carrying the collection container associated with the now-priority order C2. Order preparation for the now-priority order C2 can then begin by transporting storage containers containing items from order C2 using carts from the first set 17 to the second parking space 25.

[0104] Thus, the trolley 18 associated with order C1 is temporarily parked in the temporary storage area Z2. Meanwhile, the trolleys 17 transporting the storage containers for the items in order C2 travel through the circulation area Z1 to successively access the parking area Z3. When the robotic arm 26 has picked an item from order C2 from one of these trolleys 17, that trolley can leave the ramp 21 via the circulation area Z1, while the next trolley 17 ascends, in parallel, via another access lane of the ramp. When the picking of order C2 is complete, the trolley 18 associated with order C1 leaves the temporary storage area Z2 to return to the parking area Z3, where the picking of order C1 can resume.The trolleys can move from one access lane to another, or from the traffic 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 one direction parallel to the access lanes and one direction perpendicular to the access lanes.

[0105] The above examples of operating procedures are in no way limiting in the way trolleys, items, and orders can be managed during the implementation of the method of the present invention. They are intended simply to illustrate the flexibility offered by said method with regard to trolley management and order formation.

[0106] Indeed, the three-zone structuring of the order preparation station, the configuration of the inclined access ramp which has several ways for trolleys to go up and down, combined with the very high mobility of the trolleys, allow for a very high degree of flexibility in managing the order of order preparation, putting orders on hold and resuming them on demand, depending on changes in their priority.

[0107] In order to limit the time lost transporting the various storage containers needed to assemble an order to the second parking space 25, the robots 17 are advantageously positioned in a line one behind the other on the ramp 21 in Waiting for the space in one of the parking spaces 25 to be vacated by the preceding trolley after the item(s) of the order have been retrieved from the storage container supported by that trolley by the robotic arm 26, moving aside to descend the ramp via a track parallel to the ascent track. List of cited documents Patent documents

[0108] For the record, the following patent documents are cited: patcit1: US2018 / 0305123A1 (publication number); patcit2: US2019 / 0270591 (publication number); patcit3: US2021 / 0221615A1 (publication number); patcit4: W02023001449A1 (publication number); - patcit5: FR3125514A1 (publication number).

Claims

CLAIMS

1. Order preparation system comprising: a. at least one order preparation station (12i); b. a first set (17) of self-guided trolleys capable of rolling on the ground and conveying storage containers (16) of at least one item to said at least one order preparation station (12i); c. a second set (18) of self-guided trolleys capable of rolling on the ground and conveying collection containers (24) of at least one item to said at least one order preparation station (12i); characterized in that said at least one order preparation station (12i) comprises: i. an inclined ramp (21) for access of said trolleys to said at least one order preparation station, comprising at least: a zone (Z1) for circulation of said trolleys, and a zone (Z2) for temporary storage of said trolleys, ii.a parking area (Z3) accessible from said inclined ramp (21) comprising at least two adjacent parking spaces (23, 25) intended to receive respectively a trolley of said first assembly (17) and a trolley of said second assembly (18), and in that said trolleys are able to roll freely on said inclined ramp (21) in at least two perpendicular directions to pass from said circulation area (Z1) to any one of said temporary storage (Z2) and parking (Z3) areas, and vice versa.

2. Order preparation system according to claim 1, characterized in that said inclined ramp (21) has a width greater than or equal to the width of four trolleys, preferably greater than or equal to the width of six trolleys.

3. Order preparation system according to claim 2, characterized in that said circulation zone (Z1) of said trolleys comprises at least two arrival lanes and at least two departure lanes of said trolleys.

4. Order preparation system according to any one of claims 1 to 3, characterized in that said temporary storage area (Z2) is substantially horizontal and configured to temporarily store at least two trolleys.

5. Order preparation system according to any one of claims 1 to 4, characterized in that said parking area (Z3) is inclined relative to the horizontal.

6. Order preparation system according to claim 5, characterized in that said parking zone (Z3) has an angle of inclination relative to the horizontal of a sign opposite to that of said access ramp (21).

7. Order preparation system according to any one of claims 1 to 5, characterized in that said temporary storage area (Z2) and / or said circulation area (Z3) comprise means (28) for charging a battery of said trolleys.

8. Order preparation system according to any one of claims 1 to 7, characterized in that said storage containers (16) and said collection containers (24) belong to the group comprising: bins; cartons.

9. Order preparation system according to any one of claims 1 to 8, characterized in that said at least two adjacent parking spaces (23, 25) are at different heights.

10. Order preparation system according to any one of claims 1 to 9, characterized in that at least some of the trolleys of said first set (17) of trolleys are also trolleys belonging to said second set (18) of trolleys or vice versa.

11. Order preparation system according to any one of claims 1 to 10, characterized in that said at least two adjacent parking spaces (23, 25) face the position of an operator or a robotic arm.

12. Order preparation method comprising: i. conveying at least one storage container (16) of at least one article by at least one trolley of a first set (17) of self-guided trolleys capable of rolling on the ground to an order preparation station (12i); ii. conveying at least one collection container (24) of at least one article by at least one trolley of a second set (18) of self-guided trolleys capable of rolling on the ground to said order preparation station (12i); iii. removing at least one item from one of said storage containers (16) and depositing said at least one removed item into one of said collection containers (24);characterized in that said routings are implemented by moving said trolleys in a circulation zone (Z1) arranged on an inclined ramp (21) for access to said order preparation station (12i), in that said picking is implemented in a parking zone (Z3) accessible from said inclined ramp (21) comprising at least two adjacent parking spaces (23, 25) intended to receive respectively a trolley of said first set (17) and a trolley of said second set (18), and in that, in the event of modification of an order preparation order, said method comprises a free movement of at least one of said trolleys of the first and / or second set of trolleys in at least two perpendicular directions to pass from said parking zone (Z3) or from said circulation zone (Z1) to a temporary storage zone (Z2) of said trolleys arranged on said inclined ramp (21), and vice versa.;

13. Order preparation method according to claim 10, characterized in that it comprises: temporary storage of at least one trolley of said second set in said temporary storage area (Z2) until an order associated with a collection container (24) conveyed by said temporarily stored trolley becomes a priority; movement of said temporarily stored trolley from said temporary storage area (Z2) to said circulation area (Z1) in a first direction of movement and movement of said temporarily stored trolley from said circulation area (Z1) to said parking area (Z3) in a second direction of movement perpendicular to said first direction of movement.

14. A computer program product comprising program code instructions for controlling movements of carriages of a first set and a second set of self-guided carriages capable of rolling on the ground according to the method of any one of claims 12 and 13 when this program is executed by a processor.

15. A non-transitory recording medium readable by a computer on which is recorded a program for controlling movements of carriages of a first set and a second set of self-guided carriages capable of rolling on the ground according to the method of any one of claims 12 and 13 when this program is executed by a processor.

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