Method and vehicle for order preparation in an automated storage and retrieval system

Abstract

A method for preparing an order in an automated storage and retrieval system is proposed. The order comprises at least one item located in a source bin (42a) and intended to be placed in a destination bin (42b). The method is carried out by an autonomous vehicle (20) and comprises: loading the source bin (42a) onto the chassis (26) of the autonomous vehicle (20); grasping the order item from the source bin (42a); unloading the source bin (42a) without the order item, the order item being held by the item grasping device (44); loading the destination bin (42b); and depositing the order item into the destination bin (42b). Abstract figure: Figure 3

Description

Title of the invention: Method and vehicle for order preparation in an automated storage and retrieval system. Technical field

[0001] This disclosure falls within the domain of Automated Storage and Retrieval System (ASRS) in warehouses. Previous technique

[0002] In automated storage and retrieval systems (ASRS), it is known to use autonomous vehicles to pick up containers, particularly bins or trays, containing items stored in storage racks and transport them to another location, for example, an order picking station. These vehicles are equipped with motorized means enabling them to move horizontally on the ground, but also vertically along the structure of the storage racks, for example, on racks or chains. These vehicles are also equipped with loading means, the function of which is to pick up and place a bin in a storage rack or onto a conveyor at a container loading and unloading station.Such a station is configured to load a container onto an autonomous vehicle for the purpose of introducing containers into a storage rack and to unload a container from the autonomous vehicle for, for example, order delivery.

[0003] In a known method, during order preparation, vehicles move to a specific storage rack containing an item from the order, pick up the bin storing the item, transport the bin to the order picking station where the item is removed from the bin and placed in a container, and return the bin from which the item was removed to the storage rack. However, this method is time-consuming, since the vehicles must make a round trip between the storage rack and the order picking station for each type of item in the order.

[0004] Document EP4296203 A1 describes mobile robots that can retrieve, pick, and place items on-site. These robots comprise two platforms so that the robot can both grasp and carry a source bin containing stock items and a destination bin intended to hold items for an order, and a picker configured to transfer items from the source bin to the destination bin. The robots move to a shelf storing the source bin, they grasp the source bin from the shelf and transfer the item from the source bin to the destination bin while both bins are held on the platforms.

[0005] This solution effectively eliminates the need for vehicles to move between the order preparation station and the storage racks. However, this solution has drawbacks in that the vehicle's footprint is considerably increased. The vehicle must be able to accommodate two bins at once to transfer the items. It may then be necessary to widen the aisles between the storage racks to allow for vehicle traffic. The vehicle's weight is also significantly increased, making it unsuitable for vertical movement along the structure of the storage racks.

[0006] US patent 2016 / 375814 A1 describes vehicles capable of moving horizontally along the ground and vertically along a rack. In one configuration, these vehicles include a robotic arm capable of grasping or pulling items, boxes, or pallets from an adjacent storage rack to a roller platform for transporting the items. Thus, the vehicles move to a rack storing an item, and the robotic arm can retrieve the item directly from the rack.

[0007] However, in this configuration, the items are directly retrieved from the storage racks by the robotic arm. The robotic arm's range of motion and degrees of freedom must be sufficient to enter the rack, pick up the item, and place it on the roller platform. There is a risk that the arm may become stuck in the rack or fail to reach an item at the back of the rack. The weight and complexity required for the proper operation of the robotic arm as described herein may also compromise the vehicle's overall dimensions and vertical travel. Summary

[0008] A method for preparing an order in an automated storage and retrieval system is proposed, said order comprising at least one item disposed in a source bin and intended to be placed in a destination bin, said source bin being stored in a first cell of a first storage rack of said automated storage and retrieval system, the method being implemented by an autonomous vehicle comprising a chassis, means of movement, loading means configured to load the source bin or the destination bin onto said chassis and unload the loaded bin onto said chassis, and an item grasping device, the method comprising: - a loading, by the loading means, of the source container onto the chassis of the autonomous vehicle; - a grasping, by the article grasping device, of the article of the order contained in the source bin, said source bin being loaded onto the chassis of the autonomous vehicle; - unloading into said first cell, by the loading means, of the source container devoid of the item of the order, the item of the order being held by the item gripping device; - a loading onto the chassis of the autonomous vehicle, by the loading means, of the destination bin, said chassis of the autonomous vehicle being unloaded from the source bin, - a deposit into the destination bin, by the article grasping device, of the article of the order, the destination bin being loaded onto the chassis of the autonomous vehicle.

[0009] Thus, it is possible to prepare an order efficiently, minimizing the number of trips made by autonomous vehicles and / or the number of vehicles in the ASRS. Indeed, it is no longer necessary for the autonomous vehicle to move the source tote to an order preparation station or to return the source tote to its slot in the storage rack. The time required to retrieve the order items is reduced, without needing to mobilize more vehicles and without compromising vehicle mobility. The risk of vehicle congestion at the order preparation station is reduced.

[0010] Optionally, the chassis may include a single loading surface configured to support either the source bin or the destination bin, and the width and length of the loading surface may be substantially equal to the length and width of the source bin or the destination bin. This reduces the footprint and weight of the autonomous vehicle operating within the storage and retrieval system, particularly compared to vehicles carrying two bins simultaneously. Vehicle mobility is also improved, allowing the vehicles to move freely in relatively narrow aisles and along the vertical axis.

[0011] Optionally, the destination bin may be pre-stored in a second compartment of the first or a second storage rack, the second compartment being empty of a bin, and the process may include, between unloading the source bin and loading the destination bin: a movement of the vehicle from the first compartment to said second compartment, the item being held by the gripping device during the movement. Thus, the autonomous vehicle brings the order item to the destination bin stored in a compartment, and it is not necessary to move to the order picking station to place each order item in the destination bin. The order processing time is thereby reduced.

[0012] Furthermore, it is possible to operate multiple autonomous vehicles simultaneously to fulfill the order. Each autonomous vehicle can transport one or more items from the source bin in the first compartment to the destination bin in the second compartment. This reduces the order processing time.

[0013] Optionally, the destination bin is first stored in a second compartment of the first or a second storage rack, and the method includes, between loading the source bin and gripping the item, moving the autonomous vehicle from the first compartment to a third compartment, the third compartment facing the second compartment containing the destination bin, so that the third compartment becomes the first compartment storing the source bin. Thus, the source bin and the destination bin face each other during the transfer of the item from the source bin to the destination bin. This limits the vehicle's movements while the item is held by the gripping device, and therefore the risk of the item falling and being damaged.

[0014] Optionally, the destination bin and the source bin can be partially loaded onto the chassis, so that one portion of the chassis is loaded at one end of the source bin and a second portion of the chassis is loaded at one end of the destination bin, and the gripping and placement of the item are carried out while the source and destination bins are partially loaded onto the chassis. Thus, it is possible to transfer the item from the source bin to the destination bin using the gripping mechanism without moving the autonomous vehicle. The gripping mechanism alone moves the item from a position above the source bin to a position above the destination bin. The risk of the item falling and being damaged is further reduced.

[0015] Optionally, the item can be picked up from the source bin and placed in the destination bin at a lower level of the storage rack, preferably near the ground on which the vehicle travels. The transfer of items is carried out near the ground. This limits the vertical movement of the autonomous vehicle, thereby reducing the risk of damage should the item fall.

[0016] Optionally, the article grasping device can be a Cartesian robot, and the article grasping process involves a translation of a terminal effector of the grasping device along the three axes of an orthonormal coordinate system. In this case, the construction and control of the autonomous vehicle, and in particular of the grasping device, are simple and inexpensive.

[0017] Optionally, the loading means may be mobile along a first horizontal direction and the gripping member may be mobile only along A second horizontal direction and a vertical direction are involved, and the article gripping process can include: positioning the article gripping element above the article by translating the loading means along the first horizontal direction and by translating the article gripping element along the second horizontal direction, and positioning the article gripping element on the article by translating the gripping element along the vertical direction. Thus, it is possible to provide a lightweight and simply constructed gripping element whose end effector is limited to movement along one horizontal and one vertical direction. The construction and control of the gripping element are simplified, reducing manufacturing and implementation costs.

[0018] Optionally, the order may include a plurality of items, and, when all the items in the order are placed in the destination bin, the process may further include storing the destination bin in an available slot in a storage rack. This makes it possible to prepare an order in advance and store it until the order is required, for example, at a container loading and unloading station or an order picking station. The order priority can be simplified.

[0019] Optionally, the order may include a plurality of items, and the process may further include calculating an item retrieval sequence, the item retrieval sequence being adapted to retrieve all the items in the order within the shortest possible time or route. Thus, the order processing time is minimized.

[0020] According to another aspect, an autonomous vehicle is proposed for order preparation in an automated storage and retrieval system, the order comprising at least one item to be removed from a source bin stored in a first cell of a first storage rack and to be placed in a destination bin, the autonomous vehicle comprising: - a chassis; - motorized means of transport for moving horizontally on the ground and vertically along a storage rack; - loading means configured to load the source or destination bin onto the chassis of the autonomous vehicle and unload the source or destination bin into a slot in the storage rack, and - an article gripping device configured to grasp the article from the source bin and place it in the destination bin.

[0021] Thus, the vehicle is adapted to carry out the above process. The vehicle is adapted to transfer items from the source bin to the destination bin without transporting the source container on the vehicle chassis. The time required to retrieve the order items is reduced, without mobilizing more vehicles and without compromising vehicle mobility.

[0022] Optionally, the chassis may include a single loading surface configured to support either the source bin or the destination bin, and the width and length of the loading surface are substantially equal to the length and width of the source bin or the destination bin. This reduces the overall size and weight of the autonomous vehicle operating within the storage and retrieval system, particularly compared to vehicles carrying two bins simultaneously. Vehicle mobility is also improved, as the vehicles can move freely in relatively narrow aisles and along the vertical axis.

[0023] Optionally, the gripping member may have a reach along a first horizontal direction and a second horizontal direction substantially equal to the length and width of the source or destination bin. The working space of the gripping member is limited to a volume whose two dimensions are defined by the width and length of the bins (which may also correspond to the length and width of the vehicle chassis's loading area). This limits the risk of the gripping member colliding with the environment during vehicle movement or during the gripping of the item.

[0024] Optionally, the gripping device can be a Cartesian robot configured to move in translation along the three axes of an orthonormal frame of reference. In this case, the construction and control of the autonomous vehicle, and in particular of the gripping device, are simple and inexpensive.

[0025] Optionally, the loading means may be mobile along a first horizontal direction, and the article gripping member may be mobile only along a second horizontal direction and along the vertical direction, while the article gripping member is not mobile along the first horizontal direction. Thus, it is possible to provide a gripping member of simple construction, the end effector of which is limited to movement along a horizontal and a vertical direction. The loading means then have a dual function: loading and unloading the totes and aligning the gripping member with the article in the tote along the second horizontal direction while the tote is being loaded onto the vehicle. The vehicle's construction is simplified, reducing manufacturing and implementation costs.

[0026] Optionally, the loading means may include a fork deployable from the chassis and at least one gripping means configured to cooperate with a gripping area arranged on a gripping surface of the source or destination bin. Thus, the loading and unloading of the bins Source and destination loading are achieved by deploying and retracting the fork. This minimizes the risk of collision or interference between the loading equipment and the storage rack.

[0027] According to another aspect, an automated storage and retrieval system is proposed, configured to implement the above order preparation process, comprising: - at least one first storage rack storing a source bin containing an item from the order in a first slot of the first storage rack; - a destination container and, - at least one autonomous vehicle as described above. Brief description of the drawings

[0028] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analysis of the accompanying drawings, on which: Fig. 1

[0029] [Fig.1] schematically illustrates an automated storage and retrieval system (ASRS) according to one embodiment. Fig. 2

[0030] [Fig.2] schematically illustrates a view of an example of a storage rack the ASRS of [Fig.1] according to one embodiment. Fig. 3

[0031] [Fig.3] schematically illustrates a first autonomous vehicle capable of being put into work in the ASRS of the [Fig.l] according to an embodiment. Fig. 4

[0032] [Fig.4] schematically illustrates a second autonomous vehicle capable of being put into works in the system of [Fig.1] according to an embodiment. Fig. 5

[0033] [Fig.5] schematically illustrates a detail of a third autonomous vehicle put into works in the system of [Fig.1] according to an embodiment. Fig. 6

[0034] [Fig.6] schematically illustrates a flowchart of the steps of a first process order preparation according to a method of execution. Fig. 7

[0035] [Fig.7] schematically illustrates a flowchart of the steps of a second order preparation process according to a method of implementation. Fig. 8

[0036] [Fig.8] schematically illustrates a flowchart of the steps of a third process order preparation according to a method of execution. Fig. 9

[0037] [Fig. 9] schematically illustrates a flowchart of the steps of a fourth order preparation process according to one embodiment. Description of embodiments

[0038] Figure 1 schematically illustrates an ASRS 10 automated storage and retrieval system. Such a system 10 is used in warehouses for storing items.

[0039] In the following description, reference is made to a vertical direction Z, a first horizontal direction X, and a second horizontal direction Y. It is understood that the vertical direction Z is perpendicular to the first horizontal direction X and to the second horizontal direction Y. Furthermore, the second horizontal direction Y is perpendicular to the first horizontal direction X.

[0040] The ASRS 10 includes, in particular, at least two, and more specifically, several racks Storage racks 12, which can also be referred to as "shelves", are intended to receive items for storage. The storage racks 12 advantageously extend vertically along the first direction Z, up to a maximum height of 10 m or more, in particular 12 m or more, and preferably 14 m or more.

[0041] The storage racks 2 are arranged to form at least one circulation aisle 18 between the respective storage racks 12. More specifically, as illustrated in [Fig. 1], at least one circulation aisle 18, preferably several circulation aisles 18, extend along the second horizontal direction Y, between two respective storage racks 12. In addition, at least one circulation aisle 18, preferably several circulation aisles 18, extend along the first horizontal direction X. The circulation aisles 18 allow autonomous vehicles 20 and / or operators to move within the ASRS 10 to retrieve items stored therein. The circulation aisles 18 have, for example, a width between two storage racks of 800 mm, 600 mm, or even 400 mm.Advantageously, the traffic lanes 18 extending along the first direction X are wider than the traffic lanes 18 extending along the second direction Y so that two autonomous vehicles can pass each other, thus increasing the number of possible paths for autonomous vehicles.

[0042] Turning towards [Fig. 2], each of the storage racks 12 comprises consecutive columns 14 of compartments, the compartments 16 of each of the columns of compartments 14 being stacked on several levels along the vertical direction Z between a lower level and an upper level. In particular, each of the compartments 16 defines a storage location intended to receive a bin 42 containing one or several items. The consecutive columns of slots 14 in each of the storage racks 12 extend along the second horizontal direction Y. This results in high-density storage of the items in the ASRS 10. These items are then grouped together to form orders. Access to a slot 16 for placing or removing an item can be gained from at least one side of the storage rack 12 along the first horizontal direction X.

[0043] Advantageously, at least one bay 16 of one of two consecutive storage racks 12 (along the first horizontal direction X) is without a bin. Thus, the vehicle 20 can unload a destination bin and load a source bin while traveling in the single aisle separating the two consecutive racks. The path of the vehicle 20 is optimized. As an even more advantageous alternative, at least two bays 16 in one and / or the other of two consecutive storage racks 12 (along the first horizontal direction X) are without bins so that a destination bin and a source bin can be placed face to face, as explained below.

[0044] In one example, each column 14 of cells 16 may include free spaces 22 extending vertically between the ground level of the ASRS 10 and a cell 16 at a lower level of the column 14 of cells, near the ground. The storage racks 12 thus include passages extending at ground level, each passage passing through the free space 22 of one of the columns 14 of each storage rack 12. These passages allow the autonomous vehicle 20 to access a specific position in a traffic aisle 18 more directly, without the vehicle 20 having to move along said aisle 18.

[0045] Each storage rack 12 comprises vertical uprights 24 extending along the first direction Z. In particular, each storage rack 12 comprises at least two pairs of vertical uprights 24 spaced regularly along the second horizontal direction Y. The uprights 24 of each pair of uprights 24 are spaced apart along the first horizontal direction X. The slots 16 of each column 14 of slots are arranged between two successive pairs of uprights 24 along the second horizontal direction Y.

[0046] The cells 16 are defined, for each column of cells 14, by pairs of superimposed fastening interfaces. Each pair of fastening interfaces may include a first fastening interface Eql extending along the first horizontal direction X and connecting the two uprights 24 of a pair of uprights 24, and a second fastening interface Eq2 extending along the first horizontal direction X and connecting the two uprights 24 of the consecutive pair of uprights 24 along the second horizontal direction Y. The first fastening interface Eql and the second fastening interface Eq2 include support portions, projecting towards each other, for supporting a tray 42 in said cell 16.

[0047] The ASRS 10 may further comprise at least one autonomous vehicle 20, preferably a plurality of vehicles 20. The vehicle 20 may be an AGV, the acronym AGV standing for "Automated Guided Vehicle". Each autonomous vehicle 20 moves within the ASRS 10 along the first and second horizontal directions X, Y and along the vertical direction Z to retrieve and / or deposit bins stored in the storage racks 12.

[0048] The ASRS 10 may further include a container loading and / or unloading station 17 such as a bin 42. This station may include an unloading system which is configured to unload a bin from the autonomous vehicle, for delivery, and a loading system which is configured to load the bin onto the autonomous vehicle 20 for transfer of the bin to a storage rack 12, during replenishment.

[0049] The ASRS may further include an order preparation station 19 at which an operator or a robotic arm picks an item from an order from a bin brought by an autonomous vehicle.

[0050] Figures 3 to 5 illustrate in more detail examples of autonomous vehicles 20.

[0051] The autonomous vehicle 20 comprises a chassis 26, typically parallelepiped in shape, and motorized means of movement 28 mounted on the chassis 26. The means of movement 28 enable the autonomous vehicle 20 to move on the ground. The means of movement 28 enable the autonomous vehicle 20 to move in open ground along the first and second horizontal directions X, Y, in particular in the traffic aisles 18 and / or in the passages between the ground and the lower-level bays 16.

[0052] In the illustrated example, the motorized means 28 comprise two drive wheels 30 arranged on a front lower side and a rear lower side of the chassis 26, along the second horizontal direction Y. The autonomous vehicle 20 may include two lateral bearings 32 arranged on the two lateral lower sides (along the first horizontal direction X), to ensure the isostatic equilibrium of the autonomous vehicle 20. The means 28 further comprise drive means (not shown), including a set of gears, for rotating each drive wheel 30 about its axis of revolution, and a first actuator for actuating the drive means. The front side, rear side, lateral sides, and width of the autonomous vehicle 20 are defined with respect to the autonomous vehicle 20 when it is located in a traffic lane 18 extending along the second direction Y.

[0053] Alternatively, the autonomous vehicle 20 may comprise four drive wheels 30, each drive wheel 30 being arranged at a lower corner of the chassis 26.

[0054] Advantageously, the means of locomotion 28 further comprise pivoting means for pivoting the wheel 30 about a vertical axis relative to the chassis 26, the vertical axis intersecting the axis of revolution of the wheel 30. The pivoting means comprise a second actuator for actuating the pivoting means. The change of direction of the autonomous vehicle is thus carried out without pivoting the chassis 26, limiting the use of ground space.

[0055] Furthermore, the motorized means 28 include climbing means 34 (in the retracted position in Figures 3 and 4) adapted to cooperate with the uprights 24 of the storage racks 12 adjoining said column 14 of cells. The climbing means 34 are, for example, arranged at the four corners of the chassis 26. The climbing means 34 enable movement along the vertical direction Z of the vehicle 20 along the storage racks 12, typically cooperating with climbing elements 36 arranged on the uprights 24 along the first direction Z. The autonomous vehicle 20 can thus access all the cells 16 of the column of cells 14 in order to place or retrieve a bin 42 from the cell 16.

[0056] The climbing means 34 may include at least one motorized gear, preferably several gears, typically at the four corners of the chassis 26 of the vehicle 20. The gear or each gear is configured to mesh with the climbing element 36, which may typically be a rack or a roller chain, extending along the height of each upright 24. An actuator allows the climbing means 34 to be actuated to enable the autonomous vehicle 20 to ascend or descend along the uprights 24.

[0057] Each toothed wheel of the climbing means 36 can be movable between a retracted position in which the toothed wheel is housed in or above the chassis 26 and a deployed position in which the toothed wheel protrudes laterally from the chassis 26. For this purpose, the climbing means 36 include a deployment mechanism for extending the toothed wheel(s). In the retracted position and in the traffic aisle 18 extending along the second direction Y, the autonomous vehicle 20 has a width along the first horizontal direction X that is less than the width along the first horizontal direction X of the traffic aisle 18 extending along the second direction Y. The autonomous vehicle 20 can travel freely in the traffic aisle 18 extending along the second direction Y, without risk of colliding with the uprights 24 of the storage racks 12.

[0058] The autonomous vehicle 20 further includes loading means 38. The loading means 38 include a deployable fork 40 from the chassis 26 in the first horizontal direction X (when the autonomous vehicle is in the traffic aisle 18 extending in the second direction Y), to be deployed in the slot 16 of the storage rack 12 in order to place or retrieve a bin 42 from the compartment 16. An actuator allows the deployment or retraction of the deployable fork 40. The deployable fork 40 is adapted to extract the bin 42 from the compartment 16 and load it onto a loading surface 41 of the chassis 26. The deployable fork 40 is also adapted to deposit the bin 42 into a compartment 16 from the loading surface 41 of the chassis 26.

[0059] The loading surface 41 is a flat surface configured to support the bin 42 on the chassis 26 of the autonomous vehicle 20. The loading surface 41 corresponds here to the upper surface of the chassis 26. The loading surface 41 has, in particular, a length and width substantially equal to the length and width of the bin 42. The length is measured along the first horizontal direction X and the width is measured along the second horizontal direction Y. The dimensions of the loading surface 41 are sufficient to support the bin 42 stably, without compromising the mobility of the autonomous vehicle 20 within the ASRS 10. The autonomous vehicle 20 can move around without risk of interfering with the environment, in particular the storage racks 12.

[0060] As illustrated in [Fig. 5], a gripping means 43 can be positioned on one end of the fork 40 intended to be inserted into the recess 16, to engage with a gripping surface 45 of the tray 42. In particular, the gripping surface 45 of the tray 42 is a relief variation formed on the lower and outer surface of the tray 42. The gripping means 43 can be a finger adapted to insert into the relief variation to engage the tray 42 with the fork 40.

[0061] In the embodiment illustrated in [Fig. 5], the gripping means 43 is formed of two fingers 43a, 43b arranged at each of the opposite ends of the fork 40 along the first horizontal direction X. The fork 40 is deployable in two slots 16 of two storage racks 12 facing each other along the first horizontal direction X. In this case, the loading means 38 can extract two bins 42a, 42b arranged in two slots 16 facing each other along the first horizontal direction X, on either side of the aisle 18 separating two consecutive storage racks 12 along the first direction X.

[0062] Each finger 43a,b of the gripping means 38 can be movable in the direction vertical Z. The finger(s) are movable between a retracted position in which each finger is housed in the deployable fork 40 and a deployed position in which each finger protrudes from the deployable fork 40 in the vertical Z direction. Each finger can be deployed to engage or disengage with the gripping surface 45 of the bin 42, in particular a variation in the relief of the bin 42. As shown in [Fig. 5], this configuration allows the autonomous vehicle 20 to partially load two bins 42a, 42b onto the loading surface 38 of the autonomous vehicle 20. The first finger 43a can engage with a variation of relief of a first tray 42a, and the second finger 43b can engage with a relief variation of a second tray 42b. In this case, a first end of the first and second trays 42a, 42b rests on the loading surface 41 and a second end of the first and second trays 42a, 42b, opposite to the first end, rests on the support portions of two alveoli 16 facing each other along the first horizontal direction X.

[0063] The autonomous vehicle 20 further comprises a grasping member 44. In the example of [Fig.3], the grasping member 44 is a Cartesian robot adapted to move along the three axes of an orthonormal frame of reference, here along the first horizontal direction X, the second horizontal direction Y and the vertical direction Z. Such a robot is robust, of simple construction and relatively inexpensive.

[0064] The gripping member 44 comprises a gantry 46, for example a gantry 46 having four legs 48 extending vertically from the four corners of the frame 26. The upper ends of each of the legs 48, distant from the frame 26, are connected to each other by four beams 50, the first two beams 50a extending along the first horizontal direction X and the second two beams 50b extending along the second horizontal direction Y. The gantry 46 defines the working space of the gripping member 44. The working space of the gripping member 44 (or the reach) is limited by the width and length of the frame 26, limiting the risk of collision of the gripping member 44 with the environment.

[0065] The gripping member 44 further comprises movable parts 52. Here, the gripping member comprises a first rail 54 extending along the second horizontal direction Y between the first two beams 50a, and a second rail 56 extending along the first horizontal direction X between the second two beams 50b. The first and second rails 54, 56 slide along the second and first beams 50b, 50a, respectively. A terminal effector 60 is mounted at an intersection between the first and second rails 54, 56, the terminal effector 60 being movable along the vertical direction Z. One end of the terminal effector 60 opposite the rails 54, 56 may comprise a gripping means 58, such as a gripper, a magnet, a suction cup, or any other means suitable for gripping the item contained in the bin 42.One or more actuators (not visible) allow the first and second rails 54, 56 (and therefore the terminal effector 60) to move along the first and second horizontal directions X, Y, and the terminal effector 60 to move along the vertical direction Z. A system of belts or racks (not shown) can connect each of the actuators to the moving parts of the gripping member.

[0066] The Cartesian robot may also include a different gantry 48 and moving parts 52 construction, not shown. For example, the gripping member 44 may include two beams extending vertically from the chassis 26 and Arranged on either side of the frame 26 along the second Y direction, the two beams are movable along the frame 26 along the first horizontal X direction, and a rail extends between the two beams along the second horizontal Y direction. The terminal effector 60 can be mounted on the rail in a movable manner, to slide along the rail along the second horizontal Y direction. The rail and / or the terminal effector can be movable along the vertical Z direction.

[0067] The Cartesian robot may also have any other construction not illustrated and accessible to a person skilled in the art, in particular which allows the terminal effector to reach any point in the workspace delimited by the length and width of the chassis of the autonomous vehicle.

[0068] In the example illustrated in [Fig. 4], the gripping member 44 is a Cartesian robot movable only along two axes. As illustrated, the gripping member 44 lacks the second rail 56 extending along the first horizontal direction X. The end effector 60 is movable only along the second horizontal direction Y and the vertical direction Z. In this embodiment, the loading means 38, in particular the deployable fork 40, allow the bin 42 to be moved along the first horizontal direction X to align the item placed in the bin 42 with the end effector 60 along the second horizontal direction Y. This limits the cost, weight, and complexity of implementing the gripping member 44.

[0069] Here again, the Cartesian robot can also have any other construction not illustrated and accessible to a person skilled in the art, in particular which allows the terminal effector 60 to reach any point in a plane parallel to the length (along the second horizontal direction Y) of the loading surface 41 of the autonomous vehicle 20, the parallel plane being delimited by the workspace defined by the length and width of the loading surface 41 of the autonomous vehicle 20.

[0070] Alternatively, the gripping organ 44 can be any other robot adapted to gripping and depositing an article into a bin 42 loaded onto the loading surface 41 of the autonomous vehicle 20. For example, a robotic arm, a five- or six-axis robot, or any other robot can be considered.

[0071] The gripping member 44 may further include a vision system (not visible) for viewing the source bin, the item to be grasped, and / or the destination bin. The vision system may include a 2D or 3D camera.

[0072] The autonomous vehicle 20 further includes a control unit (not visible). The control unit can receive instructions for the bin to be collected and calculate a route between the position of the autonomous vehicle 20 and the position of the compartment containing the bin 42 to be collected. The autonomous vehicle 20 then includes a guidance system 62, in this case a laser, to guide itself within the ASRS 10 and collect the bin 42 in question. The control unit also includes a control system of the loading means 38, and a control system for the gripping organ 44, notably via cameras and / or sensors. In addition, the autonomous vehicle 20 is powered by an autonomous source of electrical energy (not shown), in particular a battery mounted on the chassis.

[0073] A first order preparation method 1000 is described below, with reference to [Fig. 6]. The first method 1000 is implemented by the control unit of the autonomous vehicle 20.

[0074] The first method 1000 comprises a first step 110 of receiving, by the control unit of the autonomous vehicle 20, instructions to collect one or more items, each item being in a source bin 42a stored in a first compartment 16a of a first storage rack 12 of the ASRS 10. The instructions are received from a management system of the ASRS (Warehouse Management System) when the management system receives an order to be prepared. The reception can be carried out by establishing communication between the autonomous vehicle 20 and the management system, for example by means of a wireless communication network such as WiFi, WiMAX, IWLAN, GSM, GPRS, UMTS (registered trademarks).

[0075] The first method 1000 includes a second step 120 of calculating a route between the current position of the autonomous vehicle 20 and the position of the first compartment 16a containing the item to be collected. The calculated route includes one or more movements along the first horizontal direction X and / or one or more movements along the second horizontal direction Y and / or one or more movements along the vertical direction Z. The route is calculated based on the current or planned position of the other vehicles 20 to establish a trajectory avoiding a collision with one of the other autonomous vehicles 20.

[0076] Preferably, each item to be collected is located in a first lower-level compartment 16a of the first storage rack 12, near the ground. When several identical items are in different compartments, the route calculation includes the option of retrieving items located in the lower levels of the compartment columns 14. This limits the movement of the autonomous vehicle 20 in the vertical direction Z to retrieve the item(s), thus reducing the risk of items falling.

[0077] Furthermore, when the order includes a plurality of items, the second route calculation step 120 further includes determining an item retrieval sequence, the item retrieval sequence being adapted to retrieve all the items in the order within the shortest possible time or route. Advantageously, determining a retrieval sequence minimizes the order processing time by the autonomous vehicle 20.

[0078] The first method 1000 includes a third step 130 of loading a destination bin 42b onto the autonomous vehicle. The destination bin 42b receives all the items constituting the order. The third step 130 may include a first subsidiary step of moving the autonomous vehicle 20, by means of transport 28, to a bin loading or unloading station 42. The third step 130 further includes a second subsidiary step of loading, by means of loading 38, the destination bin 42b from the loading station onto the loading surface 41 of the autonomous vehicle 20.

[0079] The first method 1000 includes a fourth step 140 of depositing the destination bin 42b into a second compartment 16b of the first or a second storage rack 12. The second compartment 16b is a compartment without a bin 42. The second compartment 16b is, for example, a compartment 16b at a lower level of the column of compartments 14, near the ground, so as to minimize the vertical movements of the autonomous vehicle 20 to access the destination bin 42b in the second compartment 16b. The fourth step 140 may, for example, include a first subsidiary step of moving the autonomous vehicle 20, by means of movement 28, to the second compartment 16b. A second subsidiary unloading step, by the loading means 38, of the destination container 42b from the loading surface 41 to the second cell 16b.The fourth step 140 allows limiting the movements of the autonomous vehicle 20 between the order preparation station and the storage racks 12 to place the item(s) of the order in the destination bin 42b. .

[0080] The first method 1000 includes a fifth step 150 of moving the autonomous vehicle 20, by means of the movement means 28, towards the first compartment 16a of the first storage rack 12. The fifth step 150 may include a first subsidiary step of movement along the first and second horizontal directions X, Y, in the aisles 18 and / or in the empty space located between the floor and the compartment 16 of the lower level of the storage rack columns 14. The movement is carried out along the route calculated in the second step 120. The fifth step 150 may include a second subsidiary step of climbing, along the vertical direction Z. The climbing is carried out by cooperation between the climbing means 34 and the uprights 24 of the storage racks 12. The fifth step 150 allows the autonomous vehicle 20 to position itself facing the first compartment 16a containing the item of the Order to be collected.

[0081] The first method 1000 comprises a sixth step 160 of loading the source bin 42a from the first compartment 16a onto the loading surface 41 of the autonomous vehicle 20, by the loading means 38. The loading of the bin Source 42a may include a first subsidiary step of deploying the deployable fork 40 along the first horizontal direction X into the slot 16 of the lower level relative to the first slot 16a, or into the free space between the ground and the first slot 16a if the first slot 16a is near the ground. A free space is defined between the lower surface of the source bin 42a and the fork 40 in the deployed position. Loading the source bin 42a may include a second subsidiary step of ascending the autonomous vehicle 20 along the first storage rack 12 (along the vertical direction Z) to engage the gripping means 43, in particular the finger, with the gripping surface 45 of the source bin 42a.The loading of the source bin 42a may further include a third subsidiary step of retracting the deployable fork 40 towards the chassis 26, the gripping means 43 allowing the source bin 42a to be driven towards the chassis 26 during the retraction of the fork 40. The source bin 42a is on the loading surface 41 of the autonomous vehicle 20 at the end of the sixth step 160.

[0082] The first method 1000 includes a seventh step 170 of grasping the article contained in the source bin 42a, which is loaded onto the loading surface 41 of the autonomous vehicle 20, by the grasping member 44. The seventh step 170 here includes a first subsidiary step of moving the end effector 60 of the grasping member 44 along the first horizontal direction X and / or along the second horizontal direction Y so that the end effector 60 is vertically above the article to be grasped. The seventh step 170 further includes a second subsidiary step of moving the end effector 60 along the vertical direction Z to make contact with the article. A third subsidiary step may include engaging the end effector 60 with the article, for example by a pinching or suction action.The seventh step 170 further includes a fourth subsidiary step of moving the terminal effector 60 along the vertical direction Z to move the article grasped by the terminal effector 60 away from the source bin 42a. The article is suspended above the source bin 42a by the terminal effector 60.

[0083] The first method 1000 further includes an eighth step 180 of unloading the source bin 42a from the loading surface 41 to the first cell 16a, by means of the loading means 38. The unloading of the source bin 42a may include a first subsidiary step of deploying the deployable fork 40 in the first horizontal direction X, so that the edges of the source bin 42a slide along the support portions of the first and second attachment interface Eq1, Eq2 delimiting the first cell 16a. The unloading of the source bin 42a may further include a second subsidiary step of lowering the autonomous vehicle 20 along the first storage rack 12 to separate the gripping means 43, in particular the finger, and the gripping surface of the source bin 42a. The unloading of the source bin 42a may further include a third subsidiary step of retracting the fork 40 towards the frame 26, with the source bin 42a remaining in the first bay 16a. The item is suspended above by the terminal effector 60 during the eighth step 180. Alternatively, it is not necessary to unload the source bin 42a into the first bay 16a. The source bin may be unloaded into any empty bay of a storage rack.

[0084] The first method 1000 includes a ninth step 190 of movement, by means of motorized means 28, from the first compartment 16a to the second compartment 16b in which the destination bin 42b is stored, the item being held by the gripping member 44 during the ninth step 190. The ninth step 190 may include a first subsidiary step of descent, in the vertical direction Z, so that the autonomous vehicle 20 reaches the floor of the ASRS 10. The descent is achieved through cooperation between the climbing means 34 and the uprights 24 of the storage racks 12. The ninth step 190 may also include a second subsidiary step of movement in the first and second horizontal directions X, Y, in the aisles 18 and / or in the empty space located between the floor and the compartment of the lower level of the storage racks. 12, by means of motorized transport 28.The movement is carried out according to the route calculated in the second step 120. Advantageously, the autonomous vehicle 20 does not make any movements with the source bin 42a loaded on its loading surface 4L. The fluidity and speed of retrieval of the items are improved.

[0085] The first method 1000 further includes a tenth step 1100 of loading the destination bin 42b onto the loading surface 41, by the loading means 38. The article is suspended by the terminal effector 60 during the tenth step 1100. The loading of the destination bin 42b may include a first subsidiary step of deploying the deployable fork 40 along the first horizontal direction X in the cell 16 of the lower level relative to the second cell 16b, or in the free space between the ground and the second cell 16b when the second cell 16b is in the vicinity of the ground. The loading of the destination bin 42b may include a second subsidiary step of raising the autonomous vehicle 20 along the second storage rack 12 (in the vertical direction Z) to engage the gripping means 43, in particular the finger 43, with the gripping surface 45 of the destination bin 42b.The loading of the destination bin 42b may further include a third subsidiary step of retracting the fork 40 towards the frame 26, the gripping means 43 allowing the destination bin 42b to be driven towards the frame 26 during the retraction of the fork 40. fork 40. The destination bin 42b is loaded onto the loading surface 41 of the autonomous vehicle 20 at the end of the tenth stage 1100.

[0086] The first method 1000 further comprises an eleventh step 1110 of depositing the article held by the gripping member 44 into the destination bin 42b. The eleventh step 1110 may include a first subsidiary step of moving the terminal effector 60 along the vertical direction Z to bring the article closer to the destination bin 42b. The first subsidiary step may further comprise moving the terminal effector 60 along the first horizontal direction X and / or the second horizontal direction Y to place the article at a specific location in the destination bin 42b, for example, next to an article already present in the destination bin 42b. The eleventh step 1110 may include a second subsidiary step of separating the terminal effector 60 from the article, for example, by a release action.The eleventh step 1110 may further include a third subsidiary step of moving the terminal effector 60 along the vertical direction Z to move the terminal effector 60 away from the destination bin 42b. The article is thus deposited in the destination bin 42b.

[0087] The first method 1000 further includes a twelfth step 1120 of unloading the destination bin 42b into the second compartment 16b. Unloading the destination bin 42b may include a first subsidiary step of deploying the deployable fork 40 along the first horizontal direction X, so that the edges of the destination bin 42b slide along the support portions of the fastening interfaces Eq1, Eq2 delimiting the second compartment 16b. Unloading the destination bin 42b may further include a second subsidiary step of lowering the autonomous vehicle 20 along the second storage rack 12 (along the vertical direction Z) to separate the gripping means 43, in particular the finger 43, from the gripping surface of the destination bin 42b.The unloading of the destination bin 42b may further include a third subsidiary step of retracting the fork 40 towards the chassis 26, the destination bin 42b remaining in the second cell 16b.

[0088] When all the items in the order are in the destination bin 42b, the first process 1000 includes a thirteenth step 1130 of moving the destination bin 42b containing the items in the order to a bin loading and unloading station or to an order picking station. The thirteenth step 1130 can be performed after a storage time has elapsed during which the destination bin 42b remains in the second slot 16b. The storage time can, for example, be one hour, one day, or even several days. The storage time facilitates order prioritization, as orders can be prepared in advance, before they are required. for delivery or to the order preparation station. The thirteenth step 1130 may include, in particular, a first subsidiary step of loading the destination bin 42b onto the loading surface 41, using the loading means 38. The thirteenth step 1130 further includes a second subsidiary step of moving the autonomous vehicle 20 to the bin loading and unloading station or to the order preparation station, using the movement means 28. The thirteenth step 1130 further includes a third subsidiary step of unloading the destination bin 42b at the loading and unloading station or the order preparation station. For example, at the order preparation station, items that could not be grasped by the gripper 44 of the autonomous vehicle 20 may be added to the destination bin 42b by an operator or a robotic arm.When all items in an order can be grasped by the gripping device 44, the order preparation station is optional.

[0089] The first method 1000 according to the present invention offers the advantage of preparing an order efficiently, minimizing the number of trips made by the autonomous vehicle.

[0090] A second order preparation process 2000 is subsequently described. The second method 200 differs from the first method 100 by the seventh step 270 of grasping the article contained in the source bin 42a loaded onto the loading surface 41 of the autonomous vehicle 20, by the grasping member 44. The second method 200 is particularly suited to the embodiment of the autonomous vehicle 20 in which the grasping member 44 is a robot mobile only along two axes, in particular the second horizontal direction Y and the vertical direction Z.

[0091] The seventh step 270 of grasping the article contained in the source bin 42a here includes a first subsidiary step of translating the loading means 38 along the first horizontal direction X so that the end effector 60 is aligned, along the second horizontal direction Y, with the article contained in the source bin 42a. The seventh step 270 further includes a second subsidiary step of moving the end effector 60 of the grasping member 44 along the second horizontal direction Y so that the end effector 60 is vertically above the article to be grasped. The seventh step 270 further includes a third subsidiary step of moving the end effector 60 along the vertical direction Z to come into contact with the article. A fourth subsidiary step may include engaging the end effector 60 with the article, for example by a pinching or suction action.The seventh step 270 further includes a fifth subsidiary step of moving the terminal effector 60 along the vertical direction Z to move away the article grasped by the effector. terminal 60 of source bin 42a. The item is suspended above source bin 42a by the terminal effector 60.

[0092] The second method 2000 according to the present invention offers the advantage of limiting the cost and weight of the gripping member 44, the gripping member 44 being able to be limited to translations along two axes.

[0093] A third order preparation method 3000 is subsequently described. This third method 3000 aims to further limit the movements of the autonomous vehicle 20, in particular the movements made when the item is suspended by the gripping device 44. It is advantageously applicable when the order comprises at least two items stored in two different source bins 42a.

[0094] The first step 110 of receiving instructions to collect an item from a source bin stored in the first collection slot, the second step 120 of calculating a route between the current position of the autonomous vehicle 20 and the position of the first slot 16a containing the item to be collected, the third step 130 of loading a destination bin 42b and the fourth step 140 of depositing the destination bin 42b in a second slot 16b of the first or a second storage rack 12 are identical to those of the first and second methods 1000, 2000.

[0095] In the case where a third compartment 16c of the first or second storage rack facing the second compartment 16b along the first direction X stores a bin 42, the third method includes a fifth step 350. The fifth step 350 is the release of a third compartment 16c of the first or second storage rack facing the second compartment 16b along the first direction X. At the end of this fifth step 350, the third compartment 16c is a compartment without a bin 42, positioned opposite the second compartment 16b along the first horizontal direction X. The second and third compartments 16b, 16c are two consecutive compartments 16 facing each other along the first direction X, on either side of the aisle 18 separating two consecutive storage racks 12 along the first direction X. This bin-free compartment is intended to receive the source bins 42a containing the items of the order.Thus, the transfer of an item from a source bin to a destination bin is substantially accomplished without moving the vehicle 20. The release of the third compartment 16c includes a first subsidiary step of loading the bin 42, located in the third compartment 16c facing the second compartment 16b along the first direction X, onto the autonomous vehicle. The release of the third compartment 16c includes a second subsidiary step of moving the autonomous vehicle 20, by means of transport 28, to a fourth compartment 16d, devoid of a bin 42, in a storage rack 12. Advantageously, at least one compartment of the first or second storage rack is devoid of a bin in order to deposit the bin 42 in the first or second storage rack. The movement of the... vehicle 20 is then limited to the traffic aisle 18 between the first and second storage rack 12. The release of the third cell 16c includes a third subsidiary step of depositing the bin 42 loaded onto the vehicle 20, in the fourth cell 16d of a storage rack.

[0096] The sixth step 360 of moving the autonomous vehicle 20, by means of movement 28, towards the first cell 16a of the first storage rack 12 and the seventh step 370 of loading the source bin 42a from the first cell 16a onto the loading surface 41 of the autonomous vehicle 20 are identical to the first and second methods 1000, 2000.

[0097] The eighth step 380 of movement of the autonomous vehicle 20, by motorized means 28, from the first cell 16a to the second cell 16b is similar to the ninth step 190 of the first and second methods 1000,2000. The eighth step 380 of the third method differs from the ninth step 190 of the first and second methods 1000,2000 in that the gripping member 44 does not retain any article during this movement.

[0098] The ninth step 390 of grasping the article contained in the source bin 42a is identical to the first and / or second process 1000, 2000.

[0099] The third process 3000 includes a tenth step 3100 of unloading the source bin 42a into the third bin 16c, which is binless, of the first or second storage rack 12.

[0100] The third process 3000 includes an eleventh step 3110 corresponding to the tenth step 1100 of the first and second processes 1000, 2000 of loading the destination bin 42b onto the loading surface 41, by the loading means 38.

[0101] The third process 3000 includes a twelfth step 3120 corresponding to the eleventh step 1110 of the first and second processes 1000, 2000 of depositing the article held by the gripping member 44 into the destination bin 42b.

[0102] Steps six to twelve are carried out until all the items in the order are in the destination bin 42b. The third process 3000 may include a thirteenth step 3130 of storing the destination bin in the second compartment 16b of the first or second storage rack 12.

[0103] The third process 3000 may further include a fourteenth step 3140 identical to the thirteenth step 1130 of the first and second processes 1000, 2000 of bringing the destination bin 42b containing the order items to a bin loading and unloading station or order preparation station.

[0104] Advantageously, according to the third method 3000, the article is deposited in the destination bin 42b without the autonomous vehicle 42 making significant movements with the article suspended by the gripping device 44. The risk of falling and damage to the article is limited.

[0105] A fourth order preparation method 4000 is subsequently described. The fourth method 4000 is adapted to be implemented by an autonomous vehicle 20 comprising gripping means 43, in particular retractable fingers.

[0106] The fourth method 4000 differs from the third method 3000 in that the ninth step 490 comprises the partial unloading of the source bin 42a into a third compartment 16c of the first or second storage rack 12 and the tenth step 4100 comprises the partial loading of the destination bin 42b from the second compartment 16b onto the loading surface 41 of the autonomous vehicle 20. More specifically, the fork 44 is extended and retracted in the direction X so that the gripping means 43 is engaged on one side with the source bin 42a and on the other with the destination bin 42b. The extension and retraction of the gripping means 43 allows each of the source and destination bins 42a, 42b to engage with the fork 40. Therefore, and as illustrated in [Fig.[5] A first portion of the loading surface 41 is loaded from a first end of the source tray 42a and a second portion of the loading surface 41 is loaded from a first end of the destination tray 42b. The ends of the source tray 42a and the destination tray 42b not loaded on the loading surface 41 rest on the support portions of the first and second cells 16a, 16b, respectively.

[0107] Alternatively, and in the case where the gripping means 43 includes two fingers 43a,43b arranged at each of the opposite ends of the fork 40 along the first horizontal direction X, the partial loading of the source bin 42a and the destination bin 42b onto the loading surface 41 of the chassis may include a first subsidiary step of deploying the deployable fork 40 along the first direction X in a first direction towards one of the source and destination bins 42a,42b below the lower surface of the source or destination bin 42a,42b.

[0108] A second subsidiary step includes the ascent of the autonomous vehicle 20 along the rack to engage the gripping means 43, in particular one of the fingers 43a,43b, with the gripping surface 45 of one of the source or destination bins 42a,42b.

[0109] A third subsidiary step comprises the partial retraction of the fork 40 towards the frame 26, the gripping means 43 enabling one of the source or destination bins 42a, 42b to be driven towards the frame 26 during the retraction of the fork 40 until a first end of one of the source or destination bins 42a, 42b rests on a first portion of the loading surface 4L

[0110] A fourth subsidiary step includes a descent of the autonomous vehicle 20 along the first storage rack 12 to separate the gripping means 43, in in particular one of the fingers 43a,43b, and the gripping surface 45 of one of the source or destination trays 42a,42b. One of the source or destination trays then rests partially on the support portions of the first and second fixing interface Eql,Eq2 delimiting the first or second cavity 16a, 16b.

[0111] A fifth subsidiary step includes the deployment of the deployable fork 40 along the first direction X in a second direction, opposite to the first direction, towards the other of the source and destination bins 42a,42b, below the lower surface of the source or destination bin 42a,42b.

[0112] A sixth subsidiary step includes the ascent of the autonomous vehicle 20 along the rack to engage the gripping means 43, in particular the other of the fingers 43a,43b, with the gripping surface 45 of the other of the source or destination bins 42a,42b.

[0113] A seventh subsidiary step includes the partial retraction of the fork 40 towards the chassis, the gripping means 43 enabling the other of the source or destination bins 42a,42b to be driven towards the chassis 26 during the retraction of the fork 40 until a first end of the other of the source or destination bins 42a,42b rests on a second portion of the loading surface 41.

[0114] An eighth subsidiary step includes a descent of the autonomous vehicle 20 along the first storage rack 12 to separate the gripping means 43, in particular the other of the fingers 43a, 43b, and the gripping surface 45 of the other of the source or destination bins 42a, 42b. The other of the source or destination bins then rests partially on the support portions of the first and second fastening interface Eql, Eq2 delimiting the first or second cavity 16a, 16b.

[0115] A ninth subsidiary step includes retracting the fork 40 towards the chassis 20, and a tenth subsidiary step includes moving the autonomous vehicle 20 along the rack to engage the gripping means 43, in particular each of the fingers 43a,43b, with the gripping surface 45 of the source bin 42a and with the gripping surface 45 of the destination bin 42b.

[0116] Thus, the eleventh step 4110 of grasping the article contained in the source bin 42a and the twelfth step 4120 of depositing the article held by the grasping member 44 into the destination bin 42b can be carried out without moving the autonomous vehicle 20, by simply translating the terminal effector 60 along the first and second horizontal directions X,Y and along the vertical direction Z. Advantageously, the grasping and depositing of the article can be carried out by translating the loading means 38 of the autonomous vehicle 20 along the first horizontal direction X so as to align the terminal effector 60 along the second direction Y with the article to be grasped in the source bin 42a or the deposit position of the article in the destination bin 42b, and by translating the terminal effector along the second horizontal direction Y and / or along the vertical direction Z. This further limits the risk of the item falling and being damaged.

[0117] Steps six to twelve are carried out until all the items of the order are in the destination bin 42b. The fourth process 4000 may include step 3130 of storing the destination bin 42b in the slot 16b of the first or second storage rack 12 and step 3140 of bringing the destination bin 42b containing the items of the order to a bin loading and unloading station or the order picking station, identical to those of the third process.

[0118] In order to further limit the movement of the autonomous vehicle in the storage racks, it is advantageously planned to place the most frequently ordered items on the lower levels of the storage racks, in the same traffic aisle, near the order preparation station and / or near the container loading and / or unloading station.

Claims

Demands

1. Method for preparing an order in an automated storage and retrieval system (10), said order comprising at least one item disposed in a source bin (42a) and intended to be placed in a destination bin (42b), said source bin (42a) being stored in a first cell (16a) of a first storage rack (12) of said automated storage and retrieval system (10), the method being carried out by an autonomous vehicle (20) comprising a chassis (26), means of movement (28), loading means (38) configured to load onto said chassis (26) the source bin (42a) or the destination bin (42b) and unload the loaded bin onto said chassis (26), and an item grasping device (44), the method comprising: - a loading, by the loading means (38), of the source bin (42a) onto the chassis (26) of the autonomous vehicle (20);- a grasping, by the article grasping member (44), of the order item contained in the source bin (42a), said source bin (42a) being loaded onto the chassis (26) of the autonomous vehicle (20); - an unloading into said first cell (16a), by the loading means (38), of the source bin (42a) devoid of the order item, the order item being held by the article grasping member (44); - loading onto the chassis (26) of the autonomous vehicle (20), by the loading means (38), of the destination bin (42b), said chassis (26) of the autonomous vehicle (20) being unloaded from the source bin (42a), - depositing into the destination bin (42b), by the article grasping device (44), of the order item, the destination bin (42b) being loaded onto the chassis (26) of the autonomous vehicle (20).;

2. A method according to claim 1, wherein the chassis (26) comprises a single loading surface (41) configured to support the source bin (42a) or the destination bin (42b), and a width and length of the loading surface (41) is substantially equal to a length and width of the source bin (42a) or the destination bin (42b).

3. A method according to claim 1 or 2, wherein the destination bin (42b) is previously stored in a second compartment (16b) of the first or a second storage rack (12), and the method comprises, between unloading the source bin (42a) and loading the destination bin (42b): - a movement of the autonomous vehicle (20) from the first compartment (16a) to the second compartment (16b), the article being retained by the gripping member (44) during the movement.

4. A method according to claim 1 or 2, wherein the destination bin (42b) is previously stored in a second compartment (16b) of the first or a second storage rack (12), and the method comprises, between the loading of the source bin (42a) and the grasping of the article: - a movement of the autonomous vehicle (20) from the first compartment (16a) to a third compartment (16c), the third compartment (16c) facing the second compartment (16b) containing the destination bin (42b), so that the third compartment (16c) becomes the first compartment (16a) storing the source bin (42a).

5. A method according to claim 4, wherein the destination bin (42b) and the source bin (42a) are partially loaded onto the frame (26), such that a first portion of the frame (26) is loaded from one end of the source bin (42a) and a second portion of the frame (26) is loaded from one end of the destination bin (42b), and the gripping and depositing of the item are carried out while the source and destination bins (42a, 42b) are partially loaded onto the frame (26).

6. A method according to any one of the preceding claims, wherein the grasping of the article from the source bin (42a) and the depositing of the article into the destination bin (42b) are carried out at the level of a lower level of the storage rack (12), preferably in the vicinity of the ground on which the autonomous vehicle (20) travels.

7. A method according to any one of the preceding claims, wherein the article grasping member (44) is a Cartesian robot, and the article grasping comprises a translation of a terminal effector (60) of the grasping member (44) along the three axes of an orthonormal frame.

8. A method according to any one of 1 to 6, wherein the loading means (38) are mobile in a first direction horizontal (X) and the gripping member (44) is mobile only in a second horizontal direction (Y) and in the vertical direction (Z), and the gripping of the article comprises: - a positioning of the article gripping member (44) above the article by translation of the loading means (38) in the first horizontal direction (X) and by translation of the article gripping member (44) in the second horizontal direction (Y), and - a positioning of the article gripping member (44) on the article by translation of the gripping member (44) in the vertical direction (Z).

9. A method according to any one of the preceding claims, wherein the order comprises a plurality of items, and, when all the items of the order are deposited in the destination bin (42b), the method further comprises storing the destination bin (42b) in a free slot of a storage rack (12).

10. A method according to any one of the preceding claims, wherein the order comprises a plurality of items, and the method further comprises a calculation of an item retrieval sequence, the item retrieval sequence being adapted to retrieve all the items in the order in the shortest possible time or path.

11. An autonomous vehicle (20) for order preparation in an automated storage and retrieval system (10), the order comprising at least one item to be retrieved from a source bin (42a) stored in a first cell (16a) of a first storage rack (12) and placed in a destination bin (42b), the autonomous vehicle (20) comprising: - a chassis (26); - motorized means (28) for moving horizontally on the floor and vertically along a storage rack; - loading means (38) configured to load the source bin (42a) or the destination bin (42b) onto the chassis (26) of the autonomous vehicle (20) and unload the source bin (42a) or the destination bin (42b) into a cell (16), and - an article gripping device (44) configured to grasp the article from the source bin (42a) and place it in the destination bin (42b), and wherein the chassis (26) comprises a single loading surface (41) configured to support the source bin (42a) or the destination bin (42b), and a width and length of the loading surface (41) is substantially equal to a length and width of the source bin (42a) or the destination bin (42b).

12. Autonomous vehicle (20) according to claim 11, wherein the grasping member (44) has a reach along a first horizontal direction (X) and a second horizontal direction (Y) substantially equal to a length and a width of the source bin or the destination bin (42a, 42b).

13. Autonomous vehicle (20) according to any one of claims 11 or 12, wherein the grasping member (44) is a Cartesian robot configured to move in translation along the three axes of an orthonormal frame.

14. Autonomous vehicle (20) according to any one of claims 11 or 12, wherein the loading means are mobile along a first horizontal direction (X), and the article grasping member (44) is mobile only along a second horizontal direction (Y) and along the vertical direction (Z), and the article grasping member (44) is not mobile along the first horizontal direction (X).

15. Autonomous vehicle (20) according to any one of claims 11 to 14, wherein the loading means (38) comprise a deployable fork (40) from the chassis (26) and at least one gripping means (43) configured to cooperate with a gripping zone arranged on a gripping surface of the source bin or the destination bin.

16. Automated storage and retrieval system (10) configured to implement the order preparation process according to any one of claims 1 to 10, comprising: - at least one storage rack (12) storing a source bin (42a) containing an item of the order in a first slot (16a) of the storage rack (12); - a destination bin (42b) and, - at least one autonomous vehicle (20) according to any one of claims 11 to 15.

Images