Order preparation system, and method implementing the system

Abstract

The present disclosure relates to an order preparation system comprising in a warehouse: a plurality of racks (Ra) each configured to receive storage units (U) intended for articles, the racks arranged along a plurality of vertical planes, at least one order preparation zone (PC) arranged at a distance from the racks, a conveying installation configured to convey one or more storage units received in the racks to said at least one order preparation zone, along a first direction of conveyance, or conversely to convey one or more storage units from the order preparation zone to the racks in a second direction of conveyance, said conveying installation successively comprising, along the first direction, three conveying systems (CV1, CV2, CV3), comprising vertically moving shuttles, a vertically moving elevator at the end of the rack,and self-guided trolleys running on a horizontal surface such as the floor or a rolling table Abstract Figure: Figure 2,

Description

Title of the invention: Order preparation system, and method implementing the system

[0001] The present disclosure relates to an order preparation system comprising in a warehouse, a set of storage racks receiving storage units for articles, one or more order preparation stations, and a conveyor installation configured to convey one or more storage units received stored in the storage racks to said at least one order preparation area, following a first direction of conveyance, or conversely to convey one or more storage units from the order preparation area to the storage racks, in a second direction of conveyance.

[0002] The present disclosure further relates to an order preparation method implementing the order preparation system according to the present disclosure. Technical field

[0003] The present disclosure falls within the general field of automated storage and retrieval systems known to those skilled in the art by the acronym ASRS. Prior Art

[0004] Many ASRS solutions exist and are being exploited.

[0005] One of the known solutions consists of a set of storage racks, resting on a floor, extending along vertical planes, the racks separated two by two by respective shelving aisles, as illustrated in [Fig.l]. The storage racks receive in their shelving storage units, typically containers such as bins or trays, the storage units being stored and distributed along the length of the rack, along the shelving aisle, but also distributed superimposed on each other along the height of the rack.

[0006] Order preparation stations are arranged on the ground, at a distance from the storage racks, and are configured to receive the storage units containing the articles for the preparation of an order, the storage units containing the articles, conveyed by a conveying installation comprising several successive automated conveying systems.

[0007] The conveyor systems of this solution comprise, according to a first direction of routing of the storage units from the storage rack to the order preparation stations, respectively: - a first conveyor system arranged in the shelving aisles, comprising first conveyor devices independent of each other for the horizontal routing of storage units along said shelving aisle, the conveyor devices working respectively at several heights of the storage rack, guided by horizontal rails, - a second conveyor system, typically arranged at the end of each shelving aisle comprising at least one second conveyor device, guided by vertical rails, configured for the vertical routing of storage units, from the first conveyor system, to a third conveyor system following the first routing direction, - the third conveyor system which notably comprises a set of physical conveyors, typically roller conveyors, anchored to the ground, winding continuously from the base of second conveyor devices to the order preparation stations.

[0008] In more common language, the first conveyor system is similar to “shuttles”. These “shuttles” are self-guided vehicles equipped with rolling means, such as wheels, and capable of running on rails. The rails are positioned in the aisles, at different levels of the rack. Said “shuttles” also have means for gripping the bins or trays which are located in each of the cells of the rack. These are lateral gripping means, which make it possible to load or unload from the shuttle, bins or containers which they grip on the sides of the shuttle.

[0009] The third conveyor system is similar to a “transfer table”. These are tables which, by means of mechanical devices such as rollers and belts, allow trays or bins to be moved from one point of the warehouse to another. The second conveyor system is similar to an “elevator”. It is located at the end of the racks. Its essential function is to raise a tray or bin from the floor to a rack level, or to lower a tray or bin from a rack level to the floor. It is able to cooperate, at each rack level, with the first conveyor system, i.e., with one of the shuttles previously described. In other words, it is able to exchange a tray or bin with a shuttle, in one direction or the other. Similarly, it is able to cooperate, on the floor, with the second conveyor system, i.e., with one of the transfer tables previously described.In other words, it is capable of exchanging with a transfer table, in one direction or the other, a tray or a bin.

[0010] Such a state of the art is a commercial solution that has been exploited for many years.

[0011] According to the inventor's findings, such a solution, however, has the following defects: - the existence of a single point of failure which results in the complete shutdown of the system in the event of a breakdown, this single point of failure being linked to the presence of the aforementioned third conveyor system - no possibility to change the sequence of transported storage units arriving at the order preparation stations, namely that the arrival sequence reproduces the sequence of extraction of the storage units from the storage racks, - low scalability of the system, in particular if the capacities must be increased, - a large footprint. Summary

[0012] The present disclosure improves the situation.

[0013] According to a first aspect, there is proposed an order preparation system comprising in a warehouse: - a plurality of racks (Ra) each configured to receive storage units intended for articles, the racks arranged along a plurality of vertical planes, - at least one order preparation area arranged at a distance from the racks, - a conveyor installation configured to convey one or more storage unit(s) received in the racks up to said at least one order preparation area, following a first direction of routing, or vice versa to route one or more storage units from the order preparation area to the racks in a second direction of routing, said conveying installation successively comprising, following the first direction of routing: • a first conveying system which is arranged in a shelving aisle disposed between two adjacent racks, configured to convey storage units from at least one of the two racks comprising several first conveying devices arranged at several heights, said first devices being independent of each other for the horizontal conveying of storage units along said shelving aisle, • a second conveying system, comprising at least one second conveying device configured for the vertical routing of storage units, from the first conveying device, to a third conveying system following the first routing direction, • the third conveyor system configured for transporting storage units from the second conveyor system to said at least one order preparation zone following the first routing direction, and in which the third conveyor system comprises a plurality of self-guided trolleys, circulating in free field on a rolling surface of the warehouse, said self-guided trolleys comprising rolling means configured to ensure movement of the self-guided trolley along a horizontal plane of the rolling surface.

[0014] The features set out in the following paragraphs may, optionally, be implemented, independently of one another or in combination with one another:

[0015] - the rolling surface may be a raised rolling table, in whole or in part part, in relation to: - to a floor of the warehouse on which the racks rest, so that vertical guide rails of said at least one second conveyor device extend below the height of the rolling table and / or - to a support surface such as the floor for an operator of the order preparation station so that a portion of the edge of the table, adjoining the operator's support surface, allows one of the self-guided trolleys carrying a storage unit to be parked in a raised position relative to the support surface.

[0016] In particular, the support surface is a platform comprising a height adjustment mechanism configured to allow a level difference adjustment between the rolling table and the platform.

[0017] The system may comprise a transfer system configured to ensure, on the one hand, a transfer of the storage unit, in the first direction of routing, from said at least one second conveying device, then in a low position, and one of the self-guided trolleys, parked in at least one transhipment location, close to the second conveying device and configured to ensure, on the other hand, a transfer of the storage unit, in the second direction of routing, from one of the self-guided trolleys parked in said at least one transhipment location and to the second conveying device.

[0018] The at least one transfer location may include a first transfer location and a second transfer location, arranged on either side of the second conveying device in said low position, and wherein said transfer system is configured to operate, selectively: - a transfer of the storage unit between said second conveying device, in the low position, and a first automated cart among said automated carts, stationed in the first transfer location, in particular according to the first direction of transport or respectively the second direction of transport, - a transfer of the storage unit between said second conveyor device, in the lower position and a second self-guided trolley among said self-guided trolleys, parked in the second transhipment location, in particular following the second direction of transport or respectively the first direction of transport.

[0019] The transfer system is on board said at least one second conveying device, and comprises a laterally movable part configured to deploy the storage unit from a first position for which said storage unit is carried by a support of the second conveying device, to a lateral cantilever position of the support for which said storage unit is moved above one of the self-guided trolleys parked on said at least one transhipment location.

[0020] According to one embodiment: - said at least one control station comprises several independent control stations, accessible by the self-guided trolleys via the rolling surface, - said at least one second conveying device may comprise several second independent conveying devices, associated respectively with several shelving aisles, respectively serving the different racks and in which the rolling surface and the self-guided trolleys are configured to serve each of the order preparation stations from storage units coming from the different second conveying devices.

[0021] According to one embodiment, the second conveying devices are exclusively positioned, permanently, outside the shelving aisles, and outside the storage racks.

[0022] According to one embodiment, said at least one second conveyor device comprises, for each shelving aisle, a second conveyor device associated with the first conveyor devices of said aisle, said second conveyor device configured to circulate in a vertical direction, being positioned, outside said shelving aisle, preferably laterally offset relative to said shelving aisle, in a direction transverse to said shelving aisle, and in which each first conveyor device is configured to circulate in said aisle to a position outside said aisle, for which said first conveyor device is positioned juxtaposed with the second conveyor device, in a transhipment position, and in which the order preparation system comprises a transfer system,on board said first conveyor device or said second conveyor device configured to authorize a transfer of said storage unit from the first device, conveying then in said transhipment position to the second conveying device according to the first direction of routing.

[0023] In particular, the rolling surface, in particular the floor or the rolling table, extends between the order preparation stations and the storage racks, namely that the rolling surface extends exclusively between the order preparation stations and the second conveyor devices which are exclusively outside the storage racks and the shelving aisles, and so that the self-guided trolleys are configured to circulate exclusively outside the storage racks and the shelving aisles.

[0024] According to a second aspect, there is provided a method of preparing at least one order comprising one or more articles implementing an order preparation system according to the present disclosure, the method comprising: - / A / select one or more storage units, from among the storage units received in the racks, said storage unit(s) containing the item(s) of said at least one order, - / B / transport said selected storage unit(s) to said at least one order preparation area in the first direction of transport, by: • / B0 / Transferring the storage unit from a storage location in the rack to one of the first conveyor devices, • / B 1 / conveying according to a horizontal routing of said unit to the second conveying system, by moving the first conveying device, • / B2 / transfer of the storage unit from the first conveyor device to the second conveyor device • / B 3 / conveying according to a vertical routing of said storage unit by the movement of the second conveying device, to a low position, • / B4 / transfer of the storage unit from the second device conveyance to one of the self-guided trolleys, • / B5 / conveying said storage unit to said at least one zone of order preparation, by moving the self-guided trolley in free space.

[0025] According to an embodiment of the method according to the second aspect, in / B4 / the transfer of the storage unit to said self-guided trolley takes place while said trolley is parked in said first transshipment location, and while another of the self-guided trolleys carrying another storage unit is parked in the second transshipment location, the method successively comprising / B4 / , the transfer of said other storage unit from the second transfer location to the second conveying device maintained in the lowered position, and said return of said other storage unit into one of the receiving locations of the rack by conveying along a vertical path of the second conveying device, followed by conveying along a horizontal path of one of the first conveying devices, said system comprising a transfer system, embedded in the first conveying device or in the second conveying device, configured to ensure a transfer of the storage unit from the first conveying device to the second conveying device.

[0026] According to an embodiment of the method according to the second aspect, said method may comprise a plurality of commands in preparation, the method comprising • / C / electronically identify common items among orders being prepared, contained in a storage unit, common to said orders being prepared, including a first order, and an order subsequent to the first order, and after the conveyance according to / B5 / of the self-guided trolley carrying the common storage unit to an order preparation area for the preparation of the first order, • / D / put the self-guided cart carrying the storage unit on hold common in a waiting area provided in or near the preparation area, without returning the storage unit to the rack, so as to free said preparation area for reception of at least one other storage unit conveyed according to / B5 / by another of the self-guided trolleys, said at least one other storage unit being necessary for the preparation of the first order or even a second order, • / E / return the self-guided trolley carrying said common storage unit from the waiting area to the order preparation area, for the preparation of the subsequent order.

[0027] According to an embodiment of the order preparation system according to the first aspect, the self-guided trolleys are each equipped with a communication module, configured to receive and transmit data with a remote computer control unit, wirelessly, and in which said remote control unit ensures the management and control of the conveyor systems, including the management of the guidance trajectories of the self-guided trolleys on the rolling surface, to ensure the routing of a storage unit from a storage location in the storage rack to said at least one PC order preparation station, said control unit comprises one or more processors, a memory and an instruction set configured to implement the order preparation method according to the second aspect. Brief description of the drawings

[0028] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which: Fig.l

[0029] [Fig.l] shows a state of the art mentioned in the introduction. Fig. 2

[0030] [Fig.2] is a schematic perspective view of a system according to the present disclosure notably comprising a third conveying system comprising a plurality of self-guided carriages configured to circulate, in a first routing direction, from second conveying devices, to order preparation stations, or conversely from each of the order stations to the second conveying devices, in a second routing direction. Fig. 3

[0031] [Fig.3] is a double view, illustrating: - on the left a top view of the system, illustrating from top to bottom the first conveyor devices, in the shelving aisles, the devices distributed according to three height levels, the second conveyor devices with vertical movement, at the end of the aisle, the rolling surface on which the self-guided trolleys circulate, the order preparation stations adjoining an edge of the rolling surface formed by a table raised above the ground, at the edge of which operators prepare the orders at the order preparation stations - on the right, a detail view of an order preparation station, illustrating the rolling surface which is the rolling table, raised relative to the support surface on which the operator operates, the elevation of the rolling table providing improved ergonomics for the operator when collecting items from a storage unit carried by the self-guided trolley parked at the edge of the rolling table. Fig. 4

[0032] [Fig.4] is a schematic detail view of a second conveyor device in a low position, at the height of the rolling surface, or even close to the rolling surface, conveying a storage unit on a support, a first self-guided trolley parked on the rolling surface at a first transhipment location, allowing a first transfer of the storage unit from the second conveyor device to the first self-guided trolley, in the first direction for transporting the storage unit from the rack to the order station, a second trolley carrying another storage unit parked on the rolling surface at a second transshipment location, allowing a second transfer of said other storage unit from the self-guided trolley to the second conveyor device, following the second direction of transport of the storage unit from the order preparation station to the storage rack. Fig. 5

[0033] [Fig.5] is a view of an alternative to [Fig.4] in which the operator present at the order preparation station rests on a platform comprising a height-adjustable mechanism. Description of the embodiments

[0034] The present disclosure relates to an order preparation system comprising in a warehouse: - a plurality of racks Ra each configured to receive storage units U intended for articles, the storage racks arranged relative to each other along a plurality of vertical planes, - at least one PC order preparation area arranged at a distance from the racks.

[0035] Generally speaking, the storage units U can be containers of articles such as bins or trays.

[0036] With reference to [Fig.2], and in general, the storage racks Ra can extend parallel to each other, along vertical planes, parallel to the YZ plane.

[0037] The storage racks Ra are spaced apart from each other by respective shelving aisles, in particular along the X direction in [Fig. 2], namely along a direction transverse to the shelving aisles. The aisles therefore extend lengthwise along the Y direction and widthwise along the X direction in [Fig. 2]. Generally speaking, the storage racks Ra comprise storage locations for the storage units U. The storage locations in the storage rack Ra are distributed superimposed on each other, along the vertical direction, forming a column of superimposed storage locations, namely along the Z direction in [Fig. 2], but also along the length of the storage rack, namely that the storage rack comprises a plurality of columns of storage locations, distributed relative to each other, along the Y direction.

[0038] Generally, the storage locations of the racks are open, laterally to the storage racks, respectively towards said shelving aisles, namely that the transfer of the storage units into the storage locations during loading, or from said locations during unloading, takes place from the respective shelving aisles, following a loading / unloading direction perpendicular to the vertical planes of the storage racks, namely following the X direction, in [Fig.2].

[0039] Generally speaking, storage racks may comprise a vertical structure formed by uprights or posts, typically in the form of metal profiles. The posts may be conventionally distributed: - along the length of the storage rack Ra, in particular along the Y direction in [Fig.2], and at a spacing corresponding at least to the width of the columns of superimposed storage locations - according to the width of the storage rack, in particular according to the X direction in [Fig.2], and according to a spacing which can typically correspond to the depth of the storage locations, namely according to the X direction, in [Fig.2].

[0040] The structure of the storage rack Ra may also typically comprise a bracing system ensuring that the uprights / posts are held together. The storage locations may be materialized by pairs of mechanical interfaces, facing each other, typically brackets on which the storage units U rest in the storage rack. The storage racks Ra typically rest on a warehouse floor, typically by support from their posts, and may typically be anchored to the ground.

[0041] The order preparation system comprises a conveying installation configured to convey one or more storage units received in the storage racks to said at least one order preparation area PC, in a first direction of conveyance, or conversely to convey one or more storage units from the order preparation area to the storage racks in a second direction of conveyance.

[0042] According to the present disclosure, said conveying installation may successively comprise, according to the first direction of routing: - a first conveyor system CV1 which is arranged in one of the shelving aisles, said aisle being arranged between two adjacent racks, the first conveyor device configured to convey storage units U from at least one of the two storage racks on either side of said shelving aisle, comprising several first conveyor devices SH arranged at several heights, said first conveyor devices SH being independent of each other for the horizontal conveyance of storage units along said shelving aisle, - a second conveying system CV2, comprising at least one second conveying device AC configured for the vertical routing of storage units, from the first conveying system, to a third conveying system conveyance following the first direction of routing, - a third conveyor system CV3 configured for transporting storage units from the second conveyor system to said at least one order preparation zone PC in the first transport direction, and in which the third conveyor system comprises a plurality of self-guided trolleys CHR, circulating in free space on a rolling surface of the warehouse, said self-guided trolleys comprising rolling means configured to ensure movement of the self-guided trolley along a horizontal plane of the rolling surface

[0043] The first conveyor devices SH are arranged in the shelving aisles. The first conveyor devices SH of the same shelving aisle are distributed according to the different levels of the superimposed storage locations. The same conveyor device SH is configured to load or unload the storage locations accessible from said shelving aisle, at the height level at which the first conveyor device SH works, namely the storage locations of a storage rack arranged on a first side of said shelving aisle, and preferably also the storage locations arranged on a second side of said shelving aisle.

[0044] The first SH conveyor devices may typically comprise respectively motorized trolleys, circulating in horizontal directions, parallel to each other, and in particular parallel to the Y direction according to [Fig.2]. Each motorized trolley typically circulates on guidance systems, such as for example rails, secured respectively to two storage racks, on either side of the shelving aisle. Each motorized trolley is equipped with circulation means, such as rolling means, such as for example wheels capable of cooperating with the aforementioned guidance systems.

[0045] The first SH conveyor devices are equipment which each circulates in a single horizontal direction along said aisle. The motors of the trolleys are typically powered by a wired connection.

[0046] The first conveyor devices may each comprise a (first) transfer system configured to ensure the transfer of a storage unit from a storage location on at least one side of the aisle, or preferably on both sides of said shelving aisle, until it is loaded onto the first conveyor device, or conversely the transfer of a storage unit from the first conveyor device SH to a storage location in the storage rack, on at least one side of said shelving aisle, or preferably on both sides of said shelving aisle. In other words, these first conveyor devices are capable of exchanging a storage unit with the rack and this, in a direction perpendicular to the aisle in which they circulate. Generally, the transfer system of the first conveyor devices may comprise a laterally movable part configured to deploy the storage unit U from a first position for which said storage unit U is carried by a support of the first conveyor device SH, to a lateral cantilevered position of the support for which said storage unit is moved into a storage location of the rack, along the direction X in [Fig.2].

[0047] The second conveying system CV2 comprises at least one second conveying device AC configured for the vertical routing of storage units U, from the first conveying device, to a third conveying system following the first routing direction.

[0048] Said at least one second conveying device AC may comprise, for each shelving aisle, a second conveying device AC associated with the first conveying devices SH of said shelving aisle.

[0049] Said second conveying device AC is configured to circulate in a vertical direction, and typically comprises a carriage circulating vertically, guided by vertical rails, typically along posts of the second conveying system CV2. Each carriage of one of the conveying devices is configured to circulate in a single vertical direction, along the vertical rails.

[0050] The second conveying device AC positioned, outside said shelving aisle, preferably offset laterally relative to said shelving aisle, in a direction transverse to said shelving aisle, namely in the direction X in [Fig.2].

[0051] Preferably, the second AC conveying devices are exclusively positioned outside the shelving aisles and outside the storage racks, and preferably respectively in extension of the longitudinal ends of the storage racks, as visible in [Fig.2], for example on one side of the rack system. Such positioning of the second AC conveying devices, exclusively outside the storage racks, facilitates the wired electrical wiring of the trolleys, in particular for the electrical power supply of the motor controlling the vertical movement.

[0052] Each of the first conveyor devices SH is configured to circulate in said shelving aisle to a position typically outside said shelving aisle, for which said first conveyor device SH is positioned juxtaposed with the second conveyor device AC, in a position allowing transhipment between these two devices. In this transhipment position, the first conveyor device SH and the second conveyor device then at the same height are juxtaposed, offset in a direction transverse to said aisle of shelving, namely along the X direction in [Fig.2].

[0053] The order preparation system includes a transfer system, which is typically integrated into said first SH conveyor device or said second AC conveyor device configured to enable a transfer of said storage unit U from the first SH conveyor device in said transfer position to the second AC conveyor device in the first routing direction.

[0054] When integrated into the first SH conveyor device, the transfer system ensuring the transfer between the first SH conveyor device and the second AC conveyor device can be the same first transfer system that is used to ensure a transfer of the storage unit between the (first) SH conveyor device and one of the storage locations of the Ra storage rack.

[0055] When mounted on the second conveying device AC, the transfer system ensuring the transfer between the first conveying device SH and the second conveying device AC may be the same (second) transfer system that is used to transfer the storage unit between the second conveying device AC and the third conveying system that is described below.

[0056] The third conveyor system CV3 is configured for transporting storage units from the second conveyor system to said at least one order preparation area PC, following the first transport direction.

[0057] Notably, and according to the present disclosure, the third conveying system includes a plurality of automated guided vehicles (AGVs) CHR moving freely in the open on a rolling surface of the warehouse, said automated guided vehicles comprising rolling means configured to ensure the movement of the automated guided vehicle along a horizontal plane of the rolling surface.

[0058] By "in the open", it is meant that the automated guided vehicles CHR, in particular the rolling means, are configured to move on the rolling surface, namely a flat surface, without the need for guiding rails on the rolling surface.

[0059] The rolling surface can typically be the floor of the warehouse, or the upper surface of a raised rolling table relative to the floor, substantially flat.

[0060] The rolling surface, namely the floor or the rolling table, preferably extends between the order preparation stations PC and the storage racks Ra, and preferably exclusively between the order preparation stations PC and the second conveyor devices AC which are exclusively outside the storage racks and the shelving aisles. In particular, the self-guided trolleys CHR circulate exclusively outside the storage racks and the shelving aisles. shelving.

[0061] Maintenance interventions are facilitated in the event of a breakdown of one of the self-guided trolleys. In particular, maintenance does not require intervention above, below or through the storage rack. The circulation area of ​​the self-guided trolleys is not limited in height compared to an alternative where the rolling surface would pass below the storage racks. The cumulative height of the CHR self-guided trolley and the storage unit U carried by the self-guided trolley is not constrained in height. The trajectories of the self-guided trolleys between the order preparation stations and the second conveyor devices, on the same side of the rack system, are of limited travel.

[0062] The rolling means comprise one or more motorized wheels. The self-guided trolleys are equipped with a direction change mechanism. The change of direction can be carried out by turning the trolley, for example, by controlling two motorized wheels, by controlling the two wheels according to different rotation speeds, or by reversing the direction of rotation of the wheels, namely that the trolley including its chassis changes orientation to obtain a change of direction. Reversing the direction of rotation of the two motorized wheels can in particular allow the self-guided trolley to pivot around a fixed vertical axis of the self-guided trolley.

[0063] According to another embodiment taught by FR3125514 (A1) of the present Applicant, the change of direction of the vehicles can be carried out by a device for pivoting and driving the wheels relative to a chassis of the trolley which allows the change of direction, without the chassis changing orientation. The CHR self-guided trolleys can thus move in both directions of the horizontal plane, and for example in the X direction and the Y direction, while maintaining the same orientation of its chassis on the rolling surface.

[0064] The self-guided trolleys are each equipped with a communication module, configured to receive and transmit data, such as guidance instructions, with a remote, computer control unit, wirelessly.

[0065] Said remote control unit manages and controls the conveying systems, including managing the guidance trajectories of the automated carts on the rolling surface, to ensure the delivery of the storage units from the locations in the storage rack to said at least one PC command preparation station, in particular avoiding collisions of the carts on the rolling surface, and coordinating them with the other conveying systems of said installation..

[0066] The present disclosure originated from the inventor's observations that the first conveying system CV1 and the second conveying system CV2 are conveying devices, which in case of failure do not cause the total shutdown of the order preparation, but only localized stops at certain parts of the storage racks associated with the failed conveyor devices, and unlike the roller conveyors forming the third conveyor system illustrated in [Fig.l] which, in such a state of the art, constitutes a single point of failure, causes the total shutdown of the order preparation system.

[0067] Furthermore, the present disclosure arose from the Applicant's desire to propose an order preparation system which benefits from proven reliability with regard to the first conveying system and the second conveying system, without the preparation system being affected by the defects of the third conveying system.

[0068] The self-guided trolleys of the third conveyor system provide significant progress compared to this state of the art, in particular to roller conveyors, in particular, by: • Elimination of single points of failure: in the event of failure of one of the automated guided trucks in the fleet, the control unit is configured to remotely identify the faulty truck on the running surface, and provide command and control of the other automated guided trucks, for the continuation of order preparation operations, avoiding collisions with the faulty automated guided truck, • The possible implementation of a control strategy authorizing routing of the storage units, and according to a modified order compared to the sequence order of the storage units routed by the second AC conveyor devices, and in particular timing strategies, thanks to the self-guided trolleys, which are independent of each other, • A total physical separation between, on the one hand, the second AC conveyor devices, with vertical movement, ensuring the lifting / lowering of the storage units, and on the other hand, the order preparation stations, which are typically greater than or equal to 2 in number, • A facility to increase the capacity of the order preparation system, namely the average number of orders per unit of time, simply by adding additional self-guided trolleys on the running surface, and preferably without any other physical modification of the running surface of the order preparation system, or even by possibly adding additional order preparation stations, • The use of self-guided trolleys circulating only on the rolling surface, namely simple and not very powerful compared to self-guided trolleys comprising climbing means such as those known for example from document FR 3 125 516 which certainly allow not only movement horizontally, but also a movement of the self-guided trolley vertically, which is much more energy-intensive for lifting the storage units in the storage racks: on the contrary and according to the present disclosure, the function of lifting the storage units in the storage racks is left to the second AC conveyor devices typically operating on a wired electrical power supply. The structure of the self-guided trolleys is simplified; in particular the batteries of the self-guided trolleys can be of reduced capacity compared to that of a trolley equipped with such climbing means.

[0069] Generally, at least according to one embodiment, said at least one control station comprises several independent PC control stations, accessible by the self-guided trolleys via the rolling surface, and said at least one second conveying device comprises several second independent AC conveying devices, respectively associated with several shelving aisles, respectively serving the different storage racks via the respective shelving aisles.

[0070] The rolling surface and the self-guided trolleys are configured to serve each of the order preparation stations PC from storage units coming from the different second conveying devices AC.

[0071] According to one embodiment, the order preparation system comprises a (second) transfer system configured to ensure, on the one hand, a transfer of the storage unit U, in the first direction of routing, from said at least one second conveying device AC, then in a low position, and one of the self-guided trolleys CHR, parked in at least one transhipment location PT1, PT2, near the second conveying device AC and configured to ensure, on the other hand, a transfer of the storage unit, in the second direction of routing, from one of the self-guided trolleys parked in said at least one transhipment location PT1, PT2 and to the second conveying device AC.

[0072] According to at least one embodiment illustrated in said [Fig.4], said at least one transshipment location comprises a first transshipment location PT1 and a second transshipment location PT2, the two locations arranged on either side of the second conveying device AC in said low position.

[0073] Advantageously, according to the embodiment illustrated in [Fig.4], said transfer system can be configured to operate, selectively: - a transfer of the storage unit between said second conveying device AC, in the low position, and a first self-guided trolley among said self-guided trolleys, parked in the first transhipment location PT1, in particular following the first direction of transport (or respectively the second direction of transport), - a transfer of the storage unit between said second conveyor device AC, in the low position and a second self-guided trolley among said self-guided trolleys, parked in the second transhipment location PT2, in particular following the second direction of transport (or respectively the first direction of transport).

[0074] Having two transhipment locations for the two self-guided trolleys advantageously makes it possible to limit the immobilization time of the second conveyor device AC in said low position, by unloading the storage unit from the conveyor device AC to the first trolley on the first transhipment location PT1 and successively loading the second conveyor device AC from the second motorized trolley parked in said second location.

[0075] The two transfers from the two locations are carried out without loss of time due to a movement of the second motorized trolley, and in comparison to two transfers which took place from only one transhipment location requiring the movement of the first trolley after its loading, and in order to allow the unloading of the second trolley.

[0076] According to one embodiment, the transfer system can be mounted on said at least one second conveying device AC, and comprises a laterally movable part configured to deploy the storage unit U from a first position for which said storage unit U is carried by a support of the second conveying device AC, to a lateral cantilevered position of the support for which said storage unit is moved above one of the self-guided trolleys parked on said at least one transhipment location PT1, PT2.

[0077] According to one embodiment, the rolling surface may simply be the floor of the warehouse, in particular the floor such as a concrete slab on which the storage racks Ra of the order preparation system rest.

[0078] According to another embodiment, the rolling surface is a raised rolling table, in whole or in part, relative to: - to a floor of the warehouse on which the storage racks rest, and in particular so that vertical guide rails of said at least one second AC device extend below the level of the rolling table and / or - to a support surface such as the floor for an operator of the order preparation station so that a portion of the edge of the table, adjoining the operator's support surface, allows parking of one of the CHR self-guided trolleys supporting a U storage unit raised above the support surface.

[0079] Such an embodiment is in particular illustrated in the embodiment of figures 2 to 5 which illustrates an embodiment for which the rolling table is raised entirely, relative to the floor of the warehouse, in particular from the order preparation stations to said at least one transhipment location at the level of the second conveyor device AC, namely preferably in an area outside the storage racks and shelving aisles between the racks.

[0080] The rolling surface of the rolling table, perhaps at a height from the ground of between 600mm and 800mm.

[0081] The rolling table may have a (first) interest in improving the working ergonomics at the level of said at least one order preparation station, and in particular the order preparation stations, arranged at the edge of the rolling table. For this purpose, the rolling table is raised relative to a support surface for an operator of the order preparation station PC, so that a portion of the edge of the rolling table, adjoining the support surface, allows parking of one of the CHR self-guided trolleys carrying a storage unit in a raised manner relative to the support surface.

[0082] The support surface may be the floor of the warehouse or possibly a PT platform comprising in particular a height adjustment mechanism configured so as to allow a level deference adjustment between the rolling table and the PT platform. Such an adjustment mechanism may for example comprise screw / nut systems, manual, or electric, such as electric jacks, to change the level of the platform relative to the ground.

[0083] Thus, advantageously, when collecting the articles in the storage unit carried by the self-guided trolley at the edge of the table, the elevation of the trolley relative to the operator's support surface advantageously allows the operator to collect the articles without having to bend down in an uncomfortable position.

[0084] The different order preparation stations may preferably have individual adjustment mechanisms, making it possible to adapt the ergonomics of each station according to the different operators of the order preparation stations.

[0085] Generally, the rolling table may have a rolling surface formed by a coating ensuring a static coefficient Ll with the rolling means of the self-guided carriages greater than or equal to 0.3, or even greater than or equal to 0.4, or even greater than or equal to 0.5, or even greater than or equal to 0.6. The risks of the wheels slipping with the rolling surface are advantageously limited.

[0086] Generally speaking, self-guided trolleys can be located by using one or more encoder(s) targeting the rotation of the motorized wheels, and typically also by using ground markers, optical detection, or even by using lidar use. In the event of wheel slippage, this can cause an inconsistency between the encoder measurement and the actual position of the truck, and in some cases, can cause the rental system to malfunction and stop. Having a rolling surface with a controlled friction coefficient limits the risk of slippage, and thus the occurrence of these untimely stops, regardless of the quality of the warehouse floor in which the order preparation system is installed.

[0087] The rolling table may have the (particularly second) advantage of facilitating leveling between said self-guided trolley in said at least one transhipment location PT1, PT2 and said second conveying device AC, in the low position, by raising the self-guided trolleys relative to the ground. Such leveling facilitates transfers of the storage unit between the second conveying device AC and said self-guided trolley, preferably in the first conveying direction or in the second conveying direction, by (simple) horizontal movements.

[0088] The present disclosure also relates to a method for preparing at least one order comprising one or more articles implementing an order preparation system according to the present disclosure.

[0089] The order preparation method can thus comprise: - / A / select one or more storage units U, from among the storage units received in the racks, said storage unit(s) containing the item(s) of said at least one order, - / B / transport said selected storage unit(s) to said at least one order preparation area in the first direction of transport, by: • / B0 / transfer of the storage unit from a storage location in the rack to one of the first SH conveyor devices • / B 1 / conveying according to a horizontal routing of said unit to the second conveying system, by moving the first conveying device SH, • / B2 / transfer of the storage unit from the first conveyor device SH to the second conveyor device AC • / B 3 / conveying according to a vertical routing of said storage unit by the movement of the second conveying device AC, to a low position, • / B4 / transfer of the storage unit from the second device conveyance to one of the self-guided trolleys, • / B5 / conveying said storage unit to said at least one zone of PC preparation of order, by free-field movement of the CHR self-guided trolley.

[0090] Conversely, the conveying installation can ensure, in the second direction of transport, the restocking of the storage racks with storage units containing articles.

[0091] The present disclosure may also present a restocking method comprising: - / a / filling one or more storage units with articles, - / b / conveying said storage unit(s) filled with articles to one or more storage locations in the storage racks following the second conveying direction, by: • / b0 / conveying said storage unit to the second system of conveying, by free-field movement of the CHR self-guided trolley, • / b 1 / transfer of the storage unit from the self-guided trolley to the second conveyor device AC, in the low position, • / b2 / conveying according to a vertical routing of said storage unit by moving the second conveying device AC, from said lower position to the level of an empty storage location in the storage rack, • / b3 / Transfer of the conveying unit from said second storage device to one of the first juxtaposed conveying devices • / b4 / Conveyance along a horizontal path of said unit to said empty storage location by displacement of the first SH conveying device • / b5 / Transfer of said conveying unit from the first conveying device to said empty storage location in said storage rack.

[0092] According to an embodiment in / B4 / , the transfer of the storage unit to said AGV takes place while said AGV is stationed in said first transfer position PT1, and while another of the AGVs carrying another storage unit is stationed in the second transfer position PT2.

[0093] The method can then comprise, successively at / B4 / , the transfer of said other storage unit from the second transhipment location PT2 to the second conveying device held in the low position, and said return of said other storage unit to one of the storage locations of the rack by conveying according to a vertical routing of the second conveying device AC, followed by conveying according to a horizontal routing of one of the first conveying devices SH.

[0094] For this purpose, said system comprises the (first) transfer system, on board the first conveyor device SH or the (second) transfer system on board the second conveyor device, configured to ensure a transfer of the storage unit U from the first conveyor device SH to the second conveyor device AC.

[0095] According to one embodiment, and according to an advantageous control strategy, the use of self-guided carriages allows the implementation of a timing strategy.

[0096] According to one embodiment, said order preparation method may comprise a plurality of orders being prepared, the method comprising - / C / electronically identify common items among orders being prepared, contained in a storage unit, common to said orders being prepared, including a first order, and an order subsequent to the first order, and after the conveyance according to / B5 / of the self-guided trolley carrying the common storage unit to an order preparation area for the preparation of the first order - / D / put the self-guided trolley carrying the storage unit on hold common in a waiting area provided in or near the preparation area, without returning the storage unit to the storage rack, so as to free said preparation area for reception of at least one other storage unit conveyed according to / B5 / by another of the self-guided trolleys, said at least one other storage unit being necessary for the preparation of the first order or even a second order, - / E / return the self-guided trolley carrying said common storage unit from the waiting area to the order preparation area, for the preparation of the subsequent order.

[0097] Generally, the self-guided trolleys are each equipped with the communication module, configured to receive and transmit data with said remote, computer control unit, wirelessly.

[0098] Said remote control unit ensures the management and control of the conveyor systems, including the management of the guidance trajectories of the self-guided trolleys on the rolling surface, to ensure the routing of a storage unit from a location in the storage rack to said at least one PC order preparation station.

[0099] Said control unit comprises one or more processors, a memory and a set of instructions configured for implementing the method of preparing order, and in particular: - steps / A / and / B / , including / BO / , / B 1 / , B / 2 / , / B / 3 / , / B4 / and / B5 / of the order preparation process, or also steps / C / , / D / and / E / and / or - steps / aO / , / al / , / a2 / , / a3 / , / a4 / and / a5 / of the restocking process.

[0100] The present disclosure also relates to a computer program comprising instructions, which, when said program is executed by a control unit comprising a processor and a memory, ensures the implementation of the order preparation method and in particular: - steps / A / and / B / , including / BO / , / B 1 / , B / 2 / , / B / 3 / , / B4 / and / B5 / of the order preparation process, or also steps / C / , / D / and / E / and / or - steps / aO / , / al / , / a2 / , / a3 / , / a4 / and / a5 / of the restocking process.

[0101] The present disclosure further relates to a non-transitory, computer-readable recording medium on which the computer program is stored. Nomenclature

[0102] - Ra. Storage rack, - CV1. First conveyor system, - CV2. Second conveyor system, - CV3. Third conveyor system, - SH. First conveyor devices, - AC. Second conveying devices, - PC. Command preparation station, - CHR. Automated guided vehicles, - PT1, PT2. First and second transfer locations respectively, - PT. Platform (operator) -U. Storage units.

Claims

1. Claims Order preparation system comprising in a warehouse: - a plurality of racks (Ra) each configured to receive storage units (U) intended for articles, the racks arranged along a plurality of vertical planes, - at least one order preparation area (PC) arranged at a distance from the racks, - a conveying installation configured to convey one or more storage units received in the racks to said at least one order preparation area, in a first direction of conveyance, or conversely to convey one or more storage units from the order preparation area to the racks in a second direction of conveyance, said conveying installation successively comprising, in the first direction of conveyance: • a first conveyor system (CV1) which is arranged in a shelving aisle disposed between two adjacent racks, configured to convey storage units (U) from at least one of the two racks comprising several first conveyor devices (SH) arranged at several heights, said first devices being independent of each other for the horizontal conveyance of storage units along said shelving aisle, • a second conveying system (CV2), comprising at least one second conveying device (AC) configured for the vertical routing of storage units, from the first conveying device, to a third conveying system following the first routing direction, • the third conveyor system (CV3) configured for transporting storage units from the second conveyor system to said at least one order preparation area (PC) following the first transport direction, and in wherein the third conveyor system comprises a plurality of self-guided trolleys (CHR), circulating in free field on a rolling surface of the warehouse, said self-guided trolleys comprising rolling means configured to ensure movement of the self-guided trolley along a horizontal plane of the rolling surface.

2. System according to claim 1, in which the rolling surface is a rolling table raised relative to: - a floor of the warehouse on which the racks rest, so that vertical guide rails of said at least one second conveyor device extend below the height of the rolling table and - a support surface such as the floor for an operator of the order preparation station so that an edge portion of the table, adjoining the operator's support surface, allows parking of one of the self-guided trolleys (CHR) carrying a storage unit (U) in a manner raised relative to the support surface.

3. The system of claim 2, wherein the support surface is a platform (PT) having a height adjustment mechanism configured to allow level deference adjustment between the rolling table and the platform.

4. System according to one of claims 1 to 3, comprising a transfer system configured to ensure, on the one hand, a transfer of the storage unit (U), in the first direction of routing, from said at least one second conveying device (AC), then in a low position, and one of the self-guided trolleys (CHR), parked in at least one transshipment location (PT1, PT2), close to the second conveying device (AC) and configured to ensure, on the other hand, a transfer of the storage unit, in the second direction of routing, from one of the self-guided trolleys parked in said at least one transshipment location (PT1, PT2) and to the second conveying device (AC).

5. System according to claim 4, wherein said at least one transshipment location comprises a first transshipment location (PT1) and a second transshipment location (PT2), arranged on either side of the second conveyor device. (AC) in said lower position, and wherein said transfer system is configured to operate, selectively: - a transfer of the storage unit between said second conveyor device (AC), in the lower position, and a first self-guided trolley among said self-guided trolleys, parked in the first transhipment location (PT1), in particular following the first conveying direction or respectively the second conveying direction, - a transfer of the storage unit between said second conveyor device (AC), in the lower position and a second self-guided trolley among said self-guided trolleys, parked in the second transhipment location (PT2), in particular following the second conveying direction or respectively the first conveying direction.

6. Order preparation system according to claim 4 or 5 wherein the transfer system is on board said at least one second conveying device (AC), and comprises a laterally movable part configured to deploy the storage unit (U) from a first position for which said storage unit (U) is carried by a support of the second conveying device (AC), to a lateral cantilever position of the support for which said storage unit is moved above one of the self-guided trolleys parked on said at least one transhipment location (PT1, PT2).

7. Order preparation system according to one of claims 1 to 6 wherein: - said at least one control station comprises several independent control stations (PC), accessible by the self-guided trolleys via the rolling surface, - said at least one second conveying device comprises several second independent conveying devices (AC), associated respectively with several shelving aisles, respectively serving the different racks and in which the rolling surface and the self-guided trolleys are configured to serve each of the order preparation stations (PC) from storage units coming from the different second conveying devices (AC).

8. Order preparation system according to one of claims 1 to 7, in which the second conveying devices (AC) are exclu- sively positioned outside the shelving aisles and outside the storage racks.

9. Order preparation system according to claim 8, wherein said at least one second conveyor device (AC) comprises, for each shelving aisle, a second conveyor device (AC) associated with the first conveyor devices (SH) of said aisle, said second conveyor device (AC) configured to circulate in a vertical direction, being positioned, outside said shelving aisle, preferably laterally offset with respect to said shelving aisle, in a direction transverse to said shelving aisle, and wherein each first conveyor device is configured to circulate in said aisle to a position outside said shelving aisle, for which said first conveyor device (SH) is positioned juxtaposed with the second conveyor device (AC), in a transhipment position,and in which the order preparation system comprises a transfer system, on board said first conveyor device (SH) or said second conveyor device (AC) configured to authorize a transfer of said storage unit (U) from the first conveyor device (SH) then in said transshipment position to the second conveyor device (AC) according to the first routing direction.,

10. System according to claim 8 or 9, wherein the rolling surface, in particular the floor or the rolling table, extends between the order preparation stations (PC) and the storage racks (Ra), exclusively between the order preparation stations (PC) and the second conveyor devices (AC) which are exclusively outside the storage racks (Ra) and the shelving aisles, and so that the CHR self-guided trolleys are configured to circulate exclusively outside the storage racks (Ra) and the shelving aisles.

11. Method for preparing at least one order comprising one or more items implementing an order preparation system according to one of claims 1 to 10, the method comprising: - / A / selecting one or more storage units (U), from among the storage units received in the racks, said storage unit(s) containing the item(s) of said at least one order, - / B / transport said selected storage unit(s) to said at least one order preparation area in the first direction of transport, by: - / BO / Transfer of the storage unit from a storage location in the rack to one of the first conveyor devices (SH), - / BI / conveying according to a horizontal routing of said unit to the second conveying system, by moving the first conveying device (SH), - / B2 / transfer of the storage unit from the first conveyor device (SH) to the second conveyor device (AC) - / B 3 / conveying according to a vertical routing of said unit storage by moving the second conveyor device (AC), to a low position, - / B4 / transfer of the storage unit from the second conveyor device to one of the self-guided trolleys, - / B5 / conveying said storage unit to said less the order preparation area (PC), by free-field movement of the self-guided trolley (CHR).

12. Preparation method according to claim 11 implementing a system according to claim 5, wherein in / B4 / the transfer of the storage unit to said self-guided trolley takes place while said trolley is parked in said first transshipment location (PT1), and while another of the self-guided trolleys carrying another storage unit is parked in the second transshipment location (PT2), the method comprising successively in / B4 / , the transfer of said other storage unit from the second transshipment location (PT2) to the second conveyor device held in the low position, and said return of said other storage unit to one of the receiving locations of the rack by conveying according to a vertical routing of the second conveyor device (AC), followed by conveying according to a horizontal routing of one of the first conveyor devices (SH),said system comprising a transfer system, on board the first conveyor device (SH) or the second conveyor device, configured, to ensure a transfer of the storage unit (U) from the first conveyor device (SH) to the second conveyor device (AC).

13. Method according to claim 11 or 12, comprising a plurality of orders being prepared, the method comprising - / C / computer-based identification of common items among the orders being prepared, contained in a storage unit, common to said orders being prepared, including a first order, and an order subsequent to the first order, and after conveying according to / B5 / the self-guided trolley carrying the common storage unit to an order preparation area for the preparation of the first order, - / D / putting the self-guided trolley carrying the common storage unit on hold in a waiting area arranged in or near the preparation area, without returning the storage unit to the rack, so as to free said preparation area for reception of at least one other storage unit conveyed according to / B5 / by another of the self-guided trolleys,said at least one other storage unit being necessary for the preparation of the first order or even a second order, - / E / return the self-guided trolley carrying said common storage unit from the waiting area to the order preparation area, for the preparation of the subsequent order.,

14. Order preparation system according to one of claims 1 to 10, in which the self-guided trolleys are each equipped with a communication module, configured to receive and transmit data with a remote computer control unit, wirelessly, and in which said remote control unit ensures the management and control of the conveyor systems, including the management of the guidance trajectories of the self-guided trolleys on the rolling surface, to ensure the routing of a storage unit from a storage location in the storage rack to said at least one PC order preparation station, said control unit comprises a or more processors, a memory and an instruction set configured for implementing the order preparation method according to one of claims 11 to 13.

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