Methods for preparing orders

Abstract

A method (100) for order preparation, comprising the steps of: moving a motor vehicle (30) on a floor in a transport zone (11) in at least a first horizontal direction (X1) so as to align the vehicle (30) with an access aisle (Pi) of a storage area (10) in a second horizontal direction (X2); and moving the vehicle (30) in the access aisle (Pi) in the second horizontal direction (X2) until the vehicle (30) is positioned in an aisle (Ai) of the storage area (10) that serves a rack (20) in which a collection cell (23c) is located, wherein the vehicle (30) is configured to move freely on the floor, and the orientation of the vehicle (30) remains fixed during this method.

Description

[Technical Field]

[0001] The present disclosure relates to the field of methods for order preparation. [Background technology]

[0002] Traditionally, in the field of logistics, and more particularly, order preparation within a warehouse, a human operator moves around the warehouse to collect one or more items for an order from various racks within the warehouse. The operator may be required to travel long distances, which can cause fatigue. Also, the operator must be thoroughly familiar with the rack layout within the warehouse to avoid following non-optimal, and therefore longer, routes that would increase order preparation times.

[0003] To limit operator fatigue and reduce order preparation time, it is known to use fleets of motorized vehicles, each of which can travel along an optimized route around the warehouse to collect the items in an order. Also, motorized vehicles with autonomous guidance (commonly referred to as "automated guided vehicles" or AGVs) are increasingly being used for order preparation.

[0004] Guided vehicles are known that move only on the floor and are each configured to support a rack column. However, this method of collection has the disadvantage of moving the entire rack column, and therefore all of the items stored therein, even if only one or a few items are to be collected. Such vehicles must move slowly to prevent the rack column from tipping over. Furthermore, to reduce the risk of falling items, the height of the rack columns transported by the vehicles must also be limited, which increases the number of columns required and therefore necessitates an expansion of the warehouse size, which is costly, if not impossible.

[0005] Also known are automated guided vehicles which are adapted to travel across a floor and climb vertically upwards up racks to collect items.

[0006] The first known of these automated guided vehicles are those whose movement on the floor is restricted by rails leading to warehouse racks. However, such solutions have the drawback that they are not flexible and do not allow the racks to be rearranged easily and without interrupting production when necessary to adapt to requirements (for example, in the event of an increase in business).

[0007] Then there are automated guided vehicles that move freely (i.e., without rails). Generally, such vehicles change their direction of movement by turning the entire vehicle. In other words, they turn about their own vertical axis. To achieve this, this type of vehicle is equipped with a pair of coaxial wheels mounted on a chassis and driven to rotate in opposite directions to turn the chassis about the vertical axis. However, it has been observed that vehicles that turn in this manner require precise recalibration of the spatial position of the chassis after a change of direction. Such recalibration can result in errors that increase order preparation times and lead to inaccurate paths for the robot. Furthermore, to transport standard parallelepiped-shaped containers, vehicles usually have an adapted non-circular shape. Therefore, in order to change direction by turning about themselves, the vehicle requires more floor space than the surface area it occupies due to its own dimensions. Therefore, to ensure simultaneous turning of two vehicles at intersections where they must change direction, it is necessary either to increase the width of the vehicle traffic lanes and therefore the size of the warehouse, or to limit the number of vehicles moving around near the racks, which effectively limits the order preparation rate.

[0008] The present specification aims in particular to provide a simple, economical and effective solution to the above-mentioned problems, which makes it possible to avoid the drawbacks of known automated guided vehicles. Summary of the Invention [Means for solving the problem]

[0009] The invention therefore comprises in particular a method for preparing orders by means of at least one motor vehicle moving between a storage area and a transport zone, the method comprising: a. associating a vehicle located at an initial position in a transport zone with a container to be collected in a storage area, the container being placed within a collection cell of a plurality of cells of the storage area; Includes According to a first possibility, the method comprises: bi. moving the vehicle on a floor within the transfer zone in at least a first horizontal direction to align the vehicle with a passageway within the storage area in a second horizontal direction; ci. making at least one change in direction; di. moving the vehicle on the floor in at least one connecting aisle in a second horizontal direction until the vehicle is positioned in an aisle of the storage area, preferably in an aisle serving the rack in which the collection cell is located; Including, According to a second possibility, the method comprises: bii. moving the vehicle on the floor in at least one access aisle in a second horizontal direction until the vehicle is positioned in an aisle of the storage area, preferably an aisle serving the rack in which the collection cell is located; cii. making at least one change in direction; dii. moving the vehicle on the floor in a first horizontal direction in an aisle of the storage area, preferably an aisle serving the rack in which the collection cell is located, so as to align the vehicle with the collection cell in a second horizontal direction; Including, The method is: e. moving the vehicle vertically until the vehicle is positioned vertically at the level of the collection cell; f. loading the container held in the collection cell onto the vehicle by the vehicle's gripping means; g. moving the vehicle vertically until the vehicle is at floor level; - the vehicle is configured to move freely on a floor, the floor having no rails for guidance in two orthogonal directions; - the orientation of the vehicle remains fixed during steps bi, bii, di, and dii, including during the changes of direction made in steps ci and cii, and preferably during steps e and g, during the movement of the vehicle on the floor within the transport zone and within the storage area.

[0010] The vehicle does not rotate its chassis during the order preparation method, specifically during the 90-degree change in direction of the vehicle's movement between steps ci and cii. Therefore, the vehicle's movement requires less floor space during its route to the collection cell, specifically during the 90-degree change in direction of the vehicle between steps bi and di and between steps bii and dii. Furthermore, the floor space occupied by the vehicle during the 90-degree change in direction between the first and second horizontal directions is reduced by a factor equal to √2 compared to a vehicle whose chassis rotates during the 90-degree change in direction. Thus, it is possible to route a fleet of vehicles identical to those described above through the transport zone, advantageously increasing the number of vehicles in transport simultaneously. As a result, order preparation rates can be increased.

[0011] Furthermore, not having a rotation of the vehicle chassis allows for reduced or even eliminated recalibration of the robot chassis position relative to the environment (e.g., relative to the rack) after a 90° change in direction between the first horizontal movement of step bi and the second horizontal movement of step di, and between the second horizontal movement of step bii and the first horizontal movement of step dii. Thus, the vehicle movements are more precise and easier to implement. Also, the method for order preparation as described above is performed more quickly, which also allows for a higher order preparation rate.

[0012] It should be noted that the vehicle's means for horizontal movement allows the vehicle chassis to move freely on the floor. It should be understood here that the storage area and transport zone, respectively, do not have any rails to guide the vehicle. Such a mode of vehicle movement allows for faster and more flexible installation of the storage area and transport zone. Finally, the noise footprint is also reduced, providing improved comfort to human operators working in the storage area and / or transport zone.

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

[0014] The container may have a parallelepiped shape.

[0015] The change of direction in step ci may be performed in a transport zone. The change of direction in step cii may be performed in a storage area, preferably in an aisle serving the rack in which the collection cell is located.

[0016] Step bi may include the following sub-steps: bi1. Moving a motor vehicle on a floor within a transport zone in a first horizontal direction. bi2 Moving the motor vehicle on the floor within the transport zone in a second horizontal direction. bi3. Moving the motor vehicle on the floor within the transport zone in a first horizontal direction so as to align the vehicle in a second horizontal direction with the access corridor comprising the open space formed by the column in which the collection cell is located.

[0017] According to a variant, steps bi1 and bi2 may be repeated one or more times before step bi3. Step bi may comprise a step of changing direction (of movement of the vehicle) between each of steps bi1 and bi2, as well as between the last step bi2 (which may be step bi2 if steps bi1 and bi2 are performed only once) and step bi3. The first possibility may also comprise, before step bi, a step involving one or more movements of the vehicle within the transport zone, in particular in the second horizontal direction.

[0018] If appropriate, the movement of the vehicle in step di may be carried out partly in a transport zone before being carried out in the corresponding access corridor.

[0019] A first possibility may include an additional step performed after step di, which includes moving the vehicle in a first horizontal direction within an aisle of a storage area that serves the rack in which the collection cell is located, to align the vehicle with the collection cell in a second horizontal direction.

[0020] Where appropriate, the movement of the vehicle in step bii may be carried out partly in a conveyance zone before being carried out in a corresponding access corridor.

[0021] Step bii may include the following sub-steps: bii1. moving the vehicle on the floor within the first gangway in a second horizontal direction until the vehicle is positioned within the first gangway; bii2. Moving the vehicle on the floor within the first aisle in a first horizontal direction until the vehicle is aligned with the second aisle in a second horizontal direction. bii3. Moving the vehicle on the floor in a second horizontal direction within a second connecting aisle until the vehicle is positioned within the second aisle, the second aisle preferably being an aisle serving the rack in which the collection cell is located.

[0022] Alternatively, steps bii1 and bii2 may be repeated one or more times before step bii3. Step bii may include a step of changing direction (of movement of the vehicle) between each of steps bii1 and bii2, and between the last step bii2 (which may be step bii2 if steps bii1 and bii2 are performed only once) and step bii3. A second possibility may also include a step before step bii involving one or more movements of the vehicle within the transport zone.

[0023] If the aisle concerned in step dii does not coincide with the aisle serving the rack in which the collection cell is located, a second possibility may include an additional step performed after step dii, which additional step includes moving the vehicle on the floor in a second horizontal direction in another connecting aisle until the vehicle is positioned in the aisle serving the rack in which the collection cell is located.

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

[0025] Step a may include the following sub-steps: a1. Selecting a container to be collected in a storage area, the container being placed inside a collection cell of the cells of the storage area. a2 Establishing communication with the vehicle located at its initial position in the transportation zone by means of a wireless communication network, for example WiFi, WiMAX, IWLAN, GSM, GPRS, UMTS, etc.

[0026] The vehicle is a chassis extending along a first horizontal extension axis; - means for horizontal movement adapted to move the chassis on a floor in at least two orthogonal directions while maintaining a fixed orientation of the first extension axis of the chassis, the means for horizontal movement being configured to move freely on a floor without guide rails in the two orthogonal directions; - climbing means adapted to move the chassis along a vertical direction; - gripping means coupled to the chassis and adapted to grip a container in the cell and load the container onto the chassis; may be provided.

[0027] Thus, the orientation of the first extension axis of the vehicle chassis remains fixed during steps bi, bii, di, and dii, and during changes of direction in steps ci and cii, preferably during steps e and g. Preferably, the orientation of the vehicle remains fixed throughout its route within the transport zone and storage area, particularly on the floor. More preferably, the orientation of the vehicle remains fixed throughout the method for order preparation.

[0028] The orientation of the first extension axis of the vehicle chassis may have a component in a first horizontal direction and / or a component in a second horizontal direction. Thus, during the method for order preparation as described above, the component in the first horizontal direction and / or the component in the second horizontal direction of the first extension axis of the vehicle chassis does not change. In particular, the orientation of the first extension axis of the vehicle chassis remains fixed during the movement of the vehicle in the first horizontal direction in steps bi and dii, during the movement of the vehicle in the second horizontal direction in steps di and bii, and during the 90° change in direction of the movement in steps ci and cii.

[0029] The means for horizontal movement of the vehicle may comprise at least one wheel assembly, the wheel assembly comprising: - a wheel having an axis of rotation perpendicular to the vertical direction and coupling means for coupling the wheel to the chassis, the axis of rotation of the wheel about which the wheel rotates to move the vehicle extending in a second horizontal direction at least during steps bi and dii and in a first horizontal direction between steps di and bii; - means for changing the direction of movement, comprising pivoting means for pivoting the wheel and the coupling means about an axis perpendicular to the chassis, the perpendicular axis intersecting the axis of rotation of the wheel;

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

[0031] Changing the direction of vehicle travel by 90° between the first and second horizontal directions by turning only the wheels and wheel coupling means is advantageously faster than turning the entire vehicle chassis. Specifically, a 2 second improvement has been observed for a 90° change in direction of vehicle travel, thus resulting in even greater order preparation rates.

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

[0033] The coupling means may comprise a wheel fork on which the wheel is mounted to pivot about the wheel's axis of rotation. The coupling means, in particular the fork, may comprise two flanges and a shaft. The flanges may be arranged one on each side of the wheel along the direction of the wheel's axis of rotation. The shaft may extend between the flanges along the wheel's axis of rotation. The shaft may be fixed to the flanges. The shaft may pass through a hole in each of the flanges and may be fastened to the flanges by a nut engaging a threaded portion of the shaft. The wheel may be mounted on the shaft to pivot about its axis of rotation.

[0034] The wheel pivoting means may comprise a toothed wheel fixed to the wheel fork and mounted to pivot about the wheel's vertical pivot axis, and a worm screw in mesh with the toothed wheel.

[0035] During step c, the wheel may be prevented from rotating about its axis of rotation.

[0036] Thus, when the direction of travel of the vehicle changes by 90°, the orientation of the vehicle remains fixed. Also, when the wheel is turning about a vertical axis, it is not necessary for the drive means to act on the wheel to compensate for the rotation of the wheel about its axis of rotation. This reduces the energy consumption of the vehicle.

[0037] In other words, step c is performed without the wheel pivoting about its axis of rotation.

[0038] The wheel assembly may comprise a drive means for rotating the wheel about its axis of rotation relative to the chassis, the drive means comprising a first bevel gear and a second bevel gear arranged relative to each other to form a bevel gearing, the first bevel gear being coaxial with the vertical axis and the second bevel gear being coaxial with the axis of rotation of the wheel, the wheel and the second bevel gear being arranged one on each side of the vertical axis, and the relative difference between the ratio of the radius of the wheel to the distance along the axis of rotation separating the center plane of the wheel and the vertical axis and the reduction ratio between the second bevel gear and the first bevel gear being 2% or less.

[0039] Such an arrangement makes it possible to prevent the wheel from being rotated about its axis of rotation when the wheel pivots about a vertical axis.

[0040] It will be appreciated that due to the fact that the first bevel gear is coaxial with the vertical axis, the first bevel gear comprises a plurality of teeth arranged in an annular shape around the vertical axis, and similarly, due to the fact that the second bevel gear is coaxial with the axis of rotation of the wheel, the second bevel gear comprises a plurality of teeth arranged in an annular shape around the axis of rotation of the wheel.

[0041] The center plane of the wheel is a plane perpendicular to the rotational axis of the wheel and equidistant along the rotational axis of the wheel from the first and second faces of the wheel, which are opposite each other along the direction of the rotational axis of the wheel.

[0042] The reduction ratio between the second bevel gear and the first bevel gear corresponds to the ratio between the number of teeth of the second bevel gear and the number of teeth of the first bevel gear.

[0043] The means for horizontal movement of the vehicle may comprise a plurality of wheel assemblies, and step c may comprise simultaneously pivoting the wheel of each wheel assembly and the coupling means about a corresponding vertical axis to pivot the axis of rotation of the wheel of each wheel assembly about a vertical axis from the second horizontal orientation to the first horizontal orientation.

[0044] The chassis of the vehicle may be parallelepiped in shape. The vehicle may include four wheel assemblies, each wheel assembly located at a lower corner of the chassis.

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

[0046] The vehicle may comprise an actuator for actuating the drive means of each wheel assembly. Alternatively, each wheel assembly may comprise an actuator for actuating its drive means.

[0047] The storage area may include several racks, each served by at least one aisle extending in a first horizontal direction, each rack including a plurality of rack columns arranged alternately in the first horizontal direction, each rack column including a plurality of storage cells adapted to store containers each storing at least one item, the cells of each column being stacked in several levels along a vertical direction between a bottom level and a top level, each column including an empty space formed vertically between the floor level and the bottom level cells, the storage area including a plurality of connecting aisles extending at the floor level in a second horizontal direction perpendicular to the first orthogonal direction, each connecting aisle passing through the empty space of one of the columns of each rack. The transport zone may be adjacent to the storage area in the second horizontal direction.

[0048] According to a third possibility, the method may comprise the following steps: biii. moving the vehicle on the floor in at least the first gangway in a second horizontal direction until the vehicle is positioned below one of the racks, preferably below the bottom level of the first rack. ciii. Making at least a first change in direction, preferably below the first rack. diii. moving the vehicle on the floor in a first horizontal direction beneath the first rack until the vehicle is positioned within the second aisle; ciii'. Making at least a second change in direction, preferably below the second rack. diii'. Moving the vehicle on the floor in the second access aisle in a second horizontal direction until the vehicle is positioned in an aisle of the storage area, preferably an aisle serving the rack in which the collection cell is located.

[0049] The orientation of the vehicle remains fixed during steps biii, diii, diii', during movement of the vehicle on the floor within the transport zone and within the storage area, including during changes of direction performed in steps ciii, ciii'.

[0050] Steps ciii and ciii' may comprise pivoting the wheel and coupling means about a vertical axis to pivot an axis of rotation of the wheel about the vertical axis between the second horizontal direction and the first horizontal direction.

[0051] The method may comprise the first possibility, and / or the second possibility, and / or the third possibility, in other words, the method may be any combination of the first, second, and third possibilities.

[0052] The vehicle may be equipped with an automated guidance unit. The method may include the following steps. a' transmitting the location of the collection cell to the vehicle's automated guidance unit, the location of the collection cell being identified by the aisle serving the rack in which the collection cell is located, the column of the rack in which the collection cell is located, and the level at which the collection container is located in the column. a'' commanding an automated guidance unit of the vehicle to calculate a route between an initial position of the vehicle and a location of the collection cell, the route preferably comprising only movement of the vehicle in a first horizontal direction and movement of the vehicle in a second horizontal direction. Steps a' and a'' are performed between steps a and b.

[0053] The vehicle is then an automated guided vehicle (AGV).

[0054] The storage area and the transport zone may be provided with guide tracings on the floor intended to guide the vehicle on the floor, the guide tracings comprising a first linear strip in a first horizontal direction and a second linear strip in a second horizontal direction, and a route may be calculated in step a'' to follow a selected path of the first strip and the second strip.

[0055] The guide tracings may form a grid as such.

[0056] The vehicle may include a first pair of sensors arranged one on each side of the vehicle in a first horizontal direction and a second pair of sensors arranged one on each side of the vehicle in a second horizontal direction, wherein the sensors of the first pair of sensors may be mounted on the vehicle one on each side of the chassis along a first axis of extension and the sensors of the second pair of sensors may be mounted on the vehicle one on each side of the chassis along a second axis of extension that is orthogonal to the first axis.

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

[0058] When the vehicle moves in a first horizontal direction, - the first pair of sensors may be adapted to detect deviations or misalignments of the vehicle in a first horizontal direction relative to a first strip being followed by the vehicle, and if necessary, the alignment of the vehicle in the first horizontal direction may be corrected; The second pair of sensors may be adapted to count the second strips that are traversed. In conjunction with the wheel revolution counter, the second pair of sensors may thus make it possible to identify the location of the vehicle in a second horizontal direction.

[0059] When the vehicle moves in a second horizontal direction, a second pair of sensors may be adapted to detect deviations or misalignments of the vehicle in a second horizontal direction relative to a second strip being followed by the vehicle, and if necessary, the alignment of the vehicle in the second horizontal direction may be corrected; The first pair of sensors may be adapted to count the first strips that are traversed, and in conjunction with the wheel rotation counter, the first pair of sensors may thus make it possible to identify the location of the vehicle in a first horizontal direction.

[0060] This ensures centered positioning of the strip, which also ensures that vehicles can circulate through the storage area aisles without hitting the rack uprights.

[0061] The sensors of the first pair of sensors and / or the second pair of sensors may be optical sensors. Specifically, they may be LED sensors, preferably 750 nm. The sensors of the first pair of sensors and / or the second pair of sensors may be adapted to detect color differences between black and white. For this purpose, the first and second strips may be provided with a black border surrounding a white central portion.

[0062] The strips may be implemented as a coating fixed to the floor (e.g., by gluing) or may be painted directly on the floor. Each aisle of the storage area may be provided with one of the first strips in a first horizontal direction. Each connecting aisle of the storage area may be provided with one of the second strips in a second horizontal direction.

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

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

[0065] The number of first strips and second strips in the transport zone can be greater, which allows for an increase in the number of possible routes for vehicles, thus allowing for a greater traffic density in the transport zone (i.e., a greater number of vehicles moving around in the transport zone at the same time), and therefore a greater order preparation rate.

[0066] A first extension axis of the vehicle may extend along a second horizontal direction, and the dimensions of the vehicle in the second horizontal direction may match the dimensions of the vehicle, in particular the chassis, along the first extension axis.

[0067] A number of other motorized vehicles may circulate within the transport zone and / or storage area, and a route may be calculated in step a'' as a function of the current location of the other vehicles within the transport zone and / or storage area to follow a path that avoids colliding with one of the other vehicles.

[0068] Each rack may include several pairs of columns in a first horizontal direction, each column extending vertically, the columns of each pair of columns being spaced apart from each other in a second horizontal direction, the cells of each column being disposed between two adjacent pairs of columns in the first horizontal direction, and the vehicle having a dimension in the first horizontal direction that is smaller than the distance separating the two pairs of columns in the first horizontal direction.

[0069] The first extension axis of the vehicle may extend in a second horizontal direction, and the dimensions of the vehicle in the first horizontal direction may correspond to the dimensions of the vehicle, in particular the chassis, in a direction perpendicular to the direction of the first extension axis.

[0070] Each rack may comprise climbing means comprising one or more toothed wheels each configured to engage with a mating member, such as a linear gear or chain, extending vertically along each post, thereby ensuring movement of the vehicle along the post of the rack.

[0071] When ascending or descending, the rotational movement of each toothed wheel of the climbing means may be translated into vertical movement of the vehicle along the support.

[0072] Each mating member may be integral with a respective post.

[0073] Each toothed wheel of the vehicle's climbing means may be movable between a stored position in which the wheel is housed within or above the chassis and a deployed position in which the wheel protrudes laterally from the chassis. Step e may include a sub-step e1 comprising deploying each toothed wheel of the climbing means from the stored position to the deployed position. Step g may include a sub-step g1 comprising folding each toothed wheel of the climbing means from the deployed position to the stored position. During steps e1 or g1, each toothed wheel of the climbing means may be deployed from the stored position or folded from the deployed position, respectively, in a respective deployment direction having components in a first horizontal direction and a second horizontal direction. In other words, the deployment axis of each toothed wheel of the deployment means may form a preferably non-zero angle with the first extension axis of the vehicle and / or with a second extension axis of the vehicle perpendicular to the first axis. It is thus understood that when the toothed wheels of the climbing means are in their stowed position, the vehicles can circulate under the racks (i.e., below the bottom level of the racks), in particular in the access aisles of the storage area, without hitting against the posts of the racks. In this stowed configuration, the vehicles may have a dimension in the first horizontal direction that is smaller than the distance separating the two pairs of posts in the first horizontal direction. Conversely, in their deployed position, the toothed wheels of the climbing means may be arranged to face the posts in the second horizontal direction. Also, in this deployed configuration, the vehicles may have a dimension in the first horizontal direction that is larger than the distance separating the two pairs of posts in the first horizontal direction.

[0074] The vehicle chassis and the containers loaded onto the vehicle chassis may have a cumulative vertical height that is less than the vertical dimension of the free space in each column of each rack.

[0075] Furthermore, the deployment of each climbing means may be performed in a translational movement, preferably in a single horizontal movement, such deployment of the climbing means making it possible to reduce the height of the vehicle, i.e. to make it more vertically compact, and therefore to lower the bottom level of the rack in order to increase the storage capacity.

[0076] The method may include step h, performed after step g, comprising moving the motor vehicle on the floor in a second horizontal direction within the gangway until the vehicle is located within the transport zone, the orientation of the vehicle preferably remaining fixed during step h.

[0077] The transport zone may comprise at least one order preparation station. The method may include step i, performed after step g, comprising moving the vehicle on a floor within the transport zone to the order preparation station, wherein the orientation of the vehicle preferably remains fixed during step i.

[0078] Step i may be performed after step h.

[0079] Other features, details, and advantages will become apparent upon reading the following detailed description and examining the accompanying drawings. [Brief explanation of the drawings]

[0080] [Figure 1] Schematic diagram of storage areas and transportation zones patrolled by fleets of motorized vehicles for order preparation. [Figure 2a] 2 is a functional diagram of a method for preparing orders by at least one motor vehicle moving between the storage area and the transport zone of FIG. 1; [Figure 2b] FIG. 2b is a functional diagram of one of the steps of the method of FIG. 2a. [Figure 3] 3 is a schematic diagram of several different routes of the motor vehicle during the method of FIG. 2. [Figure 3bis]3 is a schematic diagram of another different route of the motor vehicle during the method of FIG. 2. [Figure 4] FIG. 3 is a perspective view of a vehicle used in the method of FIG. 2. [Figure 5] 3 is a diagram of a means for moving a vehicle on a floor, used in the method of FIG. 2; [Figure 6] 6 is a cross-sectional view of the means of FIG. 5 at section VV. [Figure 7] 2 is a schematic diagram of the storage area and transport zone of FIG. 1 patrolled by motor vehicles, showing dimensional characteristics of the vehicles relative to the storage area and transport zone; DETAILED DESCRIPTION OF THE INVENTION

[0081] Reference is first made to Figure 1, which illustrates a warehouse comprising a storage area 10 and a conveying zone 11 for order preparation. In the remainder of this specification, reference will be made to a vertical direction Z, a first horizontal direction X1, and a second horizontal direction X2. It should be understood that the vertical direction Z is orthogonal to the first horizontal direction X1 and the second horizontal direction X2. Additionally, the second horizontal direction X2 is orthogonal to the first horizontal direction X1.

[0082] The storage area 10 initially comprises a plurality of racks 20. Each rack 20 is served by at least one aisle Ai extending in a first horizontal direction X1. Each rack 20 comprises several pairs of columns 21 in the first horizontal direction X1. Each column 21 extends in a vertical direction Z. The columns 21 of each pair of columns 21 are spaced apart from each other in a second horizontal direction X2. Each column 21 has a dimension 21l in the first horizontal direction. Each rack 20 forms a plurality of rack columns 22 arranged alternately along the first horizontal direction X1. Each rack column 22 comprises a plurality of storage cells 23 adapted to accommodate a container 50, each of which stores at least one item. The cells 23 of each column 22 are arranged between two consecutive pairs of columns 21 in the first horizontal direction X1. In the illustrated example, each cell 23 can accommodate two containers 50, one behind the other in the second horizontal direction X2. Here, the container 50 is parallelepiped in shape. The cells 23 of each column 22 are stacked in several levels along the vertical direction Z between a bottom level and a top level. The cells 23 at the bottom level are above the floor level.

[0083] Each column 22 therefore comprises an empty space 24 formed vertically between the floor level and the bottom level cells 23. The storage area 10 thus comprises a plurality of passageways Pi extending at floor level in the second horizontal direction X2, each passageway Pi passing under at least one cell 23, i.e. passing through the empty space 24 of one of the columns 22 of each rack 20.

[0084] The conveying zone 11 adjoins the storage area 10 in a second horizontal direction X2. Each connecting passage Pi leads into the conveying zone 11. The conveying zone 11 comprises at least one order preparation station 12 from which an operator removes items for assembling said orders.

[0085] As can be seen in FIG. 2, the storage area 10 and the transport zone 11 are provided with guide tracings on the floor (described in more detail below) intended to guide the vehicles 30 on the floor. The guide tracings comprise first linear strips 14 in the first horizontal direction X1 and second linear strips 15 in the second horizontal direction X2. Each aisle Ai of the storage area 10 thus comprises one of the first strips 14 in the first horizontal direction X1. Each connecting aisle Pi of the storage area 10 thus partially comprises one of the second strips 15 in the second horizontal direction X2. The guide tracings thus form a grid. The strips 14, 15 may be implemented as a coating fixed to the floor (for example, by gluing) or may be painted directly on the floor.

[0086] A fleet of motor vehicles 30 ensures the transport of containers 50 between storage areas 10 and order preparation stations 12 .

[0087] It should be noted that the storage area 10 and the transport zone 11 each do not have any rails on the floor to guide the vehicles 30 .

[0088] With reference to Figures 2a, 3 and 7, a method 100 for preparing orders by motor vehicles 30 moving between a storage area 10 and a transport zone 11 will now be described.

[0089] The method 100 comprises a first step 101. The first step 101 comprises associating a vehicle 30 located in an initial position in the transport zone 11 with a container to be collected in the storage area. The container 50 is placed inside a collection cell 23c of the plurality of cells 23 of the storage area 10. The container 50 may comprise one or more items to be collected to prepare an order.

[0090] The first step 101 may include a first sub-step consisting of selecting a container to be brought from the storage area 10, making it possible to establish the location of the collection cell 23c. The location of the collection cell 23c is identified here by the aisle Ai serving the rack 20 in which the collection cell 23c is located, the column 22 of the rack 20 in which the collection cell 23c is located, and the level at which the collection cell 23c is located in the column 22.

[0091] The vehicle 30 is here an automated guided vehicle (AGV), and to this end, the vehicle 30 is equipped with an automated guidance unit.

[0092] The first step 101 may include a second auxiliary step comprising establishing communication with the vehicle 30 located at an initial position within the transport zone 11 via a wireless communication network such as, for example, WiFi, WiMAX, IWLAN, GSM, GPRS, UMTS (registered trademark), etc.

[0093] The method 100 comprises a second step 102. The second step 102 comprises transmitting the location of the collection cell 23c to the vehicle's automated guidance unit.

[0094] The method 100 comprises a third step 103. The third step 103 comprises sending instructions to the automated guidance unit of the vehicle 30 to calculate a route between the initial position of the vehicle 30 and the position of the collection cell 23c. The calculated route here comprises only the movement(s) of the vehicle 30 in the first horizontal direction X1 and / or the movement(s) in the second horizontal direction X2. In particular, the route is calculated in the third step 103 to follow a selected path among the first strip 11 and the second strip 15. The route is also calculated as a function of the current or planned positions of the other vehicles 30 of the fleet within the transportation zone 11 and / or within the storage area 10 in order to establish a path that avoids collisions with one of the other vehicles 30. For this purpose, measures may be taken to send the current positions of the other vehicles 30 of the fleet and / or their planned movement path to the automated guidance unit in real time.

[0095] Alternatively, the second step 102 and the third step 103 may be replaced by a central control unit located remotely from the vehicle calculating a route between the initial position of the vehicle 30 and the position of the collection cell 23c and transmitting the route to the vehicle 30.

[0096] The method 100 comprises a fourth step 104. The fourth step 104 comprises moving the vehicle 30 on the floor in the transport zone 11 in at least the first horizontal direction X1 so as to align the vehicle in the second horizontal direction X2 with the access passage Pi of the storage area 10 that leads to the column 22 in which the collection cell 23c is located.

[0097] According to a first different route i1 visible in Figure 3, the movement of the vehicle 30 on the floor in the transport zone 11 during the fourth step 104 may be carried out only in the first horizontal direction X1. Alternatively, according to a second different route i2 also visible in Figure 3, the fourth step 104 may comprise a first auxiliary step 1041 comprising moving the motor vehicle 30 on the floor in the transport zone 11 in the first horizontal direction X1, a second auxiliary step 1042 comprising moving the motor vehicle 30 on the floor in the transport zone 11 in the second horizontal direction X2, and a third auxiliary step 1043 comprising moving the motor vehicle 30 on the floor in the transport zone 11 in the first horizontal direction X1 so as to align the vehicle in the second horizontal direction X2 with the connecting passage Pi leading to the column 22 in which the collection cell 23c is located. 2b, the first auxiliary step 1041 and the second auxiliary step 1042 of the fourth step 104 may be repeated one or more times before performing the third auxiliary step 1043 of the fourth step 104. The change in direction in the movement of the vehicle 30 between the first horizontal direction X1 and the second horizontal direction X2 will be described in more detail below.

[0098] To perform such movement on the floor, the vehicle 30 comprises a chassis 31 extending along a first horizontal extension axis C1 and means for horizontal movement adapted to move the chassis 31 on the floor in at least two orthogonal directions, the first extension axis C1 of the chassis 31 being considered as being orthogonal to the vertical direction Z.

[0099] Reference is now made to Figures 4 to 6, which show the vehicle 30 in more detail. The chassis 31 of the vehicle 30 is parallelepiped in shape. The means for horizontal movement of the vehicle 30 comprise a number of wheel assemblies 32. The vehicle 30 here comprises four wheel assemblies 32, each wheel assembly 32 being located at a lower corner of the chassis 31.

[0100] Each wheel assembly 32 comprises a wheel 33 having an axis of rotation R perpendicular to the vertical direction Z. It will be appreciated that the axis of rotation R of the wheel 33, about which the wheel 33 rotates to move the vehicle 30, extends in the second horizontal direction X2 during the fourth step 104 and in the first horizontal direction X1 during the fifth step 105.

[0101] Each wheel assembly 32 also includes a coupling means for coupling the wheel 33 to the chassis 31. The coupling means may include a fork on which the wheel 33 is mounted to rotate about its axis of rotation R. The fork includes two flanges 34 and a shaft 35. The flanges 34 are arranged, one on each side of the wheel 33 along the direction of the axis of rotation R of the wheel 33. The shaft 35 extends between the flanges 34 along the axis of rotation R of the wheel 33. The shaft 35 is fixed to the flanges 34. In the present case, the shaft 35 passes through a hole in each of the flanges 34 and is fastened to the flanges 34 by a nut that engages with a threaded portion of the shaft 35. The wheel 33 is thus mounted on the shaft 35 to rotate about its axis of rotation R.

[0102] The means for horizontal movement are further configured to move freely on the floor without any rails for guidance, in particular in two orthogonal directions. Such a mode for movement of the vehicle 30 allows for faster and more flexible installation of the storage area 10 and the transport zone 11. Finally, the noise footprint is also reduced, providing improved comfort to human operators working in the storage area 10 and / or the transport zone 11.

[0103] Each wheel assembly 32 comprises a drive means for rotating the wheel 33 about its axis of rotation R relative to the chassis 31. The drive means comprises a first bevel gear 37 and a second bevel gear 38 arranged relative to each other to form a bevel gearing. The first bevel gear 37 is coaxial with the vertical axis V and the second bevel gear 38 is coaxial with the axis of rotation R of the wheel 33. The wheel 33 and the second bevel gear 38 are arranged one on each side of the vertical axis V. The vehicle 30 here comprises an actuator 39 for operating the drive means of each wheel assembly 32. Alternatively, each wheel assembly 32 may be provided with a respective actuator for operating its drive means.

[0104] Method 100 comprises a fifth step 105. Fifth step 105 comprises a change in direction of movement of the vehicle from a first horizontal direction X1 to a second horizontal direction X2, the change in direction being performed while maintaining a fixed vehicle orientation relative to the first horizontal direction X1 and the second horizontal direction X2. Specifically, fifth step 105 comprises pivoting the wheels 33 of each wheel assembly 32 about a vertical axis V in preparation for moving the vehicle 30 in the second horizontal direction X2. During fifth step 105, the wheels 33 of each assembly are pivoted about the vertical axis V to pivot the rotation axis R of the wheels 33 about the vertical axis V from the second horizontal direction X2 to the first horizontal direction X1.

[0105] To achieve this, each wheel assembly 32 is provided with means for changing the direction of travel. These means for changing the direction of travel comprise pivoting means for pivoting the wheel 33 and coupling means about a vertical axis V relative to the chassis 31. The vertical axis V intersects the rotation axis R of the wheel 33. The pivoting means of the wheel 33 comprises a toothed wheel 40 fixed to the fork and mounted to pivot the wheel 33 about the vertical pivot axis V, and a worm screw 41 meshing with the toothed wheel 40.

[0106] Each wheel assembly 32 here comprises an actuator 42 for actuating the pivoting means by driving the worm screw 41 to rotate about its extension axis. The actuator 42 may comprise a motor fixed to the chassis 31 of the vehicle 30 and having an output shaft connected to the worm screw 41. Alternatively, a single actuator may be provided for actuating the pivoting means of each wheel assembly 32.

[0107] Executing a 90° change in direction of movement of the vehicle 30 between the first horizontal direction X1 and the second horizontal direction X2 by turning only the wheels 33 and their coupling means is advantageously faster than turning the entire vehicle chassis 31. Specifically, an improvement of 2 seconds has been observed for a 90° change in direction of movement of the vehicle 30, thus resulting in a greater order preparation rate.

[0108] Furthermore, the wheels 33 and coupling means of each wheel assembly 32 are simultaneously rotated about the corresponding vertical axis V to rotate the rotation axis R of the wheels 33 of each wheel assembly 32 about the vertical axis V from the second horizontal direction X2 to the first horizontal direction X1.

[0109] Finally, during a fifth step 105, the wheels 33 of each wheel assembly 32 are prevented from rotating about their rotation axis R. In other words, the wheels 33 are swiveled about the vertical axis V without being rotated about the rotation axis R. Thus, the orientation of the vehicle 30 remains fixed when the direction of movement of the vehicle changes. Also, when the wheels 33 swivel about the vertical axis V, it is not necessary to act on the wheels 33 via drive means to compensate for the rotation of the wheels 33 about their rotation axis R. This makes it possible to reduce the energy consumption of the vehicle.

[0110] This may be achieved by a relative difference between the ratio of the radius r of the wheel 33 to the distance d along the rotation axis R separating the center plane M and the vertical axis V of the wheel 33, and the reduction ratio between the second bevel gear 38 and the first bevel gear 37 being 2% or less. The reduction ratio between the second bevel gear 38 and the first bevel gear 37 corresponds to the ratio between the number of teeth of the second bevel gear 38 and the number of teeth of the first bevel gear 37. The center plane M of the wheel 33 is a plane perpendicular to the rotation axis R of the wheel 33, and is equidistant along the direction of the rotation axis R of the wheel 33 from the first and second faces of the wheel 33, which face each other along the direction of the rotation axis R of the wheel 33.

[0111] Finally, the changes in direction of the vehicle 30 carried out between the sub-steps 1041, 1042, 1043 of the fourth step 104 may be carried out in a similar manner as in the fifth step 105.

[0112] The method 100 comprises a sixth step 106. The sixth step 106 comprises moving the motor vehicle 30 on the floor in the second horizontal direction X2 in the connecting passage Pi of the storage area 10 that leads to the column 22 in which the collection cell 23c is located, and optionally previously in the transport zone 11, until the vehicle 30 is located in the passage Ai of the storage area 10 that serves the rack 20 in which the collection cell 23c is located. For example, in the case of the first route variant i1, the movement of the motor vehicle 30 on the floor in the second horizontal direction X2 comprises a first portion in the transport zone 11 and a second portion in the corresponding connecting passage Pi. On the other hand, in the case of the second route variant i2, the movement of the motor vehicle 30 on the floor in the second horizontal direction X2 only takes place in the corresponding connecting passage Pi.

[0113] It should be noted that during the fourth step 104, the fifth step 105, and the sixth step 106, the orientation of the vehicle 30 remains fixed.

[0114] As explained above, the means for horizontal movement is adapted to maintain a fixed orientation of the first extension axis C1 of the chassis 31. Thus, the orientation of the first extension axis C1 of the chassis 31 of the vehicle 30 remains fixed from the fourth step 104 to the sixth step 106. In particular, the direction of the first extension axis C1 of the chassis 31 of the vehicle 30 here remains aligned with the second horizontal direction X2.

[0115] Thus, the vehicle 30 does not rotate the chassis 31 of the vehicle 30 when the direction of movement of the vehicle 30 changes by 90° during the fifth step 105. The chassis 31 of the vehicle 30 does not pivot relative to itself. Therefore, the movement of the vehicle 30 requires only a modest amount of floor space during the movement of the vehicle 30 to the collection cell 23c, especially during the 90° change in direction of the movement of the vehicle 30 between the fourth step 104 and the sixth step 106. The minimum floor space required is strictly equal to the surface area occupied by the chassis 31 of the vehicle 30 due to the dimensions of the vehicle 30. For example, the floor space occupied by the vehicle 30 during a 90° change in direction between the first horizontal direction X1 and the second horizontal direction X2 is reduced by a factor equal to √(2) compared to a vehicle 30 of equal dimensions whose chassis 31 would rotate during the 90° change in direction. Thus, the number of vehicles 30 simultaneously transporting within the transport zone 11 can be large while avoiding any expansion of the surface area of ​​the transport zone 11. As a result, the order preparation rate can be large.

[0116] Furthermore, when the chassis 31 of the vehicle 30 is not rotated, this allows for reduced or even eliminated recalibration of the position of the robot chassis 31 compared to the situation (e.g., relative to the rack 20) ​​after a 90° change in direction between the movement in the first horizontal direction X1 in the fourth step 104 and the movement in the second horizontal direction X2 in the sixth step 106. Thus, the movement of the vehicle 30 is more precise and easier to implement. Also, the method 100 for order preparation is faster and safer to execute.

[0117] According to the example shown in Figures 3 and 7, the dimension of the vehicle 30 along the second horizontal direction X2 corresponds to the length L of the vehicle 30, in particular the chassis 31, and is considered to be along the first extension axis C1. Similarly, the dimension of the vehicle 30 along the first horizontal direction X1 here corresponds to the width l of the vehicle 30, in particular the chassis 31, and is considered to be along a direction perpendicular to the direction of the first extension axis C1. The width l of the vehicle 30 may be equal to 450 mm. The length L of the vehicle 30 may be equal to 650 mm.

[0118] Due to the lack of rotation of the vehicle chassis 31, two consecutive second strips 15 may be advantageously spaced apart from one another in the first horizontal direction X1 within the transport zone 11 by a first distance d1 between 500 mm and 600 mm, preferably between 525 mm and 575 mm, and more preferably equal to 560 mm. Additionally or alternatively, a first relative difference between the first distance d1 in the first horizontal direction X1 separating two consecutive second strips 15 within the transport zone 11 and the width l of the vehicle 30 may be between 0% (excluding boundaries) and 35%, preferably between 0% (excluding boundaries) and 30%, and more preferably between 0% (excluding boundaries) and 25%. The first distance is also determined to be substantially greater (i.e., for example, approximately 1 to 50 mm) than the sum of the width l of the vehicle 30 and twice the dimension 21l of the support 21 along the first horizontal direction.

[0119] Similarly, two consecutive first strips 14 may be advantageously spaced apart from one another along the second horizontal direction X2 in the conveying zone 11 by a second distance d2 between 700 mm and 800 mm, preferably between 725 mm and 775 mm, and more preferably equal to 750 mm. Additionally or alternatively, a second relative difference between the second distance d2 along the second horizontal direction X2 separating two consecutive first strips 14 in the conveying zone 11 and the length L of the vehicle may be between 0% (excluding boundaries) and 25%, preferably between 0% (excluding boundaries) and 20%, and more preferably between 0% (excluding boundaries) and 15%.

[0120] In the case of a vehicle that changes direction by turning relative to itself, and as is particularly evident in FIG. 7 where two vehicles are next to each other in a first horizontal direction, a larger first relative difference than the range of values ​​described above in the context of this specification is required to avoid a collision between the two vehicles. The same observation applies to the second relative difference when two vehicles are side by side in a second horizontal direction. It should be understood that the method described herein thus allows for the placement of more first strips 14 and second strips 15 within the transportation zone 11, which increases the number of possible routes for the vehicles 30. Thus, eliminating the rotation of the vehicles 30 of the unit and having a larger number of first strips 14 and second strips 15 allows for an increase in the number of vehicles 30 moving simultaneously within the transportation zone 11, and therefore, a greater order preparation rate.

[0121] The vehicle 30 may comprise a first pair of sensors K1 arranged one on each side of the vehicle 30 in a first horizontal direction X1, and a second pair of sensors K2 arranged one on each side of the vehicle 30 in a second horizontal direction X2. The sensors of the first pair of sensors may be mounted on the vehicle 30 one on each side of the chassis along a first extension axis, and the sensors of the second pair of sensors K2 may be mounted on the vehicle 30 one on each side of the chassis along a second extension axis perpendicular to the first axis.

[0122] Depending on the direction of movement of the vehicle 30, one of the first pair of sensors K1 and the second pair of sensors K2 may be adapted to control the alignment of the vehicle 30 in the first horizontal direction X1 and the second horizontal direction X2, respectively, and the other of the first pair of sensors K1 and the second pair of sensors K2 may be adapted to identify the position of the vehicle 30 in the first horizontal direction X1 and the second horizontal direction X2, respectively.

[0123] When the vehicle 30 moves in the first horizontal direction X1, the first pair of sensors K1 may be adapted to detect deviations or misalignments of the vehicle 30 in a first horizontal direction X1 relative to the first strip 14 being followed by the vehicle 30. If necessary, the alignment of the vehicle 30 in the first horizontal direction X1 may be corrected; The second pair of sensors K2 may be adapted to count the second strips 15 that are traversed. In conjunction with the wheel revolution counter, the second pair of sensors K2 may thus make it possible to identify the position of the vehicle 30 in a second horizontal direction X2.

[0124] When the vehicle 30 moves in the second horizontal direction X2, a second pair of sensors K2 may be adapted to detect deviations or misalignments of the vehicle 30 in a second horizontal direction X2 relative to the second strip 15 being followed by the vehicle 30. If necessary, the alignment of the vehicle 30 in the second horizontal direction X2 may be corrected; The first pair of sensors K1 may be adapted to count the first strips 14 that are traversed. In conjunction with a wheel revolution counter, the first pair of sensors K1 may thus make it possible to identify the location of the vehicle 30 in a first horizontal direction X1.

[0125] This ensures that the strip is centered, which also ensures that the vehicle 30 can travel through the storage area aisles without hitting the rack supports.

[0126] The sensors of the first pair of sensors K1 and / or the second pair of sensors may be optical sensors. In particular, they may be LED sensors, preferably 750 nm. The first pair of sensors K1 and / or the second pair of sensors may be adapted to detect the color difference between black and white. For this purpose, the first strip 14 and the second strip 15 may be provided with a black border surrounding a white central portion.

[0127] In order to enable the vehicle 30 to move through one of the passageways Pi, the dimension of the vehicle 30 in the first horizontal direction X1 is smaller than the distance separating two consecutive pairs of columns 21 in the first horizontal direction X1.

[0128] The method 100 comprises a seventh step 107. The seventh step 107 comprises moving the vehicle 30 in the vertical direction Z until the vehicle 30 is positioned vertically at the level of the collection cell 23c.

[0129] To do this, the vehicle 30 is provided with climbing means adapted to move the chassis 31 in the vertical direction Z. The climbing means comprises one or more toothed wheels 43, each configured to engage with a mating member 25 of the post 21, thereby ensuring movement of the vehicle 30 along the post 21 of the rack. Here, each rack 20 is provided with a mating member 25, in this case a linear gear, extending vertically along each post 21. When ascending or descending, the rotational movement of each toothed wheel 43 of the climbing means is thus translated into vertical movement of the vehicle 30 along the post 21. The mating member 25 is integral with the respective post 21.

[0130] Each toothed wheel 43 of the climbing means is movable between a stowed position in which the wheel 33 is housed within or above the chassis 31, and a deployed position in which the wheel 33 projects laterally from the chassis 31. A seventh step 107 comprises a preliminary sub-step comprising deploying each toothed wheel 43 of the climbing means from the stowed position to the deployed position.

[0131] The climbing means comprises at least a first toothed wheel 43 capable of engaging with a mating member 25 of one of the posts 21 of the first rack 20 and a second toothed wheel 43 capable of engaging with a mating member 25 of one of the posts 21 of the second rack 20 adjacent to the first rack, the posts 21 being aligned with one another in the second horizontal direction X2. In this case, the climbing means comprises four toothed wheels 33, the toothed wheels 33 being: two toothed wheels 43 that can engage with two posts 21 of the first rack 20, the two posts 21 of the first rack 20 being consecutive in the first horizontal direction X1; - two toothed wheels 43 that can engage with two posts 21 of a second rack 20 adjacent to the first rack 20 in the second horizontal direction X2, the two posts 21 of the second rack 20 being consecutive in the first horizontal direction X1 and each facing one of the consecutive posts 21 of the first rack 20 in the second horizontal direction X2.

[0132] The method 100 comprises an eighth step 108, which comprises loading the container 50 held in the collection cell 23c onto a vehicle. The vehicle 30 is equipped with gripping means for this purpose, wherein the shape of the chassis 31 of the vehicle 30 is adapted to receive the container.

[0133] The method 100 comprises a ninth step 109. The ninth step 109 comprises moving the vehicle 30 in the vertical direction Z, in particular by means of the climbing means, until the vehicle 30 is at floor level. The ninth step 109 includes a final auxiliary step (i.e., when the vehicle 30 is at floor level) which comprises folding each toothed wheel 43 of the climbing means from the deployed position to the stowed position.

[0134] The method 100 comprises a tenth step 110. The tenth step 110 comprises moving the motor vehicle 30 on the floor in the passageway Pi in a second horizontal direction X2 until the vehicle 30 is again located in the transport zone 11. During the tenth step 110, the orientation of the vehicle 30 preferably remains fixed.

[0135] In order to enable the vehicle 30 carrying the container 50 to move along the connecting passage Pi, the chassis 31 of the vehicle 30 and the container 50 loaded on the chassis 31 of the vehicle 30 have a cumulative height in the vertical direction Z that is smaller than the dimension in the vertical direction Z of the empty space 24 formed by each column 22 of each rack 20.

[0136] Method 100 comprises an eleventh step 111. Eleventh step 111 comprises moving vehicle 30 on the floor within transport zone 11 to order preparation station 12. Again, preferably, the orientation of vehicle 30 remains fixed during eleventh step 111.

[0137] The present invention is not limited to the examples described above, and many variations are possible.

[0138] 3bis shows a first variant, represented by the third route variant i3. In this first variant, the fourth step 104, the fifth step 105, and the sixth step 106 differ from the method described above. According to this first variant, the fourth step 104 comprises moving the vehicle 30 on the floor in the transport zone and in one of the connecting aisles of the storage area in the second horizontal direction X2 until the vehicle 30 is located in the aisle Ai serving the rack 20 in which the collection cell 23c is located. According to the third route variant i3, the movement of the vehicle 30 on the floor in the storage area 10 and the transport zone 11 during the fourth step 104 may be carried out only in the second horizontal direction X2.

[0139] According to a first variant, the fifth step 105 comprises a change of direction in the movement of the vehicle from the second horizontal direction X2 to the first horizontal direction X1, this change of direction being carried out while maintaining a fixed orientation of the vehicle with respect to the first horizontal direction X1 and the second horizontal direction X2. The fifth step 105 is carried out in a similar manner to that described above. It should be noted here that the change of direction takes place within the storage area.

[0140] According to a first variant, the sixth step 106 comprises moving the motor vehicle 30 on the floor in a first horizontal direction X1 in the aisle Ai serving the rack 20 in which the collection cell 23c is located until the vehicle is at the bottom of the column 22 of the rack 20 in which the collection cell is located.

[0141] 3bis also shows a second variant represented by the fourth root variant i4. The second variant results from combining the method described above with the first variant. Thus, in the second variant, the fourth step 104, the fifth step 105, and the sixth step 106 as initially described are first performed, and then the fourth step 104, the fifth step 105, and the sixth step 106 as described with reference to the first variant are performed.

[0142] It can also be seen that in the fourth route variant i4, the fourth step 104 according to the first variant can comprise a first auxiliary step 1041 comprising moving the vehicle 30 on the floor in the first connecting aisle P5 in the second horizontal direction X2 until the vehicle is located in the first aisle A1, a second auxiliary step 104 comprising moving the vehicle 30 on the floor in the first horizontal direction X1 in the first aisle A1 until the vehicle is aligned with the second connecting aisle P2 in the second horizontal direction X2, and a third auxiliary step 1043 comprising moving the vehicle 30 on the floor in the second connecting aisle P2 in the second horizontal direction X2 until the vehicle is located in the second aisle A2, the second aisle A2 being the aisle serving the rack in which the collection cell 23c is located. Again, the first and second auxiliary steps can be repeated one or more times before the third auxiliary step is performed. Any changes in direction of the vehicle 30 performed between the auxiliary steps may also be performed in a manner similar to the fifth step 105 . [Explanation of symbols]

[0143] 10 Storage Area 11. Transport Zone 12 Order Preparation Stations 14 First linear strip 15 Second linear strip 20 racks 21 Post 22 Columns 23 Storage Cell 23c Collection cell 24 free spaces 25 mating member 30 vehicles 31 chassis 32 Wheel Assembly 33 Wheels 34 flange 35 shaft 37 First bevel gear 38 Second bevel gear 39 Actuator 40 Toothed Wheel 41 Worm screw 42 Actuator 43 Toothed Wheel 44 Toothed Wheel 50 containers

Claims

1. A method (100) for preparing orders by at least one motor vehicle (30) moving between a storage area (10) and a transport zone (11), said method comprising: a. associating the vehicle (30) located in an initial position in the transport zone (11) with a container to be collected in the storage area (10), the container (50) being placed inside a collection cell (23c) of a plurality of cells (23) in the storage area (10); Including, According to a first possibility, the method comprises: bi. moving said vehicle (30) on a floor in said transport zone (11) in at least a first horizontal direction (X1) so as to align said vehicle (30) with a connecting passage (Pi) of said storage area (10) in a second horizontal direction (X2); ci. making at least one change in direction; di. moving said vehicle (30) on said floor in at least one connecting passage (Pi) in said second horizontal direction (X2) until said vehicle (30) is located in an aisle (Ai) of said storage area (10), preferably in an aisle serving a rack (20) in which said collection cell (23c) is located; Including, According to a second possibility, the method comprises: bii. moving said vehicle (30) on said floor in at least one connecting passage (Pi) in said second horizontal direction (X2) until said vehicle (30) is located in an aisle (Ai) of said storage area (10), preferably in said aisle serving the rack (20) in which said collection cell (23c) is located; cii. making at least one change in direction; dii. moving said vehicle (30) on said floor in said aisle (Ai) of said storage area (10) in said first horizontal direction (X1) so as to align said vehicle (30) with said collection cell (23c) in said second horizontal direction (X2); Including, The method comprises: e. moving said vehicle (30) in a vertical direction (Z) until said vehicle (30) is positioned vertically at the level of said collection cell (23c); f. loading the container (50) held in the collection cell (23c) onto the vehicle (30) by the gripping means of the vehicle (30); g. moving the vehicle (30) in the vertical direction (Z) until the vehicle (30) is at floor level; further comprising - the vehicle (30) is configured to move freely on the floor, the floor having no rails for guiding in the two orthogonal directions, - the orientation of the vehicle (30) remains fixed during movement of the vehicle (30) on the floor within the transport zone and within the storage area during steps bi, bii, di, and dii, including during the changes in orientation made in steps ci and cii, and preferably during steps e and g.

2. The vehicle (30) a chassis (31) extending along a first horizontal extension axis (C1); - means for horizontal movement adapted to move the chassis (31) on the floor in at least two orthogonal directions while maintaining a fixed orientation of the first extension axis (C1) of the chassis (31), the means for horizontal movement being configured to move freely on the floor without any rails for guiding in the two orthogonal directions; - climbing means adapted to move said chassis (31) along said vertical direction (Z); - gripping means connected to said chassis (31) and adapted to grip a container (50) in one of said cells (23) and load said container (50) onto said chassis (31); The method (100) of claim 1, comprising:

3. The means for horizontal movement of the vehicle (30) comprises at least one wheel assembly (32), the at least one wheel assembly (32) comprising: - a wheel (33) having a rotation axis (R) perpendicular to the vertical direction (Z) and coupling means for coupling said wheel to the chassis (31), wherein said rotation axis (R) of said wheel (33), about which said wheel (33) rotates to move said vehicle (30), extends at least in said second horizontal direction (X2) during steps bi and dii and in said first horizontal direction (X1) during steps di and bii; - means for changing the direction of movement, comprising pivoting means for pivoting said wheels and said coupling means about an axis vertical to said chassis (31), said vertical axis (V) intersecting said axis of rotation (R) of said wheels; Equipped with 3. The method (100) of claim 2, wherein steps ci and cii comprise pivoting the wheel (33) and the coupling means about the vertical axis (V) to pivot the rotation axis (R) of the wheel (33) about the vertical axis (V) from the second horizontal direction (X2) to the first horizontal direction (X1).

4. 4. The method (100) of claim 3, wherein during steps ci and cii, the wheel (33) is prevented from rotating about its axis of rotation (R).

5. 4. The method of claim 3, wherein the wheel assembly comprises a drive means for rotating the wheel about its axis of rotation relative to the chassis, the drive means comprising a first bevel gear and a second bevel gear arranged relative to each other to form a bevel gear arrangement, the first bevel gear being coaxial with the vertical axis and the second bevel gear being coaxial with the axis of rotation of the wheel, the wheel and the second bevel gear being arranged one on each side of the vertical axis, and a relative difference between a ratio of a radius of the wheel to a distance along the axis of rotation separating a center plane of the wheel and the vertical axis and a reduction ratio between the second bevel gear and the first bevel gear is 2% or less.

6. 6. The method (100) of any one of claims 3 to 5, wherein the means for horizontal movement of the vehicle (30) comprises a plurality of wheel assemblies (32), and wherein steps ci and cii include simultaneously pivoting the wheel (33) of each wheel assembly (32) and the coupling means about the corresponding vertical axis (V) so as to pivot the rotation axis (R) of the wheel (33) of each wheel assembly about the vertical axis (V) between the second horizontal direction (X2) and the first horizontal direction (X1).

7. The storage area (10) comprises several racks (20), each of which is served by at least one aisle (Ai) extending in the first horizontal direction (X1), and each of which comprises a plurality of rack (20) columns (22) arranged alternately in the first horizontal direction (X1), each of which comprises a plurality of storage cells (23) adapted to store containers (50), the cells (23) of each column (22) being stacked in several levels along the vertical direction (Z) between a bottom level and a top level.

7. A method (100) according to any one of claims 1 to 6, wherein each column (22) has an empty space (24) formed vertically between the floor level and the cells (23) at the bottom level, the storage area (10) has a plurality of connecting passages (Pi) extending at the floor level in the second horizontal direction (X2) perpendicular to the first orthogonal direction, each connecting passage (Pi) passing through the empty space (24) of one of the columns (22) of each rack, and the transport zone (11) is adjacent to the storage area (10) in the second horizontal direction (X2).

8. The vehicle (30) is equipped with an automated guidance unit, and the method (100) comprises: a' transmitting the location of the collection cell (23c) to the automated guidance unit of the vehicle (30), the location of the collection cell (23c) being identified by the aisle (Ai) serving the rack (20) in which the collection cell (23c) is located, the column (22) of the rack (20) in which the collection cell (23c) is located, and the level in which the collection cell (23c) is located within the column (22); a'' commanding the automated guidance unit of the vehicle (30) to calculate a route between the initial position of the vehicle (30) and the position of the collection cell (23c), the route preferably including only movements of the vehicle (30) in the first horizontal direction (X1) and in the second horizontal direction (X2); Including, The method (100) of claim 7, wherein steps a' and a'' are performed between step a and step bi or step bii.

9. 9. The method (100) according to claim 8, wherein the storage area (10) and the transport zone (11) are provided with guide tracings on the floors intended to guide the vehicle (30) on the floors, the guide tracings comprising a first linear strip (14) in the first horizontal direction (X1) and a second linear strip (15) in the second horizontal direction (X2), and the route is calculated in step a'' to follow a selected path of the first strip (14) and the second strip (15).

10. 10. The method of claim 9, wherein the vehicle comprises a first pair of sensors arranged one on each side of the vehicle in the first horizontal direction (X1) and a second pair of sensors arranged one on each side of the vehicle in the second horizontal direction (X2), and wherein, depending on the direction of movement of the vehicle, one of the first pair of sensors and the second pair of sensors is adapted to monitor the alignment of the vehicle in the first horizontal direction (X1) and the second horizontal direction (X2), respectively, and the other of the first pair of sensors and the second pair of sensors is adapted to identify the position of the vehicle in the first horizontal direction (X1) and the second horizontal direction (X2), respectively.

11. 11. The method (100) according to claim 9 or 10, wherein two adjacent second strips (15) are spaced apart from each other in the first horizontal direction (X1) by a first distance (d1) between 500 mm and 600 mm, preferably equal to 560 mm, at least within the conveying zone (11), or wherein the relative difference between the first distance (d1) in the first horizontal direction (X1) separating two adjacent second strips (15) within the conveying zone (11) and the dimension of the vehicle (30) in the first horizontal direction (X1) is between 0% (excluding boundaries) and 35%, preferably between 0% (excluding boundaries) and 30%, more preferably between 0% (excluding boundaries) and 25%.

12. 12. The method (100) according to any one of claims 9 to 11, wherein two adjacent first strips (14) are spaced apart from each other in the second horizontal direction (X2) by a second distance (d2) between 700 mm and 800 mm, preferably equal to 750 mm, at least within the transport zone (11), or wherein the relative difference between the second distance (d2) in the second horizontal direction (X2) separating two adjacent first strips (14) in the transport zone (11) and the dimension of the vehicle (30) in the second horizontal direction (X2) is between 0% (excluding boundaries) and 25%, preferably between 0% (excluding boundaries) and 20%, more preferably between 0% (excluding boundaries) and 15%.

13. 13. The method (100) according to any one of claims 8 to 12, wherein a plurality of other motor vehicles (30) circulate in the transport zone (11) and / or in the storage area (10), and wherein the route is calculated in step a'' as a function of the current position of the other vehicles (30) in the transport zone (11) and / or in the storage area (10) so as to follow a path that avoids a collision with one of the other vehicles (30).

14. 14. The method (100) according to any one of claims 7 to 13, wherein each rack (20) comprises several pairs of columns (21) in the first horizontal direction (X1), each column (21) extending in the vertical direction (Z), the columns (21) of each pair of columns (21) being spaced apart from each other in the second horizontal direction (X2), the cells (23) of each column (22) being arranged between two adjacent pairs of columns in the first horizontal direction (X1), and the vehicle (30) having a dimension in the first horizontal direction (X1) that is smaller than the distance separating two pairs of columns (21) in the first horizontal direction (X1).

15. 15. A method (100) according to claim 14 when dependent on claim 2, wherein each rack (20) comprises a meshing member (25), such as a linear gear or chain, extending vertically along each post, and the climbing means comprises one or more toothed wheels (43), each configured to engage with the meshing member (25) of the post (21) to ensure the movement of the vehicle (30) along the rack post (21).

16. 16. The method (100) of claim 15, wherein each toothed wheel (43) of the climbing means of the vehicle (30) is movable between a stored position in which the toothed wheel (43) is housed in or on the chassis (31) and a deployed position in which the wheel projects laterally from the chassis (31), and wherein step e includes a sub-step e1 including deploying each toothed wheel (43) of the climbing means from the stored position to the deployed position, and step g includes a sub-step g1 including folding each toothed wheel (43) of the climbing means from the deployed position to the stored position.

17. 17. A method (100) according to any one of claims 7 to 16, dependent on claim 2, wherein the chassis (31) of the vehicle (30) and the container (50) loaded onto the chassis (31) of the vehicle (30) have a cumulative height in the vertical direction (Z) that is smaller than the dimension in the vertical direction (Z) of the empty space (24) formed by each column (22) of each rack (20).

18. 18. The method (100) according to any one of claims 1 to 17, further comprising a step (h) performed after step (g) and comprising moving the motor vehicle (30) on the floor in the connecting passage (Pi) in the second horizontal direction (X2) until the vehicle (30) is located in the transport zone (11), during which the orientation of the vehicle (30) preferably remains fixed.

19. 19. The method (100) according to any one of claims 1 to 18, wherein the transport zone (11) comprises at least one order preparation station (12), and wherein the method (100) comprises a step i, which is carried out after step g and comprises a step of moving the vehicle (30) on the floor within the transport zone (11) to the order preparation station (12), and during step i, the orientation of the vehicle (30) preferably remains fixed.

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