CN219566376U - Warehouse system - Google Patents

Abstract

The present disclosure relates to a warehousing system including a load-bearing platform and a self-moving robot. The bearing platform at least comprises a first storage platform and a second storage platform positioned above the first storage platform; the system further includes a stacking channel configured to extend obliquely from the first storage platform to the second storage platform; the self-moving robot is configured to walk in the carrying platform to transport the containers; the self-moving robot is configured to swap layers between a first storage platform and a second storage platform via the swap channel. The warehouse system of the present disclosure utilizes the layer-changing channel to replace the elevator arranged in the traditional warehouse system, and the self-moving robot can realize the layer-changing work of the container between the first storage platform and the second storage platform through the layer-changing channel, thereby being convenient and fast and improving the working efficiency of the transfer robot. The layer-changing channel occupies smaller storage space and can reduce cost.

Description

Warehouse system

Technical Field

The disclosure relates to the technical field of warehouse logistics, in particular to a warehouse system.

Background

Self-moving robots are increasingly being used in the field of warehouse logistics. The goods shelves of storehouse district are used for storing the container, and from mobile robot cooperation lifting machine, it can realize moving to arbitrary position voluntarily in one deck of goods shelves to realized moving the robot from the operation of changing the layer at different layers of goods shelves, also realized simultaneously depositing the container at different layers of goods shelves. For example, the self-moving robot can bear goods to move to the corresponding position of the lifting machine, the lifting machine drives the self-moving robot to move to the corresponding layer of the goods shelf, and after the self-moving robot moves in place, the self-moving robot moves to the corresponding storage position of the goods to store.

However, at present, a limited number of lifters in the warehouse system are responsible for transferring multiple self-moving robots on different layers of the goods shelves, and when one self-moving robot is transferred by the lifter, other self-moving robots need to wait, so that the efficiency of the lifter becomes a bottleneck of the working efficiency of the whole warehouse system. In addition, the efficiency of layer change work can be improved to a certain extent by arranging a plurality of lifting machines, but the occupancy rate of the lifting machines to the storage space can be increased, and the cost of the lifting machines can be increased.

Disclosure of Invention

The present disclosure provides a warehousing system for solving the problems existing in the prior art.

According to a first aspect of the present disclosure, there is provided a warehousing system comprising:

the bearing platform at least comprises a first storage platform and a second storage platform positioned above the first storage platform; the first storage platform and the second storage platform are configured for storing containers; the system further includes a stacking channel configured to extend obliquely from the first storage platform to the second storage platform;

a self-moving robot configured to walk in a load-bearing platform to transport containers; the self-moving robot is configured to swap layers between a first storage platform and a second storage platform via the swap channel.

In one embodiment of the present disclosure, the self-moving robot includes:

the chassis is provided with a bearing surface for bearing the container;

the running mechanism comprises a first running wheel and a second running wheel which are used for driving the chassis to walk; the first running wheel is connected to the chassis through a first lifting mechanism;

and the control unit is configured to control the first lifting mechanism to drive the first travelling wheel to lift relative to the chassis so as to keep the bearing surface in a horizontal state when the travelling mechanism is on the layer changing channel.

In one embodiment of the present disclosure, the self-moving robot includes a detection unit configured to detect a pose of the self-moving robot; the control unit is configured to control the first lifting mechanism to drive the first running wheel to lift relative to the chassis based on the parameters obtained by the detection unit so as to keep the bearing surface in a horizontal state.

In one embodiment of the present disclosure, the second running wheel is connected to the chassis by a second lifting mechanism; when the travelling mechanism is on the layer-changing channel, the control unit is configured to control the first lifting mechanism to drive the first travelling wheel to lift relative to the chassis and/or control the second lifting mechanism to drive the second travelling wheel to lift relative to the chassis so as to keep the bearing surface in a horizontal state.

In one embodiment of the disclosure, the layer changing channel is a travel track fixed between the first storage platform and the second storage platform, and the self-moving robot is configured to walk on the travel track to change layers between the first storage platform and the second storage platform.

In one embodiment of the disclosure, the layer changing channel is a conveyor line connected between the first storage platform and the second storage platform, and the self-moving robot is configured to travel onto the conveyor line to change layers between the first storage platform and the second storage platform via the conveyance of the conveyor line.

In one embodiment of the disclosure, the layer changing channel is a conveying line connected between the first storage platform and the second storage platform, and a bearing table is arranged on the conveying line and is configured to be always kept in a horizontal state in the process of moving along with the conveying line; the self-moving robot is configured to travel onto a carrying platform, and change layers between a first storage platform and a second storage platform through the conveying of the conveying line.

In one embodiment of the present disclosure, the layer-change channel comprises a first layer-change channel and a second layer-change channel; the self-moving robot is configured to climb from a first storage platform to a second storage platform through a first layer changing channel; and descending from the second storage platform to the first storage platform through the second layer changing channel.

In one embodiment of the disclosure, the first and second layer-changing channels are disposed on opposite sides of the first and second storage platforms.

In one embodiment of the disclosure, the first storage platform and the second storage platform comprise a storage position for bearing a container, and further comprise a travel channel arranged on the first storage platform and the second storage platform, the travel channel extends from the position of the layer changing channel to the lower side of the storage position, and the self-moving robot is configured to travel to the lower side of the container through the travel channel.

In one embodiment of the disclosure, the first storage platform and the second storage platform are provided with a plurality of storage bits arranged in a matrix; the driving channel comprises a storage channel corresponding to the storage position; the device also comprises a steering channel communicated with the storage channel and a special channel communicated with the steering channel and the layer changing channel; the self-moving robot is configured to transport the containers through a storage channel, a diversion channel, a dedicated channel, a stacking channel.

In one embodiment of the present disclosure, the extension direction of the storage channel is the same as the extension direction of the dedicated channel, and the extension direction of the diverting channel is perpendicular to the extension direction of the storage channel and the dedicated channel, respectively.

In one embodiment of the disclosure, each storage channel corresponds to a plurality of storage bits, and the types of the articles stored in the storage bits corresponding to the single storage channel are the same or different.

In one embodiment of the present disclosure, each of the storage channels corresponds to a respective one of the storage bits; the steering channels are provided with a plurality of steering channels and the storage channels are arranged in a staggered mode.

In one embodiment of the present disclosure, the warehousing system includes a control server configured to send control instructions to the self-moving robot;

the self-moving robot walks to a target position in response to a control instruction sent by the control server, and takes out a container at the target position or places the container at the target position.

In one embodiment of the present disclosure, when a cross-layer is required, the self-moving robot is configured to walk in advance to a position of a layer-changing lane based on a path plan and travel to a target layer through the layer-changing lane.

The beneficial effects of the present disclosure lie in that, the warehouse system of the present disclosure utilizes the layer-changing channel to replace the elevator that sets up in the traditional warehouse system, and the layer-changing work to the container between first storage platform and second storage platform can be realized through the layer-changing channel from mobile robot, convenient and fast has improved the work efficiency of transporting the robot. The layer-changing channel occupies smaller storage space and can reduce cost.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural diagram of a load-bearing platform according to the present disclosure in the first embodiment;

FIG. 2 is an isometric view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a schematic diagram of another layout of storage locations of the load-bearing platform of FIG. 1;

FIG. 5 is a top view of FIG. 4;

FIG. 6 is a schematic view of the structure of FIG. 4 at another angle;

fig. 7 is a schematic structural diagram of a layer changing channel as a conveying line according to the first embodiment of the present disclosure;

FIG. 8 is an isometric view of FIG. 7;

fig. 9 is a schematic structural view of the self-moving robot;

FIG. 10 is a schematic view of the first travel wheel lowered relative to the chassis;

FIG. 11 is an enlarged view at FIG. 1A;

FIG. 12 is an enlarged view at FIG. 7B;

FIG. 13 is a schematic diagram of a layer change channel in the second embodiment;

FIG. 14 is an isometric view of FIG. 13;

FIG. 15 is a schematic diagram of a storage bit in a third embodiment;

FIG. 16 is a cross-sectional view of the first storage platform of FIG. 15 from a top view.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 16 is as follows:

1. a load-bearing platform; 10. a storage location; 11. a column; 12. a support beam; 121. a bracket; 13. a first storage platform; 14. a second storage platform; 141. a storage channel; 142. a diversion channel; 143. a dedicated channel; 151. a travel rail; 152. a conveying line; 153. a pushing part; 154. a carrying platform;

2. a self-moving robot; 20. a chassis; 21. a first travel wheel; 22. a second travel wheel; 23. a first lifting mechanism; 24. a second lifting mechanism;

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The present disclosure provides a warehousing system including a load-bearing platform and a self-moving robot. The bearing platform can be composed of a plurality of stand columns which are arranged at intervals and a plurality of cross beams which are arranged at intervals, the stand columns can extend from the working face along the height direction, and the cross beams are connected with the stand columns in the height direction. With the crossbeam as the world, form first storage platform by working face, crossbeam and stand in the below of crossbeam, formed the second storage platform by crossbeam and stand in the top of crossbeam, namely the second storage platform is located first storage platform's top. The first storage platform and the second storage platform are configured for storing containers, which may be containers used in the logistics field for loading goods, including but not limited to bins, trays, packaging boxes, etc.

The load-bearing platform also comprises a layer-changing channel which is configured to extend obliquely from the first storage platform to the second storage platform. The layer changing channel can be constructed as any one of a rail arranged obliquely and a conveying line arranged obliquely, and the inclination degree of the layer changing channel can be determined according to actual conditions.

The self-moving robot is configured to walk in the load-bearing platform to transport the containers. The self-moving robot may perform a layerwise transfer of the container in the first storage platform or the second storage platform. The self-moving robot is configured to swap layers between the first storage platform and the second storage platform via the swap channel. The self-moving robot can take the container out of the first storage platform, move the container to the second storage platform through the layer changing channel from the first storage platform, then transfer the container to the corresponding storage position of the second storage platform, or take the container out of the second storage platform, move the container to the first storage platform through the layer changing channel from the second storage platform, and then transfer the container to the corresponding storage position of the first storage platform.

Therefore, the storage system disclosed by the invention replaces a lifting machine arranged in the traditional storage system by using the layer-changing channel, the layer-changing work of the container between the first storage platform and the second storage platform can be realized by the self-moving robot through the layer-changing channel, the storage system is convenient and quick, and the working efficiency of the transfer robot is improved. The layer-changing channel occupies smaller storage space and can reduce cost.

For a better understanding, the specific structure of the warehousing system of the present disclosure and its principles of operation are described below with reference to fig. 1-16 in conjunction with the embodiments.

Example 1

Referring to fig. 1 and 2, the present disclosure provides a warehousing system including a load-bearing platform 1 and a self-moving robot 2. The bearing platform 1 is composed of upright posts 11 and supporting beams 12, at least four upright posts 11 are arranged at intervals at the edge position of the bearing platform 1 and perpendicular to a working surface, the edge position can be the edge or corner position of the bearing platform 1, and the working surface can be the ground of a storage area. The support beam 12 is connected to the upright 11 at a predetermined height from the working surface, and the upright 11 supports the support beam 12 at a predetermined height from the working surface. A first storage platform 13 is formed below the support beam 12, and a second storage platform 14 is located above the first storage platform 13, bounded by the support beam 12. The first storage platform 13 and the second storage platform 14 may be used for storing containers, which may be containers used for loading goods in the field of warehouse logistics, including but not limited to bins, trays, packing boxes, etc. Further, the predetermined height of the support beam 12 may be set according to actual circumstances, which is not limited by the present disclosure.

The support beam 12 may include cross beams connected to the upright posts 11 and arranged at intervals, and longitudinal beams arranged at intervals on the cross beams, the cross beams and the longitudinal beams are built together to form the support beam 12, and the upper end of the support beam 12 is a storage area of the second storage platform.

In one embodiment of the present disclosure, the first storage platform 13 and the second storage platform 14 comprise a storage location 10 for carrying containers. The first storage platform 13 and the second storage platform 14 may be constructed in the same structure. In the following, the second storage platform 14 is taken as an example for describing the storage location 10 and the driving channel in detail, the structures of the first storage platform 13 and the second storage platform 14 are identical, and the description of the storage location 10 and the driving channel on the first storage platform 13 is not repeated for ensuring the brevity of the text.

Referring to fig. 1 and 2, a plurality of brackets 121 are provided on a support beam 12 in a spaced-apart arrangement, and a storage location 10 is formed by two adjacent brackets 121. In addition, the storage density of the first storage platform 13 and the second storage platform 14 can be increased by depending on the extension length of the support 121 or by splicing a plurality of supports 121 in the same direction to form at least two deep storage sites 10. In addition to the formation of the storage locations 10 by the brackets 121, the above storage locations 10 may be implemented by other configurations conventional in the warehouse logistics art, and this disclosure is not expressly set forth herein.

The first storage platform 13 and the second storage platform 14 are further provided with a travel channel, and the travel channel extends from the layer changing channel to the lower side of the storage position 10, that is, the layer changing channel can communicate the travel channel of the first storage platform 13 with the travel channel of the second storage platform 14, and the self-moving robot can move to the lower side of the container in the travel channel of the first storage platform 13 or the second storage platform 14 so as to transfer the container between different storage positions on the respective platforms. Alternatively, the self-moving robot may move from the travel path of the first storage platform 13 to the travel path of the second storage platform 14 through the layer change path after taking out the container of the first storage platform 13, and then move through the travel path of the second storage platform 14 and transfer the container to the corresponding storage position of the second storage platform 14; in the same way, the self-moving robot can transfer the containers of the second storage platform 14 to the corresponding storage locations on the first storage platform 13 according to a movement path which is opposite to the above, and will not be described in detail here.

In one embodiment of the present disclosure, the first storage platform 13 and the second storage platform 14 are provided with a plurality of storage bits 10 arranged in a matrix. The travel path includes a storage path 141 corresponding to the storage location, the storage path 141 may be formed by two adjacent brackets 121 and located under the storage location 10, and the self-moving robot may travel under the storage path 141 to move to the container to transfer the container.

Referring to fig. 2, the driving lane further includes a diverting lane 142, the diverting lane 142 being disposed at a corresponding position adjacent to the storage location 10 and communicating with the storage lane 141 below the storage location 10, the self-moving robot being movable from the diverting lane 142 to an entrance of the corresponding storage lane 141 and switching from an original traveling direction to a direction of extension of the storage lane 141 to a direction of a lower side of the corresponding container on the diverting lane 142 to take out the container and return from the storage lane 141 to the diverting lane 142 in an opposite route and continue the subsequent work. Alternatively, the self-moving robot 2 may carry the container to move in the diverting passage 142 to the storage passage 141 corresponding to the storage position 10 of the container, and divert into the storage passage 141 and move to the storage position 10 corresponding to the container to complete the transfer of the container, and then move to the diverting passage 142 in the opposite direction for subsequent other work.

The travel path further includes a dedicated path 143, and the dedicated path 143 communicates the diverting path 142 and the layer changing path. The self-moving robot can sequentially move to the storage platform corresponding to the movement of the storage channel 141, the steering channel 142, the special channel 143 and the layer changing channel, and then move to the storage position corresponding to the container according to the special channel 143, the steering channel 142 and the storage channel 141 of the current storage platform, so as to finish the transfer of the container.

For example, the self-moving robot can move the container from the storage position 10 of the first storage platform 13 to the storage position 10 of the second storage platform 14 through the above-mentioned action route so as to complete the transfer of the container from the first storage platform 13 to the second storage platform 14 for storage. In the same way, the mobile robot 2 may also transfer the containers of the second storage platform 14 to the first storage platform 13 for storage, which will not be described in detail here.

The storage channel 141, the steering channel 142 and the dedicated channel 143 may be a common track structure in the warehouse logistics field, such as a unidirectional track, a bidirectional track or a four-way track, and the like, and a person skilled in the art may select one or more of the storage channel, the steering channel and the dedicated channel according to the actual movement situation of the self-moving robot in the storage channel, the steering channel and the dedicated channel, that is, the arrangement manner capable of implementing the movement of the self-moving robot according to the movement route for transferring the container may not be described in detail herein.

In order to facilitate the movement of the self-moving robot and the planning of the movement route thereof, the extension directions of the storage channel 141 and the dedicated channel 143 of the present disclosure are the same, and the extension directions of the diverting channel 142 are perpendicular to the extension directions of the storage channel 141 and the dedicated channel 143, respectively, that is, the storage channel 141 and the dedicated channel 143 may be connected with different positions of the same diverting channel 142. So arranged, the self-moving robot 2 can follow straight lines in the storage channel 141, the special channel 143 and the steering channel 142, so that the movement efficiency of the self-moving robot 2 is improved, and the working efficiency of the self-moving robot is further improved.

Referring to fig. 2 and 3, in one embodiment of the present disclosure, each storage lane 141 may correspond to a plurality of storage locations 10, wherein the kinds of articles stored in the plurality of storage locations 10 corresponding to a single storage lane 141 may be the same, that is, the self-moving robot 2 may move to either end of the corresponding storage lane 141 according to the kinds of articles and move to the storage lane 141 to take out the containers of the corresponding kinds of articles. For example, the self-moving robot 2 may move from the dedicated channel 143 to enter the corresponding turning channel 142, and the container of the same kind of article is stored in the storage channel 141 when the turning channel 142 moves to the corresponding storage channel 141, and the self-moving robot may alternatively take out the container.

For example, as shown in fig. 3, when the storage channel 141 is a bi-directional channel, the self-moving robot 2 can take out the container located on the storage location 10 of the storage channel 141 near the diverting channel 142. The containers in the storage channel 141 from the outside to the inside near the diverting channel 142 can then be removed sequentially from the mobile robot 2, the specific course of movement of which will not be described in detail here. All the storage positions on each storage channel 141 correspond to similar objects, so that the container for storing similar objects can be conveniently used.

Of course, on this basis, a plurality of storage locations 10 corresponding to a single storage channel 141 may also be used to store containers of different article types. When the self-moving robot 2 transfers the target container, if other containers for shielding the target container exist on the outer side of the target container, the self-moving robot can transfer the other containers for shielding the target container to a preset buffer storage position or an empty storage position of other storage channels first so as to overcome the shielding of the other containers to the target container. Then, the target container is transferred from the mobile robot 2 to the target storage location by referring to the above-described movement path. The above is the common container storage layout in the logistics field and the transfer mode of the self-mobile robot to the container, in practical application, the self-mobile robot 2 of the present disclosure can plan a reasonable transfer route under the control of the control server according to the actual situation, and the present disclosure is not illustrated here.

Referring to fig. 4 and 5, in one embodiment of the present disclosure, each storage channel 141 corresponds to a plurality of storage sites 10, and the diversion channels and the storage channels are staggered, that is, the diversion channel 142 may be connected to both ends of the storage channel 141, and may extend through a dedicated channel 143 from any position between both ends of the storage channel 141 to the other end, thereby extending through a plurality of storage channels 141 that are adjacently arranged.

Unlike the previous embodiment, in this embodiment, the self-moving robot 2 may not only enter the storage channel 141 from any end of the storage channel 141 to transfer the container, but also move to the storage channel 141 where the corresponding container is located through the steering channel 142 disposed between the two ends of the storage channel 141, for example, two sides of one steering channel 142 are respectively connected to the storage channels 141 where different kinds of articles are located, and the self-moving robot 2 may move along the steering channel 142 into the storage channel 141 where the corresponding articles are located, so as to complete the transfer of the container. Meanwhile, other self-moving robots 2 can also transfer the containers on the storage channel 141 through other turning channels 142, that is, compared with the case that the turning channels 142 are only arranged at two ends of the storage channel 141, the turning channels 142 are arranged between two ends of the storage channel 141, and a plurality of self-moving robots can transfer the containers on the same storage channel 141 through different turning channels 142 at the same time, so that the transfer efficiency of the self-moving robots to the containers is improved.

Referring to fig. 2 and 3, in one embodiment of the present disclosure, the layer changing channel is a travel rail 151 fixed between the first storage platform 13 and the second storage platform 14, and the self-moving robot 2 may travel on the travel rail 151 to change layers between the first storage platform 13 and the second storage platform 14. For example, the travel rail 151 may be in the form of a conventional bidirectional rail, one end of the travel rail 151 being fixed to the first storage platform 13 to be connected to the dedicated channel 143, and the travel rail 151 being inclined to extend to the other end to be connected to the dedicated channel 143 of the second storage platform 14, thereby communicating the dedicated channels 143 of the two storage platforms.

The self-moving robot 2 may be empty or move with the container from the dedicated channel 143 of the first storage platform 13 to the travel rail 151 and then move obliquely upward to the dedicated channel 143 of the second storage platform 14 through the travel rail 151, thereby completing the exchange of the layers from the first storage platform 13 to the second storage platform 14. In the same way, the self-moving robot 2 can also be moved from the second storage platform 13 to the first storage platform 13 by way of the travel rail 151 without load or with a container, as a result of which a change of course from the second storage platform 14 to the first storage platform 13 is completed, which is not described in detail here.

Referring to fig. 7 and 8, in another embodiment of the present disclosure, the layer change channel is a transfer line 152 connected between the first storage platform 13 and the second storage platform 14, the transfer line 152 extends from the first storage platform 13 to the second storage platform 14 in an inclined manner, and one end is connected to the dedicated channel 143 of the first storage platform and the other end is in communication with the dedicated channel 143 of the second storage platform. A plurality of pushing parts 153 may be provided at intervals on the transfer line 152, and the pushing parts 153 may be configured to be fitted with the self-moving robot and to push the self-moving robot 2 to move in the extending direction of the transfer line 152 with the movement of the transfer line 152. And the distance between the adjacent two pushing parts 153 is greater than or equal to the length or width dimension of the self-moving robot 2 to prevent the self-moving robot from interfering with the adjacent pushing parts 153 when being engaged with one of the pushing parts 153.

Unlike the previous embodiment, in this embodiment, after the self-moving robot moves onto the conveyor line 152, the self-moving robot 2 can be pushed by the pushing part 153 to move synchronously with the conveyor line 152, and the self-moving robot itself does not need to move.

For example, after the self-moving robot 2 is unloaded or the carrier container moves from the dedicated channel 143 on the first storage platform 13 to the conveying line 152, the pushing part 153 on the conveying line 152 is matched with the self-moving robot 2, the pushing part 153 moves along with the conveying line 152 and drives the self-moving robot 2 to move obliquely upwards along the conveying line 152 to the second storage platform 143, and after moving in place, the self-moving robot moves to the dedicated channel of the second storage platform so as to complete the layer changing movement.

It should be noted that, in the process of moving the self-moving robot 2 from the second storage platform 14 to the first storage platform 13 through the transfer line 152, the pushing portion 153 does not push the self-moving robot, but blocks the self-moving robot 2 from sliding relative to the transfer line 152, and in the case where the self-moving robot 2 and the transfer line 152 remain relatively stationary, the transfer line 152 drives the self-moving robot 2 to move from the second storage platform 14 to the first storage platform 13.

In both the above processes, the pushing portion 153 on the conveying line 152 overcomes the tendency of the self-moving robot 2 to slide relative to the conveying line 152 due to its own weight by pushing force, so as to ensure that the self-moving robot 2 can keep relatively stationary with the conveying line 152, thereby enabling the self-moving robot 2 to move along with the conveying line 152 from the first storage platform 13 to the second storage platform 14 or from the second storage platform 14 to the first storage platform 13. The pushing portion 153 may be configured as a plate-like structure, and the plate-like structure may be brought into contact with a structure such as a drive wheel or a chassis of the self-moving robot, thereby preventing the self-moving robot 2 from sliding relative to the conveyor line 152. Of course, the pushing portion 153 may be replaced by a structure capable of providing a pulling force in the opposite direction, or a structure capable of fixing the self-moving robot 2 to the conveying line 152, which is common in the art, in addition to providing a pushing force against the gravity, and this disclosure is not limited thereto.

Therefore, when the layer-changing channel of the present disclosure is the conveying line 152, the self-moving robot 2 does not need to move by itself, the conveying line 152 can drive the self-moving robot 2 to change the layers of the first storage platform 13 and the second storage platform 14, so that the load of the self-power source when the self-moving robot 2 performs the climbing movement can be effectively reduced, and meanwhile, the stability of the self-moving robot 2 during the layer-changing can be improved through the conveying line 152.

In order to ensure smoothness of simultaneous progress of the two layering operations of the plurality of self-moving robots 2 moving from the first storage platform 13 to the second storage platform 14 and from the second storage platform 14 to the first storage platform 13. The stacking channel of the present disclosure includes a first stacking channel and a second stacking channel, and the self-moving robot 2 is configured to climb from the first storage platform 13 to the second storage platform 14 via the first stacking channel, and descend from the second storage platform 14 onto the first storage platform 13 via the second stacking channel.

For example, in a warehouse system, a plurality of self-moving robots exist, the self-moving robot 2 located on the first storage platform 13 needs to move from the first storage platform 13 to the second storage platform 14 to complete the transfer of the container, and the self-moving robot 2 located on the second storage platform 14 needs to move from the second storage platform 14 to the first storage platform 13 to complete the transfer of the container. The above self-moving robot 2 located on the first storage platform 13 may select the first layer-changing channel to complete the movement from the first storage platform 13 to the second storage platform 14, and the self-moving robot 2 located on the second storage platform 14 may select the movement from the second storage platform 14 to the first storage platform 13 through the second layer-changing channel. Therefore, the self-moving robots 2 positioned on different layers are ensured not to interfere with each other when performing layer changing movement, and the smoothness of the movement of the self-moving robots in the warehouse system is ensured.

In one embodiment of the present disclosure, the first layer-changing channel and the second layer-changing channel may be disposed on opposite sides of the first storage platform 13 and the second storage platform 14, that is, all storage bits 10 of the first storage platform 13 and the second storage platform 14 are located between the first layer-changing channel and the second layer-changing channel, and the mobile robot may move from the first layer-changing channel on one side to the corresponding storage bit of the second storage platform and then from the second layer-changing channel on the other side to the first storage platform. In the process, other self-moving robots can move from the first layer-changing channel on one side to the second storage platform in the same mode to finish container transfer, and then move from the second layer-changing channel on the other side, so that the smoothness of the whole process that the self-moving robots move from the first storage platform to the second storage platform and then return to the first storage platform is ensured. Based on the same principle, the smoothness of the whole process of moving from the mobile robot to the first storage platform from the second storage platform through the second layer changing channel and returning to the second storage platform is also ensured, and the specific movement process is not repeated.

It should be noted that the first layer-changing channel and the second layer-changing channel may be configured in the same structure, and the "first" and the "second" are defined for convenience in distinguishing the functions and positions of the two layer-changing channels. The first and second lane change may be the travel rail 151 or the conveyor line 152 mentioned above, and will not be described in detail here.

Considering that the self-moving robot 2 performs a layer changing movement along with the inclined layer changing channel, the self-moving robot 2 may have the same inclination degree as the layer changing channel, and the inclination of the self-moving robot 2 may cause the container carried by the self-moving robot to slide off the self-moving robot.

In order to solve the above-mentioned problems, referring to fig. 9 and 10, the self-moving robot 2 of the present disclosure includes a chassis 20, a traveling mechanism, and a control unit, a bearing surface for bearing a container is provided on the chassis 20, and the self-moving robot 2 can take out the container from the storage location 10 and then bear the container through a bearing surface correspondence device. The bearing surface may be a roof, tray, or the like, as is common in the art for carrying containers, and is not specifically recited herein.

The running gear comprises a first running wheel 21 and a second running wheel 22 for driving the chassis 20 to run. The first traveling wheel 21 and the second traveling wheel 22 support the self-moving robot on the working surface or the layer changing channel, the first traveling wheel 21 and the second traveling wheel 22 can be connected with a driving device on the traveling mechanism, and are driven by the driving device to rotate relative to the working surface so as to drive the self-moving robot 2 to move according to a specified route or movement direction and further move to the corresponding storage position 10.

The first running wheel 21 can be connected to the chassis 20 through the first lifting mechanism 23, and the first lifting mechanism 23 can drive the first running wheel 21 to move towards a direction close to or far away from the chassis 20, so that the pose of the chassis 20 can be adjusted by changing the height difference of the first running wheel 21 and the second running wheel 22 relative to the chassis 20.

The self-moving robot 2 further comprises a control unit, which may be used to control the movement of the first lifting mechanism 23. When the travelling mechanism is on the layer-changing channel, the control unit is configured to control the first lifting mechanism 23 to drive the first travelling wheel 21 to lift relative to the chassis 20 so as to keep the bearing surface in a horizontal state.

For example, referring to fig. 10 and 11, the direction in which the robot 2 advances along the stacking path is referred to as the front side, and the opposite side is referred to as the rear side. The first running wheel 21 is located on the rear side of the chassis 20 and the second running wheel 22 is located on the front side of the chassis 20. When moving from the mobile robot 2 to the layer changing lane, the height of the first running wheel 21 is lower than the height of the second running wheel 22 in the height direction, that is, the rear side of the chassis 20 may be lower than the front side of the chassis 20. The control unit controls the first lifting mechanism 23 to drive the first traveling wheel 21 to move away from the chassis 20, and the first lifting mechanism 23 gradually lifts the rear side of the chassis 20 to the same height as the front side of the chassis 20 due to the structure of the layer-changing channel of the first traveling wheel 21, so that the bearing surface of the chassis 20 is kept in a horizontal state. When the container is carried on the carrying surface of the chassis 20, the container also keeps a horizontal state, and the stability of the container during climbing movement of the self-moving robot 2 is ensured. Further, after the second traveling wheel 22 of the mobile robot 2 moves to the second storage platform 14, the first traveling wheel 21 and the second traveling wheel 22 gradually return to the same height in the height direction, and the control unit controls the first traveling wheel 21 to move toward the chassis 20 by the first elevating mechanism 23, and the first traveling wheel 21 gradually moves toward the chassis 20 until the mobile robot 2 moves completely to the second storage platform 14. In the above process, the bearing surface of the chassis 20 will always be kept in a horizontal state, thereby ensuring the stability of the climbing movement of the transport container of the self-moving robot 2.

In the same way, when the mobile robot 2 moves from the second storage platform 14 to the layer changing channel, if the first traveling wheel 21 enters the layer changing channel first, the height of the first traveling wheel 21 will be lower than the height of the second traveling wheel 22 in the following movement, and the height of the chassis 20 on the first traveling wheel 21 side will be lower than the height of the chassis 20 on the second traveling wheel 22 side, so the control unit will control the first lifting mechanism 23 to drive the first traveling wheel 21 to extend away from the chassis 20, so as to lift the chassis 20 on the first traveling wheel 21 side to the same height as the chassis 20 on the second traveling wheel 22 side, so that the bearing surface of the chassis 20 maintains the horizontal state. After the first running wheel 21 reaches the first storage platform, the control unit controls the first lifting mechanism 23 to drive the first running wheel 21 to gradually retract towards the direction approaching the chassis 20, so that the bearing surface of the chassis 20 is kept in a horizontal state.

The self-moving robot 2 of the present disclosure further includes a detection unit configured to detect a posture of the self-moving robot 2. For example, the detection unit may detect the posture of the mobile robot chassis 20, such as the inclination angle, the inclination direction, etc., and generate corresponding parameters to transmit to the control unit. The control unit is configured to control the first lifting mechanism 23 to lift the first traveling wheel 21 relative to the chassis 20 based on the parameter obtained by the detection unit, so as to keep the bearing surface in a horizontal state.

In one embodiment of the present disclosure, the detection unit monitors the attitude of the chassis 20 of the self-moving robot 2 in real time and generates corresponding parameters to be sent to the control unit. Correspondingly, the control unit also controls the first lifting mechanism 23 to drive the first driving wheel 21 to lift relative to the chassis 20 in real time based on the received parameters, so as to ensure that the bearing surface of the chassis 20 is always kept in a horizontal state. This is because the inclination angle of the chassis 20 of the self-moving robot 2 increases gradually immediately after the self-moving robot 2 enters the layer changing passage, and it is necessary for the control unit to control the first elevating mechanism 23 to drive the first running wheel 21 to move gradually in a direction away from the chassis 20. In the same way, when the self-moving robot 2 moves to the second storage platform 14, the inclination angle of the chassis 20 of the self-moving robot 2 also gradually increases, which requires the control unit to control the first lifting mechanism 23 to drive the first traveling wheel 21 to gradually move toward the chassis 20. Therefore, the detecting unit monitors the inclination angle of the chassis 20 in real time, and the control unit gradually controls the first lifting mechanism 23 to drive the first driving wheel 21 to move in a direction approaching or separating from the chassis 20 based on the inclination angle parameter sent by the detecting unit, so that the self-moving robot chassis can be kept in a horizontal state in the whole process.

The first lifting mechanism 23 may be implemented by a cylinder transmission mechanism, a rack transmission mechanism, a sprocket transmission mechanism, or the like, which are common in the art, and will not be described herein.

Referring to fig. 11, when the layer-changing channel of the present disclosure is the travel rail 151, the control unit controls the first travel wheel 21 to move away from the chassis 20, so that the chassis 20 is in a horizontal state, and the first travel wheel 21 and the second travel wheel 22 jointly drive the self-moving robot to move along the travel rail 151.

Referring to fig. 12, when the layer changing channel of the present disclosure is the conveying line 152, the control unit controls the first driving wheel 21 to move in a direction away from the chassis 20, so that the chassis 20 is in a horizontal state, and the conveying line 152 and the pushing portion 153 together drive the self-moving robot 2 to move along the extending direction of the conveying line 152.

The above process of moving from the mobile robot 2 to the exchange platform is illustrated by the height of the first running wheel 21 being lower than the height of the second running wheel 22. However, in the practical application scenario, when the self-mobile robot 2 moves in the layer changing channel, the second traveling wheel 22 will have a lower height than the first traveling wheel 21 when the second traveling wheel first enters the layer changing channel. The second travel wheel 22 of the present disclosure may be coupled to the chassis 20 by a second lift mechanism 24 to maintain the chassis in a level condition by adjusting the height of the second travel wheel 22 relative to the chassis 20 based on the same principles.

Therefore, when the travelling mechanism travels on the layer-changing channel, the detecting unit detects the inclination angle and the inclination direction of the chassis and generates corresponding parameters to be sent to the control unit, and the control unit is configured to control the first lifting mechanism 23 to drive the first travelling wheel 21 to lift relative to the chassis 20 based on the received parameters, and/or control the second lifting mechanism 24 to drive the second travelling wheel 22 to lift relative to the chassis 20, so as to keep the bearing surface in a horizontal state.

For example, when the detection unit detects that the chassis 20 on the first traveling wheel 21 side is inclined downward relative to the chassis 20 on the second traveling wheel 22 side, that is, the height of the chassis 20 on the first traveling wheel 21 side is lower than the height of the chassis 20 on the second traveling wheel 22 side, the detection unit generates corresponding parameters and sends the parameters to the control unit, and the control unit controls the first lifting mechanism 23 to drive the first traveling wheel 21 to descend based on the received parameters, and because the first traveling wheel 21 is always in contact with the layer changing channel, the chassis 20 on the first traveling wheel 21 side gradually rises to the same height as the chassis 20 on the second traveling wheel 22 side; in the same way, when the detecting unit detects that the chassis 20 on the side of the second traveling wheel 22 is inclined downward relative to the chassis on the side of the first traveling wheel 21, the control unit controls the second lifting mechanism 24 to drive the second traveling wheel 22 to descend based on the parameter sent by the detecting unit, and the chassis 20 on the side of the second traveling wheel 22 is gradually raised to be the same as the chassis on the side of the first traveling wheel 21. Therefore, in the unused application scenario, the control unit can reasonably control the first lifting mechanism 23 or the second lifting mechanism 24 to drive the respective running wheels to lift according to the inclination angle and the inclination direction of the self-moving robot chassis, so as to ensure that the bearing surface of the chassis is kept in a horizontal state.

In one application scenario of the present disclosure, the warehousing system may further include a control server configured to send control instructions to the self-moving robot. The control instruction may include a container taking-out instruction or a container storing instruction, and the control instruction may further include parameters such as position information of the container, so as to facilitate taking out the container from the target position or placing the container in the target position from the mobile robot 2.

After receiving the control instruction issued by the control server, the slave mobile robot 2 walks to the target position in response to the control instruction issued by the control server, and takes out the container of the target position or places the container at the target position. The target location may be the corresponding storage location 10, or other locations, as desired.

For example, the control server may send control instructions to the self-moving robot 2 to transfer the container from the current storage location 10 of the same storage platform to the target location, the self-moving robot may move to the current storage location of the container in response to the control instructions, and the self-moving robot may transfer the container to the target location in the manner described above for transferring the container in the same storage platform.

When the control instruction issued by the control server needs to perform cross-layer movement from the mobile robot, the mobile robot is configured to walk to the position of the layer changing channel in advance based on path planning, travel to a target layer through the layer changing channel, and then move to the target position of the container so as to take out the container or place the container at the target position.

The specific motion mode of the self-moving robot in the same-layer motion or the cross-layer motion has been described in detail above, and a person skilled in the art can fully derive the specific motion process of the self-moving robot in the same-layer operation or the cross-layer operation according to the above description, which is not described in detail herein.

The present disclosure provides a method of transferring containers that may be implemented in the warehousing system described above. The method comprises the following steps:

the control server transmits a control instruction to the self-mobile robot. The control instruction may be a control instruction to fetch a container or a control instruction to deposit a container. The self-moving robot walks to the target position in response to the control instruction issued by the control server, and takes out the container of the target position or places the container at the target position. The control method is described in detail already in the foregoing, and is not repeated here.

After the self-moving robot performs the task of transferring the container once, the task of transferring the container next time can be performed. The instruction information carried in the control instruction also comprises position information of the container, wherein the position information comprises information such as a target layer of the container and coordinates of storage bits on the target layer. When the target layer of the container in the control instruction is inconsistent with the current layer of the self-moving robot, the control method further comprises the following steps:

the self-moving robot walks to the layer changing channel in response to the control instruction sent by the control server, the self-moving robot is controlled to walk to the target layer through the layer changing channel, and the self-moving robot is controlled to walk to the target position on the target layer.

For example, the current layer of the self-mobile robot is a first storage platform, and the target layer of the corresponding position of the container in the control instruction is located on a second storage platform, so that the self-mobile robot needs to change layers first. Based on the control instruction, the mobile robot moves to the layer changing channel of the first storage platform at first, and moves to the second storage platform through the layer changing channel to complete the layer changing movement. And then moving to the corresponding position of the container in the second storage platform in the control instruction.

Based on the same theory, the current layer of the self-moving robot is a second storage platform, and the target layer of the corresponding position of the container in the control instruction is located on a first storage platform, so that the self-moving robot needs to move from the second storage platform to the first storage platform through a layer changing channel and then moves to the corresponding position of the container on the first storage platform, so that the container is taken and placed.

The specific motion process of the self-moving robot from the first storage platform to the second cache platform through the layer-changing channel or from the second storage platform to the first storage platform through the layer-changing channel has been described in detail above, and will not be described in detail herein.

When the layer is changed, the self-moving robot can correspondingly adjust the chassis of the self-moving robot according to the inclination direction and the inclination angle of the chassis. The control method further comprises the following steps:

the detection unit of the self-moving robot detects the gesture of the self-moving robot, wherein the gesture of the self-moving robot can be the inclination direction and the inclination angle of the chassis of the self-moving robot, and the detection unit can generate corresponding parameters. The control unit controls the first lifting mechanism to drive the first running wheel to lift relative to the chassis based on the parameters obtained by the detection unit so as to keep the bearing surface in a horizontal state.

The control unit of the self-moving robot can control the first running wheel to move towards a direction close to or far from the chassis through the first lifting mechanism based on parameters corresponding to the inclination angle and the inclination degree of the chassis, so that the heights of two opposite sides of the chassis are the same, and the horizontal state of the bearing surface of the chassis is ensured. The specific movement process and adjustment manner have been described in detail above, and those skilled in the art can fully derive the specific movement process of the first lifting mechanism, the first running wheel and the chassis of the self-moving robot under this control method according to the above description, and the disclosure is not repeated here.

The control method can also be applied to control the second lifting mechanism to drive the second running wheel to lift so as to cope with the two different situations that the chassis at one side of the first running wheel is inclined downwards relative to the second running wheel or the chassis at one side of the second running wheel is inclined downwards relative to the first running wheel when the layer-changing channel is changed. The conditions and manner in which the control unit controls the first lifting mechanism or the second lifting mechanism have been described in detail above, and will not be repeated here.

Example two

Compared with the first embodiment, the second embodiment mainly has the specific structure of the layer changing channel and the moving process of the self-moving robot moving on the layer changing channel, and in order to ensure the brevity of the text, the distinguishing point will be described in detail, and other structures of the bearing platform in the warehouse system are the same as the above except for the above differences, and will not be described here.

Referring to fig. 13, the layer changing channel of the present embodiment is a conveying line 152 connected between the first storage platform 13 and the second storage platform 14, a carrying table 154 is disposed on the conveying line 152, the carrying table 154 is configured to be kept in a horizontal state all the time along with the movement of the conveying line 152, the self-moving robot 2 is configured to walk onto the carrying table 154, and the layer is changed between the first storage platform 13 and the second storage platform 14 through the conveyance of the conveying line 152.

For example, when the self-moving robot 2 is located on the first storage platform 13 and needs to change layers, the self-moving robot 2 can move to the position of the conveying line 152 on the first storage platform 13 and travel to the carrying platform 154, and in the process that the carrying platform 154 moves along with the conveying line 152 to the second storage platform 14, the self-moving robot 2 is driven to move to the second storage platform 14 to complete the layer changing movement.

Of course, referring to fig. 14, in this embodiment, a first layer changing channel and a second layer changing channel may be also provided, where the carrying platform 154 on the first layer changing channel moves along with the conveying line 152 from the first storage platform 13 to the second storage platform 14, and the carrying platform 154 on the second layer changing channel moves along with the conveying line 152 from the second storage platform 14 to the first storage platform 13. The self-moving robot can reasonably select the corresponding layer-changing channel to change the layer according to the current layer and the target layer to be changed.

The above-described carrying table 154 is kept in a horizontal state all the time during movement, and the container carried on the chassis of the self-moving robot 2 on the carrying table 154 is kept in a horizontal state all the time. Under the action of the bearing table 154, the self-moving robot 2 can completely maintain the horizontal state by depending on the bearing table 154 without adjusting the first running wheel 21 or the second running wheel 22 through the first lifting mechanism 23 or the second lifting mechanism 24, which is quite convenient. The arrangement of the carrying table 154 may be applied to other general self-moving robots, that is, robots that do not have a function of adjusting the inclination of the chassis 20 by the first elevating mechanism 23, the second elevating mechanism 24, or the like, and thus may be applied to a larger variety of self-moving robots, and other types of self-moving robots may be able to maintain the horizontal state of the carrying container at the time of changing floors.

Example III

In comparison with the first embodiment, the third embodiment is mainly different in the setting position of the storage location and the movement process of the self-moving robot moving in the storage location transfer container, and in order to ensure the brevity of the text, the difference point will be described in detail below, and other structures of the loading platform in the warehouse system are the same as the above except for the above differences, and will not be described again here.

Referring to fig. 15, the storage locations of the present embodiment may be sequentially arranged along the extending direction of the stacking channel, and the self-moving robot 2 may selectively enter the corresponding storage channel 141 according to the type of the container and transfer the container when traveling in the stacking channel.

It should be noted that, referring to fig. 16, after entering one end of the storage channel 141 from the first stacking channel, the mobile robot needs to move to the other end of the storage channel 141 to take out the container on the storage location 10 at the other end, and then may directly enter the second stacking channel and move downward along the second stacking channel to take out the container. Then, the self-moving robot 2 can take out the containers on the second stacking lane side in order according to the same rule, thereby completing the transfer of the containers of this kind.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (16)

1. A warehousing system, comprising:

the bearing platform (1), the bearing platform (1) at least comprises a first storage platform (13) and a second storage platform (14) positioned above the first storage platform (13); the first storage platform (13), the second storage platform (14) are configured for storing containers; further comprising a layer change channel configured to extend obliquely from the first storage platform (13) to the second storage platform (14);

-a self-moving robot (2), the self-moving robot (2) being configured to walk in a carrying platform (1) for transferring containers; the self-moving robot (2) is configured to exchange layers between a first storage platform (13) and a second storage platform (14) via the layer exchange channel.

2. Warehousing system according to claim 1, characterized in that the self-moving robot (2) comprises:

a chassis (20), wherein a bearing surface for bearing the container is arranged on the chassis (20);

the chassis (20) is driven to walk by the running mechanism, and the running mechanism comprises a first running wheel (21) and a second running wheel (22); the first running wheel (21) is connected to the chassis (20) through a first lifting mechanism (23);

and the control unit is configured to control the first lifting mechanism (23) to drive the first travelling wheel (21) to lift relative to the chassis (20) so as to keep the bearing surface in a horizontal state when the travelling mechanism is on the layer changing channel.

3. The warehousing system according to claim 2, characterized in that the self-moving robot (2) comprises a detection unit configured for detecting the pose of the self-moving robot (2); the control unit is configured to control the first lifting mechanism (23) to drive the first traveling wheel (21) to lift relative to the chassis (20) based on the parameter obtained by the detection unit so as to keep the bearing surface in a horizontal state.

4. The warehousing system according to claim 2, characterized in that the second running wheel (22) is connected to the chassis (20) by a second lifting mechanism (24); when the travelling mechanism is on the layer-changing channel, the control unit is configured to control the first lifting mechanism (23) to drive the first travelling wheel (21) to lift relative to the chassis (20) and/or control the second lifting mechanism (24) to drive the second travelling wheel (22) to lift relative to the chassis (20) so as to keep the bearing surface in a horizontal state.

5. The warehousing system according to claim 2, characterized in that the layer changing channel is a travel track (151) fixed between the first storage platform (13) and the second storage platform (14), the self-moving robot (2) being configured to travel on the travel track (151) for layer changing between the first storage platform (13) and the second storage platform (14).

6. The warehouse system according to claim 2, characterized in that the layer change channel is a conveyor line (152) connected between the first storage platform (13) and the second storage platform (14), the self-moving robot (2) being configured to walk onto the conveyor line (152), the layer change being performed between the first storage platform (13) and the second storage platform (14) via the conveyor line (152) transport.

7. The warehouse system according to claim 1, characterized in that the layer change channel is a conveyor line (152) connected between the first storage platform (13) and the second storage platform (14), the conveyor line (152) being provided with a carrying table (154), the carrying table (154) being configured to remain in a horizontal state throughout movement with the conveyor line (152); the self-moving robot (2) is configured to travel onto a carrying table (154), and to change layers between a first storage platform (13) and a second storage platform (14) via the transport of the transport line (152).

8. The warehousing system of claim 1 wherein the layer change channel includes a first layer change channel and a second layer change channel; the self-moving robot (2) is configured to climb from a first storage platform (13) to a second storage platform (14) via a first layer change channel; and descending from the second storage platform (14) to the first storage platform (13) through the second layer changing channel.

9. The warehousing system according to claim 8, wherein the first and second stacking channels are disposed on opposite sides of the first and second storage platforms (13, 14).

10. The warehousing system according to claim 1, characterized in that the first (13), second (14) storage platform comprises a storage location (10) for carrying containers, and further comprising a travel channel provided on the first (13), second (14) storage platform, which travel channel extends from the location of the stacking channel to below the storage location (10), the self-moving robot (2) being configured to walk through the travel channel to below the containers.

11. The warehousing system according to claim 10, characterized in that the first (13) and second (14) storage platforms are provided with a plurality of storage locations (10) arranged in a matrix; the travel path comprises a storage path (141) corresponding to the storage location (10); the device also comprises a turning channel (142) communicated with the storage channel (141), and a special channel (143) communicated with the turning channel (142) and the layer changing channel; the self-moving robot is configured to transport the containers through a storage channel (141), a diverting channel (142), a dedicated channel (143), a stacking channel.

12. The warehousing system according to claim 11, characterized in that the extension direction of the storage channel (141) and the dedicated channel (143) is the same, and the extension direction of the diverting channel (142) is perpendicular to the extension direction of the storage channel (141) and the dedicated channel (143), respectively.

13. The warehousing system according to claim 11, wherein each storage channel (141) corresponds to a plurality of storage locations (10), wherein the types of items stored in the plurality of storage locations (10) corresponding to a single storage channel (141) are the same or different.

14. The warehousing system according to claim 11, characterized in that each storage channel (141) corresponds to a respective storage location (10); the steering channels (142) are provided with a plurality of steering channels (142) and storage channels (141) which are arranged in a staggered mode.

15. The warehousing system according to any one of claims 1 to 14, characterized in that it comprises a control server configured to send control instructions to the self-moving robot (2);

the self-moving robot (2) walks to a target position in response to a control instruction sent by the control server, and takes out a container at the target position or places the container at the target position.

16. The warehousing system according to claim 15, characterized in that when a cross-layer is required, the self-moving robot (2) is configured to walk in advance to the location of a change lane based on a path plan and through the change lane to a target layer.