Process for preparing an order

Abstract

The invention relates to a process (100) for preparing an order, which comprises moving a motorised carriage (30) on the ground in a transit zone (11) at least in a first horizontal direction (X1) so as to align the carriage (30), in a second horizontal direction (X2), with a passage (Pi) of a storage area (10); and moving the carriage (30) in the passage (Pi) in the second horizontal direction (X2) until the carriage (30) is located in an aisle (Ai) of the storage area (10) serving a set of shelves (20) in which the collection receptacle (23c) is located; the carriage (30) being configured to move freely on the ground and the orientation of the carriage (30) remaining fixed during the process.

Description

Description Title: ORDER PREPARATION PROCESS Technical field

[0001] This description relates to the field of order preparation processes. Prior art

[0002] Traditionally, in the field of logistics and more specifically in the preparation of an order in a warehouse, a human operator moves around the warehouse to collect one or more items from the order in different shelves of the warehouse. The operator may have to travel long distances which causes fatigue. Also, the operator must perfectly know the layout of the shelves in the warehouse at the risk of traveling a route that is not optimized and therefore longer, which increases the preparation time of the order.

[0003] To limit operator fatigue and reduce order preparation time, it is common to use a fleet of motorized forklifts. Each forklift can then travel through the warehouse along an optimized route to collect the items in the order. Also, order preparation increasingly involves the use of motorized forklifts with automatic guidance (commonly called "automated guided vehicles" or AGVs).

[0004] Guided trolleys are known that move only on the ground and are configured to each support a shelving column. However, this method of collection has the disadvantage of moving the entire shelving column and therefore all the items contained in it even if only one or only a few of the items are to be collected. Such a trolley must move slowly to avoid causing the shelving column to fall. In addition, the height of the shelving column carried by the trolley must also be limited to limit the risk of items falling, which has the consequence of increasing the number of columns required and therefore requiring a costly, if not impossible, extension of the warehouse size.

[0005] There are also known motorized, self-guided trolleys that move on the ground and are adapted to climb vertically onto a shelf in order to collect an item.

[0006] Among these motorized, self-guided trolleys, the first known are trolleys whose movement on the ground is constrained by rails serving the warehouse shelves. However, such a solution has the disadvantage of being inflexible and not allowing the shelves to be rearranged easily and without interrupting production to adapt to needs (in the event of growth in activity, for example).

[0007] Then there are known motorized trolleys with automatic guidance moving in free field (i.e. without rails). Generally, such trolleys make changes of direction of movement by pivoting the entire trolley. In other words, these trolleys pivot on themselves around a vertical axis. To do this, this type of trolley comprises a pair of coaxial wheels mounted on a chassis and driven in rotation in opposite directions so as to pivot the chassis around the vertical axis. However, it has been found that the trolley pivoting in this way requires precise recalibration of the chassis position in space after the change of direction. Such recalibration makes the order preparation time longer and presents a risk of error that would lead to an incorrect trajectory of the robot. In addition, to transport a standard parallelepiped-shaped container, the trucks typically have a suitable non-circular shape. Therefore, to make a change of direction by pivoting on itself, the truck requires a larger floor space than the surface area it occupies due to its own dimensions. As a result, to guarantee the simultaneous pivoting of two trucks at an intersection where they must change direction, it is necessary either to increase the width of the truck circulation lanes and therefore extend the size of the warehouse, or to limit the number of trucks moving around the shelves, which de facto limits the order preparation rate.

[0008] The present description aims in particular to provide a simple, economical and effective solution to the problems mentioned above, making it possible to avoid the disadvantages of known motorized self-guided trolleys. Summary

[0009] The present invention therefore consists in particular of a method for preparing an order by means of at least one motorized trolley moving between a storage area and a transit area, the method comprising the steps: a. Associating the trolley located in an initial position at the transit area with a bin to be collected in the storage area, the bin being arranged inside a collection cell among a plurality of cells in the storage area; according to a first possibility, the method comprising the steps: bi. Moving the trolley on the ground in the transit area at least in a first horizontal direction so as to align the trolley, in a second horizontal direction, with a passage in the storage area; ci. Making at least one change of direction; di.Moving the floor trolley in at least one passage in the second horizontal direction until the trolley is located in an aisle of the storage area, preferably serving a rack in which the collection cell is located; according to a second possibility, the method comprising the steps: bii. Moving the floor trolley in at least one passage in the second horizontal direction until the trolley is located in an aisle of the storage area, preferably the aisle serving the rack in which the collection cell is located; cii. Making at least one change of direction; dii. Moving the floor trolley in the aisle of the storage area, preferably the aisle serving the rack in which the collection cell is located, in the first horizontal direction so as to align the trolley, in the second horizontal direction, with the collection cell; the method further comprising the steps: e.Move the carriage in a vertical direction until the carriage is vertical. at the collection cell; f. Load the bin held in the collection cell onto the trolley using the trolley's gripping means; g. Move the trolley in a vertical direction until the trolley is at ground level; and in which: - the trolley is configured to move in free field on the ground which is devoid of guide rails in the two perpendicular directions, - the orientation of the trolley remains fixed during its movement on the ground in the transit zone and in the storage area during steps bi, bii, di and dii, including during the change of direction made in steps ci and cii, and preferably during steps e and g.

[0010] The trolley thus does not rotate its chassis during the order preparation process, in particular when the trolley's direction of movement changes to 90° during steps ci and cii. Thus, the movement of the trolley requires less floor space during its journey to the collection cell, in particular when the trolley's direction of movement changes to 90° between step bi and step di and between step bii and step dii. Also, the floor space occupied by the trolley during the 90° direction change between the first horizontal direction and the second horizontal direction is reduced by a factor equal to V2 compared to a trolley whose chassis rotates during a 90° direction change. Thus, it is possible to transit, in the transit zone, a fleet of trolleys identical to the trolley described above by advantageously increasing the number of trolleys in transit at the same time.This allows the order preparation rate to be increased.

[0011] Furthermore, an absence of rotation of the chassis of the trolley makes it possible to limit, or even eliminate, a recalibration of the position of the chassis of the robot relative to the environment (relative to the shelving for example) after the change of direction at 90° between the movement in the first horizontal direction of step bi and the movement in the second horizontal direction of step di, and between the movement in the second horizontal direction of step bii and the movement in the first horizontal direction of step dii. The movement of the trolley is therefore more precise and easier to implement. Also, the order preparation method as described above is carried out more quickly, which also makes it possible to increase the order preparation rate.

[0012] Remarkably, the horizontal movement means of the trolley allow the trolley chassis to be moved on the ground and in open space. It is understood here that the storage area and the transit area are each devoid of trolley guide rails. Such a method of moving the trolley allows for faster and more flexible installation of the storage area and the transit area. Finally, the noise footprint is also reduced for the comfort of human operators who operate in the storage area and / or in the transit area.

[0013] It is understood that the vertical direction is perpendicular to the first horizontal direction and the second horizontal direction. Also, the first extension axis of the chassis is perpendicular to the vertical direction.

[0014] The tray can have a parallelepiped shape.

[0015] The change of direction for step ci can be made at the transit area. The change of direction for step cii can be made at the storage area, preferably in the aisle serving the rack in which the collection cell is located.

[0016] Step bi may comprise the subsidiary steps: bi1 Moving the motorized trolley on the ground in the transit area in the first horizontal direction; bi2 Moving the motorized trolley on the ground in the transit area in the second horizontal direction; bi3 Moving the motorized trolley on the ground in the transit area in the first horizontal direction so as to align the trolley, in the second horizontal direction, with the passage which includes the free space formed by the column in which the collection cell is located.

[0017] According to a variant, steps bi1 and bi2 may be repeated one or more times before step bi3. Step bi may comprise a step of changing direction (of movement of the carriage) between each of steps bi1 and bi2, and between the last step bi2 (this may be step bi2 in the case where steps bi1 and bi2 are carried out only once) and step bi3. The first possibility may also comprise steps prior to step bi comprising one (or more) movements of the carriage at the level of the transit zone, in particular in the second horizontal direction.

[0018] If necessary, the movement of the trolley at step di may be carried out partly at the level of the transit area before being carried out in the corresponding passage.

[0019] The first possibility may include an additional step carried out after step di and which includes moving the trolley in the first horizontal direction in the aisle of the storage area serving the rack in which the collection cell is located to align the trolley in the second horizontal direction with the collection cell.

[0020] If necessary, the movement of the trolley at step bii may be carried out partly at the level of the transit area before being carried out in the corresponding passage.

[0021] Step bii may comprise the subsidiary steps: bii1 Moving the trolley on the ground in a first pass in the second horizontal direction until the trolley is located in a first aisle; bii2 Moving the trolley on the ground in the first aisle in the first horizontal direction until the trolley is aligned in the second horizontal direction with a second pass; bii3 Moving the trolley on the ground in the second pass in the second horizontal direction until the trolley is located in a second aisle, the second aisle preferably being the aisle serving the rack in which the collection cell is located.

[0022] According to a variant, steps bii 1 and bii2 may be repeated one or more times before step bii3. Step bii may comprise a step of changing direction (of movement of the carriage) between each of steps bii 1 and bii2, and between the last step bii2 (this may be step bii2 in the case where steps bill and bii2 are performed only once) and step bii3. The second possibility can also include steps prior to step bii including one (or more) movement(s) of the trolley at the level of the transit zone.

[0023] In the case where the aisle referred to in step dii does not coincide with the aisle serving the shelf in which the collection cell is located, the second possibility may include an additional step carried out after step dii and which includes moving the trolley on the ground in the second horizontal direction in another passage until the trolley is located in the aisle serving the shelf in which the collection cell is located.

[0024] The method may comprise the first possibility (steps bi, ci and di) and / or the second possibility (steps bii, cii and dii). In other words, the method may be a combination of the first possibility and the second possibility.

[0025] Step a may comprise the subsidiary steps: a1 Selecting the bin to be collected in the storage area, the bin being arranged inside the collection cell among the cells of the storage area; a2 Establishing communication with the trolley located in the initial position at the transit area, for example by means of a wired communication network such as WiFi, WiMAX, IWLAN, GSM, GPRS, UMTS (registered trademarks);

[0026] The trolley may include: - a frame extending along a first horizontal extension axis; - horizontal movement means adapted to move the chassis on the ground in at least two perpendicular directions while maintaining a fixed orientation of the first extension axis of the chassis, the horizontal movement means being configured to operate in a free field on the ground which is devoid of guide rails in the two perpendicular directions; - climbing means suitable for moving the chassis in the vertical direction; and - the gripping means connected to the chassis and adapted to grip a container in a cell and load it onto the chassis.

[0027] The orientation of the first extension axis of the trolley chassis therefore remains fixed during steps bi, bii, di and dii, as well as during the change of direction in steps ci and cii, and preferably during steps e and g. Preferably, the orientation of the trolley remains fixed throughout its route, in particular on the ground, in the transit zone and the storage area. More preferably, the orientation of the trolley remains fixed throughout the order preparation process.

[0028] The direction of the first extension axis of the trolley chassis may comprise a component in the first horizontal direction and / or a component in the second horizontal direction. Thus, during the order preparation method as described above, the component in the first horizontal direction and / or the component in the second horizontal direction of the first extension axis of the trolley chassis does not vary. The orientation of the first extension axis of the trolley chassis remains fixed in particular during the movement of the trolley in the first horizontal direction in steps bi and dii, during the movement of the carriage in the second horizontal direction in steps di and bii and when changing the direction of movement to 90° in steps ci and cii.

[0029] The means for horizontal movement of the carriage may comprise at least one bearing assembly which comprises: - a wheel having an axis of revolution perpendicular to the vertical direction, connecting means for connecting the wheel to the chassis, the axis of revolution of the wheel around which the wheel pivots to move the carriage extending at least in the second horizontal direction during steps bi and dii and in the first horizontal direction during steps di and bii; - means for changing the direction of movement comprising pivoting means for pivoting the wheel and the connecting means around a vertical axis relative to the chassis, the vertical axis being intersecting the axis of revolution of the wheel.

[0030] Steps ci and cii may comprise pivoting the wheel and connecting means about the vertical axis so as to pivot the axis of revolution of the wheel about the vertical axis between the second horizontal direction and the first horizontal direction.

[0031] Changing the direction of travel of the trolley by 90° between the first horizontal direction and the second horizontal direction by turning only the wheel and the wheel connecting means is advantageously faster than turning the entire trolley chassis. In particular, a gain of 2 seconds has been observed for a change in the direction of travel of the trolley by 90°. The order preparation rate is therefore further increased.

[0032] The vertical axis extends in the vertical direction.

[0033] The connecting means may comprise a wheel yoke on which the wheel is pivotally mounted about its axis of revolution. The connecting means, in particular the yoke, may comprise two flanges and a shaft. The flanges may be arranged on either side of the wheel in the direction of the axis of revolution of the wheel. The shaft may extend along the axis of revolution of the wheel between the flanges. The shaft may be fixed to the flanges. The shaft may pass through a hole in each of the flanges and be secured to the flanges by a nut which cooperates with a threaded portion of the shaft. The wheel may be pivotally mounted on the shaft about its axis of revolution.

[0034] The wheel pivoting means may comprise a toothed wheel fixed to the wheel yoke and pivotally mounted about the vertical pivot axis of the wheel, a worm gear meshing with the toothed wheel.

[0035] The wheel can be locked in rotation around its axis of revolution during step c.

[0036] Thus, the orientation of the trolley remains fixed when changing the direction of movement of the trolley by 90°. Also, it is not necessary to act on the wheel via the drive means to compensate for a rotation of the wheel around its axis of revolution when it pivots around the vertical axis. This reduces the energy consumption of the trolley.

[0037] In other words, step c is performed without pivoting the wheel around the axis of revolution.

[0038] The bearing assembly may comprise drive means for rotating the wheel around its axis of revolution relative to the chassis, the drive means comprising a first pinion and a second bevel gear arranged relative to each other so as to form a bevel gear, the first pinion being coaxial with the vertical axis and the second pinion being coaxial with the axis of revolution of the wheel, the wheel and the second pinion being arranged on either side of the vertical axis, a relative difference between a ratio between a radius of the wheel and a distance in the direction of the axis of revolution separating a median plane of the wheel and the vertical axis and a reduction ratio between the second pinion and the first pinion is less than or equal to 2%.

[0039] Such an arrangement prevents the wheel from being rotated around its axis of revolution when it pivots around the vertical axis.

[0040] By the fact that the first pinion is coaxial with the vertical axis, it is understood that the first pinion comprises a plurality of teeth arranged annularly around the vertical axis. Similarly, by the fact that the second pinion is coaxial with the axis of revolution of the wheel, it is understood that the second pinion comprises a plurality of teeth arranged annularly around the axis of revolution of the wheel.

[0041] The median plane of the wheel is a plane perpendicular to the axis of revolution of the wheel and which is equidistant, in the direction of the axis of revolution of the wheel, from a first face and a second face of the wheel opposite each other in the direction of the axis of revolution of the wheel.

[0042] The reduction ratio between the second sprocket and the first sprocket is the ratio of the number of teeth on the second sprocket to the number of teeth on the first sprocket.

[0043] The horizontal movement means of the carriage may comprise a plurality of bearing assemblies. Step c may comprise the simultaneous pivoting of the wheel and the connecting means of each bearing assembly about the corresponding vertical axis so as to pivot the axis of revolution of the wheel of each bearing assembly about the vertical axis from the second horizontal direction to the first horizontal direction.

[0044] The frame of the trolley may be parallelepiped in shape. The trolley may include four bearing assemblies, each bearing assembly being arranged at a lower corner of the frame.

[0045] The carriage may include an actuator for actuating the pivoting means of each bearing assembly. Alternatively, each bearing assembly may include an actuator for actuating the pivoting means. The actuator may be adapted to drive the worm screw to rotate about its extension axis. The actuator may include a motor attached to the carriage frame and having an output shaft connected to the worm screw.

[0046] The carriage may comprise an actuator for actuating the drive means of each bearing assembly. Alternatively, each bearing assembly may comprise an actuator for actuating the drive means.

[0047] The storage area may comprise several racks, each rack being served by at least one aisle extending in the first horizontal direction, each rack comprising a plurality of rack columns arranged one after the other in the first horizontal direction, each rack column comprising a plurality of storage cells adapted to contain a bin which itself contains at least one item, the cells of each column being superimposed on several levels in the vertical direction between a lower level and an upper level, each column comprising a free space formed vertically between the ground level and the cell of the lower level, the storage area comprising a plurality of passages extending at ground level in the second horizontal direction perpendicular to the first perpendicular direction, each passage passing through the free space of one of the columns of each rack.The transit area can be adjacent to the storage area in the second horizontal direction.

[0048] According to a third possibility, the method may comprise the steps: biii. Moving the trolley on the ground in at least a first passage in the second horizontal direction until the trolley is located under one of the racks, preferably under the lower level of the first rack, ciii. Making at least a first change of direction, preferably under the first rack, diii. Moving the trolley on the ground in the first horizontal direction under the first rack until the trolley is located in a second passage; ciii'. Making at least a second change of direction, preferably under the second rack, diii'. Moving the trolley on the ground in the second passage in the second horizontal direction until the trolley is located in an aisle of the storage area, preferably the aisle serving a rack in which the collection cell is located.

[0049] The orientation of the trolley remains fixed during its movement on the ground in the transit area and in the storage area during steps biii, dii, diii' including during changes of direction made in step ciii, ciii'.

[0050] Steps ciii and ciii' may comprise pivoting the wheel and connecting means about the vertical axis so as to pivot the axis of revolution of the wheel about the vertical axis between the second horizontal direction and the first horizontal direction.

[0051] The method may comprise 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.

[0052] The carriage may include an automatic guidance unit. The method may include the steps: a' Transmitting the position of the collection cell to the automatic guidance unit of the trolley, the position of the collection cell being identified by the aisle serving the rack in which the collection cell is located, the column of the rack in which the collection cell is located and the level at which the collection cell is located in the column; a” Commanding the automatic guidance unit of the trolley to calculate a route between the initial position of the trolley and the position of the collection cell, the route preferably comprising only a movement of the trolley in the first horizontal direction and a movement of the trolley in the second horizontal direction; steps a' and a” being carried out between step a and step b.

[0053] The trolley is therefore of the “automatically guided” type (or AGV, for “automated guided vehicle”).

[0054] The storage area and the transit area may be provided with a ground guidance path for guiding the truck on the ground, the guidance path comprising first straight strips in the first horizontal direction and second straight strips in the second horizontal direction. The route may be calculated in step a” according to a trajectory selected from among the first strips and the second strips.

[0055] The guide path can thus form a grid.

[0056] The carriage may comprise a first pair of sensors arranged on either side of the carriage in the first horizontal direction and a second pair of sensors arranged on either side of the carriage in the second horizontal direction. The sensors of the first pair of sensors may be mounted on the carriage on either side of the chassis along the first extension axis and the sensors of the second pair of sensors may be mounted on the carriage on either side of the chassis along a second extension axis perpendicular to the first axis.

[0057] Depending on the direction of movement of the carriage, one of the first pair of sensors and the second pair of sensors may be adapted to control the alignment of the carriage in the first and second horizontal directions respectively, and the other of the first pair of sensors and the second pair of sensors may be adapted to locate the position of the carriage in the first and second horizontal directions respectively.

[0058] When the carriage moves in the first horizontal direction: - the first pair of sensors may be adapted to detect a deviation or misalignment of the carriage in the first horizontal direction relative to a first strip followed by the carriage. If necessary, the alignment of the carriage in the first horizontal direction may be corrected, and - the second pair of sensors can be adapted to count the second bands crossed. Combined with a wheel revolution counter, the second pair of sensors can thus allow the truck to be located in the second horizontal direction.

[0059] When the carriage moves in the second horizontal direction: - the second pair of sensors can be adapted to detect deviation or bad alignment of the carriage in the second horizontal direction relative to a second strip followed by the carriage. If necessary, the alignment of the carriage in the second horizontal direction can be corrected, and - the first pair of sensors can be adapted to count the first lanes crossed. Combined with a wheel revolution counter, the first pair of sensors can thus enable the truck to be located in the first horizontal direction.

[0060] This ensures centered positioning on the belts. It also ensures that the trolley can move through the storage area passages without bumping into the shelving uprights.

[0061] The sensors of the first sensor pair and / or the second sensor pair may be optical sensors. In particular, they may be LED sensors, preferably 750 nm. The sensors of the first sensor pair and / or the second sensor pair may be adapted to detect a color difference between black and white. For this purpose, the first strips and second strips may comprise black borders that frame a white central portion.

[0062] The strips may be made of a covering fixed to the floor (for example by gluing) or may be painted directly on the floor. Each aisle of the storage area may be provided with one of the first strips in the first horizontal direction. Each passage of the storage area may be provided with one of the second strips in the second horizontal direction.

[0063] Two second adjacent strips may be spaced apart from each other in the first horizontal direction, at least at the transit zone, by a distance of between 500 mm and 600 mm, preferably between 525 mm and 575 mm and more preferably equal to 560 mm. A relative difference between the distance in the first horizontal direction separating two second adjacent strips at the transit zone and a dimension of the trolley in the first horizontal direction may be between 0% (limit excluded) and 35%, preferably between 0% (limit excluded) and 30%, preferably between 0% (limit excluded) and 25%. The first distance may be substantially greater than the sum of a dimension of the trolley in the first horizontal direction and twice a dimension of a shelving upright in the first horizontal direction.

[0064] Two first adjacent strips may be spaced apart from each other in the second horizontal direction, at least at the transit zone, by a distance of between 700 mm and 800 mm, preferably between 725 mm and 775 mm and more preferably equal to 750 mm. A relative difference between the distance in the second horizontal direction separating two first adjacent strips at the transit zone and a dimension of the carriage in the second horizontal direction may be between 0% (limit excluded) and 25%, preferably between 0% (limit excluded) and 20%, preferably between 0% (limit excluded) and 15%.

[0065] The number of first and second lanes at the transit area can be higher, which increases the number of possible trajectories for the trolley. This therefore makes it possible to increase traffic density in the transit area (i.e. increase the number of trolleys moving simultaneously in the transit area) and consequently increase the order preparation rate.

[0066] The first extension axis of the carriage may extend along the second horizontal direction. The dimension of the carriage along the second horizontal direction may coincide with a dimension of the carriage, in particular of the chassis, along the first extension axis.

[0067] A plurality of other motorized carts may circulate at the transit area and / or in the storage area. The route may be calculated in step a” based on the current position of the other carts in the transit area and / or in the storage area along a trajectory avoiding a collision with one of the other carts.

[0068] Each shelving unit may comprise several 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, the cells of each column being arranged between two adjacent pairs of uprights in the first horizontal direction, the trolley having a dimension in the first horizontal direction which is less than a distance separating two pairs of uprights in the first horizontal direction.

[0069] The first extension axis of the carriage may extend along the second horizontal direction. The dimension of the carriage along the first horizontal direction may coincide with a dimension of the carriage, in particular of the chassis, along a direction perpendicular to the direction of the first extension axis.

[0070] Each shelf may comprise a meshing member, such as a rack or a chain, extending vertically along each upright, the climbing means comprising one or more toothed wheels each configured to ensure the movement of the carriage along an upright of a shelf, by cooperating with the meshing member of the upright.

[0071] When climbing or descending, a rotational movement of each toothed wheel of the climbing means can be converted into a movement of the trolley vertically along the uprights.

[0072] Each gearing member can be secured to the respective amount.

[0073] Each toothed wheel of the climbing means of the trolley may be movable between a retracted position in which the wheel is housed in or above the chassis and a deployed position in which the wheel projects laterally from the chassis. Step e may comprise a subsidiary step e1 comprising deploying each toothed wheel of the climbing means from the retracted position to the deployed position. Step g may comprise a subsidiary step g1 comprising folding each toothed wheel of the climbing means from the deployed position to the retracted position. During step e1 or g1, each toothed wheel of the climbing means may be deployed, respectively folded, between the retracted position and the deployed position in a respective deployment direction which comprises a component in the first horizontal direction and in the second horizontal direction.In other words, a deployment axis of each toothed wheel of the deployment means can form an angle, preferably non-zero, with. the first extension axis of the trolley and / or a second extension axis of the trolley which is perpendicular to the first axis. It is thus understood that when the toothed wheels of the climbing means are in their retracted position, the trolley can circulate under the shelves (i.e. below the lower level of the shelves), and in particular in the passages of the storage area without coming up against the uprights of the shelves. In this retracted configuration, the trolley may have a dimension in the first horizontal direction which is less than a distance separating two pairs of uprights in the first horizontal direction. Conversely, in their deployed position, the toothed wheels of the climbing means may be arranged opposite an upright in the second horizontal direction.Also, in this deployed configuration, the carriage may have a dimension in the first horizontal direction which is greater than a distance separating two pairs of uprights in the first horizontal direction.

[0074] The trolley frame and the bin loaded on the trolley frame may have a cumulative height in the vertical direction less than the dimension in the vertical direction of the free space of each column of each rack.

[0075] Furthermore, the deployment of each climbing means can be carried out according to a translational movement, preferably single, horizontal. Such deployment of the climbing means makes it possible to reduce the height of the trolley, that is to say to make it more compact vertically, and thus to lower the lower level of the shelves to increase the storage capacity.

[0076] The method may comprise a step h carried out after step g and comprising moving the motorized trolley on the ground in the second horizontal direction in the passage until the trolley is located in the transit zone, the orientation of the trolley preferably remaining fixed during step h.

[0077] The transit area may comprise at least one order preparation station. The method may comprise a step i carried out after step g comprising moving the trolley on the ground in the transit area to the order preparation station, the orientation of the trolley preferably remaining fixed during step i.

[0078] Step i can be performed after step h. Brief description of the drawings

[0079] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached drawings, in which:

[0080] Figure 1 is a schematic view of a storage area and a transit zone in which a fleet of motorized carts circulate for order preparation;

[0081] Figure 2 includes Figures 2a and 2b which respectively represent a functional diagram of a method of preparing an order by means of at least one motorized trolley moving between the storage area and the transit zone of Figure 1, and a functional diagram of one of the steps of the method of Figure 2a;

[0082] Figure 3 is a schematic view of several route variations of the motorized trolley during the process of Figure 2;

[0083] Figure 3bis is a schematic view of other route variants of the motorized trolley during the process of Figure 2;

[0084] [Fig. 4] is a perspective view of the carriage used in the method of Fig. 2;

[0085] Figure 5 is a view of a ground moving means of the trolley used in the method of Figure 2;

[0086] Figure 6 is a sectional view of the ground travel means of Figure 5 in section plane VV;

[0087] Figure 7 is a schematic view of the storage area and transit area of ​​Figure 1 in which motorized carts circulate, and which illustrates dimensional characteristics of the carts with respect to the storage area and the transit area. Description of the embodiments

[0088] Reference is first made to Figure 1 which represents a warehouse which comprises a storage area 10 and a transit area 11 for the preparation of an order. In the remainder of the description, reference is made to a vertical direction Z, a first horizontal direction X1 and a second horizontal direction X2. It is understood that the vertical direction Z is perpendicular to the first horizontal direction X1 and to the second horizontal direction X2. In addition, the second horizontal direction X2 is perpendicular to the first horizontal direction X1.

[0089] The storage area 10 firstly comprises 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 comprises several pairs of uprights 21 in the first horizontal direction X1. Each upright 21 extends in the vertical direction Z. The uprights 21 of each pair of uprights 21 are spaced apart from each other in the second horizontal direction X2. Each upright 21 has a dimension 211 in the first horizontal direction. Each shelf 20 forms a plurality of shelving columns 22, arranged one after the other in the first horizontal direction X1. Each shelving column 22 comprises a plurality of storage cells 23, adapted to contain a bin 50 which itself contains at least one item.The cells 23 of each column 22 are arranged between two successive pairs of uprights 21 in the first horizontal direction X1. In the example illustrated, each cell 23 can receive two trays 50 one behind the other in the second horizontal direction X2. The trays 50 are here parallelepipedal in shape. The cells 23 of each column 22 are superimposed on several levels in the vertical direction Z between a lower level and an upper level. The cell 23 of the lower level is above ground level.

[0090] Each column 22 therefore comprises a free space 24 formed vertically between the ground level and the cell 23 of the lower level. The storage area 10 thus comprises a plurality of passages Pi extending at ground level in the second horizontal direction X2, each passage Pi passing under at least one cell 23, that is to say passing through the free space 24 of one of the columns 22 of each shelf 20.

[0091] The transit area 11 is adjacent to the storage area 10 along the second horizontal direction X2. Each passage Pi opens at the level of the transit area 11. The transit area 11 comprises at least one order preparation station 12 at which an operator retrieves the articles in order to constitute said order.

[0092] As seen in Figure 2, the storage area 10 and the transit area 11 are provided with a ground guide path intended for guiding a trolley 30 on the ground (described in more detail below). The guide path comprises first rectilinear strips 14 along the first horizontal direction X1 and second rectilinear strips 15 along the second horizontal direction X2. Each aisle Ai of the storage area 10 therefore comprises one of the first strips 14 along the first horizontal direction X1. Each passage Pi of the storage area 10 therefore partly comprises one of the second strips 15 along the second horizontal direction X2. The guide path thus forms a grid. The strips 14; 15 can be made of a covering fixed to the ground (for example by gluing) or can be directly painted on the ground.

[0093] A fleet of 30 motorized trolleys ensures the transport of 50 bins between storage area 10 and order preparation station 12.

[0094] Remarkably, the storage area 10 and the transit area 11 are each devoid of a guide rail on the floor of the trolleys 30.

[0095] With reference to figures 2a, 3 and 7, a method 100 is now described for preparing an order by means of a motorized trolley 30 moving between the storage area 10 and the transit zone 11.

[0096] The method 100 comprises a first step 101. The first step 101 comprises associating the trolley 30 located in an initial position at the transit zone 11 with a bin to be collected in the storage area. The bin 50 is arranged inside a collection cell 23c among the plurality of cells 23 of the storage area 10. The bin 50 may comprise one or more items to be collected for the preparation of the order.

[0097] The first step 101 may comprise a first subsidiary step comprising the selection of the bin to be returned to the storage area 10, which makes it possible to establish the position of the collection cell 23c. The position of the collection cell 23c is here identified by the aisle Ai serving the shelf 20 in which the collection cell 23c is located, the column 22 of the shelf 20 in which the collection cell 23c is located and the level at which the collection cell 23c is located in the column 22.

[0098] The trolley 30 is here of the “automatically guided” type (or AGV, for “automated guided vehicle”). For this purpose, the trolley 30 comprises an automatic guidance unit.

[0099] The first step 101 may comprise a second subsidiary step comprising establishing communication with the carriage 30 located in the initial position at the transit zone 11, for example by means of a wireless communication network such as WiFi, WiMAX, IWLAN, GSM, GPRS, UMTS (registered trademarks).

[0100] The method 100 comprises a second step 102. The second step 102 comprises transmitting the position of the collection cell 23c to the automatic guidance unit of the carriage.

[0101] The method 100 comprises a third step 103. The third step 103 comprises sending instructions to the automatic guidance unit of the trolley 30 to calculate a route between the initial position of the trolley 30 and the position of the collection cell 23c. The calculated route here comprises only one (or more) movements of the trolley 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 according to a trajectory selected from the first bands and the second bands 15. Also, the route is calculated according to the current or planned position of the other trolleys 30 of the fleet in the transit zone 11 and / or in the storage area 10 to establish a trajectory avoiding a collision with one of the other trolleys 30. For this purpose, provision may be made to send in real time to the automatic guidance unit the current position of the other trolleys 30 of the fleet and / or their planned travel trajectories.

[0102] Alternatively, the second step 102 and the third step 103 can be replaced by calculating the route between the initial position of the trolley 30 and the position of the collection cell 23c by a central control unit located remotely from the trolley and by sending the route to the trolley 30.

[0103] The method 100 comprises a fourth step 104. The fourth step 104 comprises moving the trolley 30 on the ground in the transit zone 11 at least in the first horizontal direction X1 so as to align the trolley, in a second horizontal direction X2, with the passage Pi of the storage area 10 leading to the column 22 in which the collection cell 23c is located.

[0104] According to a first route variant 11 visible in FIG. 3, the movement of the trolley 30 on the ground in the transit zone 11 during the fourth step 104 can be carried out only in the first horizontal direction X1. Alternatively, according to a second route variant 12 also visible in FIG. 3, the fourth step 104 can comprise a first subsidiary step 1041 comprising the movement of the motorized trolley 30 on the ground in the transit zone 11 in the first horizontal direction X1, a second subsidiary step 1042 comprising the movement of the motorized carriage 30 on the ground in the transit zone 11 in the second horizontal direction X2 and a third subsidiary step 1043 comprising the movement of the motorized carriage 30 on the ground in the transit zone 11 in the first horizontal direction X1 so as to align the carriage, in the second horizontal direction X2, with the passage Pi leading to the column 22 in which the collection cell 23c is located. As shown in Figure 2b, the first subsidiary step 1041 and the second subsidiary step 1042 of the fourth step 104 may be repeated one or more times before carrying out the third subsidiary step 1043 of the fourth step 104. The change of direction of movement of the carriage 30 between the first horizontal direction X1 and the second horizontal direction X2 is described in more detail below.

[0105] To carry out such movements on the ground, the carriage 30 comprises a chassis 31 extending along a first horizontal extension axis C1 and horizontal movement means adapted to move the chassis 31 on the ground in at least two perpendicular directions. The first extension axis C1 of the chassis 31 is considered perpendicular to the vertical direction Z.

[0106] It refers to figures 4 to 6 which represent in more detail the carriage 30. The frame 31 of the carriage 30 is parallelepiped in shape. The horizontal displacement means of the carriage 30 comprise several rolling assemblies 32. The carriage 30 here comprises four rolling assemblies 32, each rolling assembly 32 being arranged at a lower corner of the frame 31.

[0107] Each bearing assembly 32 comprises a wheel 33 having an axis of revolution R perpendicular to the vertical direction Z. It is understood that the axis of revolution R of the wheel 33 around which the wheel 33 pivots to move the carriage 30, extends in the second horizontal direction X2 during the fourth step 104 and in the first horizontal direction X1 during the fifth step 105.

[0108] Each bearing assembly 32 also includes connecting means for connecting the wheel 33 to the chassis 31. The connecting means may comprise a yoke on which the wheel 33 is pivotally mounted about its axis of revolution R. The yoke comprises two flanges 34 and a shaft 35. The flanges 34 are arranged on either side of the wheel 33 in the direction of the axis of revolution R of the wheel 33. The shaft 35 extends along the axis of revolution R of the wheel 33 between the flanges 34. The shaft 35 is fixed to the flanges 34. In this case, the shaft 35 passes through a hole in each of the flanges 34 and is secured to the flanges 34 by a nut which cooperates with a threaded portion of the shaft 35. The wheel 33 is thus pivotally mounted on the shaft 35 about its axis of revolution R.

[0109] The horizontal movement means are further configured to operate in an open field on the ground which is devoid of guide rails, in particular in the two perpendicular directions. Such a mode of movement of the carriage 30 allows for faster and more flexible installation of the storage area 10 and the transit zone 11. Finally, the noise footprint is also reduced for the comfort of the human operators who operate in the storage area 10 and / or in the transit zone 11.

[0110] Each bearing assembly 32 comprises drive means for rotating the wheel 33 about its axis of revolution R relative to the chassis 31. The drive means comprise a first pinion 37 and a second pinion 38 which are bevel gears arranged relative to each other so as to form a bevel gear. The first pinion 37 is coaxial with the vertical axis V and the second pinion 38 is coaxial with the axis of revolution R of the wheel 33. The wheel 33 and the second pinion 38 are arranged on either side of the vertical axis V. The carriage 30 here comprises an actuator 39 for actuating the drive means of each bearing assembly 32. Alternatively, each bearing assembly 32 may comprise a respective actuator for actuating the drive means.

[0111] The method 100 comprises a fifth step 105. The fifth step 105 comprises a change in the direction of movement of the carriage from the first horizontal direction X1 to the second horizontal direction X2, this change of direction being carried out while maintaining a fixed orientation of the carriage with respect to the first horizontal direction X1 and the second horizontal direction X2. In particular, the fifth step 105 comprises the pivoting of the wheel 33 of each bearing assembly 32 about a vertical axis V with a view to moving the carriage 30 in the second horizontal direction X2. During the fifth step 105, the wheel 33 of each assembly is pivoted about the vertical axis V so as to pivot the axis of revolution R of the wheel 33 about the vertical axis V from the second horizontal direction X2 to the first horizontal direction X1.

[0112] To do this, each bearing assembly 32 comprises means for changing the direction of movement. These means for changing the direction of movement comprise pivoting means for pivoting the wheel 33 and connecting means around a vertical axis V relative to the chassis 31. The vertical axis V intersects the axis of revolution R of the wheel 33. The pivoting means of the wheel 33 comprise a toothed wheel 40 fixed to the fork and mounted to pivot around the vertical pivoting axis V of the wheel 33, and a worm screw 41 meshing with the toothed wheel 40.

[0113] Each bearing assembly 32 here comprises an actuator 42 for actuating the pivoting means by driving the worm screw 41 in rotation about its extension axis. The actuator 42 may comprise a motor fixed to the frame 31 of the carriage 30 and comprising an output shaft connected to the worm screw 41. Alternatively, a single actuator may be provided for actuating the pivoting means of each bearing assembly 32.

[0114] Carrying out a change in the direction of movement of the trolley 30 by 90° between the first horizontal direction X1 and the second horizontal direction X2 by turning only the wheel 33 and the connecting means of the wheel 33 is advantageously faster than turning the entire chassis 31 of the trolley. In particular, a gain of 2 seconds has been observed for a change in the direction of movement of the trolley 30 by 90°. The order preparation rate is therefore further increased.

[0115] Furthermore, the wheel 33 and the connecting means of each bearing assembly 32 are pivoted simultaneously around the corresponding vertical axis V so as to pivot the axis of revolution R of the wheel 33 of each bearing assembly 32 around the vertical axis V from the second horizontal direction X2 to the first horizontal direction X1.

[0116] Finally, the wheel 33 of each bearing assembly 32 is locked in rotation about its axis of revolution R during the fifth step 105. In other words, the wheel 33 is pivoted about the vertical axis V without being driven in rotation about the axis of revolution R. Thus, the orientation of the carriage 30 remains fixed during the change of direction of movement of the carriage. Also, it is not necessary to act on the wheel 33 via the drive means to compensate for a rotation of the wheel 33 about its axis of revolution R when it pivots about the vertical axis V. This makes it possible to reduce the energy consumption of the carriage.

[0117] This can be obtained by a relative difference between a ratio between a radius r of the wheel 33 and a distance d in the direction of the axis of revolution R separating a median plane M of the wheel 33 and the vertical axis V and a reduction ratio between the second pinion 38 and the first pinion 37 less than or equal to 2%. The reduction ratio between the second pinion 38 and the first pinion 37 corresponds to the ratio between the number of teeth of the second pinion 38 and the number of teeth of the first pinion 37. The median plane M of the wheel 33 is a plane perpendicular to the axis of revolution R of the wheel 33 and which is equidistant, in the direction of the axis of revolution R of the wheel 33, from a first face and a second face of the wheel 33 opposite each other in the direction of the axis of revolution R of the wheel 33.

[0118] Finally, the change of direction of the carriage 30 carried out between the subsidiary steps 1041, 1042, 1043 of the fourth step 104 can be carried out in a similar manner to the fifth step 105.

[0119] The method 100 comprises a sixth step 106. The sixth step 106 comprises the movement of the motorized trolley 30 on the ground in the second horizontal direction X2 in the passage Pi of the storage area 10 which leads to the column 22 in which the collection cell 23c is located and, possibly beforehand in the transit zone 11, until the trolley 30 is located in the aisle Ai of the storage area 10 serving the rack 20 in which the collection cell 23c is located. For example, in the case of the first route variant 11, the movement of the motorized trolley 30 on the ground in the second horizontal direction X2 comprises a first part in the transit zone 11 and a second part in the corresponding passage Pi. On the other hand, in the case of the second route variant 12, the movement of the motorized trolley 30 on the ground in the second horizontal direction X2 is carried out only in the corresponding passage Pi.

[0120] Remarkably, the orientation of the carriage 30 remains fixed during the fourth step 104, the fifth step 105 and the sixth step 106.

[0121] As described above, the horizontal displacement means are adapted to maintain a fixed orientation of the first extension axis C1 of the chassis 31. Thus, the orientation of the first extension axis C1 of the chassis 31 of the carriage 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 carriage 30 remains coincident here with the second horizontal direction X2.

[0122] The carriage 30 therefore does not rotate its chassis 31 during the change of direction of movement of the carriage 30 to 90° during the fifth step 105. The chassis 31 of the carriage 30 does not pivot on itself. Thus, the movement of the carriage 30 requires less floor space during its journey towards the collection cell 23c, in particular during the change of direction of movement of the carriage 30 to 90° between the fourth step 104 and the sixth step 106. The minimum floor space required is strictly equal to the surface area occupied by the chassis 31 of the carriage 30 due to its dimensions. For example, the floor space occupied by the carriage 30 during the change of direction to 90° between the first horizontal direction X1 and the second horizontal direction X2 is reduced by a factor equal to A / (2) compared to a carriage 30 of equivalent dimensions whose chassis 31 would rotate during a 90° change of direction. Thus, the number of trolleys 30 in transit at the same time in the transit area 11 can be increased while avoiding an extension of the area of ​​the transit area 11. As a result, the order preparation rate can be increased.

[0123] Furthermore, an absence of rotation of the chassis 31 of the carriage 30 makes it possible to limit, or even eliminate, a recalibration of the position of the chassis 31 of the robot relative to the environment (relative to the shelves 20 for example) after the change of direction at 90° between the movement in the first horizontal direction X1 of the fourth step 104 and the movement in the second horizontal direction X2 of the sixth step 106. The movement of the carriage 30 is therefore more precise and easier to implement. Also, the order preparation method 100 is carried out more quickly and more safely.

[0124] According to the example illustrated in Figures 3 and 7, a dimension of the carriage 30 along the second horizontal direction X2 coincides with a length L of the carriage 30, in particular of the chassis 31, and considered along the first extension axis C1. Similarly, a dimension of the carriage 30 along the first horizontal direction X1 coincides here with a width € of the carriage 30, in particular of the chassis 31, and considered along a direction perpendicular to the direction of the first extension axis C1. The width € of the carriage 30 may be equal to 450 mm. The length L of the carriage 30 may be equal to 650 mm.

[0125] Due to the absence of rotation of the chassis 31 of the carriage, two second consecutive strips 15 can be advantageously spaced from each other in the first horizontal direction X1 at the level of the transit zone 11 by a first distance d1 between 500 mm and 600 mm, preferably between 525 mm and 575 mm and more preferably equal to 560 mm. Alternatively or in addition, a first relative difference between the first distance d1 in the first horizontal direction X1 separating two second consecutive strips 15 at the level of the transit zone 11 and the width € of the carriage 30 can be between 0% (limit excluded) and 35%, preferably between 0% (limit excluded) and 30%, preferably between 0% (limit excluded) and 25%. Also, the first distance is determined so as to be substantially greater (i.e.of the order of 1 to 50 mm for example) to the sum of the width € of the carriage 30 and twice the dimension 211 according to the first horizontal direction of upright 21.

[0126] Similarly, two consecutive first strips 14 may advantageously be spaced apart from each other along the second horizontal direction X2 at the level of the transit zone 11 by a second distance d2 of between 700 mm and 800 mm, preferably of between 725 mm and 775 mm and more preferably of 750 mm. Alternatively or in addition, a second relative difference between the second distance d2 along the second horizontal direction X2 separating two consecutive first strips 14 at the level of the transit zone 11 and the length L of the carriage may be between 0% (limit excluded) and 25%, preferably between 0% (limit excluded) and 20%, preferably between 0% (limit excluded) and 15%.

[0127] In the case of a trolley that would make a change of direction by pivoting on itself, and as particularly apparent in Figure 7 where two trolleys are next to each other in the first horizontal direction, it proves necessary for the first relative difference to be greater than the ranges of values ​​described above in the context of the present description, to avoid a collision between the two trolleys. The same observation would also be obtained concerning the second relative difference in the case where the two trolleys were side by side in the second horizontal direction. It is therefore understood here that the method according to the present description makes it possible to arrange more first strips 14 and second strips 15 at the level of the transit zone 11. This makes it possible to increase the number of possible routes for the trolley 30.Thus, the absence of rotation of the trolleys 30 of the fleet and the arrangement of a higher number of first and second belts 14, 15 make it possible to increase the number of trolleys 30 moving simultaneously at the level of the transit zone 11 and consequently to further increase the order preparation rate.

[0128] The carriage 30 may comprise a first pair of sensors K1 arranged on either side of the carriage 30 along the first horizontal direction X1 and a second pair of sensors K2 arranged on either side of the carriage 30 along the second horizontal direction X2. The sensors of the first pair of sensors may be mounted on the carriage 30 on either side of the chassis along the first extension axis and the sensors of the second pair of sensors K2 may be mounted on the carriage 30 on either side of the chassis along a second extension axis perpendicular to the first axis.

[0129] Depending on the direction of movement of the carriage 30, one of the first pair of sensors K1 and the second pair of sensors K2 may be adapted to control the alignment of the carriage 30 in the first and second horizontal directions X2 respectively, and the other of the first pair of sensors K1 and the second pair of sensors K2 may be adapted to locate the position of the carriage 30 in the first and second horizontal directions X2 respectively.

[0130] When the carriage 30 moves in the first horizontal direction X1: - the first pair of sensors K1 can be adapted to detect a deviation or a bad alignment of the carriage 30 in the first horizontal direction X1 with respect to a first strip 14 followed by the carriage 30. If necessary, the alignment of the carriage 30 in the first horizontal direction X1 can be corrected, and - the second pair of sensors K2 can be adapted to count the second bands 15 crossed. Associated with a revolution counter, the second pair of sensors K2 can thus allow the carriage 30 to be located in the second horizontal direction X2.

[0131] When the carriage 30 moves in the second horizontal direction X2: - the second pair of sensors K2 can be adapted to detect a deviation or a bad alignment of the carriage 30 in the second horizontal direction X2 with respect to a second strip 14 followed by the carriage 30. If necessary, the alignment of the carriage 30 in the second horizontal direction X2 can be corrected, and - the first pair of K1 sensors can be adapted to count the first 14 bands crossed. Associated with a revolution counter, the first pair of sensors K1 can thus allow the carriage 30 to be located in the first horizontal direction X1.

[0132] This ensures centered positioning on the belts. This also ensures that the trolley 30 can move through the storage area passages without bumping into the shelving uprights.

[0133] The sensors of the first sensor pair K1 and / or the second sensor pair may be optical sensors. In particular, they may be LED sensors, preferably 750 nm. The sensors of the first sensor pair K1 and / or the second sensor pair may be adapted to detect a color difference between black and white. For this purpose, the first strip 14 and second strip 15 may comprise black borders that frame a white central portion.

[0134] To allow the carriage 30 to move in one of the passages Pi, the carriage 30 has a dimension along the first horizontal direction X1 which is less than a distance separating two consecutive pairs of uprights 21 along the first horizontal direction X1.

[0135] The method 100 comprises a seventh step 107. The seventh step 107 comprises moving the carriage 30 in the vertical direction Z until the carriage 30 is located vertically at the level of the collection cell 23c.

[0136] To do this, the carriage 30 comprises climbing means adapted to move the chassis 31 in the vertical direction Z. The climbing means comprise one or more toothed wheels 43, each being configured to ensure the movement of the carriage 30 along an upright 21 of a shelf, by cooperating with a meshing member 25 of the upright 21. Here, each shelf 20 comprises a meshing member 25, in this case a rack, extending vertically along each upright 21. When ascending or descending, a rotational movement of each toothed wheel 43 of the climbing means is therefore converted into a movement of the carriage 30 vertically along the uprights 21. The meshing member 25 is secured to the respective upright 21.

[0137] Each gear wheel 43 of the climbing means is movable between a retracted position in which the wheel 33 is housed in or above the chassis 31 and a deployed position in which the wheel 33 projects laterally from the chassis 31. The seventh step 107 comprises a preliminary subsidiary step comprising deploying each gear wheel 43 of the climbing means from the retracted position to the deployed position.

[0138] The climbing means comprise at least a first toothed wheel 43 capable of cooperating with the meshing member 25 of one of the uprights 21 of a first shelf 20 and a second toothed wheel 43 capable of cooperating with the meshing member 25 of one of the uprights 21 of a second shelf 20 adjacent to the first shelf, the uprights 21 being opposite each other in the second horizontal direction X2. In this case, the climbing means comprise four toothed wheels 44, including: - two toothed wheels 43 can cooperate with two uprights 21 of a first spoke, the two uprights 21 of the first shelf 20 being consecutive in the first horizontal direction X1; - two toothed wheels 43 can cooperate with two uprights 21 of a second shelf 20 adjacent to the first shelf 20 in the second horizontal direction X2, the two uprights 21 of the second shelf 20 being consecutive in the first horizontal direction X1 and facing respectively one of the consecutive uprights 21 of the first shelf 20 in the second horizontal direction X2.

[0139] The method 100 comprises an eighth step 108. The eighth step 108 comprises loading the bin 50 retained in the collection cell 23c onto the trolley. The trolley 30 comprises gripping means for this purpose. The shape of the frame 31 of the trolley 30 is here adapted to receive a bin.

[0140] The method 100 comprises a ninth step 109. The ninth step 109 comprises moving the carriage 30 in the vertical direction Z until the carriage 30 is at ground level, in particular by means of the climbing means. The ninth step 109 comprises a final subsidiary step (i.e. when the carriage 30 is at ground level) comprising folding each toothed wheel 43 of the climbing means from the deployed position to the retracted position.

[0141] The method 100 comprises a tenth step 110. The tenth step 110 comprises moving the motorized carriage 30 on the ground in the second horizontal direction X2 in the passage Pi until the carriage 30 is again located in the transit zone 11. The orientation of the carriage 30 preferably remains fixed during the tenth step 110.

[0142] To allow the movement of the trolley 30 transporting the tray 50 in the passage Pi, the chassis 31 of the trolley 30 and the tray 50 loaded on the chassis 31 of the trolley 30 have a cumulative height in the vertical direction Z less than the dimension in the vertical direction Z of the free space 24 formed by each column 22 of each shelf 20.

[0143] The method 100 comprises an eleventh step 111. The eleventh step 111 comprises moving the trolley 30 on the ground in the transit zone 11 to the order preparation station 12. The orientation of the trolley 30 remains, preferably here too, fixed during the eleventh step 111.

[0144] The invention is not limited to the examples described above and is susceptible to numerous variations.

[0145] Figure 3bis illustrates a first variant represented by a third route variant i3. In the first variant, the fourth, fifth and sixth steps 104, 105, 106 differ from the method described previously. According to the first variant, the fourth step 104 comprises the movement of the trolley 30 on the ground in the second horizontal direction X2 in the transit zone and in one of the passages of the storage area until the trolley 30 is located in the aisle Ai serving the rack 20 in which the collection cell 23c is located. According to the third route variant i3, the movement of the trolley 30 on the ground in the storage area 10 and the transit zone 11 during the fourth step 104 can be carried out only along the second horizontal direction X2.

[0146] According to the first variant, the fifth step 105 comprises a change in the direction of movement of the carriage from the second horizontal direction X2 to the first horizontal direction X1, this change of direction being carried out while maintaining a fixed orientation of the carriage with respect to the first horizontal direction X1 and the second horizontal direction X2. The fifth step 105 is carried out in a similar manner to that described previously. Remarkably, the change of direction takes place here at the storage area.

[0147] According to the first variant, the sixth step 106 comprises the movement of the motorized trolley 30 on the ground in the first horizontal direction X1 in the aisle Ai serving the shelf 20 in which the collection cell 23c is located until the trolley is at the foot of the column 22 of the shelf 20 in which the collection cell is located.

[0148] Figure 3bis also illustrates a second variant represented by a fourth route variant i4. The second variant results from the combination of the method described above and the first variant. Thus, in the second variant, the fourth, fifth and sixth steps 104, 105, 106 as initially described are first carried out and the fourth, fifth and sixth steps 104, 105, 106 as described with reference to the first variant are then carried out.

[0149] It is also visible in the fourth route variant i4 that the fourth step 104 according to the first variant may comprise a first subsidiary step 1041 comprising the movement of the trolley 30 on the ground in a first passage P5 in the second horizontal direction X2 until the trolley is located in a first aisle A1, a second subsidiary step 104 comprising the movement of the trolley 30 on the ground in the first aisle A1 in the first horizontal direction X1 until the trolley is aligned in the second horizontal direction X2 with a second passage P2 and a third subsidiary step 1043 comprising the movement of the trolley 30 on the ground in the second passage P2 in the second horizontal direction X2 until the trolley is located in a second aisle A2, the second aisle A2 here being the aisle serving the rack in which the collection cell 23c is located.Here too, the first subsidiary step and the second subsidiary step may be repeated one or more times before carrying out the third subsidiary step. The change of direction of the carriage 30 carried out between the subsidiary steps may also be carried out in a similar manner to the fifth step 105.

Claims

Claims

1. Method (100) for preparing an order by means of at least one motorized trolley (30) moving between a storage area (10) and a transit area (11), the method comprising: a. Associating the trolley (30) located in an initial position at the transit area (11) with a bin to be collected in the storage area (10), the bin (50) being arranged inside a collection cell (23c) among a plurality of cells (23) of the storage area (10); according to a first possibility the method comprising the steps: bi. Moving the trolley (30) on the ground in the transit area (11) at least in a first horizontal direction (X1) so as to align the trolley (30), in a second horizontal direction (X2), with a passage (Pi) of the storage area (10); ci. Making at least one change of direction; sun.Moving the trolley (30) on the ground in at least one passage (Pi) in the second horizontal direction (X2) until the trolley (30) is located in an aisle (Ai) of the storage area (10), preferably the aisle serving a rack (20) in which the collection cell (23c) is located; according to a second possibility, the method comprising the steps: bii. Moving the trolley (30) on the ground in at least one passage (Pi) in the second horizontal direction (X2) until the trolley (30) is located in an aisle (Ai) of the storage area (10), preferably the aisle serving a rack (20) in which the collection cell (23c) is located; cii. Making at least one change of direction; dii.Moving the trolley (30) on the ground in the aisle (Ai) of the storage area (10), in the first horizontal direction (X1) so as to align the trolley (30), in the second horizontal direction (X2), with the collection cell (23c); the method further comprising the steps: e. Moving the trolley (30) in a vertical direction (Z) until the trolley (30) is located vertically at the level of the collection cell (23c); f. Loading the bin (50) held in the collection cell (23c) onto the trolley (30) by means of gripping means of the trolley (30); g. Moving the trolley (30) in the vertical direction (Z) until the trolley (30) is located at ground level; and wherein:. - the carriage (30) is configured to move in free space on the ground which is devoid of guide rails in the two perpendicular directions, - the orientation of the carriage (30) remains fixed during its movement on the ground in the transit zone and in the storage area during steps bi, bii, di and dii, including during the change of direction made in steps ci and cii, and preferably during steps e and g.

2. Method (100) according to the preceding claim, the trolley (30) comprising: a chassis (31) extending along a first horizontal extension axis (C1); horizontal displacement means adapted to move the chassis (31) on the ground in at least two perpendicular directions while maintaining a fixed orientation of the first extension axis (C1) of the chassis (31), the horizontal displacement means being configured to operate in an open field on the ground which is devoid of guide rails in the two perpendicular directions; climbing means adapted to move the chassis (31) in the vertical direction Z; and the gripping means connected to the chassis (31) and adapted to grasp a tray (50) in one of the cells (23) and load it onto the chassis (31).

3. Method (100) according to the preceding claim, the means for horizontal movement of the carriage (30) comprising at least one rolling assembly (32) which comprises: a wheel (33) having an axis of revolution (R) perpendicular to the vertical direction (Z), connecting means for connecting the wheel to the chassis (31), the axis of revolution (R) of the wheel around which the wheel (33) pivots to move the carriage (30) extending at least in the second horizontal direction (X2) during steps bi and dii and in the first horizontal direction (X1) during steps di and bii;means for changing the direction of movement comprising pivoting means for pivoting the wheel and the connecting means around a vertical axis relative to the chassis (31), the vertical axis (V) being intersecting the axis of revolution (R) of the wheel, steps ci and cii comprising pivoting the wheel (33) and the connecting means around the vertical axis (V) so as to pivot the axis of revolution (R) of the wheel (33) around the vertical axis (V) from the second horizontal direction (X2) to the first horizontal direction (X1).;

4. Method (100) according to the preceding claim, in which the wheel (33) is locked in rotation around its axis of revolution (R) during steps ci and cii.

5. Method (100) according to claim 3, the bearing assembly (32) comprising drive means for rotating the wheel (33) about its axis of revolution (R) relative to the chassis (31), the drive means comprising a first pinion (37) and a second pinion (38) which are bevel gears arranged relative to each other so as to form a bevel gear, the first pinion (37) being coaxial with the vertical axis (V) and the second pinion (38) being coaxial with the axis of revolution (R) of the wheel (33), the wheel (33) and the second pinion (38) being arranged on either side of the vertical axis (V), a relative difference between a ratio between a radius (r) of the wheel (33) and a distance (d) in the direction of the axis of revolution (R) separating a median plane (M) of the wheel (33) and the vertical axis (V) and a reduction ratio between the second pinion (37) and the first pinion (38) is less than or equal to 2%.

6. Method (100) according to any one of claims 3 to 5, the means for horizontal movement of the carriage (30) comprising a plurality of rolling assemblies (32), steps ci and cii comprising the simultaneous pivoting of the wheel (33) and connecting means of each rolling assembly (32) around the corresponding vertical axis (V) so as to pivot the axis of revolution (R) of the wheel (33) of each rolling assembly around the vertical axis (V) between the second horizontal direction (X2) and the first horizontal direction (X1).

7. Method (100) according to any one of the preceding claims, wherein the storage area (10) comprises several racks (20), each rack (20) being served by at least one aisle (Ai) extending in the first horizontal direction (X1), each rack (20) comprising a plurality of columns (22) of racks (20) arranged one after the other in the first horizontal direction (X1), each column (22) of racks (20) comprising a plurality of storage cells (23) adapted to contain a bin (50), the cells (23) of each column (22) being superimposed on several levels in the vertical direction (Z) between a lower level and an upper level, each column (22) comprising a free space (24) formed vertically between the ground level and the cell (23) of the lower level,the storage area (10) comprising a plurality of passages (Pi) extending at ground level in the second horizontal direction (X2) perpendicular to the first perpendicular direction, each passage (Pi) passing through the free space (24) of one of the columns (22) of each rack, and in which the transit zone (11) is adjacent to the storage area (10) in the second horizontal direction (X2).,

8. Method (100) according to the preceding claim, the trolley (30) comprising an automatic guidance unit, the method (100) comprising the steps: a' Transmitting the position of the collection cell (23c) to the automatic guidance unit of the trolley (30), the position of the collection cell (23c) being identified by the aisle (Ai) serving the shelf (20) in which the collection cell (23c) is located, the column (22) of the shelf (20) in which the collection cell (23c) is located and the level at which the collection cell (23c) is located in the column (22); a” Commanding the automatic guidance unit of the carriage (30) to calculate a route between the initial position of the carriage (30) and the position of the collection cell (23c), the route preferably comprising only a movement of the carriage (30) in the first horizontal direction (X1) and a movement of the carriage (30) in the second horizontal direction (X2);steps a' and a” being carried out between step a and step bi or bii.;

9. Method (100) according to the preceding claim, the storage area (10) and the transit zone (11) being provided with a ground guide path intended for guiding the trolley (30) on the ground, the guide path comprising first rectilinear strips (14) according to the first horizontal direction (X1) and second rectilinear bands (15) in the second horizontal direction (X2) and in which the route is calculated in step a” according to a trajectory selected from the first bands (14) and the second bands (15).

10. Method (100) according to the preceding claim, the carriage (30) comprising a first pair of sensors (K1) arranged on either side of the carriage (30) in the first horizontal direction (X1) and a second pair of sensors (K2) arranged on either side of the carriage (30) in the second horizontal direction (X2), and wherein, depending on the direction of movement of the carriage (30), one of the first pair of sensors (K1) and the second pair of sensors (K2) is adapted to control the alignment of the carriage (30) in the first and second horizontal directions (X2) respectively, and the other of the first pair of sensors (K1) and the second pair of sensors (K2) is adapted to locate the position of the carriage (30) in the first and second horizontal directions (X2) respectively.

11. Method (100) according to claim 9 or 10, wherein two adjacent second strips (15) are spaced from each other in the first horizontal direction (X1) by a first distance (d1) between 500 mm and 600 mm, and preferably equal to 560 mm, at least at the level of the transit zone (11), or wherein a relative difference between the first distance (d1) in the first horizontal direction (X1) separating two adjacent second strips (15) at the level of the transit zone (11) and a dimension of the carriage (30) in the first horizontal direction (X1) is between 0% (limit excluded) and 35%, preferably between 0% (limit excluded) and 30%, preferably between 0% (limit excluded) and 25%.

12. Method (100) according to any one of claims 9 to 11, wherein two adjacent first strips (14) are spaced from each other in the second horizontal direction (X2) by a second distance (d2) between 700 mm and 800 mm, and preferably equal to 750 mm, at least at the level of the transit zone (11), or wherein a relative difference between the second distance (d2) in the second horizontal direction (X2) separating two adjacent first strips (14) at the level of the transit zone (11) and a dimension of the carriage (30) in the second horizontal direction (X2) is between 0% (limit excluded) and 25%, preferably between 0% (limit excluded) and 20%, preferably between 0% (limit excluded) and 15%.

13. Method (100) according to any one of claims 8 to 12, in which a plurality of other motorized trolleys (30) circulate at the level of the transit zone (11) and / or in the storage area (10) and in which the route is calculated in step a” as a function of the current position of the other trolleys (30) in the transit zone (11) and / or in the storage area (10) according to a trajectory avoiding a collision with one of the other trolleys (30).

14. Method (100) according to any one of claims 7 to 13, each shelving (20) comprising several pairs of uprights (21) in the first horizontal direction (X1), each upright (21) extending in the vertical direction (Z), the uprights (21) of each pair of uprights (21) being spaced apart from each other in the second horizontal direction (X2), the cells (23) of each column (22) being arranged between two pairs of adjacent uprights in the first horizontal direction (X1), the carriage (30) having a dimension in the first horizontal direction (X1) which is less than a distance separating two pairs of uprights (21) along the first horizontal direction (X1).

15. Method (100) according to the preceding claim, claim 2 applying, each shelf (20) comprises a meshing member (25), such as a rack or a chain, extending vertically along each upright, the climbing means comprising one or more toothed wheels (43) each configured to ensure the movement of the carriage (30) along an upright (21) of a shelf, by cooperating with the meshing member (25) of the upright (21).

16. Method (100) according to the preceding claim, each toothed wheel (43) of the climbing means of the trolley (30) being movable between a retracted position in which the toothed wheel (43) is housed in or above the chassis (31) and a deployed position in which the wheel projects laterally from the chassis (31), step e comprising a subsidiary step e1 comprising the deployment of each toothed wheel (43) of the climbing means from the retracted position to the deployed position and step g comprising a subsidiary step g1 comprising the folding of each toothed wheel (43) of the climbing means from the deployed position to the retracted position.

17. Method (100) according to any one of claims 7 to 16, claim 2 applying, the frame (31) of the trolley (30) and the bin (50) loaded on the frame (31) of the trolley (30) having a cumulative height in the vertical direction (Z) less than the dimension in the vertical direction (Z) of the free space (24) formed by each column (22) of each shelf (20).

18. Method (100) according to any one of the preceding claims, the method (100) comprising a step h carried out after step g and comprising moving the motorized carriage (30) on the ground in the second horizontal direction (X2) in the passage (Pi) until the carriage (30) is located in the transit zone (11), the orientation of the carriage (30) preferably remaining fixed during step h.

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

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