Order Fulfillment System and Method

Abstract

An order fulfillment system includes - at least one order fulfillment workstation (121); and - a first set of automated transport vehicles (17) that can roll along the ground and transport a storage container containing at least one item to the at least one order fulfillment workstation (121); and - a second set of automated transport vehicles (18) that can roll along the ground and transport a collection container for collecting at least one item to the at least one order fulfillment workstation (121). Such an order fulfillment workstation (121) includes - an inclined access ramp (21) that enables a vehicle to access the order fulfillment workstation (121), the inclined access ramp (21) including at least - a vehicle circulation zone (Z1) through which the vehicle circulates, and - a vehicle temporary storage zone (Z2) for temporarily storing the vehicle; and - a parking zone (Z3) that is accessible from the inclined ramp (21) and includes at least two adjacent parking spaces (23, 25), the parking spaces (23, 25) being intended to receive vehicles from the first set and vehicles from the second set, respectively. Such vehicles can freely roll along inclined ramps that are inclined in at least two mutually perpendicular directions to move from the circulation zone to either the temporary storage zone or the parking zone, and vice versa. and ​

Description

Technical Field

[0001] The field of the present disclosure is in the field of logistics in stores or warehouses, and more particularly in the field of automating supply chain logistics.

[0002] More specifically, the present disclosure relates to systems and methods for fulfilling at least a portion of an order.

[0003] It finds use particularly in the automation of workflow management in storage warehouses and / or stores, for example in a supply chain logistics order fulfilment warehouse, in the automation of item sorting in a warehouse or store, or otherwise in the automation of services that deliver orders to what is commonly referred to as a "drive" collection point.

Background Art

[0004] In overall supply chain logistics, workflow management and product handling in warehouses or stores are important factors.

[0005] Conventionally, order fulfillment workers move around the warehouse and collect each product on the order inventory from its location on the shelf of the storage rack.

[0006] Such an organization has been found to cause fatigue and waste of time by moving fulfillment workers long distances throughout the workday and when the routes are not optimized.

[0007] Another disadvantage is that fulfillment workers need to have perfect knowledge of the warehouse layout so as not to waste time.

[0008] A warehouse organization known as "product-to-person" has been designed to limit fatigue caused by moving around, improve "picking" management, and reduce the time required to fulfill orders, whereby products are brought to order fulfillment workers by mechanized means.

[0009] Therefore, it is known that conveyors are actually used to transport products from the storage zones of the warehouse to the order fulfillment workstations, and to transport products from the order fulfillment workstations to the shipping workstations. It is also known that robots are actually used to transport products from this storage zone to the order fulfillment workstations, and the robots are guided by circulating rails attached to the floor of the warehouse.

[0010] U.S. Patent Application Publication No. 2018 / 0305123A1 of the patent document describes such techniques, whereby robots are guided to the order fulfillment workstations by guide rails or by a cogwheel mechanism in the order determined by a centralized order inventory management system. U.S. Patent Application Publication No. 2019 / 0270591 of the patent document describes similar techniques.

[0011] However, this known technique has the disadvantage of being complex and expensive to implement, and due to the space occupied by the conveyor or the circulating rail, the warehouse needs to be made larger.

[0012] Moreover, once the storage containers are loaded onto the conveyor or as soon as the robots start moving along the circulating rails or access ramps for accessing the order fulfillment workstations, it is no longer possible to modify the order in which they will arrive at the order fulfillment operators, which means that it is not possible to make ad-hoc changes to the order in which the order inventory is fulfilled. Specifically, the robots or storage containers must be presented to the operator in the order in which they started on the mechanical means that convey them to the order fulfillment workstations. Therefore, there is no flexibility to enable the order in which the order inventory is fulfilled to be changed in response to a change in its priority. Therefore, such an order fulfillment method lacks flexibility.

[0013] To mitigate these disadvantages, the use of mobile robots has been proposed, in particular, automated guided vehicle (AGV)-type robots, for picking products from storage racks and transporting them to the order fulfillment workstations. There is also the idea of using robots to transport products from the order inventory and products grouped together at the order fulfillment workstations to the order inventory shipping workstation. Such robots preferably move autonomously, thereby providing greater flexibility in the organization of the order fulfillment workstations.

[0014] Accordingly, U.S. Patent Application No. 2021 / 0221615A1 of the patent document proposes a technique for fulfilling orders using the "rendezvous" fulfillment principle, whereby the order fulfillment workstations can be set up on-the-fly at any point in the warehouse, depending on the requirements and the volume of the orders to be fulfilled.

[0015] The disadvantage associated with this known technique is that the operation of transferring products from a robot that has arrived at the order inventory workstation to a robot intended to convey the order inventory products to the shipping workstation is difficult for the operator. This can cause the products to potentially drop or be struck forcefully, making the work of order fulfillment workers difficult, or even making it something that may affect their health, and ultimately, potentially causing musculoskeletal problems. Specifically, such mobile order fulfillment stations offer the advantage of being able to be set up "on the fly", but they have the disadvantage of not being very ergonomic.

[0016] Moreover, and generally, managing a fleet of robots within a storage shop or store is a complex operation, and in this regard, it is always desirable to improve efficiency from the perspectives of workflow flexibility, simplification of operations, as well as the speed of transfer of the products that make up the order inventory and the speed of conveying them to the shipping workstation. Operating order fulfillment stations in various locations increases the number of possible destinations for these robots, and thus, by increasing the number of possible routes along which they circulate within the warehouse, introduces additional complexity into the management of the fleet of autonomous mobile robots, and as a result, complicates the management of the risk of the robots colliding with each other. Therefore, the need for a solution that meets these requirements still exists.

Prior Art Documents

Patent Documents

[0017]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Summary of the Invention

Means for Solving the Problems

[0018] The present disclosure is - at least one order fulfillment workstation; and - a first set of automated transport vehicles that can roll along the ground and transport a storage container containing at least one item to the order fulfillment workstation; and - a second set of automated transport vehicles that can roll along the ground and transport a collection container for collecting at least one item to the order fulfillment workstation to meet this need by proposing an order fulfillment system including the above.

[0019] Such an order fulfillment workstation is - an inclined access ramp that enables a vehicle to access the order fulfillment workstation, the inclined access ramp including at least one vehicle circulation zone where the vehicle circulates and a vehicle temporary storage zone for temporarily storing the vehicle; and - a parking zone that is accessible from the inclined ramp and includes at least two adjacent parking places, the parking places being intended to receive vehicles from the first set and vehicles from the second set respectively including.

[0020] In addition, the vehicle can freely roll along at least two mutually perpendicular inclined ramps to move from the circulation zone to either the temporary storage zone or the parking zone, and vice versa.

[0021] Another aspect is - transporting at least one storage container containing at least one item to an order fulfillment workstation by at least one vehicle from a first set of automated guided vehicles that can roll along the ground; - transporting at least one collection container for collecting at least one item to an order fulfillment workstation by at least one vehicle from a second set of automated guided vehicles that can roll along the ground; - picking at least one item from one of the storage containers and placing the picked item into one of the collection containers and proposing an order fulfillment method.

[0022] According to such a method, the transporting operation is implemented by the movement of the vehicle in a circulation zone formed on an inclined access ramp for accessing the order fulfillment workstation. The picking step is carried out in a parking zone that is accessible from the inclined ramp and includes at least two adjacent parking places, which are intended to receive vehicles from the first set and vehicles from the second set respectively. When the order for fulfilling the order inventory is modified, the method includes the free movement of at least one of the vehicles of the first set and / or the second set in at least two mutually perpendicular directions to move from the parking zone to or from a vehicle temporary storage zone formed on the inclined ramp from the circulation zone, and vice versa.

[0023] Another aspect proposes a computer program product including program code instructions for controlling the movement of a first set and a second set of automated guided vehicles that can roll along the ground, in accordance with the method as defined herein, when the program is executed by a processor.

[0024] Another aspect proposes a non-transitory computer-readable recording medium on which such a program is recorded.

[0025] Such a recording medium can be any entity or device capable of storing the program. For example, the medium can include storage means (such as ROM, for example, CD-ROM or microelectronic circuit ROM), or alternatively, magnetic recording means (such as a USB drive or a hard disk).

[0026] Moreover, such a recording medium can be a transmissible medium such as an electrical signal or an optical signal, which can be carried via an electrical cable or an optical cable by wireless or other means, such that the computer program contained therein can be executed remotely. The program according to the present invention can be downloaded, among other things, over a network (such as the Internet).

[0027] Alternatively, the recording medium can be an integrated circuit in which the program is incorporated, and the circuit is designed to execute the above-described order fulfillment method, or is designed to be used in the execution of the above-described order fulfillment method.

[0028] The features described in the following paragraphs can optionally be implemented independently of each other or in combination with each other.

[0029] The inclined ramp has a width greater than or equal to the width of four vehicles, preferably greater than or equal to the width of six vehicles.

[0030] The vehicle circulation zone includes at least two vehicle arrival lanes and at least two vehicle departure lanes.

[0031] The temporary storage zone is substantially horizontal and is configured to temporarily store at least two vehicles.

[0032] The parking zone is inclined with respect to the horizontal.

[0033] The parking zone has an inclination angle with respect to the horizontal that is opposite in sign to the inclination angle of the access ramp.

[0034] The temporary storage zone and / or the circulation zone includes charging means for charging the vehicle battery.

[0035] The storage container and the collection container are - bins; - cardboard boxes and belong to the group including.

[0036] Adjacent parking spaces are at different heights.

[0037] At least some of the vehicles in the first set are also vehicles belonging to the second set, or vice versa.

[0038] Adjacent parking spaces are positioned to face the position of the operator or the robotic arm.

[0039] According to one aspect, the order fulfillment method is - Temporarily storing at least one vehicle of the second set in the temporary storage zone until an order associated with a collection container being transported by a temporarily stored vehicle is prioritized; - Moving the temporarily stored vehicle from the temporary storage zone to the circulation zone in a first direction of movement, and moving the temporarily stored vehicle from the circulation zone to the parking zone in a second direction of movement perpendicular to the first direction of movement including.

[0040] Further features and advantages of the present invention will become more clearly apparent from reading the following description of one embodiment of the present invention given by way of simple non-limiting illustrative example, and from considering the accompanying drawings.

Brief Description of the Drawings

[0041]

Figure 1

Figure 2

Figure 3

Figure 4

Mode for Carrying Out the Invention

[0042] The general principle of the present invention depends on the design of an order fulfillment workstation in which autonomous robots access along an inclined ramp and advantageously have three zones. The three zones are, namely, - A vehicle circulation zone where vehicles circulate; - A vehicle temporary storage zone, where if the order inventory they are associated with is not prioritized, or if, for example, they need to be "held" or put on standby while waiting for items to be replenished, they can be temporarily stored within the vehicle temporary storage zone; - A parking zone, which includes at least two adjacent locations each intended to receive a robot that transports storage containers from an item storage warehouse and a robot that transports a collection container intended to receive inventory items on an order during the fulfillment process; is.

[0043] Such robots are autonomous in their movement and, in particular, can move two-dimensionally on an inclined ramp and can freely circulate among three zones (a circulation zone, a temporary storage zone, and a parking zone) according to the level of priority of the orders they are associated with.

[0044] Thus, it is very easy to modify the order in which orders are fulfilled by sending a command to the robot (which is either starting along the circulation zone or already present within the parking zone) to move to and retreat from a temporary storage zone where it remains temporarily on hold. Conversely, as soon as the processing of the order it is associated with resumes priority status or as soon as a stock item that is out of stock is conveyed to the order fulfillment workstation, the robot can easily exit the temporary storage zone and return to the circulation zone or directly back to the parking zone. This can then be initiated through simple, quick, and small movements of the robot within the three zones provided (circulation zone, parking zone, and temporary storage zone), can be temporarily interrupted to insert the processing of another order at the order fulfillment workstation, and can be quickly resumed, providing great fluidity in order fulfillment.

[0045] The fact that there is a temporary storage zone at the order fulfillment workstation advantageously allows some of the stock items on an order in the process of being fulfilled to be temporarily stored, for example, while waiting for the replenishment of stock items that have been ordered but are out of stock from the warehouse or store, or when the shipment of the order needs to be postponed.

[0046] Moreover, such an order fulfillment workstation is particularly ergonomic. It has at least two adjacent locations facing the operator or facing the robotic arm, preferably within its reach, and receives one or more storage containers and one or more collection containers for storing / collecting inventory items on the order being fulfilled. Thus, the operator does not need to walk around or move an electric arm on the floor in order to be able to transfer inventory items on the order between the storage container and the collection container. This transfer is carried out in a reduced time in a simple and ergonomic movement of the operator's arm or the robotic arm.

[0047] Moreover, these adjacent locations (accessible from a sloping access ramp for accessing the order fulfillment workstation) are preferably positioned at the correct height for a person so that the operator does not have to bend down to handle inventory items on the order. This then reduces the magnitude of the movements the operator has to perform and thus reduces the risk of developing musculoskeletal problems.

[0048] Also, the presence of more than two adjacent locations within the parking zone makes it possible to reduce the time required to fulfill an order. This is because it is possible to position several storage containers (for example, one container for table tennis balls and one container for table tennis rackets) that transport different items required to fulfill an order within the parking zone. The table tennis balls are picked from the first container, placed in the collection container, and then the table tennis rackets can be picked immediately from the second container without having to wait for the racket container to replace the ball container at the parking location specialized for the storage container. It is also possible to have several collection containers within the parking zone, which is advantageous when the same inventory items are required to fulfill multiple orders. For example, if three customers order table tennis balls, three collection containers can be placed within the parking zone together with the storage container containing the table tennis balls. Then, it is possible to pick the table tennis balls from the storage container and place them successively and quickly into each of the three collection containers.

[0049] Accordingly, the design of such access ramps has the combined technical effect of making the order fulfillment workstation highly ergonomic and providing flexibility in the organization of the order fulfillment sequence, thereby making it possible to substantially reduce the order fulfillment time and optimize the efficiency of the process of handling multiple orders.

[0050] Here, one exemplary embodiment of an order fulfillment system and related order fulfillment method will be described in relation to the figures.

[0051] Throughout this document, what is meant by the term vehicle or robot is any electric vehicle equipped with at least two wheels for rolling along the ground (thus, it can have two, three, four, or even more rolling wheels), excluding any flying objects, and it is intended to transport goods. The terms robot and vehicle are used interchangeably. Examples of such vehicles are described, for example, in the patent documents WO2023001449 and FR3125514 in the name of the applicant.

[0052] As a preferred example, such a robot or vehicle is autonomous in its movement, has a small footprint, and can change course very quickly. For example, such a robot or vehicle is equipped with drive wheels mounted on a vertical axis. When the drive wheels are rotated around this vertical axis, the wheels pivot enough to change the rolling direction without turning the robot's chassis, and thus, it can change the direction of circulation almost in place.

[0053] In one embodiment, such a robot can not only move two-dimensionally along the ground but also move three-dimensionally, press against the racking in a warehouse, move upward in the height direction along this racking, and pick up the storage containers or collection containers stored there.

[0054] The term "container" refers to any device that can be transported by a robot and can contain one or more items, objects, or products. In what follows, the term "container" can indifferently refer to bins, baskets, cases, wooden boxes, cardboard boxes, etc.

[0055] Moreover, the terms "item" and "product" are interchangeable with each other. They simply refer to an object (especially a commercially available object) stored in a workplace, store, or warehouse that is intended to be delivered to the end customer who ordered it, either alone or together with one or more other items.

[0056] Finally, the temporary storage zone can be a zone intended to store orders awaiting delivery by "drive" without departing from the scope of the present disclosure.

[0057] FIG. 1 illustrates an automated logistics warehouse 10 of an online shopping company. This warehouse is organized into three areas: a storage area 11, an order fulfillment area 12 equipped with an order fulfillment workstation 121, and a shipping area 13 equipped with a packaging and package shipping workstation 131.

[0058] The storage area 11 includes a plurality of racking units 14 formed by shelves at multiple levels. The shelves are supported by uprights 15 and are organized in continuous parallel rows. Storage containers 16 containing all similar items or a plurality of different items from the same product range can be stored on these shelves. Moreover, it will be noted that some of this racking is reserved for the storage of collection containers intended to collect various items constituting the order inventory before transporting them to the shipping workstation 131.

[0059] A first fleet of automated transport vehicles 17 (e.g., equipped with four wheels for rolling along the ground) transports the storage containers 16 between the storage area 11 and the order fulfillment workstation 121.

[0060] When the robot 17 receives instructions to pick up the bin 16 from the racking unit, the robot 17 rolls along the ground to the base of the racking unit 14 where this bin 16 is stored, presses against the opposite racking unit until it reaches the level of the shelf where this bin 16 is stored, climbs along this racking unit, and collects it. Then, the vehicle 17 moves down and back between the two racking units, and when it reaches the ground, it transports the bin 16 to the order fulfillment workstation 121.

[0061] Therefore, this first set 17 is a grouping of a first set of automated guided vehicles intended to be able to roll along the ground, pick up storage containers storing one or more items stored in the racking, and transport them to the order fulfillment workstation.

[0062] The second fleet of automated guided vehicles 18 - On the one hand, when empty, from the racking unit 14 to the order fulfillment workstation 121, - On the other hand, when they have collected one or more items from one and the same order (the items having been previously picked from the storage bin 16 transported to the order fulfillment workstation 121), from the order fulfillment workstation 121 to the shipping workstation 131, transport the collection container.

[0063] Therefore, this second set 18 is a grouping of a second set of automated guided vehicles intended to be able to roll along the ground and transport collection containers containing at least some of the inventory items on one and the same order from the order fulfillment workstation 121 to the order shipping workstation 131, to a temporary storage zone, or to a conveyor connected to the order shipping workstation.

[0064] Depending on how the requirements and availability of the other robots in these fleets evolve at any given instant, the storage bin 16 can be prepared for use by the robot 17 or 18 for transporting it to the order fulfillment workstation 121 and, intermittently, for transporting the collection bin to the shipping workstation 131, or vice versa.

[0065] This provides a great deal of flexibility in the management of the vehicle fleets. The reason is that one and the same vehicle can be used alternately for transporting storage containers or collection containers and can thus form part of the first set or the second set of vehicles as required. Thus, at least some of the vehicles in the first set are also vehicles belonging to the second set, or vice versa, making it possible to reduce the total number of vehicles that will be used for transporting storage containers and collection containers.

[0066] The second set of vehicles can be a subset of the first set of vehicles, or vice versa.

[0067] At the start of the full fulfillment of an order or parts order, - the collection container is assigned to it and its identification is recorded in the centralized management system in relation to the order number; - vehicle 18 from the second set picks up this collection container from the racking; - this vehicle 18 transports the picked-up collection container to the order fulfillment workstation 121, where it is positioned at a first parking location facing the operator or the position of the robot arm.

[0068] Similarly, a storage container containing at least one inventory item on an order or on a parts order is assigned to a first set of vehicles 17 by recording in a centralized management system the identification of the vehicle and the identification of the storage container in relation to each other. The vehicle 17 picks up the storage container assigned to it from the racking, transports it to a second parking location at the order fulfillment workstation 121, which is adjacent to the first location occupied by the collection container, which in turn faces the position of the operator or robotic arm.

[0069] The operator or robotic arm can then pick one or more inventory items on the order from the storage container occupying that location at the second parking location and then place it (them) in the collection container occupying that location at the first parking location adjacent thereto.

[0070] When all of the inventory items on the order have been placed in the collection container, the collection container can be transported by the vehicle 18 to the shipping workstation, or onto a conveyor leading to this shipping workstation, or, if the collection container in which the order is to be shipped is a cardboard box, to a box sealing device.

[0071] Such order fulfillment techniques advantageously enable several orders (composed of inventory items stored in different storage locations in a workshop, store, or warehouse) to be fulfilled simultaneously in reduced time, as will be better understood from reading the following description of FIGS. 2 to 4.

[0072] FIG. 2 depicts the order fulfillment workstation 121 in detail, which is shown in a perspective profile view.

[0073] This order fulfillment workstation 121 is equipped with a robot arm 26 known per se, which can also be replaced by a human operator. The base 261 of the robot arm is fixed or rotates about an axis fixed to the ground.

[0074] The storage container 16 is transported to this order fulfillment workstation 121 by a vehicle 17 of a first set of automated guided vehicles that enter the inclined access ramp 21 (for example, from the left side). A vehicle 18 of a second set of automated guided vehicles leaves the inclined access ramp 21 from its right side in this particular embodiment of the invention. In this example, the access ramp 21 is an up-ramp, and the up-ramp allows the robots 17, 18 that move around by rolling along the warehouse floor from the storage area 11 to the order fulfillment area 12 to move upward to the order fulfillment workstation 121. In another example where the robots run around at a higher level in the warehouse, the inclined access ramp 21 can similarly allow the robots to descend from this upper level to the order fulfillment workstation 121.

[0075] As can be seen in more detail in FIG. 4 (FIG. 4 is a side view of the order fulfillment workstation 121 shown in FIG. 2), the inclined access ramp 21 includes two separate zones. - A zone (referred to as Z1) where the vehicles circulate; - A zone (referred to as Z2) for temporarily storing the vehicles.

[0076] The temporary storage zone Z2 is substantially horizontal and allows at least two vehicles (for example, vehicle 17 from the first set and vehicle 18 from the second set) to be temporarily stored. It can also be dimensioned to allow the simultaneous storage of a greater number of vehicles if necessary.

[0077] This zone Z2 can include means for charging the batteries of vehicles 17, 18 while the vehicles 17, 18 are temporarily stationary within zone Z2. This can be, for example, an inductive charging module (also known as a "pad") that enables the vehicle's battery to be charged when the vehicle is parked on top of the lamp. This then saves time and space. The reason is that there is no need to provide additional charging stations, or at least the capacity and / or number of such other charging stations can be reduced. Also, these charging means can be positioned in the circulation zone Z1. For example, charging pads 28 are provided at each edge of the lamp 21 to recharge the battery of robot 17 or 18.

[0078] The vehicle circulation zone Z1 includes at least two vehicle arrival lanes and at least two vehicle departure lanes (symbolically indicated by arrows in FIG. 2), enabling great fluidity in the movement of vehicles 17, 18, and thus enabling the simultaneous management of several orders of fulfillment. For example, the inclined ramp 21 has a width greater than or equal to the width of four vehicles, preferably greater than or equal to the width of six vehicles, and is adapted to allow multiple intersections and enable vehicles 17, 18 to simultaneously ascend and descend the access ramp 21. Thus, vehicle 17 transporting the first storage container and vehicle 18 transporting the first collection container can simultaneously ascend the access ramp 21 to access the order fulfillment workstation, where the fulfillment of the orders they are associated with begins, while on the other hand, vehicle 17 transporting the second storage container and vehicle 18 transporting the second collection container simultaneously descend this ramp since the fulfillment of the orders they are associated with has ended.

[0079] In addition, the order fulfillment workstation includes a parking zone referenced by Z3, and vehicles 17, 18 access the parking zone from the inclined ramp 21. The upper end of the ramp 21 bears a fence 27 that separates the parking zone Z3 from the vehicle circulation zone Z1 and the vehicle temporary storage zone Z2 for vehicles 17 and 18. Moreover, an opening 29 is formed in this fence, enabling vehicles 17 and 18 to access the parking spaces in this parking zone Z3 within the reach of the robot arm 26. The exemplary embodiments of FIGS. 2 to 4 depict a parking zone Z3 that includes exactly two parking spaces, and thus the opening 29 is dimensioned to allow two vehicles to pass through simultaneously. However, depending on the width of the ramp 21, the parking zone can include a greater number of parking spaces (e.g., four or six). In that case, the opening 29 in the fence 27 is, of course, adjusted to allow four or six vehicles to pass through simultaneously, depending on the number of parking spaces.

[0080] The robotic arm 26 mounted on the fixed base 261 is intended to pick items from the storage container 16 transported by the vehicle 17 at a pre-determined parking location 25 (shown by a dotted line in FIGS. 2 and 3 (FIG. 3 is a front-facing view of the order fulfillment workstation 121)) at the end of the lamp 21, and also to place it in the item collection bin 24 transported by the vehicle 18 at a pre-determined parking location 23 (shown by a dotted line in FIGS. 2 and 3) at the end of the lamp 21. The first parking location 25 and the second parking location 23 for the robot are advantageously adjacent to and face the robotic arm 26, so that the movement of the arm 26, with respect to each item being handled, is limited to picking an item from the storage bin 16, rotating the arm to position it over the collection bin 24, placing the item in the collection bin 24 with a substantially vertical movement, and returning to its initial position, which means that these operations can be repeated at a fast pace. The same applies in configurations having three, four, or six adjacent parking locations, except that the amplitude of the arm movement then becomes larger.

[0081] Moreover, in this variant of the embodiment in which the operations performed by the robotic arm are performed by an operator, apart from the time savings provided by this arrangement, it is readily understood that the risk that the operator may develop problems with the musculoskeletal system, and the risk that the item may fall to the floor if it escapes the operator's grip, are greatly reduced.

[0082] The first parking location 25 and the second parking location 23 are composed of two substantially adjacent planar surfaces, and they constitute a parking zone Z3 that forms a part extending the upper part of the lamp 21. In a configuration including four or six parking locations, the zone Z3 takes the form of an inclined planar surface extending the upper part of the lamp, and its width substantially corresponds to the width of four or six vehicles according to the number of parking locations.

[0083] Therefore, the items to be picked can be easily placed at the correct height for the operator, and thus, similarly, it is possible to more easily place them into the collection container.

[0084] Also, it can be seen in FIG. 4 that the parking zone referred to as Z3 is inclined with respect to the horizontal direction. When the inclined access ramp 21 is an upward ramp, this parking zone Z3 has an inclination angle with respect to the horizontal direction that is, in particular, opposite in sign to the inclination angle of the access ramp 21. Therefore, the respective parking locations 23 and 25 for the robots 18 and 17 are on the inclined plane 31, making it easier for the robot arm 26 to access the items in the storage container 16 and place them into the collection container 24.

[0085] To further improve the ergonomics of the order fulfillment workstation, each parking location 23 and 25 for robots 18 and 17 can be adjusted in terms of height so as to conform to the dimensions of the storage containers and collection containers, or preparations can be made to have different heights. Thus, the height of the upper opening of the storage container and the height of the upper opening of the collection container can be independently adapted, for example, to position these openings at substantially the same level when the storage container and the collection container have different height dimensions. This is particularly advantageous in the case of a parking location intended to receive a collection container, and in the case where this collection container is a cardboard box in which an order is directly shipped, it can be easily understood that this dimension can vary for each order depending on the number of items ordered by the customer or the size of these items. In the case where multiple orders are being fulfilled in parallel and thus multiple shipping boxes are deployed in adjacent locations in the parking zone, the height of the parking location can thus be individually adjusted for each of the collection boxes according to the dimensions of the collection boxes, the dimensions of which have been chosen according to the volume of the ordered items.

[0086] By enabling the adjustment of the height of the parking location for the collection box according to the height of this box, it is possible to ensure that the upper opening of the box is always positioned at the correct level for the operator or the robotic arm, thus improving the ergonomics of the order fulfillment workstation. Such height adjustment can be achieved by means of an adjustment rack or by using electric lifting means, which can be controlled by a centralized management system according to the dimensions of the collection box selected from the racking. These dimensions are known to the centralized management system from the identification of the collection box associated with the identification of the order in the process of being fulfilled.

[0087] As can be understood by considering FIGS. 2 to 4, thus, using the first collection container brought in by the second set of vehicles 18, while requesting the operator or the robotic arm 26 to place some of the items from the first order therein, it is possible to start fulfilling the first order at the order fulfillment workstation 121, and these items contained in different storage containers have been pre-transported to the order fulfillment workstation 121 by a plurality of vehicles from the first set of vehicles 17.

[0088] If fulfilling the second order is now prioritized, or if it is not possible to complete the full fulfillment of the first order because the in-stock items for this first order are out of stock, the second set of vehicles 18 will yield its position at the first parking location 23 to another vehicle 18 of the second set that carries the second collection container for fulfilling the second order, and transport the first collection container in which some of the items from the first order are placed to the temporary storage zone Z2, where it is held in reserve awaiting completion of the first order.

[0089] Then, it becomes possible to start fulfilling the second order, and the operator or the robotic arm is requested to place the items from the second order into the second collection container, and those items are contained in the storage containers brought to the order fulfillment workstation 121 by the first set of vehicles 17. When all or some of the items from the second order are placed in the second collection container, the second collection container can be sent to the temporary storage zone Z2 (for example, if the fulfillment of this second order is incomplete because items are out of stock), to the shipping workstation (if the fulfillment of this second order is complete), or to a conveyor connected to the shipping workstation.

[0090] In summary, there are at least three possible operating modes for fulfilling an order using the system of FIGS. 2 through 4.

[0091] Example 1: Fulfillment of a "simple" order with inventory of only one item

[0092] When the first set of vehicles 17 is associated with a storage container containing a single inventory item on the order, this vehicle transports the storage container to the order fulfillment workstation 121. It circulates to the parking zone Z3 via the circulation zone Z1 of the access ramp 21 and parks in the second pre-determined parking location 25 within the parking zone Z3. The operator or robotic arm 26 picks up the item and places it in the collection container located in the first pre-determined parking location 23. This collection container has been transported to the parking zone Z3 through the circulation zone Z1 by a vehicle of the second set of vehicles 18. The collection container can then be transferred to a holding area (e.g., while waiting for a "drive" pickup of an order by the end customer) or to the shipping workstation.

[0093] If multiple "simple" orders for multiple customers are composed of the same single inventory item, multiple collection containers can also be positioned in multiple adjacent locations within the parking zone Z3 together with the storage container containing the ordered single inventory item. The operator or robotic arm picks up the item and sequentially places it in each of the collection containers, and the containers can then be transferred to a holding area or to the shipping workstation.

[0094] Example 2: Fulfillment of a "simple" order with inventory of several different inventory items stored in different locations in the warehouse

[0095] The procedure for fulfilling the order is substantially the same as that of Example 1. Since the order inventory is composed of a plurality of inventory items, after a plurality of vehicles 17 from the first set are each associated with one of the storage containers to be picked, they are made to go to the storage container containing one of the inventory items on the order and pick it, and then are made to bring it successively to the second pre-determined parking location 25. Next, the operator or the robot arm 26 successively picks the various inventory items on the order, places them in the collection container, and the collection container is located at the first pre-determined parking location 23 and is brought there by the vehicles of the second set of vehicles 18.

[0096] Thus, when the parking zone has two parking locations 23 and 25, a first vehicle 17 that conveys a first storage container containing a first inventory item in order ascends an access ramp 21 via a circulation zone Z1 and accesses the parking zone Z3. The first inventory item is picked up by a robotic arm 26 and placed in a collection container located at a location 23 that is directly adjacent to the parking location 25 occupied by this first vehicle 17. Then, this first vehicle can immediately descend the inclined ramp 21 again via the same lane of the circulation zone Z1 that it used to ascend the ramp or via another downward lane of this circulation zone Z1. The vehicle can easily switch from one lane to the other, for example, by rotating its drive wheels in place and performing a movement in a direction perpendicular to the direction of these circulation lanes. While this first vehicle is descending the ramp 21, a second vehicle 17 that conveys a second storage container containing a second inventory item in order ascends the access ramp 21 via a free circulation lane of the access ramp 21. The ascent and descent of the two vehicles can occur simultaneously, thereby achieving a significant time saving in the full fulfillment of the order. When it reaches the top of the ramp 21, if the upward lane it used does not face the parking zone, the second vehicle 17 can move in a direction perpendicular to the direction of its ascent until it faces its parking location. Then, it pivots again through 90° to move forward to its parking location in a direction parallel to the direction in which it ascended the ramp 21.

[0097] Again, the robotic arm 26 picks the second inventory item on order from the storage container parked at the parking location 25 and places it in the collection container parked at the adjacent parking location 23. Next, the second vehicle 17 can leave the parking zone Z3 and return to the storage area 11 via the circulation zone Z1, where it will return the storage container to the racking 14. Also, it can leave the parking zone Z3 and head towards another order fulfillment workstation, where the items it contains are required to fulfill another order. Finally, if the items it contains can be used to fulfill another order that is expected to be fulfilled in the near future at this same order fulfillment workstation 121, it can leave the parking zone Z3 and park temporarily in the staging zone Z2. Specifically, in that case, to avoid unnecessary movement and thus reduce the time required to process the order, it is advantageous for the vehicle to stay at the order fulfillment workstation. Therefore, it is beneficial for the staging zone Z2 to be able to store several vehicles (if all of these are likely to be used when fulfilling upcoming orders).

[0098] Once all of the inventory items on order have been collected, when order fulfillment is complete, the collection container associated with that order can be transferred to the staging area or to the shipping workstation.

[0099] On the other hand, when the parking zone Z3 has three or more parking places, it is possible for the collection container transported by the vehicle 18 and the various storage containers transported by the first set of vehicles 17 and each containing inventory items in order to be parked simultaneously in this zone. This then further speeds up the time required to process the order. The reason is that the various inventory items can be quickly and continuously picked up by the robotic arm from each of the storage containers and placed into the collection container. As soon as an item is picked up from the storage container by the robotic arm, the vehicle transporting it can leave the ramp and vacate the place for another vehicle.

[0100] Example 3: Partial fulfillment of an order with inventory of some inventory items while this order is on hold in order to fulfill another order that has become prioritized in the meantime

[0101] In this example, the full fulfillment of order C1 is started according to the procedure of Example 2. When another order C2 becomes prioritized, the transfer of the inventory items on order C1 that is in the process of being fulfilled in the collection container in the parking zone Z3 is paused, and the collection container on the second set of vehicles 18 transporting this collection container is moved to the temporary storage zone Z2. This completely frees up the first pre-determined parking place 23 for the second set of vehicles 18 transporting the collection container associated with the prioritized order C2, and the full fulfillment of the prioritized order C2 can start with the storage containers containing the inventory items on order C2 being transported to the second parking place 25 using the vehicles of the first set of vehicles 17.

[0102] Accordingly, the vehicle 18 associated with order C1 temporarily parks within the temporary storage zone Z2. During this time, the vehicle 17 that transports the storage container containing the inventory item on order C2 circulates through the circulation zone Z1 and continuously accesses the parking zone Z3. When the robotic arm 26 picks the inventory item on order C2 from one of these vehicles 17, the vehicle can leave the ramp 21 via the circulation zone Z1, while another vehicle 17 ascends in parallel via another access lane of the ramp. When the fulfillment of order C2 is completed, the vehicle 18 associated with order C1 leaves the temporary storage zone Z2, returns to the parking zone Z3, and in the temporary storage zone Z2, the fulfillment of order C1 can resume. The vehicle can switch from one access lane to another, or from the circulation zone to the temporary storage zone, or otherwise, from the temporary storage zone to the parking zone, by moving in at least two mutually perpendicular directions (i.e., a direction parallel to the access lane and a direction perpendicular to the access lane).

[0103] The above examples of the operating mode in no way limit the approach taken with respect to the management of vehicles, inventory items, and orders when implementing the method of the present invention. They merely seek to illustrate the flexibility provided by the method with respect to the management of vehicles and the fulfillment of order inventories.

[0104] Specifically, structuring the order fulfillment workstation as three zones, combined with the very high mobility that the vehicle has in its movement method, and configuring inclined access ramps to have several up lanes and down lanes for the vehicle, allows for greater flexibility in the management of orders that are fulfilled, put on hold, and returned, according to how the levels of their priorities evolve.

[0105] To limit the amount of time lost in transporting the various storage containers used to configure the order inventory to the second parking location 25, the robot 17 preferably picks the inventory items on the order from the storage container supported by the vehicle with the robot arm 26, and then the vehicle moves away laterally to descend the ramp via the down lane parallel to the up lane, and after the space at one of the parking locations 25 becomes free by being yielded by the previous vehicle, it forms a row on the ramp 21, lined up in a single column back and forth.

Explanation of Signs

[0106] 10 Automated logistics warehouse 11 Storage area 12 Order fulfillment area 121 Order fulfillment workstation 13 Shipping area 131 Shipping workstation 14 Rack unit 15 Upright 16 Storage container, storage bin 17 First set of vehicles, robots 18 Second set of vehicles, robots 21 Inclined access ramp 23 Second parking location 24 Collection bin 25 First parking location 26 Robot arm 261 Base of the robot arm 27 Fence 28 Charging pad 29 Opening 31 Inclined plane Z1 Vehicle circulation zone Z2 Vehicle temporary storage zone Z3 Parking zone

Claims

1. An order fulfillment system, wherein the order fulfillment system includes a. At least one order fulfillment workstation (12 1 ) and; b. A first set of automated transport vehicles (17) that can roll along the ground and transport a storage container (16) containing at least one item to the at least one order fulfillment workstation (12 1 ); c. A second set of automated transport vehicles (18) that can roll along the ground and transport a collection container (24) for collecting at least one item to the at least one order fulfillment workstation (12 1 ) In an order fulfillment system including The at least one order fulfillment workstation (12 1 ) is, i. An inclined access ramp (21) that enables the vehicle to access the at least one order fulfillment workstation, the inclined access ramp (21) having at least - A vehicle circulation zone (Z1) through which the vehicle circulates, and - A vehicle temporary storage zone (Z2) for temporarily storing the vehicle An inclined access ramp (21) including ii. A parking zone (Z3) that is accessible from the inclined ramp (21) and includes at least two adjacent parking spaces (23, 25), the parking spaces (23, 25) being intended to receive a vehicle (17) from the first set and a vehicle (18) from the second set respectively, a parking zone (Z3) Including The vehicle can freely roll along the inclined ramp (21) in at least two mutually perpendicular directions to move from the circulation zone (Z1) to any one of the temporary storage zone (Z2) or the parking zone (Z3), and vice versa. An order fulfillment system characterized by this.

2. The inclined ramp (21) has a width greater than or equal to the width of four vehicles, preferably greater than or equal to the width of six vehicles. The order fulfillment system according to Claim 1, characterized by this.

3. The vehicle circulation zone (Z1) includes at least two vehicle arrival lanes and at least two vehicle departure lanes. The order fulfillment system according to Claim 2, characterized by this.

4. The temporary storage zone (Z2) is substantially horizontal and is configured to temporarily store at least two vehicles. The order fulfillment system according to any one of Claims 1 to 3, characterized by this.

5. The parking zone (Z3) is inclined with respect to the horizontal direction. The order fulfillment system according to any one of Claims 1 to 4, characterized by this.

6. The order fulfillment system according to claim 5, wherein the parking zone (Z3) has an inclination angle with respect to the horizontal direction that is opposite in sign to the inclination angle of the access ramp (21).

7. The order fulfillment system according to any one of claims 1 to 5, wherein the temporary storage zone (Z2) and / or the circulation zone (Z1) includes charging means (28) for charging the battery of the vehicle.

8. The storage container (16) and the collection container (24) - a bin; - a cardboard box The order fulfillment system according to any one of claims 1 to 7, characterized in that it belongs to a group including.

9. The order fulfillment system according to any one of claims 1 to 8, wherein the at least two adjacent parking spaces (23, 25) are at different heights.

10. The order fulfillment system according to any one of claims 1 to 9, wherein at least some of the vehicles of the first set of vehicles (17) are also vehicles belonging to the second set of vehicles (18), or vice versa.

11. The order fulfillment system according to any one of claims 1 to 10, wherein the at least two adjacent parking spaces (23, 25) are positioned so as to face the position of an operator or a robotic arm.

12. An order fulfillment method, wherein the order fulfillment method i. At least one storage container (16) containing at least one item is transported to an order fulfillment workstation (12 1 ) by at least one vehicle from a first set of automated transport vehicles (17) that can roll along the ground; ii. At least one collection container (24) for collecting at least one item by at least one vehicle from a second set of automated transport vehicles (18) that can roll along the ground is transported to the order fulfillment workstation (12 1 ); and iii. picking at least one item from one of the storage containers (16) and placing the at least one picked item into one of the collection containers (24); In the order fulfillment method including. The operation of the conveying is implemented by the movement of the vehicle in a circulation zone (Z1) formed on an inclined access ramp (21) for accessing the order fulfillment workstation (12 1 ). The picking step is carried out in the parking zone (Z3), which is accessible from the inclined ramp (21) and includes at least two adjacent parking spaces (23, 25), and the parking spaces (23, 25) are intended to receive vehicles from the first set (17) and vehicles from the second set (18), respectively. When the order for fulfilling the order inventory is modified, the method includes at least two mutually perpendicular directions for moving from the parking zone (Z3) or from the circulation zone (Z1) to the vehicle temporary storage zone (Z2) formed on the inclined ramp (21) and vice versa. An order fulfillment method, characterized in that it includes free movement of at least one of the vehicles of the first set and / or the second set of vehicles.

13. The order fulfillment method is - Temporarily storing at least one vehicle of the second set in the temporary storage zone (Z2) until the order associated with the collection container (24) carried by the temporarily stored vehicle is prioritized; - Moving the temporarily stored vehicle from the temporary storage zone (Z2) to the circulation zone (Z1) in a first movement direction, and moving the temporarily stored vehicle from the circulation zone (Z1) to the parking zone (Z3) in a second movement direction perpendicular to the first movement direction The order fulfillment method according to claim 12, characterized in that it includes.

14. A computer program product including program code instructions for controlling the movement of a first set and a second set of automated guided vehicles that can roll along the ground, according to the method of claim 12 or 13, when the program is executed by a processor.

15. A non - temporary computer - readable recording medium on which a program for controlling the movement of a first set and a second set of automated guided vehicles that can roll along the ground, according to the method of claim 12 or 13, is recorded when the program is executed by a processor.

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