Order preparation system, and process implementing the system

Abstract

This disclosure relates to an order picking system comprising, in a warehouse: a plurality of racks (Ra), each configured to receive storage units (U) intended for items, the racks arranged in a plurality of vertical planes; at least one order picking area (PC) arranged at a distance from the racks; a conveyor system configured to transport one or more storage units received in the racks to said at least one order picking area, in a first direction of travel, or conversely to transport one or more storage units from the order picking area to the racks in a second direction of travel; said conveyor system comprising successively, in the first direction, three conveyor systems (CV1, CV2, CV3), including horizontally moving shuttles, a vertically moving elevator at the end of the rack,and self-guided trolleys traveling on a horizontal surface such as the ground or a track table. Figure from the abstract: Figure 2,

Description

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

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

[0002] The present disclosure is further related to an order preparation process implementing the order preparation system according to this disclosure. technical field

[0003] This 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] Numerous ASRS solutions exist and are being used.

[0005] One known solution consists of a set of storage racks, resting on a floor, extending along vertical planes, the racks separated in pairs by respective shelving aisles, as illustrated in [Fig. 1]. The storage racks receive storage units in their shelving, 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 in a superimposed manner relative to each other along the height of the rack.

[0006] Order preparation stations are arranged on the floor, away from the storage racks, and are configured to receive the storage units containing the items for the preparation of an order, the storage units containing the items, transported by a conveying installation comprising several successive automated conveying systems.

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

[0008] In simpler terms, the first conveying system is similar to “shuttles.” These “shuttles” are self-guided vehicles equipped with rolling means, such as wheels, and capable of traveling on rails. The rails are positioned in the aisles at different levels of the rack. These “shuttles” also have means for gripping the bins or trays located in each of the rack's bays. These are lateral gripping means that allow bins or containers to be loaded onto or unloaded from the shuttle by grasping them on the sides of the shuttle.

[0009] The third conveying system is similar to a “transfer table.” These are tables which, by means of mechanical devices such as rollers or belts, allow trays or bins to be moved from one point to another in the warehouse. The second conveying 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 lower it from a rack level to the floor. It is capable of cooperating, at each rack level, with the first conveying system, that is, with one of the shuttles described previously. In other words, it is capable of exchanging a tray or bin with a shuttle, in either direction. Similarly, it is capable of cooperating, at ground level, with the second conveying system, that is, with one of the transfer tables described previously.In other words, it is capable of exchanging a tray or bin with a transfer table, in either direction.

[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 nevertheless has the following drawbacks: - the existence of a single point of failure which causes 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 conveying system - no possibility of changing the sequence of transported storage units arriving at the order preparation stations, namely that the arrival sequence replicates the extraction sequence of storage units from the storage racks, - poor system scalability, particularly if capacities need to be increased, - a significant footprint on the ground. Summary

[0012] This disclosure improves the situation.

[0013] According to a first aspect, an order preparation system is proposed comprising, in a warehouse: - a plurality of racks (Ra), each configured to receive storage units intended for items, the racks arranged in a plurality of vertical planes, - at least one order preparation area located away from the racks, - a conveyor system configured to transport one or more storage units received in the racks to said at least one order preparation area, following a first direction of transport, or conversely to transport one or more storage units from the order preparation area to the racks in a second direction of transport, said conveyor system comprising successively, following the first direction of transport: • a first conveying system which is arranged in a racking aisle 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 racking aisle, • a second conveying system, comprising at least one second conveying device configured for the vertical transport of storage units, from the first device conveying, up to a third conveying system following the first direction of travel, • the third conveying system configured for transporting storage units from the second conveying system to said at least one order preparation area in the first direction of transport, and wherein the third conveying system comprises a plurality of self-guided trolleys, circulating in a 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 described in the following paragraphs may optionally be implemented independently of each other or in combination with each other:

[0015] - the rolling surface can be a raised rolling table, in whole or part, in relation to: - to a warehouse floor on which the racks rest, so that vertical guide rails of said at least one second conveyor device extend below the height of the runway 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 manner raised above the support surface.

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

[0017] The system may include a transfer system configured to ensure, on the one hand, a transfer of the storage unit, along the first direction of travel, 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 transshipment location, near the second conveying device and configured to ensure, on the other hand, a transfer of the storage unit, along the second direction of travel, from one of the self-guided trolleys parked in said at least one transshipment location and to the second conveying device.

[0018] Said at least one transshipment location may comprise a first transshipment location and a second transshipment location, arranged on either side of the second conveying device in said low position, and in which said transfer system is configured to operate, selectively: - a transfer of the storage unit between said second conveying device, in the lower position, and a first self-guided trolley among said self-guided trolleys, parked in the first transshipment location, in particular following the first direction of travel or respectively the second direction of travel, - a transfer of the storage unit between said second conveying device, in the lower position and a second self-guided trolley among said self-guided trolleys, parked in the second transshipment location, in particular following the second direction of travel or respectively the first direction of travel.

[0019] The transfer system is mounted on said at least one second conveying device, and includes a laterally configured movable part 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 laterally cantilevered position of the support for which said storage unit is moved over one of the self-guided trolleys parked on said at least one transshipment location.

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

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

[0022] According to one embodiment, said at least one second conveying device comprises, for each racking aisle, a second conveying device associated with the first conveying devices of said aisle, said second conveying device configured to travel in a vertical direction, being positioned outside said racking aisle, preferably offset laterally from said racking aisle, in a direction transverse to said racking aisle, and wherein each first conveying device is configured to travel in said aisle to a position outside said aisle, for which said first conveying device is positioned juxtaposed to the second conveying device, in a transshipment position, and in which the order preparation system includes a transfer system, mounted on said first conveying device or said second conveying device configured to permit a transfer of said storage unit from the first conveying device then in said transshipment position to the second conveying device in the first direction of travel.

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

[0024] According to a second aspect, a method for preparing at least one order comprising one or more items is proposed, implementing an order preparation system according to this disclosure, the method comprising: - / A / selecting one or more storage units, from among the storage units received in the racks, the said storage unit(s) containing the item(s) of said at least one order, - / B / transport the selected storage unit(s) to at least one order preparation area in the first direction of travel, by: • / B0 / Transfer of the storage unit from a storage location in the rack up to one of the first conveyor devices, • / B 1 / Conveying via a horizontal route 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 • / B3 / Conveying via a vertical route of said storage unit by moving the second conveyor device to a lower position, • / B4 / transfer of the storage unit from the second device transport to one of the automated guided vehicles, • / B5 / transport of said storage unit to said at least the area order preparation, by moving the self-guided cart in a free field.

[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 comprising successively at / B4 / , the transfer of said other storage unit from the second transshipment location to the second conveyor device held in the lowered position, and said return of said other storage unit to one of the receiving locations of the rack by conveying along a vertical route of the second conveyor device, followed by conveying along a horizontal route of one of the first conveyor devices, said system comprising a transfer system, mounted on the first conveyor device or the second conveyor device, configured to ensure a transfer of the storage unit from the first conveyor device to the second conveyor device.

[0026] According to one embodiment of the method according to the second aspect, said method may comprise a plurality of orders in preparation, the method comprising • / C / to identify common items among the orders using a computer system in preparation, contained in a storage unit, common to said orders in preparation, including a first order, and an order subsequent to the first order, and after conveying 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 automated guided vehicle transporting 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 up said preparation area for the receipt of at least one other storage unit conveyed according to / B5 / by another of the automated guided vehicles, said at least one other storage unit being necessary for the preparation of the first order or even a second order, • / E / return the automated guided vehicle 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 in the first aspect, the automated guided vehicles (AGVs) are each equipped with a communication module configured to wirelessly receive and transmit data to a remote computer control unit, and in which said remote control unit manages and controls the conveyor systems, including managing the guidance trajectories of the AGVs on the surface of rolling, to ensure the transport of a storage unit from a storage location in the storage rack to said at least one PC order picking station, said control unit includes one or more processors, memory and an instruction set configured for the implementation of the order picking process according to the second aspect. Brief description of the drawings

[0028] Other features, details and advantages will become apparent from reading the detailed description below and from analyzing the accompanying drawings, in which: Fig. 1

[0029] [Fig.1] shows a prior art mentioned in the introduction. Fig. 2

[0030] [Fig.2] is a schematic perspective view of a system according to the present disclosure comprising notably, a third conveying system comprising a plurality of self-guided trolleys configured to circulate, in a first direction of travel, from second conveying devices to order preparation stations, or conversely from each of the order stations to the second conveying devices, in a second direction of travel. 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 racking aisles, the devices distributed according to three height levels, the second vertically moving conveyor devices, at the end of the aisle, the running surface on which the self-guided trolleys circulate, the order preparation stations adjoining an edge of the running surface formed by a table raised above the ground, at the edge of which operators prepare orders at the order preparation stations - on the right, a detail view of an order preparation station, illustrating the running surface which is the running table, raised above the support surface on which the operator works,The raised platform provides improved ergonomics for the operator when collecting items from a storage unit carried by the automated guided vehicle parked at the edge of the platform. Fig. 4

[0032] [Fig. 4] is a schematic detail view of a second conveying device in a low position, at the height of the running surface, or even close to the running surface, conveying a storage unit on a support, a first a self-guided trolley parked on the running surface at a first transshipment location, allowing a first transfer of the storage unit from the second conveyor device to the first self-guided trolley, following the first direction of travel of the storage unit from the rack to the control station, a second trolley carrying another storage unit parked on the running 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 travel 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 having a height-adjustable mechanism. Description of the implementation methods

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

[0035] Generally, the storage units U can be containers for items 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 from each other by respective racking aisles, in particular along the X direction in [Fig. 2], namely along a direction transverse to the racking aisles. The aisles thus extend lengthwise along the Y direction and widthwise along the X direction in [Fig. 2]. Generally, the storage racks Ra comprise storage locations for the storage units U. The storage locations in the storage rack Ra are arranged one above the other, along the vertical direction forming a column of stacked 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 racking aisles, namely that the transfer of storage units into the storage locations during loading, or from said locations during unloading, is carried out from the respective racking aisles, following a loading / unloading direction perpendicular to the vertical planes of the storage racks, namely along the X direction, on the [Fig.2].

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

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

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

[0042] According to this disclosure, said conveying installation may successively comprise, according to the first direction of travel: - a first conveying system CV1 which is arranged in one of the racking aisles, said aisle being arranged between two adjacent racks, the first conveying device configured to transport storage units U from at least one of the two storage racks on either side of said racking aisle, comprising several first conveying devices SH arranged, at several heights, said first conveying devices SH being independent of each other for the horizontal transport of storage units along said racking aisle, - a second conveying system CV2, comprising at least one second conveying device AC configured for the vertical transport of storage units, from the first conveying system, to a third conveying system following the first direction of transport, - a third conveyor system CV3 configured for transporting storage units from the second conveyor system to at least one order preparation area PC in the first direction of travel, and wherein the third conveyor system comprises a plurality of automated guided vehicles (AGVs) CHR, circulating freely on a warehouse floor, said AGVs comprising rolling means configured to ensure movement of the AGV along a horizontal plane of the floor

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

[0044] The first SH conveying devices can typically comprise motorized trolleys traveling in horizontal directions parallel to each other, and in particular parallel to the Y direction as shown in [Fig. 2]. Each motorized trolley typically travels on guide systems, such as rails, attached to two storage racks on either side of the racking aisle. Each motorized trolley is equipped with movement means, such as rolling means, for example wheels adapted to cooperate with the aforementioned guide systems.

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

[0046] The first conveying devices may each include 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 racking aisle, to its loading onto the first conveying device, or conversely, the transfer of a storage unit from the first conveying device SH to a storage location in the rack storage, on at least one side of said racking aisle, or preferably on both sides of said racking aisle. In other words, these first conveying devices are capable of exchanging a storage unit with the rack in a direction perpendicular to the aisle in which they travel. Generally, the transfer system of the first conveying devices may include a laterally configured moving part to deploy the storage unit U from a first position, where said storage unit U is supported by a support of the first conveying device SH, to a position cantilevered laterally from the support, where said storage unit is moved into a storage location of the rack, along the X direction in [Fig. 2].

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

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

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

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

[0051] Preferably, the second AC conveyor devices are positioned exclusively outside the racking aisles and outside the storage racks, and preferably respectively as extensions of the longitudinal ends of the storage racks, as shown in [Fig. 2], for example on one side of the racking system. Such positioning of the second AC conveyor devices, exclusively outside the storage racks, facilitates the wired electrical cabling of the trolleys, particularly for powering the motor controlling the vertical movement.

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

[0053] The order preparation system includes a transfer system, which is typically embedded in said first conveying device SH or in said second conveying device AC configured to allow a transfer of said storage unit U from the first conveying device SH then in said transshipment position to the second conveying device AC in the first direction of travel.

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

[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 can 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 which is described below.

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

[0057] Notably, and according to this disclosure, the third conveying system comprises a plurality of CHR self-guided trolleys, circulating in a 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.

[0058] The term "in open field" means that the self-guided CHR trolleys, in particular the rolling means, are configured to travel on the running surface, namely a flat surface, without requiring guide rails on the running surface.

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

[0060] The running surface, namely the floor or the running table, preferably extends between the PC order picking stations and the Ra storage racks, and preferably exclusively between the PC order picking stations and the second type of AC conveyor system, which operates exclusively outside of storage racks and shelving aisles. In particular, the CHR automated guided vehicles operate exclusively outside of storage racks and shelving aisles.

[0061] Maintenance interventions are facilitated in the event of a failure of one of the automated guided vehicles (AGVs). In particular, maintenance does not require intervention above, below, or through the storage rack. The circulation area of ​​the AGVs is not limited in height, unlike an alternative where the running surface would pass below the storage racks. The combined height of the AGV CHR and the storage unit U carried by the AGV is not constrained. The trajectories of the AGVs between the order preparation stations and the second conveyor devices, on the same side of the rack system, have a limited travel distance.

[0062] The rolling means comprise one or more motorized wheels. The self-guided vehicles are equipped with a direction-change mechanism. The change of direction can be achieved by turning the vehicle, for example, by controlling two motorized wheels, by setting the two wheels to different rotational speeds, or by reversing the direction of rotation of the wheels, meaning that the vehicle, including its chassis, changes orientation to achieve a change of direction. Reversing the direction of rotation of the two motorized wheels can, in particular, allow the self-guided vehicle to pivot around a fixed vertical axis of the vehicle.

[0063] According to another embodiment taught by FR3125514 (A1) of the present Applicant, the change of direction of the vehicles can be achieved by a pivoting and wheel-driving device relative to a chassis of the trolley that allows the change of direction without the chassis changing its 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 their chassis on the running surface.

[0064] The self-guided vehicles 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 ensures the management and control of the conveying systems, including the management of the guidance trajectories of the self-guided trolleys on the running surface, to ensure the transport of the storage units from the locations in the storage rack to said at least one PC order preparation station, avoiding in particular collisions of the trolleys on the running surface, and coordinating them with the other conveying systems of said installation.

[0066] The present disclosure arose from the inventor's findings that the first conveying system CV1 and the second conveying system CV2 are conveying devices which, in the event of failure, do not cause the total stoppage of the order preparation system, but only localized stoppages to certain parts of the storage racks associated with the failing conveying devices, and unlike the roller conveyors forming the third conveying system illustrated in [Fig.1], which, in such a state of the art, constitutes a single point of failure, causes the total stoppage of the order preparation system.

[0067] Moreover, the present disclosure arose from the Applicant's desire to offer 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 conveying system represent a significant improvement over the existing state of the art, particularly over roller conveyors, specifically by: • Elimination of single points of failure: in the event of a failure of one of the automated guided vehicles (AGVs) in the fleet, the control unit is configured to remotely identify the faulty vehicle on the runway and ensure command and control of the other AGVs to continue order picking operations, avoiding collisions with the faulty AGV. • The possible implementation of a control strategy allowing the transport of storage units, in an order modified from the sequence order of the storage units transported by the second AC conveyor devices, and in particular timing strategies, thanks to self-guided trolleys, which are independent of each other, • A complete 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, • The ability to easily increase the capacity of the order picking system, namely the average number of orders per unit of time, simply by adding additional automated guided vehicles (AGVs) to the running surface, and preferably without any other physical modification to the running surface of the order picking system, or even by possibly adding additional order picking stations. • The use of self-guided carts traveling only on the running surface, which are simple and less powerful compared to self-guided carts with climbing means, such as those described in document FR 3 125 516, which allow not only horizontal movement but also vertical movement of the self-guided cart—a much more energy-intensive function for lifting storage units into storage racks—is, on the contrary, according to this disclosure, the lifting function of storage units into storage racks is left to the second type of AC conveyor system, typically operating with a wired power supply. The structure of the self-guided carts is thus simplified; in particular, the batteries of the self-guided carts can have a lower capacity than those of a cart 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 running surface, and said at least one second conveying device comprises several independent AC second conveying devices, associated respectively with several racking aisles, serving respectively the different storage racks via the respective racking aisles.

[0070] The running surface and the self-guided trolleys are configured to serve each of the PC order picking stations from storage units coming from the different AC secondary conveyor devices.

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

[0072] According to at least one embodiment illustrated in said [Fig.4], said at least 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 lower 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 conveyor device AC, in the lower position, and a first self-guided trolley among said self-guided trolleys, parked in the first transshipment location PT1, in particular following the first direction of travel (or respectively the second direction of travel), - a transfer of the storage unit between said second AC conveyor device, in the lower position and a second self-guided trolley among said self-guided trolleys, parked in the second transshipment location PT2, in particular following the second direction of travel (or respectively the first direction of travel).

[0074] Having two transshipment locations for the two self-guided trolleys advantageously allows limiting the immobilization time of the second AC conveying device in said low position, by unloading the storage unit from the AC conveying device to the first trolley on the first transshipment location PT1 and successively loading the second AC conveying device 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 were carried out from a single transshipment 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 carried on said at least one second conveyor device AC, and includes a laterally configured movable part to deploy the storage unit U from a first position for which said storage unit U is carried by a support of the second conveyor device AC, to a laterally cantilevered position of the support for which said storage unit is moved over one of the self-guided trolleys parked on said at least one transshipment location PT1, PT2.

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

[0078] According to another embodiment, the running surface is a running table raised, in whole or in part, relative to: - to a floor the warehouse on which the storage racks rest, and in particular so that vertical guide rails of said at least a second AC device, extend below the level of the runway table and / or - to a support surface such as the floor for an operator at the order picking station, such that a portion of the table's edge, adjoining the operator's support surface, allows one of the CHR automated guided vehicles carrying a storage unit U to be parked in a manner elevated relative to the support surface.

[0079] Such an embodiment is particularly illustrated in the embodiment shown in Figures 2 to 5, which illustrates an embodiment in which the rolling table is entirely elevated relative to the warehouse floor, in particular from the order picking stations to at least one transshipment location at the level of the second AC conveyor device, namely preferably in an area outside the storage racks and racking aisles between the racks.

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

[0081] The rolling table can be of primary interest for improving working ergonomics at at least one order picking station, and in particular at order picking stations arranged along the edge of the rolling table. To this end, the rolling table is raised above a support surface for an operator at the order picking station PC, so that a portion of the edge of the rolling table, adjoining the support surface, allows one of the automated guided vehicles (AGVs) carrying a storage unit to be parked in a position raised above the support surface.

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

[0083] Thus, advantageously, when collecting items 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 items without having to bend over in an uncomfortable position.

[0084] The different order preparation stations may preferably have individual adjustment mechanisms, allowing the ergonomics of each station to be adapted according to the different operators of the order preparation stations.

[0085] In general, the running table may have a running surface formed by a coating ensuring a static coefficient with the rolling means of the self-guided trolleys 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 wheel slippage with the running surface are advantageously limited.

[0086] Generally, automated guided vehicles (AGVs) can be located using one or more encoders that track the rotation of the motorized wheels, typically also using floor markers, optical detection, or even lidar. Wheel slippage can cause a discrepancy between the encoder measurement and the actual position of the vehicle, sometimes even leading to a fault in the location system and its shutdown. Having a running surface with a controlled coefficient of friction helps limit the risk of slippage, and thus the occurrence of these unexpected stops, regardless of the floor quality in the warehouse where the order picking 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 transshipment location PT1, PT2 and said second conveyor device AC, in a lowered position, by raising the self-guided trolleys above the ground. Such leveling facilitates transfers of the storage unit between the second conveyor device AC and said self-guided trolley, preferably in the first or second direction of travel, by (simple) horizontal movements.

[0088] This disclosure further relates to a method for preparing at least one order comprising one or more items implementing an order preparation system according to this disclosure

[0089] The order preparation process may therefore include: - / A / select one or more storage units U, from among the storage units received in the racks, the said storage unit(s) containing the item(s) of said order, at least one order, - / B / transport the selected storage unit(s) to at least one order preparation area in the first direction of travel, by: • / B0 / Transfer of the storage unit from a storage location in the rack up 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 • / B3 / Conveying via a vertical route of said storage unit by moving the second AC conveyor device to a lower position, • / B4 / transfer of the storage unit from the second device transport to one of the automated guided vehicles, • / B5 / transport of said storage unit to said at least the area order preparation PC, by free-field movement of the CHR self-guided trolley.

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

[0091] This disclosure may further describe a replenishment process comprising: - / a / filling one or more storage units with items, - / b / transport the said storage unit(s) filled with the items to one or more storage locations in the storage racks following the second direction of transport, by: • / b0 / Conveying said storage unit to the second system of Conveyance, by free-field movement of the CHR self-guided trolley, • / b 1 / transfer of the storage unit from the automated guided vehicle to the second AC conveyor device, in the lowered position, • / b2 / conveying via a vertical route of said storage unit by moving the second AC conveyor device from said lower position to the level of an empty storage location in the storage rack, • / b3 / transfer of the conveyor unit from said second device storage up to one of the first conveyor devices, juxtaposed, • / b4 / Conveying according to a horizontal route of said unit to the said empty storage location, by moving the first conveyor device SH, • / b5 / transfer of said conveyor unit from the first device of conveyance to said empty storage location, in said storage rack.

[0092] According to an embodiment in / B4 / , the transfer of the storage unit to said automated guided vehicle (AGV) takes place while said AGV is parked in said first transshipment location PT1, and while another of the AGVs carrying another storage unit is stationed in the second transshipment location PT2.

[0093] The method can then include, successively at / B4 / , the transfer of said other storage unit from the second transshipment location PT2 to the second conveyor device maintained in the lower position, and said return of said other storage unit to one of the storage locations of the rack by conveying along a vertical route of the second conveyor device AC, followed by conveying along a horizontal route of one of the first conveyor devices SH.

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

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

[0096] According to one embodiment, said order preparation process may include a plurality of orders in progress, the process comprising - / C / to identify common items among the orders using a computer system in preparation, contained in a storage unit common to said orders in preparation, including a first order and a subsequent order, and after conveying according to / B5 / by the automated guided vehicle carrying the common storage unit to an order preparation area for the preparation of the first order - / D / put the automated guided vehicle transporting 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 up said preparation area for the receipt of at least one other storage unit conveyed according to / B 5 / by another of the automated guided vehicles, said at least one other storage unit being necessary for the preparation of the first order or even a second order, - / E / return the automated guided vehicle carrying said common storage unit from the waiting area to the order preparation area, for the preparation of the subsequent order.

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

[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 running surface, to ensure the transport 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, memory and an instruction set configured for implementing the order preparation process, and in particular: - steps / A / and / B / , including / B0 / , / B 1 / , B / 2 / , / B / 3 / , / B4 / and / B5 / of the order preparation process, and also steps / C / , / D / and / E / and / or - steps / a0 / , / al / , / a2 / , / a3 / , / a4 / and / a5 / of the replenishment process.

[0100] This disclosure further relates to a computer program comprising instructions, which, when said program is executed by a control unit comprising a processor and memory, ensures the implementation of the order preparation process and in particular: - steps / A / and / B / , including / B0 / , / B 1 / , B / 2 / , / B / 3 / , / B4 / and / B5 / of the order preparation process, and also steps / C / , / D / and / E / and / or - steps / a0 / , / al / , / a2 / , / a3 / , / a4 / and / a5 / of the replenishment process.

[0101] This disclosure further relates to a non-transient, 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 conveying devices, - AC. Secondary conveying devices, - PC. Order preparation station, - CHR. Automated guided vehicles, - PT1, PT2. Respectively first and second transshipment locations, - PT. Platform (operator) -U. Storage units.

Claims

1. Demands Order preparation system including in a warehouse: - a plurality of racks (Ra), each configured to receive storage units (U) intended for items, the racks arranged in a plurality of vertical planes, - at least one order preparation area (PC) arranged away from the racks, - a conveyor system configured to transport one or more storage units received in the racks to said at least one order preparation area, following a first direction of transport, or conversely to transport one or more storage units from the order preparation area to the racks in a second direction of transport, said conveyor system comprising successively, following the first direction of transport: • a first conveying system (CV1) which is arranged in a racking aisle between two adjacent racks, configured to convey storage units (U) from at least one of the two racks comprising several first conveying devices (SH) arranged, along several heights, said first devices being independent of each other for the horizontal conveying of storage units along said racking aisle, • a second conveying system (CV2), comprising at least one second vertically moving conveying device (AC), configured for the vertical transport of storage units, from the first conveying device, to a third conveying system following the first direction of transport, • the third conveyor system (CV3) configured for transporting storage units from the second system conveyance to said at least one order preparation area (OP) following the first direction of travel characterized in that the third conveying system comprises a plurality of self-guided trolleys (SRTs), circulating freely on a warehouse floor, said self-guided trolleys comprising rolling means configured to ensure movement of the self-guided trolley along a horizontal plane of the floor and in which a transfer system is configured to ensure, on the one hand, a transfer of the storage unit (U), along the first direction of travel, from said at least one second conveyor device (AC), then in a lowered position, and one of the automated guided vehicles (AGVs), parked in at least one transshipment location (PT1, PT2), near the second conveyor device (AC) and configured to ensure, on the other hand, a transfer of the storage unit, along the second direction of travel, from one of the automated guided vehicles parked in said at least one transshipment location (PT1, PT2) and to the second conveyor device (AC) and in which 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 lowered position,and in which 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 transshipment location (PT1), in particular along the first direction of travel or respectively the second direction of travel, - a transfer of the storage unit between said second conveying device (AC), in the lower position and a second self-guided trolley among said self-guided trolleys, parked in the second transshipment location (PT2), in particular following the second direction of travel or respectively the first direction of travel.

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

3. System according to claim 2, wherein the support surface is a platform (PT) comprising a height adjustment mechanism configured to permit adjustment of the difference in level between the rolling table and the platform.

4. Order preparation system according to any one of claims 1 to 3 wherein the transfer system is mounted on said at least one second conveyor 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 conveyor device (AC), to a laterally cantilevered position of the support for which said storage unit is moved over one of the self-guided trolleys parked on said at least one transshipment location (PT1, PT2).

5. Order picking system according to any one of claims 1 to 4 wherein: - said at least one order station comprises several independent order stations (PCs), accessible by self-guided trolleys via the running surface, - said at least one second conveying device comprises several independent second conveying devices (ACs), associated respectively with several racking aisles, serving respectively the different racks and wherein the running surface and the self-guided trolleys are configured to serve each of the order picking stations (PCs) from storage units from the different second conveying devices (ACs).

6. Order preparation system according to any one of claims 1 to 5, wherein the second conveying devices (AC) are exclusively positioned outside the racking aisles and outside the storage racks.

7. Order preparation system according to claim 6, wherein said at least one second conveying device (AC) comprises, for each racking aisle, a second conveying device (AC) associated with the first conveying devices (SH) of said aisle, said second conveying device (AC) configured to travel in a vertical direction, being positioned, outside said racking aisle, preferably offset laterally from said racking aisle, in a direction transverse to said racking aisle, and wherein each first conveying device is configured to travel in said aisle to a position outside said racking aisle, for which said first conveying device (SH) is positioned juxtaposed with the second conveying device (AC), in a transshipment position,and wherein the order preparation system includes a transfer system, embedded in said first conveying device (SH) or said second conveying device (AC), configured to permit a transfer of said storage unit (U) from the first conveying device (SH) then in said transshipment position to the second conveying device (AC) in the first direction of travel.

8. System according to claim 6 or 7, wherein the running surface, in particular the floor or the running table, extends between the order picking stations (PC) and the storage racks (Ra), exclusively between the order picking stations (PC) and the second conveyor devices (AC) which are exclusively outside the storage racks (Ra) and the racking aisles, and such that the self-guided trolleys (CHR) are configured to travel exclusively outside the storage racks (Ra) and the racking aisles.

9. A method for preparing at least one order comprising one or more items implementing an order preparation system according to any one of claims 1 to 8, the method comprising: - / A / select one or more storage units (U), from among the storage unit(s) received in the racks, the said storage unit(s) containing the item(s) of said order at least one, - / B / transport the selected storage unit(s) to at least one order preparation area in the first direction of travel, by: - / BO / Transfer of the storage unit from a storage location in the rack to one of the first conveyor devices (SH), - / B 1 / conveyance according to a horizontal route of said unit of up to the second conveying system, by displacement of the first conveying device (SH), - / B2 / transfer of the storage unit from the first conveyor device (SH) to the second conveyor device (AC) - / B3 / Conveying via a vertical routing of said storage unit by moving the second conveyor device (AC) to a lower position, - / B4 / transfer of the storage unit from the second conveying device to one of the automated guided vehicles, - / B5 / transport of said storage unit to said at least the order preparation area (PC), by free-field movement of the self-guided trolley (CHR), and wherein in / B4 / the transfer of the storage unit to said automated guided vehicle (AGV) is carried out while said AGV is parked in said first transshipment location (PT1), and while another AGV 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 lowered position, and said return of said other storage unit to one of the receiving locations of the rack by conveying along a vertical path of the second conveyor device (AC), followed by conveying along a path

10.

11. horizontal of one of the first conveying devices (SH), said system comprising a transfer system, mounted on the first conveying device (SH) or on the second conveying device, configured to ensure a transfer of the storage unit (U) from the first conveying device (SH) to the second conveying device (AC). A method according to claim 9, comprising a plurality of orders in preparation, the method comprising - / C / to identify common articles 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 conveying 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 automated guided vehicle transporting the common storage unit in a waiting area provided in or near the preparation area, without returning the storage unit to the rack, so as to free up said preparation area for the receipt of at least one other storage unit conveyed according to / B5 / by another of the automated guided vehicles, 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 cart carrying said unit of common storage from the waiting area to the order preparation area, for the preparation of the subsequent order. Order preparation system according to one of the claims 1 to 8, wherein the automated guided vehicles are each equipped with a communication module configured to wirelessly receive and transmit data to a remote computer control unit, and wherein said remote control unit manages and controls the conveyor systems, including managing the guidance trajectories of the automated guided vehicles on the running surface, to ensure the routing of a unit storage from a storage location in the storage rack to said at least one order picking station (PC), said control unit comprises one or more processors, memory and instruction set configured for the implementation of the order picking process according to one of claims 9 or 10.

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