Storage systems and container transfer methods

Abstract

The present disclosure relates to a storage system and a method for transferring containers, wherein the storage system includes a carrying platform and a self-moving robot. The carrying platform includes at least a first storage platform and a second storage platform located above the first storage platform; it also includes a layer-changing channel, which is constructed to extend obliquely from the first storage platform to the second storage platform; the self-moving robot is constructed to walk in the carrying platform to transfer containers; the self-moving robot is constructed to change layers between the first storage platform and the second storage platform through the layer-changing channel. The storage system disclosed in the present disclosure replaces the elevator provided in the traditional storage system with a layer-changing channel, 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, which is convenient and fast, and improves the working efficiency of the transfer robot. The layer-changing channel occupies less storage space and can also reduce costs.

Description

Technical Field

[0001] The present disclosure relates to the technical field of warehousing and logistics, in particular, to a warehousing system and a method for transferring containers in the warehousing system. Background Art

[0002] Autonomous robots are increasingly being used in warehousing and logistics. Warehouse shelves are used to store containers. Autonomous robots, working with elevators, can autonomously move to any location within a shelf layer, enabling them to switch between shelves and store containers on different shelves. For example, a robot can carry cargo to a corresponding position on an elevator, which then drives the robot to the corresponding shelf layer. Once in position, the robot then moves to the corresponding storage location for storage.

[0003] However, currently, a limited number of elevators in a warehouse system are responsible for transferring multiple autonomous robots between different levels of shelves. While an elevator is transferring one autonomous robot, the others must wait. Therefore, elevator efficiency becomes a bottleneck for the overall efficiency of the warehouse system. Furthermore, while installing multiple elevators can improve the efficiency of level transfers to a certain extent, this increases the elevator's occupancy rate and the cost of the elevators. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present disclosure provides a storage system and a method for transferring containers in the storage system.

[0005] According to a first aspect of the present disclosure, there is provided a warehousing system, the warehousing system comprising:

[0006] A carrying platform, the carrying platform comprising at least a first storage platform and a second storage platform located above the first storage platform; the first storage platform and the second storage platform are configured to store containers; and further comprising a layer-changing passage configured to extend obliquely from the first storage platform to the second storage platform;

[0007] A self-moving robot is configured to walk in the carrying platform to transfer the container; the self-moving robot is configured to change layers between the first storage platform and the second storage platform through the layer-changing channel.

[0008] In one embodiment of the present disclosure, the self-moving robot comprises:

[0009] a chassis, wherein the chassis is provided with a bearing surface for bearing the container;

[0010] A traveling mechanism, the traveling mechanism comprising a first traveling wheel and a second traveling wheel for driving the chassis; the first traveling wheel is connected to the chassis via a first lifting mechanism;

[0011] The control unit is configured to control the first lifting mechanism to drive the first driving wheel to move up and down relative to the chassis when the driving mechanism is on the layer-changing channel, so as to keep the bearing surface in a horizontal state.

[0012] In one embodiment of the present disclosure, the self-moving robot includes a detection unit, which is configured to detect the posture of the self-moving robot; the control unit is configured to control the first lifting mechanism to drive the first traveling wheel to lift and lower relative to the chassis based on the parameters obtained by the detection unit, so as to keep the bearing surface in a horizontal state.

[0013] In one embodiment of the present disclosure, the second traveling wheel is connected to the chassis via a second lifting mechanism; when the traveling mechanism is on the floor-changing channel, the control unit is configured to control the first lifting mechanism to drive the first traveling wheel to rise and fall relative to the chassis, and / or control the second lifting mechanism to drive the second traveling wheel to rise and fall relative to the chassis, so as to keep the bearing surface in a horizontal state.

[0014] In one embodiment of the present 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 constructed to walk on the travel track to change layers between the first storage platform and the second storage platform.

[0015] In one embodiment of the present 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 constructed to walk onto the conveyor line and change layers between the first storage platform and the second storage platform through the conveyor line.

[0016] In one embodiment of the present disclosure, the layer-changing channel is a conveyor line connected between the first storage platform and the second storage platform, and a carrying platform is provided on the conveyor line, and the carrying platform is constructed to always remain in a horizontal state during the movement of the conveyor line; the self-moving robot is constructed to walk onto the carrying platform and change layers between the first storage platform and the second storage platform through the transportation of the conveyor line.

[0017] In one embodiment of the present disclosure, the layer changing channel includes a first layer changing channel and a second layer changing channel; the self-moving robot is constructed to climb from the first storage platform to the second storage platform via the first layer changing channel; and descend from the second storage platform to the first storage platform via the second layer changing channel.

[0018] In one embodiment of the present disclosure, the first layer-changing channel and the second layer-changing channel are arranged on opposite sides of the first storage platform and the second storage platform.

[0019] In one embodiment of the present disclosure, the first storage platform and the second storage platform include storage positions for carrying containers, and also include driving passages arranged on the first storage platform and the second storage platform, and the driving passages extend from the position of the layer-changing passage to below the storage positions, and the self-moving robot is configured to walk through the driving passage to below the container.

[0020] In one embodiment of the present disclosure, a plurality of storage positions arranged in a matrix are provided on the first storage platform and the second storage platform; the driving channel includes storage channels corresponding to the storage positions; and also includes a turning channel connected to the storage channel, and a dedicated channel connected to the turning channel and the layer-changing channel; the self-moving robot is configured to transfer the container through the storage channel, the turning channel, the dedicated channel, and the layer-changing channel.

[0021] In one embodiment of the present disclosure, the storage channel and the dedicated channel extend in the same direction, and the diverting channel extends in a direction perpendicular to the storage channel and the dedicated channel, respectively.

[0022] In one embodiment of the present disclosure, each of the storage channels corresponds to a plurality of the storage locations, wherein the types of items stored in the plurality of storage locations corresponding to a single storage channel are the same or different.

[0023] In one embodiment of the present disclosure, each of the storage channels corresponds to one of the storage positions; a plurality of the turning channels are provided, and the turning channels and the storage channels are arranged in an alternating manner.

[0024] In one embodiment of the present disclosure, the warehousing system includes a control server configured to send control instructions to the self-moving robot;

[0025] The self-moving robot responds to the control instruction issued by the control server, walks to the target position, and takes out the container at the target position, or places the container at the target position.

[0026] In one embodiment of the present disclosure, when it is necessary to cross floors, the self-moving robot is configured to walk to the location of the floor-changing passage in advance based on path planning, and travel to the target floor through the floor-changing passage.

[0027] According to a second aspect of the present disclosure, a container transfer method is provided, which is implemented by the above-mentioned storage system. The transfer method includes the following steps:

[0028] The control server sends control instructions to the self-moving robot;

[0029] The self-moving robot responds to the control instruction sent by the control server, walks to the target position, and takes out the container at the target position, or places the container at the target position.

[0030] In one embodiment of the present disclosure, when the target layer in the control instruction is inconsistent with the current layer of the autonomous robot:

[0031] The self-moving robot moves to the floor-changing passage in response to the control instruction issued by the control server;

[0032] Control the self-moving robot to walk to the target layer through the layer-changing channel;

[0033] Control the self-moving robot to walk to the target position on the target layer.

[0034] In one embodiment of the present disclosure, the step of controlling the self-moving robot to walk to the target layer through the layer-changing channel includes:

[0035] The detection unit of the self-moving robot detects the posture of the self-moving robot;

[0036] The control unit controls the first lifting mechanism to drive the first traveling wheel to move up and down relative to the chassis based on the parameters obtained by the detection unit, so as to keep the carrying surface in a horizontal state.

[0037] One beneficial effect of the present disclosure is that the storage system utilizes a level change channel instead of the elevators used in traditional storage systems. A self-propelled robot can transfer containers between the first and second storage platforms via the level change channel, which is convenient and quick, improving the efficiency of the transfer robot. The level change channel also occupies less storage space and reduces costs.

[0038] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0040] Figure 1 is a structural schematic diagram of the carrying platform provided by the present disclosure in Example 1;

[0041] Figure 2 yes Figure 1 Axonometric drawing of

[0042] Figure 3 yes Figure 1 A top view of

[0043] Figure 4 yes Figure 1 A structural diagram of another storage location layout of the carrying platform;

[0044] Figure 5 yes Figure 4 A top view of

[0045] Figure 6 yes Figure 4 Schematic diagram of the structure from another angle;

[0046] Figure 7 This is a schematic structural diagram of the layer-changing channel disclosed in the first embodiment as a conveying line;

[0047] Figure 8 yes Figure 7 Axonometric drawing of

[0048] Figure 9 It is a structural diagram of the self-moving robot;

[0049] Figure 10 3. It is a schematic diagram of the structure in which the first traveling wheel is lowered relative to the chassis;

[0050] Figure 11 yes Figure 1 Enlarged view of point A in the middle;

[0051] Figure 12 yes Figure 7 Enlarged view of point B in the middle;

[0052] Figure 13 This is a schematic structural diagram of the layer-changing channel in Example 2;

[0053] Figure 14 yes Figure 13 Axonometric drawing of

[0054] Figure 15 is a schematic diagram of the structure of the storage bit in Example 3;

[0055] Figure 16 yes Figure 15 A cross-sectional view of the storage position on the first storage platform from a top-down perspective.

[0056] Figures 1 to 16 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0057] 1. Carrying platform; 10. Storage position; 11. Column; 12. Support beam; 121. Bracket; 13. First storage platform; 14. Second storage platform; 141. Storage channel; 142. Turning channel; 143. Dedicated channel; 151. Travel track; 152. Conveyor line; 153. Pushing unit; 154. Carrying platform;

[0058] 2. Self-propelled robot; 20. Chassis; 21. First traveling wheel; 22. Second traveling wheel; 23. First lifting mechanism; 24. Second lifting mechanism. DETAILED DESCRIPTION

[0059] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0060] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0061] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0062] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0063] The specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0064] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0065] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the prerequisite for each other's existence.

[0066] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0067] The present disclosure provides a warehousing system, which includes a load-bearing platform and a self-moving robot. The load-bearing platform can be composed of a number of columns arranged at intervals and a number of beams arranged at intervals. The columns can extend from the working surface in the height direction, and the beams are connected to the number of columns in the height direction. With the beam as the boundary, a first storage platform is formed below the beam by the working surface, the beam and the columns, and a second storage platform is formed above the beam by the beam and the columns, that is, the second storage platform is located above the first storage platform. The first storage platform and the second storage platform are constructed for storing containers, and the containers can be containers for loading goods in the logistics field, including but not limited to bins, pallets, packing boxes, etc.

[0068] The load-carrying platform further includes 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 configured as either an inclined track or an inclined conveyor line, and the degree of inclination of the layer-changing channel can be determined according to actual conditions.

[0069] The self-moving robot is configured to walk in the carrying platform to transfer containers. The self-moving robot can transfer containers on the same level in the first storage platform or the second storage platform. The self-moving robot is configured to change levels between the first storage platform and the second storage platform via the level-changing channel. The self-moving robot can remove a container from the first storage platform, move it from the first storage platform to the second storage platform through the level-changing channel, and then transfer the container to a corresponding storage position on the second storage platform, or remove a container from the second storage platform, move it from the second storage platform to the first storage platform through the level-changing channel, and then transfer the container to a corresponding storage position on the first storage platform.

[0070] As can be seen, the storage system disclosed herein utilizes a level-changing channel to replace the elevators used in traditional storage systems. A self-moving robot can transfer containers between the first and second storage platforms via the level-changing channel, which is convenient and fast, improving the transfer robot's efficiency. The level-changing channel also occupies less storage space and reduces costs.

[0071] For better understanding, refer to Figures 1 to 16 , the specific structure and working principle of the warehousing system disclosed in the present invention are explained in combination with embodiments.

[0072] Example 1

[0073] refer to Figure 1 and Figure 2The present disclosure provides a warehousing system, which includes a carrying platform 1 and a self-moving robot 2. The carrying platform 1 is composed of columns 11 and support beams 12. At least four columns 11 are arranged at intervals at the edge of the carrying platform 1 and perpendicular to the working surface. The edge position can be the edge or corner of the carrying platform 1, and the working surface can be the ground of the storage area. The support beam 12 is connected to the position of the column 11 at a predetermined height from the working surface, and the support beam 12 is supported by the column 11 to a predetermined height from the working surface. With the support beam 12 as the boundary, 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. The first storage platform 13 and the second storage platform 14 can be used to store containers. The containers can be containers for loading goods in the field of warehousing and logistics, including but not limited to material boxes, pallets, packaging boxes, etc. In addition, the predetermined height of the support beam 12 can be set according to actual conditions, and the present disclosure does not impose any restrictions on this.

[0074] The support beam 12 may include horizontal beams connected to the columns 11 and arranged at intervals, and longitudinal beams arranged at intervals on the horizontal beams. The horizontal beams and the longitudinal beams together form the support beam 12, and the upper end of the support beam 12 is the storage area of ​​the second storage platform.

[0075] In one embodiment of the present disclosure, a first storage platform 13 and a second storage platform 14 include storage locations 10 for carrying containers. The first and second storage platforms 13, 14 may be constructed identically. The following description of the storage locations 10 and travel passages on the second storage platform 14 is provided in detail. Since the structures of the first and second storage platforms 13, 14 are identical, the storage locations 10 and travel passages on the first storage platform 13 will not be repeated for brevity.

[0076] refer to Figure 1 and Figure 2 A plurality of spaced-apart brackets 121 are disposed on the support beam 12, with two adjacent brackets 121 forming a storage location 10. Furthermore, the storage density of the first storage platform 13 and the second storage platform 14 can be increased by extending the length of the brackets 121 or by splicing multiple brackets 121 in the same direction to form at least two deep storage locations 10. In addition to forming storage locations 10 using brackets 121, the aforementioned storage locations 10 can also be implemented using other conventional structures in the warehousing and logistics field, which are not specifically listed in this disclosure.

[0077] The first storage platform 13 and the second storage platform 14 are also provided with a driving passage, which extends from the layer-changing passage to the bottom of the storage position 10. That is to say, the layer-changing passage can connect the driving passage of the first storage platform 13 with the driving passage of the second storage platform 14. The self-moving robot can move from the driving passage of the first storage platform 13 or the second storage platform 14 to the bottom of the container to transfer the containers between different storage positions on the respective platforms. Alternatively, after taking out the container from the first storage platform 13, the self-moving robot can move from the driving passage of the first storage platform 13 to the driving passage of the second storage platform 14 through the layer-changing passage, and then move through the driving passage of the second storage platform 14 and transfer the container to the corresponding storage position of the second storage platform 14. By the same token, the self-moving robot can transfer the container from the second storage platform 14 to the corresponding storage position on the first storage platform 13 according to the opposite movement route. This will not be explained in detail here.

[0078] 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 locations 10 arranged in a matrix. The travel path includes a storage channel 141 corresponding to the storage location. The storage channel 141 can be formed by two adjacent brackets 121 and is located below the storage location 10. The self-propelled robot can travel along the storage channel 141 to move under the container to transfer the container.

[0079] refer to Figure 2 The driving channel also includes a turning channel 142, which is set at a corresponding position adjacent to the storage position 10 and is connected to the storage channel 141 below the storage position 10. The self-moving robot can move from the turning channel 142 to the entrance of the corresponding storage channel 141, and switch from the original travel direction on the turning channel 142 to move along the extension direction of the storage channel 141 to the bottom of the corresponding container to take out the container, and return to the turning channel 142 from the storage channel 141 in the opposite direction to continue subsequent work. Alternatively, the self-moving robot 2 can carry the container and move through the turning channel 142 to the storage channel 141 corresponding to the storage position 10 of the container, and turn to enter the storage channel 141 and move to the storage position 10 corresponding to the container to complete the transfer of the container, and then move to the turning channel 142 in the opposite direction to carry out other subsequent work.

[0080] The travel path also includes a dedicated channel 143, which connects to the turning channel 142 and the level-changing channel. The autonomous robot can sequentially pass through the storage channel 141, the turning channel 142, the dedicated channel 143, and the level-changing channel to reach the corresponding storage platform. It then moves along the dedicated channel 143, the turning channel 142, and the storage channel 141 of the current storage platform to the corresponding storage location for the container, completing the container transfer.

[0081] For example, the self-propelled robot can carry a container through the aforementioned movement path from storage location 10 on the first storage platform 13 to storage location 10 on the second storage platform 14, thereby completing the transfer of the container from the first storage platform 13 to the second storage platform 14 for storage. Similarly, the self-propelled robot 2 can also transfer a container from the second storage platform 14 to the first storage platform 13 for storage, which will not be described in detail here.

[0082] The above-mentioned storage channel 141, turning channel 142 and dedicated channel 143 can be common track structures in the field of warehousing and logistics, such as one-way track, two-way track or four-way track, etc. Those skilled in the art can choose one or more of them to set up the storage channel, turning channel and dedicated channel respectively according to the actual movement of the self-moving robot in the storage channel, turning channel and dedicated channel, that is, any arrangement method that can enable the self-moving robot to move according to the route of action for transferring the container is acceptable, and the present disclosure will not be described in detail here.

[0083] To facilitate the movement of the autonomous robot and the planning of its movement route, the storage channel 141 and the dedicated channel 143 of the present disclosure extend in the same direction, while the turning channel 142 extends perpendicularly to the directions of the storage channel 141 and the dedicated channel 143, respectively. In other words, the storage channel 141 and the dedicated channel 143 can be connected to different locations of the same turning channel 142. This arrangement allows the autonomous robot 2 to move along straight lines in the storage channel 141, the dedicated channel 143, and the turning channel 142, improving the efficiency of the autonomous robot 2's movement and, in turn, its operating efficiency.

[0084] refer to Figure 2 and Figure 3 In one embodiment of the present disclosure, each storage channel 141 may correspond to multiple storage locations 10. The multiple storage locations 10 corresponding to a single storage channel 141 may store the same type of items. This means that the autonomous robot 2 can move to either end of the corresponding storage channel 141 based on the type of item and retrieve containers of the corresponding item type from that channel 141. For example, the autonomous robot 2 can move from a dedicated channel 143 to a corresponding turning channel 142, then from that turning channel 142 to a corresponding storage channel 141. The storage channels 141 all store containers of the same type of item, and the autonomous robot can then select and retrieve any container.

[0085] For example Figure 3As shown, when storage channel 141 is bidirectional, autonomous robot 2 can remove containers from storage locations 10 in storage channel 141 near turn channel 142. Autonomous robot 2 can then sequentially remove containers from storage channel 141, moving from the outer side of turn channel 142 to the inner side. The specific movement of the autonomous robot is not described in detail here. All storage locations in each storage channel 141 correspond to items of the same type, allowing for convenient storage of containers of similar items.

[0086] Of course, on this basis, the multiple storage positions 10 corresponding to a single storage channel 141 can also be used to store containers of different types of items. When the self-moving robot 2 is transporting the target container, if there are other containers on the outside of the target container that block the target container, the self-moving robot can first transfer the other containers that block the target container to a pre-set cache position or an empty storage position of other storage channels to overcome the obstruction of the target container by other containers. Afterwards, referring to the above-mentioned moving path, the self-moving robot 2 transfers the target container to the target storage position. The above is a common container storage layout in the logistics field and a method for transporting containers by a self-moving robot. In actual applications, the self-moving robot 2 of the present disclosure can plan a reasonable transport route under the control of a control server according to actual conditions. The present disclosure will not give examples here.

[0087] refer to Figure 4 and Figure 5 In one embodiment of the present disclosure, each storage channel 141 corresponds to a plurality of storage positions 10, and the turning channels and the storage channels are arranged alternately. That is, in addition to being connected to both ends of the storage channel 141, the turning channel 142 can also pass through any position between the two ends of the storage channel 141 to the dedicated channel 143 at the other end, thereby passing through multiple adjacently arranged storage channels 141.

[0088] Unlike the previous embodiment, in this embodiment, the self-moving robot 2 can not only enter the storage channel 141 from either end of the storage channel 141 to transfer containers, but can also move to the storage channel 141 where the corresponding type of container is located through the turning channel 142 provided between the two ends of the storage channel 141. For example, the two sides of a turning channel 142 are connected to storage channels 141 for different types of items, and the self-moving robot 2 can move along the turning channel 142 to enter the storage channel 141 where the corresponding item is located to complete the transfer of the container. At the same time, other self-moving robots 2 can also transfer containers on the storage channel 141 through other turning channels 142. That is, compared to only providing turning channels 142 at both ends of the storage channel 141, providing turning channels 142 between the two ends of the storage channel 141 allows multiple self-moving robots to simultaneously transfer containers on the same storage channel 141 through different turning channels 142, thereby improving the self-moving robots' transfer efficiency of the corresponding type of containers.

[0089] refer to Figure 2 and Figure 3 In one embodiment of the present disclosure, the level-changing passage is a travel track 151 fixed between the first storage platform 13 and the second storage platform 14. The autonomous robot 2 can travel on the travel track 151 to change levels between the first storage platform 13 and the second storage platform 14. For example, the travel track 151 can be a common bidirectional track, with one end of the travel track 151 fixed to the first storage platform 13 and connected to the dedicated passage 143. The travel track 151 extends obliquely to the other end and connects to the dedicated passage 143 of the second storage platform 14, thereby connecting the dedicated passages 143 of the two storage platforms.

[0090] The autonomous robot 2 can move empty or with a container from the dedicated passage 143 of the first storage platform 13 to the travel track 151, and then move diagonally upward along the travel track 151 to the dedicated passage 143 of the second storage platform 14, thereby completing a level change from the first storage platform 13 to the second storage platform 14. Similarly, the autonomous robot 2 can also move empty or with a container from the second storage platform 13 via the travel track 151 to the first storage platform 13, thereby completing a level change from the second storage platform 14 to the first storage platform 13. This will not be described in detail here.

[0091] refer to Figure 7 and Figure 8In another embodiment of the present disclosure, the layer-changing channel is a conveyor line 152 connected between the first storage platform 13 and the second storage platform 14. The conveyor 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 connected to the dedicated channel 143 of the second storage platform. A plurality of pushing parts 153 can be arranged at intervals on the conveyor line 152. The pushing parts 153 can be constructed to cooperate with the self-moving robot and push the self-moving robot 2 to move along the extension direction of the conveyor line 152 as the conveyor line 152 moves. The distance between two adjacent pushing parts 153 is greater than or equal to the length or width of the self-moving robot 2 to prevent the self-moving robot from interfering with the adjacent pushing part 153 when cooperating with one of the pushing parts 153.

[0092] Different from the previous embodiment, in this embodiment, after the self-moving robot moves onto the conveyor line 152, the pushing part 153 can push the self-moving robot 2 to move synchronously with the conveyor line 152, and the self-moving robot itself does not need to move.

[0093] For example, when the self-moving robot 2 is empty or carries a container and moves from the dedicated channel 143 on the first storage platform 13 to the conveyor line 152, the pushing part 153 on the conveyor line 152 cooperates with the self-moving robot 2, and the pushing part 153 moves with the conveyor line 152 and drives the self-moving robot 2 to move obliquely upward along the conveyor line 152 to the second storage platform 143. After moving to the right position, the self-moving robot moves to the dedicated channel of the second storage platform to complete the layer changing movement.

[0094] It should be noted that, in the process of the self-moving robot 2 moving from the second storage platform 14 to the first storage platform 13 through the conveyor line 152, the pushing part 153 no longer pushes the self-moving robot, but prevents the self-moving robot 2 and the conveyor line 152 from sliding relative to each other. When the self-moving robot 2 and the conveyor line 152 remain relatively stationary, the conveyor line 152 will drive the self-moving robot 2 to move from the second storage platform 14 to the first storage platform 13.

[0095] In the above two processes, the role of the pushing portion 153 on the conveyor line 152 is to overcome the tendency of the self-moving robot 2 to slide relative to the conveyor line 152 due to its own weight through thrust, so as to ensure that the self-moving robot 2 can remain relatively stationary with the conveyor line 152, thereby allowing the self-moving robot 2 to move from the first storage platform 13 to the second storage platform 14 along the conveyor line 152, or from the second storage platform 14 to the first storage platform 13. The above-mentioned pushing portion 153 can be constructed as a plate-like structure, and the plate-like structure can be in contact with the driving wheel or chassis of the self-moving robot to prevent the self-moving robot 2 from sliding relative to the conveyor line 152. Of course, in addition to overcoming gravity by providing thrust, the pushing portion 153 can also be replaced by a structure that can provide pulling force in the opposite direction, or a structure that is common in the field and can fix the self-moving robot 2 on the conveyor line 152. The present disclosure does not list them one by one here.

[0096] It can be seen from this that when the layer-changing channel disclosed in the present invention is the conveyor line 152, the self-moving robot 2 does not need to move by itself. The conveyor line 152 will drive the self-moving robot 2 to change layers between the first storage platform 13 and the second storage platform 14. This can effectively reduce the load on the self-moving robot 2's own power source when climbing, and at the same time, the conveyor line 152 can also improve the stability of the self-moving robot 2 when changing layers.

[0097] In order to ensure the smoothness of the simultaneous movement of multiple self-moving robots 2 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 layer-changing passage disclosed herein includes a first layer-changing passage and a second layer-changing passage. The self-moving robots 2 are configured to climb from the first storage platform 13 to the second storage platform 14 via the first layer-changing passage, and to descend from the second storage platform 14 to the first storage platform 13 via the second layer-changing passage.

[0098] For example, if there are multiple autonomous robots in a warehouse system, and autonomous 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 container transfer, while autonomous 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 container transfer, then the autonomous robot 2 located on the first storage platform 13 can use the first level-changing channel to move from the first storage platform 13 to the second storage platform 14, while the autonomous robot 2 located on the second storage platform 14 can use the second level-changing channel to move from the second storage platform 14 to the first storage platform 13. This ensures that autonomous robots 2 on different levels do not interfere with each other when changing levels, ensuring smooth movement of autonomous robots in the warehouse system.

[0099] In one embodiment of the present disclosure, the first layer-changing channel and the second layer-changing channel can be set on opposite sides of the first storage platform 13 and the second storage platform 14, that is, all storage positions 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. The self-moving robot can move to the corresponding storage position of the second storage platform through the first layer-changing channel on one side, and then move to the first storage platform from the second layer-changing channel on the other side. During this process, other self-moving robots can also move from the first layer-changing channel on one side to the second storage platform in the same way to complete the container transfer, and then move down from the second layer-changing channel on the other side, thereby ensuring the smoothness of the self-moving robot in the entire process of moving from the first storage platform to the second storage platform and then returning to the first storage platform. Based on the same principle, the smoothness of the self-moving robot in the entire process of moving from the second storage platform through the second layer-changing channel to the first storage platform and then returning to the second storage platform is also guaranteed, and the specific movement process will not be repeated here.

[0100] It should be noted that the first and second level-changing channels can be constructed with the same structure. The terms "first" and "second" are used to distinguish the functions and positions of the two level-changing channels. The first and second level-changing channels can be the travel track 151 or the conveyor line 152 mentioned above, which will not be described in detail here.

[0101] Considering that when the self-moving robot 2 changes layers along the inclined layer-changing channel, the self-moving robot 2 will have the same inclination as the layer-changing channel, 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.

[0102] To solve the above problems, refer to Figure 9 and Figure 10 The self-propelled robot 2 of the present disclosure includes a chassis 20, a travel mechanism, and a control unit. The chassis 20 is provided with a carrying surface for carrying containers. The self-propelled robot 2 can carry containers after removing them from the storage location 10 via a carrying surface adaptor. The carrying surface can be a top plate, a tray, or other common structures for carrying containers in the art, which are not listed here.

[0103] The travel mechanism includes first and second travel wheels 21, 22 for driving the chassis 20. The first and second travel wheels 21, 22 support the self-propelled robot on the work surface or the level change passage. The first and second travel wheels 21, 22 can be connected to a drive device on the travel mechanism and, driven by the drive device, rotate relative to the work surface to drive the self-propelled robot 2 along a specified route or direction of movement, and then move to the corresponding storage location 10.

[0104] The first traveling wheel 21 can be connected to the chassis 20 through a first lifting mechanism 23. The first lifting mechanism 23 can drive the first traveling wheel 21 to move toward or away from the chassis 20. In this way, the position of the chassis 20 can be adjusted by changing the height difference between the first traveling wheel 21 and the second traveling wheel 22 relative to the chassis 20.

[0105] The self-propelled robot 2 also includes a control unit that can be used to control the movement of the first lifting mechanism 23. When the traveling mechanism is on the floor-changing passage, the control unit is configured to control the first lifting mechanism 23 to drive the first traveling wheel 21 to rise and fall relative to the chassis 20 to maintain the supporting surface in a horizontal state.

[0106] For example, reference Figure 10 and Figure 11 , the direction in which the self-moving robot 2 moves along the floor-changing passage is recorded as the front side, and the opposite side is recorded as the rear side. The first traveling wheel 21 is located on the rear side of the chassis 20, and the second traveling wheel 22 is located on the front side of the chassis 20. When the self-moving robot 2 moves to the floor-changing passage, the height of the first traveling wheel 21 is lower than the height of the second traveling wheel 22 in the height direction, that is, the rear side of the chassis 20 will be lower than the front side of the chassis 20. The control unit will control the first lifting mechanism 23 to drive the first traveling wheel 21 to move away from the chassis 20. Since the first traveling wheel 21 is always in the same structure as the floor-changing passage, the first lifting mechanism 23 will gradually raise the rear side of the chassis 20 to the same height as the front side of the chassis 20, so that the supporting surface of the chassis 20 remains horizontal. When a container is carried on the supporting surface of the chassis 20, the container will also remain horizontal, ensuring the stability of the container when the self-moving robot 2 climbs. Then, after the second driving wheel 22 of the self-moving robot 2 reaches the second storage platform 14, the first driving wheel 21 and the second driving wheel 22 gradually return to the same height in the vertical direction. The control unit controls the first driving wheel 21 via the first lifting mechanism 23 to move closer to the chassis 20. The first driving wheel 21 gradually moves toward the chassis 20 until the self-moving robot 2 has completely moved onto the second storage platform 14. During the above process, the supporting surface of the chassis 20 remains horizontal, thereby ensuring the stability of the self-moving robot 2 in its climbing motion while transferring containers.

[0107] Similarly, when the self-mobile robot 2 moves from the second storage platform 14 to the level-changing passage, if the first traveling wheel 21 enters the level-changing passage first, then during the subsequent movement, the height of the first traveling wheel 21 will be lower than that of the second traveling wheel 22, and the height of the chassis 20 on the side of the first traveling wheel 21 will be lower than that on the side of the second traveling wheel 22. Therefore, the control unit will control the first lifting mechanism 23 to drive the first traveling wheel 21 to extend away from the chassis 20, thereby raising the chassis 20 on the side of the first traveling wheel 21 to the same height as the chassis 20 on the side of the second traveling wheel 22, so that the supporting surface of the chassis 20 remains horizontal. Afterwards, after the first traveling wheel 21 reaches the first storage platform, the control unit controls the first lifting mechanism 23 to drive the first traveling wheel 21 to gradually retract toward the chassis 20, so that the supporting surface of the chassis 20 remains horizontal.

[0108] The self-propelled robot 2 of the present disclosure also includes a detection unit configured to detect the posture of the self-propelled robot 2. For example, the detection unit can detect the tilt angle, tilt direction, and other posture parameters of the self-propelled robot chassis 20, and generate corresponding parameters for transmission to the control unit. Based on the parameters obtained by the detection unit, the control unit is configured to control the first lifting mechanism 23 to raise and lower the first travel wheel 21 relative to the chassis 20, thereby maintaining the supporting surface in a horizontal state.

[0109] In one embodiment of the present disclosure, the detection unit monitors the posture of the chassis 20 of the self-mobile robot 2 in real time, and generates corresponding parameters to be sent to the control unit. Accordingly, the control unit will also control the first lifting mechanism 23 in real time based on the received parameters to drive the first traveling wheel 21 to move up and down relative to the chassis 20 to ensure that the bearing surface of the chassis 20 always remains horizontal. This is because the inclination angle of the chassis 20 of the self-mobile robot 2 will gradually increase after the self-mobile robot 2 has just entered the layer-changing channel, which requires the control unit to control the first lifting mechanism 23 to drive the first traveling wheel 21 to gradually move away from the chassis 20. By the same token, when the self-mobile robot 2 has just moved to the second storage platform 14, the inclination angle of the chassis 20 of the self-mobile robot 2 will also gradually increase, which requires the control unit to control the first lifting mechanism 23 to drive the first traveling wheel 21 to gradually move toward the direction close to the chassis 20. Therefore, the detection unit needs to monitor the tilt angle of the chassis 20 in real time. The control unit gradually controls the first lifting mechanism 23 to drive the first traveling wheel 21 to move closer to or away from the chassis 20 based on the tilt angle parameters sent by the detection unit, so as to ensure that the chassis of the self-moving robot remains horizontal throughout the entire process.

[0110] The first lifting mechanism 23 can be implemented by a common transmission mechanism in the art, such as an electric cylinder transmission mechanism, a rack transmission mechanism, a sprocket transmission mechanism, etc., which will not be described in detail here.

[0111] refer to Figure 11 When the floor-changing channel disclosed in the present invention is the driving track 151, the control unit will control the first driving wheel 21 to move away from the chassis 20, so that the chassis 20 is in a horizontal state, and the first driving wheel 21 and the second driving wheel 22 jointly drive the self-moving robot to move along the driving track 151.

[0112] refer to Figure 12 When the layer-changing channel disclosed in the present invention is the conveyor line 152, the control unit will control the first driving wheel 21 to move in the direction away from the chassis 20, so that the chassis 20 is in a horizontal state, and the conveyor line 152 and the pushing part 153 jointly drive the self-moving robot 2 to move along the extension direction of the conveyor line 152.

[0113] The above description of the process in which the self-moving robot 2 moves to the floor-changing platform uses the example of the first traveling wheel 21 being lower than the second traveling wheel 22. However, in actual applications, when the self-moving robot 2 moves through the floor-changing passage, if the second traveling wheel enters the passage first, the second traveling wheel 22 will be lower than the first traveling wheel 21. Therefore, the second traveling wheel 22 of the present disclosure can be connected to the chassis 20 via a second lifting mechanism 24. Based on the same principle, the chassis can be maintained horizontally by adjusting the height of the second traveling wheel 22 relative to the chassis 20.

[0114] Therefore, when the traveling mechanism travels on the layer-changing channel, the detection unit will detect the inclination angle and inclination direction of the chassis, and generate corresponding parameters to send to the control unit. The control unit is configured to control the first lifting mechanism 23 to drive the first traveling wheel 21 to rise and fall relative to the chassis 20 based on the received parameters, and / or control the second lifting mechanism 24 to drive the second traveling wheel 22 to rise and fall relative to the chassis 20, so as to keep the bearing surface in a horizontal state.

[0115] For example, when the self-moving robot 2 is moving in the layer-changing channel, when the detection unit detects that the chassis 20 on the side of the first traveling wheel 21 is tilted downward relative to the chassis 20 on the side of the second traveling wheel 22, that is, the height of the chassis 20 on the side of the first traveling wheel 21 is lower than the height of the chassis 20 on the side of the second traveling wheel 22, the detection unit will generate corresponding parameters and send them to the control unit. Based on the received parameters, the control unit controls the first lifting mechanism 23 to drive the first traveling wheel 21 to descend. Since the first traveling wheel 21 is always in contact with the layer-changing channel, the chassis 20 on the side of the first traveling wheel 21 will gradually rise to the same height as the chassis 20 on the side of the second traveling wheel 22; for the same reason, when the detection unit detects that the chassis 20 on the side of the second traveling wheel 22 is tilted downward relative to the chassis on the side of the first traveling wheel 21, the control unit will control the second lifting mechanism 24 to drive the second traveling wheel 22 to descend based on the parameters sent by the detection unit, and the height of the chassis 20 on the side of the second traveling wheel 22 will gradually rise to the same height as the chassis on the side of the first traveling wheel 21. Therefore, in different application scenarios, the control unit can reasonably control the first lifting mechanism 23 or the second lifting mechanism 24 to drive their respective driving wheels to rise and fall according to the tilt angle and tilt direction of the self-propelled robot chassis to ensure that the bearing surface of the chassis remains horizontal.

[0116] In one application scenario of the present disclosure, the warehousing system may further include a control server configured to send control instructions to the autonomous robot 2. The control instructions may include instructions for removing or placing containers. The control instructions may also include parameters such as container location information to facilitate the autonomous robot 2 in removing or placing containers at a target location.

[0117] After receiving the control command from the control server, the self-moving robot 2 moves to the target location in response to the control command from the control server and removes the container from the target location or places the container at the target location. The target location can be the corresponding storage location 10 or other location, depending on the actual situation.

[0118] For example, the control server can send a control instruction to the self-moving robot 2 to transfer the container from the current storage position 10 of the same storage platform to the target position. The self-moving robot moves to the current storage position of the container in response to the control instruction. The self-moving robot can transfer the container to the target position in the same storage platform in the same manner as described above.

[0119] When the control instructions issued by the control server require the self-moving robot to move across layers, the self-moving robot is configured to walk to the location of the layer change channel in advance based on path planning, and travel to the target layer through the layer change channel, and then move to the target position of the container to take out the container or place the container at the target position.

[0120] The specific movement modes of the above-mentioned self-moving robot when moving on the same layer or moving across layers have been described in detail above. Those skilled in the art can fully deduce the specific movement process of the self-moving robot when operating on the same layer or across layers based on the above records, and will not be described in detail here.

[0121] The present disclosure provides a container transfer method, which can be implemented in the storage system described above. The method includes:

[0122] The control server sends a control command to the autonomous robot. This control command can be a command to remove a container or a command to deposit a container. In response to the control command from the control server, the autonomous robot moves to a target location and removes or deposits the container at the target location. This control method has been described in detail above and will not be repeated here.

[0123] After completing one container transfer task, the autonomous robot can proceed to the next container transfer task. The control command also carries the container's location information, which includes information such as the target layer of the container and the coordinates of the storage location on the target layer. When the target layer of the container in the control command is inconsistent with the current layer of the autonomous robot, the control method further includes:

[0124] The self-moving robot walks to the layer-changing channel in response to the control instruction issued by the control server, controls the self-moving robot to walk to the target layer through the layer-changing channel, and controls the self-moving robot to walk to the target position on the target layer.

[0125] For example, if the autonomous robot's current level is the first storage platform, and the target level for the container's location in the control instruction is the second storage platform, the autonomous robot will first need to change levels. Based on this control instruction, the autonomous robot will first move to the level change channel on the first storage platform, then move through the channel to the second storage platform to complete the level change. It will then move to the container's location on the second storage platform as specified in the control instruction.

[0126] Based on the same principle, the current layer of the self-moving robot is the second storage platform, and the target layer of the corresponding position of the container in the control instruction is on the first storage platform. Then the self-moving robot needs to move from the second storage platform to the first storage platform through the layer changing channel, and then move to the corresponding position of the container on the first storage platform to complete the picking and placing of the container.

[0127] The specific movement process of the above-mentioned self-moving robot moving from the first storage platform to the second cache platform through the layer exchange channel, or from the second storage platform to the first storage platform through the layer exchange channel has been described in detail above and will not be described in detail here.

[0128] During the layer-changing movement, the self-propelled robot will adjust the chassis of the self-propelled robot accordingly according to the tilt direction and tilt angle of its own chassis. The control method also includes:

[0129] The detection unit of the autonomous robot detects the posture of the autonomous robot, which may be the tilt direction and tilt angle of the autonomous robot chassis. The detection unit generates corresponding parameters. Based on the parameters obtained by the detection unit, the control unit controls the first lifting mechanism to drive the first travel wheel to move up and down relative to the chassis to maintain the supporting surface in a horizontal state.

[0130] The control unit of the autonomous robot controls the first travel wheel to move toward or away from the chassis via the first lifting mechanism based on parameters corresponding to the chassis' tilt angle and degree, thereby maintaining the same height on opposite sides of the chassis and ensuring the horizontality of the chassis's supporting surface. The specific movement process and adjustment method have been described in detail above. Those skilled in the art can readily deduce the specific movement process of the autonomous robot's first lifting mechanism, first travel wheel, and chassis under this control method based on the above description, and this disclosure does not repeat the description here.

[0131] Furthermore, this control method can also be applied to control the second lifting mechanism to drive the second traveling wheel to move up and down, in order to cope with two different situations when the chassis on the first traveling wheel side tilts downward relative to the second traveling wheel, or when the chassis on the second traveling wheel side tilts downward relative to the first traveling wheel, during the floor change passage. The conditions and methods for the control unit to control the first lifting mechanism or the second lifting mechanism have been described in detail above and will not be repeated here.

[0132] Example 2

[0133] Compared with Example 1, the main difference of Example 2 lies in the specific structure of the layer changing channel and the movement process of the self-moving robot on the layer changing channel. In order to ensure the conciseness of the text, this difference will be described in detail below. In addition to the above differences, the other structures of the supporting platform in the warehousing system are the same as above and will not be elaborated here.

[0134] refer to Figure 13The layer-changing channel of this embodiment is a conveyor line 152 connected between the first storage platform 13 and the second storage platform 14. A load-bearing platform 154 is provided on the conveyor line 152. The load-bearing platform 154 is constructed to always remain in a horizontal state during the movement of the conveyor line 152. The self-moving robot 2 is constructed to walk onto the load-bearing platform 154 and change layers between the first storage platform 13 and the second storage platform 14 through the transportation of the conveyor line 152.

[0135] For example, when the self-moving robot 2 is currently located on the first storage platform 13 and needs to change layers, the self-moving robot 2 can move to the position of the conveyor line 152 on the first storage platform 13 and drive onto the load-bearing platform 154. In the process of the load-bearing platform 154 moving toward the second storage platform 14 along the conveyor line 152, it will drive the self-moving robot 2 to move toward the second storage platform 14 to complete the layer-changing movement.

[0136] Of course, reference Figure 14 In this embodiment, a first layer-changing channel and a second layer-changing channel can also be provided. The carrier 154 on the first layer-changing channel moves along the conveyor line 152 from the first storage platform 13 to the second storage platform 14, while the carrier 154 on the second layer-changing channel moves along the conveyor line 152 from the second storage platform 14 to the first storage platform 13. The autonomous robot can select the appropriate layer-changing channel for layer-changing based on its current layer and the target layer to be changed.

[0137] Furthermore, the aforementioned carrying platform 154 will always remain horizontal during movement, and the container carried on the chassis of the self-propelled robot 2 on the carrying platform 154 will also always remain horizontal. Under the action of the carrying platform 154, the self-propelled robot 2 does not need to adjust the first travel wheel 21 or the second travel wheel 22 via the first lifting mechanism 23 or the second lifting mechanism 24, and can completely rely on the carrying platform 154 to maintain a horizontal state, which is very convenient. Furthermore, the provision of the carrying platform 154 can also be applied to other common self-propelled robots, that is, robots that do not have the function of adjusting the tilt of the chassis 20 via the first lifting mechanism 23 or the second lifting mechanism 24, etc., thus being applicable to a wider range of self-propelled robots. Other types of self-propelled robots can also maintain a horizontal state for the carrying container when changing floors.

[0138] Example 3

[0139] Compared with Example 1, the main difference of Example 3 lies in the setting position of the storage location and the movement process of the self-moving robot in the storage location to transfer the container. In order to ensure the conciseness of the text, this difference will be described in detail below. In addition to the above differences, the other structures of the supporting platform in the warehousing system are the same as above and will not be elaborated here.

[0140] refer to Figure 15 The storage locations of this embodiment can be arranged in sequence along the extension direction of the layer-changing channel. When the self-moving robot 2 travels in the layer-changing channel, it can choose to enter the corresponding storage channel 141 according to the type of container and transfer the container.

[0141] It should be noted that the reference Figure 16 After the autonomous robot enters one end of storage channel 141 from the first level-changing channel, it must move to the other end of storage channel 141 to remove the container from storage position 10 at the other end. It can then directly enter the second level-changing channel and move downward along the second level-changing channel to remove the container. Autonomous robot 2 can then follow the same pattern to sequentially remove the containers on the other side of the second level-changing channel, thus completing the transfer of the corresponding type of container.

[0142] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, their practical applications, or technical improvements in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A warehousing system, characterized in that: include: A carrying platform (1), the carrying platform (1) comprising at least a first storage platform (13) and a second storage platform (14) located above the first storage platform (13); the first storage platform (13) and the second storage platform (14) are configured to store containers; a plurality of storage positions (10) arranged in a matrix are provided on the first storage platform (13) and the second storage platform (14); and a layer-changing channel is further provided, the layer-changing channel being 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 the carrying platform (1) to transfer the container; the self-moving robot (2) being configured to change layers between the first storage platform (13) and the second storage platform (14) via the layer-changing channel; A driving channel, wherein the driving channel is located on the first storage platform (13) and the second storage platform (14), and the driving channel includes a storage channel (141) corresponding to the storage position (10); further includes a turning channel (142) connected to the storage channel (141), and a dedicated channel (143) connected to the turning channel (142) and the layer-changing channel; the storage channel (141) and the dedicated channel (143) extend in the same direction, and the turning channel (142) extends perpendicular to the directions of the storage channel (141) and the dedicated channel (143), respectively; the self-propelled robot is configured to transport the container through the storage channel (141), the turning channel (142), the dedicated channel (143), and the layer-changing channel; The carrying platform (1) is composed of a column (11) and a support beam (12), wherein the column (11) supports the support beam (12) to a predetermined height from the working surface, and the first storage platform (13) is formed below the support beam (12), and the second storage platform (14) is located above the first storage platform (13).

2. The storage system according to claim 1, characterized in that: The self-moving robot (2) comprises: A chassis (20), wherein the chassis (20) is provided with a bearing surface for bearing the container; A traveling mechanism, the traveling mechanism comprising a first traveling wheel (21) and a second traveling wheel (22) for driving the chassis (20) to travel; the first traveling wheel (21) is connected to the chassis (20) via a first lifting mechanism (23); A control unit is configured to control the first lifting mechanism (23) to drive the first driving wheel (21) to move up and down relative to the chassis (20) when the driving mechanism is on the layer-changing channel, so as to keep the bearing surface in a horizontal state.

3. The storage system according to claim 2, characterized in that: The self-moving robot (2) includes a detection unit, which is configured to detect the posture of the self-moving robot (2); the control unit is configured to control the first lifting mechanism (23) to drive the first driving wheel (21) to move up and down relative to the chassis (20) based on parameters obtained by the detection unit, so as to keep the bearing surface in a horizontal state.

4. The storage system according to claim 2, characterized in that: The second traveling wheel (22) is connected to the chassis (20) via a second lifting mechanism (24); when the traveling mechanism is on the layer-changing passage, the control unit is configured to control the first lifting mechanism (23) to drive the first traveling wheel (21) to be raised and lowered relative to the chassis (20), and / or to control the second lifting mechanism (24) to drive the second traveling wheel (22) to be raised and lowered relative to the chassis (20), so as to keep the bearing surface in a horizontal state.

5. The storage 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), and the self-moving robot (2) is configured to walk on the travel track (151) to change layers between the first storage platform (13) and the second storage platform (14).

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

7. The storage system according to claim 1, characterized in that: The layer-changing channel is a conveyor line (152) connected between the first storage platform (13) and the second storage platform (14); a carrier platform (154) is provided on the conveyor line (152); the carrier platform (154) is constructed to always remain in a horizontal state during the movement of the conveyor line (152); the self-moving robot (2) is constructed to walk onto the carrier platform (154) and change layers between the first storage platform (13) and the second storage platform (14) through the transportation of the conveyor line (152).

8. The storage system according to claim 1, characterized in that: The layer-changing channel comprises a first layer-changing channel and a second layer-changing channel; the self-moving robot (2) is configured to climb from the first storage platform (13) to the second storage platform (14) via the first layer-changing channel; and to descend from the second storage platform (14) to the first storage platform (13) via the second layer-changing channel.

9. The storage system according to claim 8, characterized in that: The first layer-changing channel and the second layer-changing channel are arranged on opposite sides of the first storage platform (13) and the second storage platform (14).

10. The storage system according to claim 1, characterized in that: 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.

11. The storage system according to claim 1, characterized in that: Each storage channel (141) corresponds to a corresponding storage position (10); a plurality of diverting channels (142) are provided, and the diverting channels (142) and the storage channels (141) are arranged in an alternating manner.

12. The storage system according to any one of claims 1 to 11, characterized in that: The warehousing system comprises a control server, wherein the control server is configured to send a control instruction to the self-moving robot (2); The self-moving robot (2) responds to the control instruction issued by the control server, walks to the target position, and takes out the container at the target position, or places the container at the target position.

13. The storage system according to claim 12, characterized in that: When it is necessary to cross floors, the self-moving robot (2) is configured to walk to the location of the floor-changing passage in advance based on path planning, and travel to the target floor through the floor-changing passage.

14. A container transfer method, implemented by the storage system according to any one of claims 1 to 13, characterized in that: The following steps are involved: The control server sends control instructions to the self-moving robot; The self-moving robot responds to the control instruction sent by the control server, walks to the target position, and takes out the container at the target position, or places the container at the target position.

15. The transfer method according to claim 14, characterized in that When the target layer in the control command is inconsistent with the current layer of the autonomous robot: The self-moving robot moves to the floor-changing passage in response to the control instruction issued by the control server; Control the self-moving robot to walk to the target layer through the layer-changing channel; Control the self-moving robot to walk to the target position on the target layer.

16. The transfer method according to claim 15, characterized in that The step of controlling the self-moving robot to walk to the target layer through the layer-changing channel comprises: The detection unit of the self-moving robot detects the posture of the self-moving robot; The control unit controls the first lifting mechanism to drive the first traveling wheel to move up and down relative to the chassis based on the parameters obtained by the detection unit, so as to keep the bearing surface in a horizontal state.

Images