CN109377127A - A kind of 3 D stereo unmanned warehouse - Google Patents
A kind of 3 D stereo unmanned warehouse Download PDFInfo
- Publication number
- CN109377127A CN109377127A CN201811185585.3A CN201811185585A CN109377127A CN 109377127 A CN109377127 A CN 109377127A CN 201811185585 A CN201811185585 A CN 201811185585A CN 109377127 A CN109377127 A CN 109377127A
- Authority
- CN
- China
- Prior art keywords
- self
- shelf
- signal
- propelled
- warehouse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000012546 transfer Methods 0.000 claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 238000007726 management method Methods 0.000 description 13
- 230000003287 optical effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000012528 membrane Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012552 review Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000003362 replicative effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Economics (AREA)
- Theoretical Computer Science (AREA)
- Marketing (AREA)
- Finance (AREA)
- Entrepreneurship & Innovation (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- Human Resources & Organizations (AREA)
- General Business, Economics & Management (AREA)
- Accounting & Taxation (AREA)
- Development Economics (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of 3 D stereo unmanned warehouses, including server, warehouse and harbour, the harbour is provided with transfer robot, container identity device and vehicle identifier, the transfer robot, container identity device and vehicle identifier are connect with server, it is evenly distributed in the warehouse to have several self-propelled shelf, several self-propelled shelf are provided with communication module, the communication module is connect with server, the server is provided with control module and three-dimensional analogue system, the three-dimensional analogue system is provided with warehouse threedimensional model, harbour threedimensional model and self-propelled shelf threedimensional model, when the self-propelled shelf of the control module control move in warehouse, three-dimensional analogue system is sent a signal to simultaneously.The unmanned freight house that the present invention is arranged is built using modern automation, is realized the Intelligent unattended management in bulk storage plant management, is not only increased the efficiency of management, and saved cost of labor.
Description
Technical field
The present invention relates to storage field more particularly to a kind of 3 D stereo unmanned warehouses.
Background technique
Warehousing management is exactly the management carried out to the goods and materials in warehouse and warehouse, is storehouse mechanism to make full use of
The storage resource having provides plan, tissue, control and coordination process that efficient Warehouse Service is carried out.The base of warehousing management
This principle: the principle of the principle of efficiency, the principle of economic benefit and service.
The warehouse of modern enterprise has become the logistics center of enterprise.Past, warehouse be seen as one without surcharge at
This center, and warehouse is not only regarded as forming a part during surcharge now, but also is regarded as enterprise's success
A key factor in operation.Bridge of the warehouse by enterprise as connection supplier and party in request.Come from the angle of supplier
It sees, efficient circulation and process is engaged in the warehouse as Transfer center, and stock control, transport and dispatching etc. are movable.From party in request
From the perspective of, the needs of type customer must be met with maximum flexibility and timeliness as the warehouse of Transfer center.Cause
This, for enterprise, warehousing management it is significant.Under the new competitive landscape of New Economy, enterprise constantly digs in Pay attention to benefits
Pick and the importance that storage reasonable management is increasingly noticed while the competitiveness for developing oneself.Accurately storage pipe
Reason effectively can control and reduce circulation and inventory cost, be the key that enterprise keep on top power-assisted with guarantee.
Due to the modern times, the effect of storage is not only to take care of, and is more flow of material center, also not to the emphasis of warehousing management
Only it is conceived to the safety of materials storage again, how more attention is with modern technologies, and such as information technology automates skill
Art come improve storage running speed and benefit, this be also automatic stereowarehouse be expert at its road the reason of.Recently, with industry
4.0 arrival, Intelligent unattended, which is stored in a warehouse, becomes the topic of hot spot, for example, the Kiva robot of Amazon can scan ground bar code
Advance, the shelf where cargo can be carried to employee's treatment region from warehouse according to the order of wireless instructions.Its core ideas is
The personnel of sorting are cancelled, directly shelf are moved on the side of review packaging personnel, there are review packing personnel to complete to sort, it is secondary
Sorting is packaged three work of review, personnel is pressed onto displacement action that is minimum, while also eliminating original transmission line completion.Capital
" unmanned storehouse " technology in east is cooperateed with and is cooperated using a large amount of Intelligent logistics robots, imparts intelligence to conventional industrial robot
It is intelligent, it allows them to have autonomous judgement and behavior, adapts to different application scenarios.
Application No. is the patents of invention of CN201711175506.6, disclose a kind of for providing the storage position in warehouse
The method and material carrier of position, the warehouse have multiple prespecified storage positions, and the material carrier has fixed
Position system and at least one side 3D camera, the visual direction of the side 3D camera are oriented transverse to main driving direction, wherein described
Method includes the steps that following automatic execution: detecting the image data of at least one described side 3D camera；Utilize positioning system
Detect the azimuth information of material carrier；Determine each storage position relative to warehouse based on described image data and azimuth information
Position in fixed coordinate system；In the database by the storage of identified position.
Application No. is the patents of CN201620022098.5, disclose a kind of physical distribution management apparatus of intelligent book, host
Upper end is equipped with keyboard, is equipped with display screen at the top of host, keyboard and display screen are connected with host respectively；The installation of host side
There is pedestal, several driving motors are installed on pedestal, the outside of driving motor is equipped with conveyer belt；It is sequentially installed on conveyer belt
First support, second support and third bracket, are equipped with the code reader to match with conveyer belt in first support, in second support
The volume detector to match with conveyer belt is installed, the patch code device to match with conveyer belt, barcode scanning are installed on third bracket
Device, volume detector, patch code device pass through data line respectively and are connected with host.Inspection can be scanned to books in time, and
Classification processing is carried out, is stored classifiedly convenient for subsequent.
Application No. is the patents of invention of CN201710824493.4, disclose a kind of unmanned warehousing system, realize from cargo
It puts in storage to the unmanned system participated in of whole process of cargo export.For cargo from inlet, communicated band is sent to comb formula structure
On shelf, the detection of size is carried out to the cargo, and to the information scanning of electronic tag, and after be transported to through robot
Specified shelf area storage, and feed back the related data of the disengaging storehouse management system of cargo.Also cargo is carried out when cargo is taken away
The scanning of information, it is ensured that the accuracy that cargo is carried.The freedom positioning system of intelligent storage robot in the invention can code selection
Disk adds gyroscope, laser radar, magnetic terrestrial reference etc..By its improved structure, pallet fork and shelf are all the comb structures used.
The characteristics of invention unmanned warehousing system is: the design by combing castor formula shelf and pallet fork can be convenient and efficiently realize cargo
Scheduling, and space can be saved.The design structure is novel, easy to operate, and traveling is convenient.
Application No. is the patents of invention of CN201610028781.4, disclose a kind of conveying robot based on mobile mechanical arm
People, the transfer robot include MACNUM wheel, car body pedestal, revolving platform and mechanical arm, in which: the MACNUM wheel setting
In the lower part of the car body pedestal, the top of the car body pedestal, the machine are arranged in by swing mechanism for the revolving platform
Tool arm is arranged on the revolving platform, and the mechanical arm includes sequentially connected first arm, the second arm, third arm, wrist joint
And mechanical gripper；And it is additionally provided on the mechanical arm for respectively driving first arm, the second arm and the movement of third arm
The first oil cylinder, the second oil cylinder and third oil cylinder, the end of the lead screw is provided with turning motor on the mechanical arm.The hair
Bright transfer robot will be combined together based on the mobile car body that MACNUM takes turns with hydraulic manipulator, flexible with movement,
The advantages that power density is big, energy resource supply facilitates.
Application No. is the patents of CN201720700467.6, disclose a kind of multi-arm rotary conveying mechanical arm, structure
Including hand grasp fixed pole, adjustable hand catching plate, hand grab, fixing bolt, link block, rotating base, micro-machine, support plate,
One mechanical arm, reinforcing connecting rod, second mechanical arm, hand grab control device, are welded with reinforcing connecting rod, hand on the inside of first mechanical arm
It grabs and is installed below adjustable hand catching plate, adjustable hand catching plate includes hand catching plate main body, the first regulating tank, the second regulating tank, the
One regulating tank is installed on the left of the second regulating tank, and the first regulating tank and the second regulating tank extend through and be connected to hand catching plate body table
On face, hand catching plate main body, the first regulating tank, the second regulating tank are in integral structure, and hand catching plate main body and hand grab control device weldering
Be connected together, the patent realize multi-arm rotary conveying mechanical arm by be equipped with adjustable hand catching plate, when in use can be right
The spacing that hand is grabbed is adjusted, and improves device practicability.
Application No. is the patents of CN201520448842.3, disclose a kind of conveying robot, including rotating base, information
Processor, mechanical arm and handgrip, the rotating base top are provided with motor, and the motor is connected with retarder, described
It is provided with remote control inductor above retarder, is provided with the message handler, the message handler above the motor
Top is provided with fuselage, and the body upper is provided with rotating disk, and the rotating disk is connected with the mechanical arm, the mechanical arm
Lower section is provided with telescopic rod, and spring is provided on the telescopic rod, is provided with the handgrip below the telescopic rod.Beneficial to effect
Fruit: the manipulator can quickly shift cargo, effectively raise handling efficiency, and manpower financial capacity is greatly saved, and fit
It is easy to operate with the carrying with delivery industry, it is easy to use, it is highly-safe, realize the mechanization of delivery industry.
Application No. is the patent of CN201720680362.9, a kind of tracking carrier is disclosed, during logistics transportation, room
Time consumed by interior short distance transportation, manpower and material resources are all very big.The patent includes bearing block, cushion block, loading wheel, bottom
Plate, load-carrying box, driving wheel, dress lamp stand, the first tracing sensor, the second tracing sensor, distance measuring sensor, steering motor, photograph
Bright lamp, the first traveling motor, the second traveling motor, deflecting roller, steering wheel fork and control module；Control module includes processing mould
Block, driving chip and battery；It is fixed on bottom plate in first tracing sensor, the second tracing sensor pair；Load-carrying box bottom
Front end and the rear end of bottom plate are fixed.The patent can according to it is preset track track advance, and then realize cargo indoors from
Dynamic transport.
Application No. is the patent of CN201520877946.6, disclose it is a kind of can the logistics trolley that tracks of remote auto, packet
Pallet fork, fork carriage and trolley are included, pallet fork realizes pallet fork along the lifting of fork carriage by the first stepper motor, and fork carriage and trolley are living
Dynamic connection, fork carriage are connected with second stepper motor, realize that fork carriage rotates about the z axis by second stepper motor, the bottom of trolley
Wheel and hub motor is arranged in portion, realizes the walking of trolley, direct current generator is arranged in hub motor, direct current generator passes through control wheel
The steering of trolley is realized in the steering of hub motor, further includes free tracing device.This patent can automatic dodging barrier, Automatic Track Finding
To destination, so that the carrying of remote cargo is simple and convenient, and since fork carriage can rotate about the z axis, allow to difference
The cargo in orientation carries out lifting carrying, reduces the labor intensity of staff, improves handling efficiency, reduce carrying at
This.
Application No. is the patent of CN201721672518.5, a kind of vehicle identification camera is disclosed, including optical lens,
Image processor, circuit board and image recognition chip are equipped with eyeglass, and the outer wall connection of eyeglass on the right side of the optical lens
There is dustproof membrane, the right end of the optical lens is fixed with sunshading board, and imaging sensor is connected on the inside of optical lens, described
The bottom of optical lens is mounted with outer silk, and internal thread is fixed on the outside of outer silk, and the left end of the optical lens is equipped with separation
Plate, and demarcation plate is internally provided with threading hole, described image processor is located at the left side of demarcation plate, and image processor is interior
Wall is connected with supporting block, and the circuit board is located at the bottom end of supporting block, and the inner wall of circuit board is connected with the first card slot, and described
The bottom end of one card slot is fixed with connection needle.The vehicle identification camera is provided with optical lens, the eyeglass on the right side of optical lens with
The inner wall of dustproof membrane fits, and dustproof membrane can play dust-proof effect to eyeglass.
Application No. is the patents of CN201620178318.3, disclose a kind of vehicle identification camera, comprising: image projection
Adjustment module, for road image to be projected photoelectric conversion module；Photoelectric conversion module, for optical imagery to be converted into height
Resolution digital signal pattern；Image capture module for acquiring the digital signal image of photoelectric conversion module output, and inputs
To image processing module；Video procession module, handles digital picture, by differentiating moving target type feature
And velocity characteristic, identification moving target type, calculating vehicle and pedestrian's quantity；Data outputting module, for by image procossing and
The statistical data of identification module output is output to traffic control equipment.The patent is able to achieve traffic control system according to wagon flow quantitative change
Change the intelligent control function of adjustment traffic control signal in real time, so that more efficient utilize path resource.
Application No. is the patents of invention of CN200810120686.2, disclose a kind of interactive three-dimensional physical distribution emulation collection
At method and system, including integrating server, three-dimensional physical distribution emulation system, logistics equipment model file Database Systems and
Client computer group.Three-dimensional physical distribution emulation system deployment is in local service computer；Integrating server passes through calling
WEB service integrates multiple physical distribution emulation systems；Logistics equipment model file Database Systems encapsulate logistics equipment model
File；Client computer group passes through the page and the request service of WEB service two ways；In addition to the three-dimensional for directly accessing local is empty
Quasi- logistics system simulation, can also pass through the three-dimensional physical distribution emulation integrated system of WEB service Access Integration server.The invention
By the integrated approach of virtual reality technology and WEB service, the virtual logistics device model resource set based on Ethernet is realized
At with it is shared, create interactive three-dimensional physical distribution emulation integrated system.
Based on described above, it is necessary to a kind of new structural unmanned warehouse system is arranged for we.
Summary of the invention
It is an object of the invention to overcome problem above of the existing technology, a kind of 3 D stereo unmanned warehouse is provided,
The unmanned freight house that the present invention is arranged is built using modern automation, realizes the Intelligent unattended pipe in bulk storage plant management
Reason, not only increases the efficiency of management, and saved cost of labor.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme:
A kind of 3 D stereo unmanned warehouse, including server, warehouse and harbour, the harbour are provided with transfer robot, container
Identity device and vehicle identifier, the transfer robot, container identity device and vehicle identifier are connect with server,
Evenly distributed in the warehouse to have several self-propelled shelf, several self-propelled shelf are provided with communication module, described
Communication module is connect with server, and the server is provided with control module and three-dimensional analogue system, the three-dimensional
Analogue system is provided with warehouse threedimensional model, harbour threedimensional model and self-propelled shelf threedimensional model, the control module control
When self-propelled shelf move in warehouse, while three-dimensional analogue system is sent a signal to, by three-dimensional analogue system control
Make self-propelled shelf threedimensional model in warehouse threedimensional model with self-propelled shelf synchronizing moving.It adopts this technical solution, by vehicle
Identification device is for acquiring information of vehicles；Container identification device carries out container stamp, barcode scanning and the identification of container volume；Control
Module is used to distribute cargo storage lattice on self-propelled shelf and shelf automatically, and sends signal instruction to self-propelled shelf,
Keep self-propelled shelf mobile toward harbour；What transfer robot was used to move up on self-propelled shelf by the container on vehicle specified deposits
Put lattice；Three-dimensional analogue system is used to replicate the conveying robot in warehouse, self-propelled shelf, harbour and the harbour in reality
The shape and structure of the objects such as people, container identity device, vehicle identifier and container, and can self-propelled shelf it is mobile with
Self-propelled shelf synchronizing moving and display container or hiding container when unloading goods on and, in three-dimensional dummy emulation system.
Preferably, the self-propelled shelf include pedestal and the shelf being set on the base；It is arranged on the shelf
There is many storage layers cabinet, every layer of storing compartment is provided with multiple compartments again；Each compartment and every layer of compartment and each shelf
It is provided with number, and that numbers is once provided with indicator light.It adopts this technical solution, has reminded compartment using indicator light
It is used and/or is currently being used.For example, the indicator light is always on when having container in compartment, otherwise often close；Compartment is pacified
When row gets in stocks or unloads goods, indicator light often dodges.
Preferably, being provided with driving wheel and deflecting roller on the pedestal, the deflecting roller is connect with steering motor, described
Driving wheel is connect with driving motor, and the driving motor and steering motor are connect with onboard control circuit plate, the vehicle-mounted control
Controller, signal transceiver, GPS module and range sensor are provided on circuit board, the controller passes through vehicle-mounted control electricity
Road plate is connect with communication module, signal transceiver, GPS module, range sensor, driving motor, steering motor and indicator light.It adopts
With this technical solution, communication module receives signal instruction, and will receive signal instruction and be sent to controller, and controller is according to connecing
Signal instruction control driving motor and steering motor are received, drives self-propelled shelf mobile by driving motor and steering motor；GPS
Module is used to that the motion track that self-propelled shelf installation is preset or control module is sent to be assisted to be moved；Self-propelled shelf
On signal transceiver be used to receive signal transmitted by signal transceiver on bracket, connected with adjusting self-position and bracket
It connects.
Preferably, the warehouse and/or harbour are additionally provided with the bracket for connecting self-propelled shelf, it is arranged on the bracket
There are only lock device and the signal transceiver of link control module, the signal transmitting and receiving being arranged on the signal transceiver and self-propelled shelf
Device connection；The only lock device is connect with the lockhole on self-propelled shelf.It adopts this technical solution, it is self-propelled only to lock the used connection of device
Shelf are fixed on bracket.
Preferably, the control module include main control board and the microprocessor being arranged on main control board,
Memory and communication module, the microprocessor by main control board and operation panel, coder, memory, communication module,
Only lock device, signal transceiver, transfer robot, container identity device and vehicle identifier；The vehicle identifier setting
For camera.It adopts this technical solution, memory is for storing data；Microprocessor by receive signal instruction, processing, based on
Calculate, analyze and send signal instruction；Wherein operation panel is used to send signal instruction to control module；Coder printing goods
Case identification code, the picking voucher for user.
Preferably, the only lock device includes the driving motor, driving gear and locking bar of link control module, the driving
The shaft of motor is connect with driving gear, and the driven rack gear being arranged on the driving gear and locking bar is connect.Using this technical side
Case drives driving gear by driving motor, makes that gear band is driven to move driven rack gear, makes the locking bar stretching or contracting of driven rack gear connection
It returns.
Preferably, the transfer robot includes that revolving platform and the mechanical arm connecting with revolving platform and setting exist
Manipulator on mechanical arm, signal receiver is provided on the manipulator, and the signal receiver and mechanical arm controller connect
It connects, the machinery arm controller is connect with control module；The signal being arranged in the signal receiver and shelf storage lattice emits
Device connection.Adopt this technical solution, as mechanical arm controller signal according to received by signal receiver control revolving platform,
The operating of mechanical arm and manipulator.
Preferably, the communication module includes wireless communication module and/or 4G communication module.It adopts this technical solution,
The mailing address or communications codes of communication module setting on each self-propelled shelf are set as different；Wherein, 4G communication module is also
It can be used for sending information to user in picking and/or delivery.
Preferably, the container identity device includes the code reader being arranged on mechanical arm and/or manipulator, patch code device
And volume detector, the code reader, patch code device and volume detector are connect with control module.
Preferably, the signal transceiver includes signal projector and signal receiver, the signal receiver setting
For infrared remote receiver；The signal projector is set as infraluminescence diode；The infraluminescence diode at least there are two,
And Signal coding transmitted by each infraluminescence diode is different.
Preferably, the three-dimensional analogue system is additionally provided with transfer robot threedimensional model, the goods of corresponding harbour
Case identity device threedimensional model and container threedimensional model.
Preferably, the side that the bracket connects self-propelled shelf is provided with bumper.It adopts this technical solution, helps
In protective cradle and self-propelled shelf, the damage for colliding and causing bracket or self-propelled shelf is reduced.
The beneficial effects of the present invention are: the unmanned freight house that the present invention is arranged is built using modern automation, realize big
Intelligent unattended management in type storehouse management, not only increases the efficiency of management, and has saved cost of labor；And by setting
The three-dimensional analogue system set no matter warehouse have it is much, self-propelled shelf how many, can be constructed by threedimensional model
Come, by the operation to threedimensional model, can be intuitive to see on each self-propelled shelf and the self-propelled shelf in warehouse
Cargo storage position, and can be docked with the warehouse in reality, realize that real-time movement and cargo update.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, with presently preferred embodiments of the present invention and attached drawing is cooperated to be described in detail below.This hair
Bright specific embodiment is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is for schematic diagram of the present invention；
Fig. 2 is for warehouse schematic diagram of the present invention；
Fig. 3 is for warehouse sectional view of the present invention；
Fig. 4 is for warehouse support schematic diagram of the present invention；
Fig. 5 is for self-propelled shelf front schematic view of the present invention；
Fig. 6 is for self-propelled shelf schematic rear view of the present invention；
Fig. 7 is for harbour bracket main view of the present invention；
Fig. 8 is for harbour bracket top view of the present invention；
Fig. 9 is for only lock device and self-propelled shelf connection schematic diagram of the present invention；
Figure 10 is for container identity device schematic diagram of the present invention；
Figure 11 is for transfer robot schematic diagram of the present invention.
In figure: server 1, warehouse 2, harbour 3, transfer robot 4, container identity device 5, vehicle identifier 6 are walked certainly
Formula shelf 7, pedestal 8, shelf 9, indicator light 10, signal transceiver 11, range sensor 12, bracket 13 only lock device 14, and signal connects
Receive device 15, signal projector 16, bumper 17, container 18, bar code 19, driving wheel 801, deflecting roller 802, picking slot 901, driving
Motor 141, driving gear 142, locking bar 143, driven rack gear 144, code reader 501 paste code device 502, and volume detector 503 returns
Turn platform 401, mechanical arm 402, manipulator 403, lockhole 701.
Specific embodiment
The invention will be further described with reference to the accompanying drawing:
Referring to figs. 1 to shown in Figure 11, a kind of 3 D stereo unmanned warehouse, including server 1, warehouse 2 and harbour 3, the harbour
3 are provided with transfer robot 4, container identity device 5 and vehicle identifier 6, the transfer robot 4, container identity device 5
It is connect with vehicle identifier 6 with server 1, it is evenly distributed in the warehouse 2 to have several self-propelled shelf 7, it is several described
Self-propelled shelf 7 are provided with communication module, and the communication module is connect with server 1, and the server 1 is provided with control mould
Block and three-dimensional analogue system, the three-dimensional analogue system be provided with warehouse threedimensional model, harbour threedimensional model and from
Formula shelf threedimensional model is walked, when the self-propelled shelf 7 of the control module control move in warehouse 2, while sending a signal to three
Dummy emulation system is tieed up, is walked in warehouse threedimensional model with oneself by the self-propelled shelf threedimensional model of three-dimensional analogue system control
7 synchronizing moving of formula shelf.It adopts this technical solution, by vehicle identifier 6 for acquiring information of vehicles；Container identification device 5
Carry out container stamp, barcode scanning and the identification of container volume；Control module for distributing self-propelled shelf 7 and shelf 9 automatically
Cargo storage lattice, and send signal instruction to self-propelled shelf 7, keep self-propelled shelf 7 mobile toward harbour 3；Transfer robot 4
For the container 18 on vehicle to be moved up to the specified compartment on self-propelled shelf 7；Three-dimensional analogue system is for replicating
Warehouse 2, self-propelled shelf 7, harbour 3 in reality and the transfer robot 4 in harbour 3, container identity device 5, vehicle are known
The shape and structure of the objects such as other device 6 and container 18, and can it is mobile in self-propelled shelf 7 and on when unloading goods, it is three-dimensional
Self-propelled shelf synchronizing moving and display container 18 or hiding container 18 in dummy emulation system.
Preferably, the self-propelled shelf 7 include pedestal 8 and the shelf 9 being arranged on pedestal 8；On the shelf 9
It is provided with many storage layers cabinet, every layer of storing compartment is provided with multiple compartments again；Each compartment and every layer of compartment and each
Shelf are provided with number, and that numbers is once provided with indicator light 10.It adopts this technical solution, is deposited using the prompting of indicator light 10
Lattice are put to be used and/or be currently being used.For example, indicator light 10 is always on when having container 18 in compartment, otherwise often
It closes；When compartment is arranged to get in stocks or unload goods, indicator light 10 often dodges.
Preferably, driving wheel 801 and deflecting roller 802 are provided on the pedestal 8, the deflecting roller 802 and steering electricity
Machine connection, the driving wheel 801 are connect with driving motor, and the driving motor and steering motor and onboard control circuit plate connect
It connects, controller, signal transceiver 11, GPS module and range sensor 12, the control is provided on the onboard control circuit plate
Device processed by onboard control circuit plate and communication module, signal transceiver 11, GPS module, range sensor 12, driving motor,
Steering motor and indicator light 10 connect.It adopts this technical solution, communication module receives signal instruction, and will receive signal instruction
It is sent to controller, controller is according to signal instruction control driving motor and steering motor is received, by driving motor and steering
Motor drives self-propelled shelf 7 mobile；For assisting, the self-propelled installation of shelf 7 is preset GPS module or control module is sent
Motion track moved；Signal transceiver 11 on self-propelled shelf 7 is used to receive the signal transceiver 11 on bracket 13
Transmitted signal is connect with adjusting self-position with bracket 13.
Preferably, the warehouse 2 and/or harbour 3 are additionally provided with the bracket 13 for connecting self-propelled shelf 7, the bracket
Only lock device 14 and the signal transceiver 11 of link control module, the signal transceiver 11 and self-propelled shelf 7 are provided on 13
The signal transceiver 11 of upper setting connects；The only lock device 14 is connect with the lockhole 701 on self-propelled shelf 7.Using this technology
Scheme is only locked the used self-propelled shelf 7 of connection of device 14, is fixed on bracket 13.
Preferably, the control module include main control board and the microprocessor being arranged on main control board,
Memory and communication module, the microprocessor by main control board and operation panel, coder, memory, communication module,
Only lock device 14, signal transceiver 11, transfer robot 4, container identity device 5 and vehicle identifier 6；The vehicle identification dress
It sets 6 and is set as camera.It adopts this technical solution, memory is for storing data；Microprocessor is for receiving signal instruction, place
Reason calculates, analyzes and sends signal instruction；Wherein operation panel is used to send signal instruction to control module；Coder is used
Print container identification code, the picking voucher for user.
Preferably, the only lock device 14 includes the driving motor 141, driving gear 142 and locking bar of link control module
143, the shaft of the driving motor 141 connect with driving gear 142, be arranged on the driving gear 142 and locking bar 143 from
Carry-over bar 144 connects.Adopt this technical solution, by driving motor 141 drive driving gear 142, make drive gear 142 drive from
Carry-over bar 144, the locking bar 143 for connecting driven rack gear 144 are stretched out or are retracted.
Preferably, the transfer robot 4 includes revolving platform 401 and the mechanical arm connecting with revolving platform 401
402 and the manipulator 403 that is arranged on mechanical arm 402, signal receiver 15, the signal are provided on the manipulator 403
Receiver 15 is connect with mechanical arm controller, and the machinery arm controller is connect with control module；The signal receiver 15 with
The signal projector 16 being arranged in 9 compartment of shelf connects.It adopts this technical solution, is received by mechanical arm controller according to signal
The operating of signal received by device 15 control revolving platform 401, mechanical arm 402 and manipulator 403.
Preferably, the communication module includes wireless communication module and/or 4G communication module.It adopts this technical solution,
The mailing address or communications codes of communication module setting on each self-propelled shelf 7 are set as different；Wherein, 4G communication module is also
It can be used for sending information to user in picking and/or delivery.
Preferably, the container identity device 5 includes the code reader being arranged on mechanical arm 402 and/or manipulator 403
501, code device 502 and volume detector 503, the code reader 501, patch code device 502 and volume detector 503 and control module are pasted
Connection.
Preferably, the signal transceiver 11 includes signal projector and signal receiver, the signal receiver is set
It is set to infrared remote receiver；The signal projector is set as infraluminescence diode；The infraluminescence diode at least two
It is a, and Signal coding transmitted by each infraluminescence diode is different.
Preferably, the three-dimensional analogue system is additionally provided with transfer robot threedimensional model, the goods of corresponding harbour 3
Case identity device threedimensional model and container threedimensional model.
Preferably, the side that the bracket 13 connects self-propelled shelf 7 is provided with bumper 17.Using this technical side
Case facilitates protective cradle 13 and self-propelled shelf 7, reduces the damage for colliding and causing bracket 13 or self-propelled shelf 7.
Specific embodiment:
Before stock, delivery person information, information of vehicles and goods are pre-entered to control module by operation panel from user
Object container information；In delivery, when vehicle enters harbour, rests in designated position, camera shoots the model of vehicle, board
According to and container image, and the image of shooting is sent to control module, is confirmed whether and prior pre-input by control module
Information it is consistent, when information is consistent, control module sends a signal to code reader on mechanical arm, patch code device, volume detection
Device and mechanical arm controller；When mechanical arm controller receives signal, control mechanical arm operating；Patch code device receives server
When instruction, patch code is carried out to container in the auxiliary of mechanical arm；When code reader receives the instruction of server, in the effect of mechanical arm
Bar code on lower scanning container, and the bar code of scanning is uploaded into control module, it is automatic according to the size of container by control panel
Corresponding cargo storage lattice are distributed, and send signal instruction to the self-propelled shelf after distribution and the branch in warehouse and harbour
Frame；Opening when only lock device on warehouse bracket receives signal, separates with self-propelled shelf；Self-propelled shelf receive signal
When, controller lights indicator light and signal hair on indicator light and cargo storage lattice on shelf by onboard control circuit plate
Emitter and signal transceiver, meanwhile, start steering motor and driving motor, self-propelled goods is driven by steering motor and driving motor
Frame is mobile to harbour direction in warehouse, and mobile real-time position signal is sent to control module, is sent by control module
Three-dimensional analogue system is given, keeps the self-propelled shelf in three-dimensional analogue system and the self-propelled shelf in real warehouse same
Moved further；When self-propelled shelf enter harbour, the signal transceiver of setting receives the letter of the signal transceiver on bracket
Number when, adjust its movement position connect with bracket, after self-propelled shelf are connect with bracket, on bracket stopping lock device receive
It when signal, is inserted into the lockhole on self-propelled shelf, its self-propelled shelf is fixed on harbour bracket；When self-propelled shelf
When reaching harbour designated position, control module sends a signal to transfer robot, is deposited by transfer robot by incuding cargo
The signal in lattice is put, the container on vehicle is moved up in specified cargo storage lattice, institute is right in three-dimensional dummy emulation system
There is container in the cargo storage lattice on self-propelled shelf answered；After the completion of container is carried, signal instruction is sent by control module
To the bracket in coder, harbour bracket and self-propelled shelf and warehouse；Coder prints container picking when receiving signal
Voucher bar code；Opening when only lock device on harbour bracket receives signal, separates with self-propelled shelf；Self-propelled shelf receive
It is mobile that past warehouse holder orientation is returned to when signal, when the mobile bracket of self-propelled shelf, the only lock device on bracket is inserted into certainly
It walks on formula shelf, fixes it, to complete container storage.
Before picking, user pre-enters picking voucher bar code information in the control module, by control module confirmation warehouse
After whether thering is this cargo, control module confirmation to have this cargo, continued to input picking personal information, information of vehicles by user, and same
When send short message and remind and prestore the owner of cargo of cargo in control module.When vehicle enters harbour designated position, camera shooting
Information of vehicles (model, licence plate), and control module is uploaded to, after being confirmed by control module, send a signal to container position
Warehouse bracket and self-propelled shelf and harbour bracket, opening when the only lock device on warehouse bracket receives signal and walks certainly
The separation of formula shelf；When self-propelled shelf receive signal, the indicator light on the indicator light and cargo storage lattice on shelf is lighted
And signal projector, meanwhile, start steering motor and driving motor, drives self-propelled shelf to exist by steering motor and driving motor
It is mobile to harbour direction in warehouse, and mobile position is sent to control module in real time, three-dimensional void is sent to by control module
Quasi- analogue system makes the self-propelled shelf synchronizing moving in the self-propelled shelf and real warehouse in three-dimensional analogue system；
When self-propelled shelf enter harbour, when receiving the signal on bracket, the position for adjusting its movement is connect with bracket, with branch
After frame connection, when the only lock device on bracket receives signal, it is inserted into the lockhole on self-propelled shelf, by its self-propelled shelf
It is fixed on bracket；When self-propelled shelf reach the specified position of harbour, control module sends a signal to transfer robot, by
Transfer robot is transported on vehicle after taking out the container on cargo storage cabinet, after container is moved out, three-dimensional virtual emulation
The container in the cargo storage lattice on corresponding self-propelled shelf in system, which is hidden, to disappear；Then, it is sent by control module
Signal instruction returns to self-propelled shelf, and user outputs harbour after receiving container, by vehicle, to complete picking.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of 3 D stereo unmanned warehouse, including server (1), warehouse (2) and harbour (3), the harbour (3), which is provided with, removes
Transport robot (4), container identity device (5) and vehicle identifier (6), the transfer robot (4), container identity device
(5) it is connect with vehicle identifier (6) with server (1), it is characterised in that: evenly distributed in the warehouse (2) to have several
Self-propelled shelf (7), several self-propelled shelf (7) are provided with communication module, and the communication module and server (1) are even
It connects, the server (1) is provided with control module and three-dimensional analogue system, and the three-dimensional analogue system is provided with storehouse
Library threedimensional model, harbour threedimensional model and self-propelled shelf threedimensional model, the control module control self-propelled shelf (7) in storehouse
When moving in library (2), while three-dimensional analogue system is sent a signal to, self-propelled shelf are controlled by three-dimensional analogue system
Threedimensional model in warehouse threedimensional model with self-propelled shelf (7) synchronizing moving.
2. a kind of 3 D stereo unmanned warehouse according to claim 1, it is characterised in that: self-propelled shelf (7) packet
The shelf (9) for including pedestal (8) and being arranged on pedestal (8)；Many storage layers cabinet, every layer of storage are provided on the shelf (9)
Cabinet is provided with multiple compartments again；Each compartment and every layer of compartment and each shelf are provided with number, and number
Once it is provided with indicator light (10).
3. a kind of 3 D stereo unmanned warehouse according to claim 2, it is characterised in that: be provided on the pedestal (8)
Driving wheel (801) and deflecting roller (802), the deflecting roller (802) connect with steering motor, the driving wheel (801) and driving
Motor connection, the driving motor and steering motor connect with onboard control circuit plate, are arranged on the onboard control circuit plate
There are controller, signal transceiver (11), GPS module and range sensor (12), the controller passes through onboard control circuit plate
With communication module, signal transceiver (11), GPS module, range sensor (12), driving motor, steering motor and indicator light
(10) it connects.
4. a kind of 3 D stereo unmanned warehouse according to claim 1, it is characterised in that: the warehouse (2) and/or harbour
(3) it is additionally provided with the bracket (13) for connecting self-propelled shelf (7), only locking for link control module is provided on the bracket (13)
Device (14) and signal transceiver (11), the signal transceiver being arranged on the signal transceiver (11) and self-propelled shelf (7)
(11) it connects；Only lock device (14) is connect with the lockhole (701) on self-propelled shelf (7).
5. a kind of 3 D stereo unmanned warehouse according to claim 1, it is characterised in that: the control module includes master control
Circuit board and the microprocessor being arranged on main control board, memory and communication module, the microprocessor pass through master control
Circuit board and memory, communication module, only lock device (14), signal transceiver (11), transfer robot (4), container identity device
(5) and vehicle identifier (6)；The vehicle identifier (6) is set as camera.
6. a kind of 3 D stereo unmanned warehouse according to claim 4, it is characterised in that: only lock device (14) includes connecting
Connect driving motor (141), driving gear (142) and locking bar (143) of control module, the shaft of the driving motor (141) and
Gear (142) connection is driven, the driven rack gear (144) being arranged on driving gear (142) and locking bar (143) is connect.
7. a kind of 3 D stereo unmanned warehouse according to claim 1, it is characterised in that: transfer robot (4) packet
Include revolving platform (401) and the mechanical arm (402) that connect with revolving platform (401) and the machine being arranged on mechanical arm (402)
Tool hand (403) is provided with signal receiver (15) on the manipulator (403), the signal receiver (15) and mechanical arm control
Device connection processed, the machinery arm controller are connect with control module；Setting in the signal receiver (15) and 9 compartment of shelf
Signal projector (16) connection.
8. a kind of 3 D stereo unmanned warehouse according to claim 1 or 3, it is characterised in that: the communication module includes
Wireless communication module and/or 4G communication module.
9. a kind of 3 D stereo unmanned warehouse according to claim 1, it is characterised in that: the container identity device (5)
Including the code reader (501), patch code device (502) and volume detector being arranged on mechanical arm (402) and/or manipulator (403)
(503), the code reader (501), patch code device (502) and volume detector (503) are connect with control module.
10. a kind of 3 D stereo unmanned warehouse according to claim 3 or 4 or 7, it is characterised in that: the signal transmitting and receiving
Device (11) includes signal projector and signal receiver, and the signal receiver is set as infrared remote receiver；The signal transmitting
Device is set as infraluminescence diode；The infraluminescence diode at least there are two, and each infraluminescence diode is sent out
The Signal coding sent is different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811185585.3A CN109377127A (en) | 2018-10-11 | 2018-10-11 | A kind of 3 D stereo unmanned warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811185585.3A CN109377127A (en) | 2018-10-11 | 2018-10-11 | A kind of 3 D stereo unmanned warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109377127A true CN109377127A (en) | 2019-02-22 |
Family
ID=65403074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811185585.3A Pending CN109377127A (en) | 2018-10-11 | 2018-10-11 | A kind of 3 D stereo unmanned warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109377127A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902246A (en) * | 2019-10-17 | 2020-03-24 | 广州达宝文机电设备有限公司 | Virtual stereo storage system and method |
| CN112686612A (en) * | 2021-01-04 | 2021-04-20 | 中钞长城金融设备控股有限公司 | Inventory management method and system for virtual warehouse |
| CN113210294A (en) * | 2021-04-30 | 2021-08-06 | 浙江立镖机器人有限公司 | Robot cargo sorting system based on shelf transfer recognition and sorting method thereof |
| CN114821912A (en) * | 2022-04-29 | 2022-07-29 | 江苏木盟智能科技有限公司 | Delivery method, receiving method, transceiving system and transceiving robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102725213A (en) * | 2009-04-10 | 2012-10-10 | 凯斯皮克***有限责任公司 | Storage and retrieval system |
| CN106185153A (en) * | 2016-08-26 | 2016-12-07 | 无锡卓信信息科技股份有限公司 | A kind of articles from the storeroom radio frequency identification control system based on mobile robot |
| JP2017021697A (en) * | 2015-07-14 | 2017-01-26 | セイコーエプソン株式会社 | Moving body, automatic transportation device, vehicle, and position information generation method for moving body |
| CN106379681A (en) * | 2016-07-11 | 2017-02-08 | 黄金刚 | Intelligent warehousing robot, system and system control method |
| CN206209744U (en) * | 2016-08-26 | 2017-05-31 | 无锡卓信信息科技股份有限公司 | A kind of articles from the storeroom identifying system based on mobile robot control |
| CN106843124A (en) * | 2016-12-26 | 2017-06-13 | 北京起重运输机械设计研究院 | A kind of Automatic Warehouse three-dimensional real-time monitoring method and system |
| CN207511204U (en) * | 2017-10-12 | 2018-06-19 | 青岛黄海学院 | Automatic stereowarehouse |
-
2018
- 2018-10-11 CN CN201811185585.3A patent/CN109377127A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102725213A (en) * | 2009-04-10 | 2012-10-10 | 凯斯皮克***有限责任公司 | Storage and retrieval system |
| JP2017021697A (en) * | 2015-07-14 | 2017-01-26 | セイコーエプソン株式会社 | Moving body, automatic transportation device, vehicle, and position information generation method for moving body |
| CN106379681A (en) * | 2016-07-11 | 2017-02-08 | 黄金刚 | Intelligent warehousing robot, system and system control method |
| CN106185153A (en) * | 2016-08-26 | 2016-12-07 | 无锡卓信信息科技股份有限公司 | A kind of articles from the storeroom radio frequency identification control system based on mobile robot |
| CN206209744U (en) * | 2016-08-26 | 2017-05-31 | 无锡卓信信息科技股份有限公司 | A kind of articles from the storeroom identifying system based on mobile robot control |
| CN106843124A (en) * | 2016-12-26 | 2017-06-13 | 北京起重运输机械设计研究院 | A kind of Automatic Warehouse three-dimensional real-time monitoring method and system |
| CN207511204U (en) * | 2017-10-12 | 2018-06-19 | 青岛黄海学院 | Automatic stereowarehouse |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902246A (en) * | 2019-10-17 | 2020-03-24 | 广州达宝文机电设备有限公司 | Virtual stereo storage system and method |
| WO2021073062A1 (en) * | 2019-10-17 | 2021-04-22 | 广州达宝文机电设备有限公司 | Virtual stereoscopic storage system and method |
| CN112686612A (en) * | 2021-01-04 | 2021-04-20 | 中钞长城金融设备控股有限公司 | Inventory management method and system for virtual warehouse |
| CN112686612B (en) * | 2021-01-04 | 2023-11-10 | 中钞长城金融设备控股有限公司 | Inventory management method and system for virtual warehouse |
| CN113210294A (en) * | 2021-04-30 | 2021-08-06 | 浙江立镖机器人有限公司 | Robot cargo sorting system based on shelf transfer recognition and sorting method thereof |
| CN113210294B (en) * | 2021-04-30 | 2022-07-22 | 浙江立镖机器人有限公司 | Robot cargo sorting system based on goods shelf transfer recognition and sorting method thereof |
| TWI803116B (en) * | 2021-04-30 | 2023-05-21 | 大陸商浙江立鏢機器人有限公司 | Robot cargo sorting system and sorting method based on the ability to recognize shelf transfer |
| CN114821912A (en) * | 2022-04-29 | 2022-07-29 | 江苏木盟智能科技有限公司 | Delivery method, receiving method, transceiving system and transceiving robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109377127A (en) | A kind of 3 D stereo unmanned warehouse | |
| US11354605B2 (en) | System and method for automated cross-dock operations | |
| US20240043213A1 (en) | Hybrid Modular Storage Fetching System | |
| CN109131925B (en) | Unmanned airport ground service luggage transportation vehicle and business model | |
| CN108510222B (en) | A kind of tobacco flow managing and control system | |
| US10577180B1 (en) | Mobile modules for delivering items | |
| US11829923B1 (en) | Mobile base utilizing transportation units with navigation systems for delivering ordered items | |
| CN109335444A (en) | A kind of unmanned freight house | |
| CN110065750A (en) | The improved storage of the robot queue of share common and system is fetched between save mesh and external workstation | |
| CN109196434A (en) | Identification information for warehouse navigation | |
| CN110641700A (en) | Community-oriented unmanned aerial vehicle distribution system and distribution method | |
| CN206363162U (en) | A kind of Intelligent logistics dolly | |
| CN109525856A (en) | A kind of be broadcast live is chosen and with goods system | |
| CN108438686B (en) | A kind of wrapping cigarette packet delivery system | |
| CN109377550A (en) | A kind of unmanned supermarket of 3 D stereo | |
| CN209291241U (en) | One kind puts one's child in a boarding nursery disk ex-warehouse system | |
| CN208036071U (en) | A kind of unmanned express delivery vehicle and unmanned express delivery delivery system | |
| CN112158499B (en) | Distributed logistics system | |
| CN108994817A (en) | A kind of supermarket Zhao Huo robot | |
| CN112061653B (en) | Logistics system and method for reducing sorting time | |
| CN112101620A (en) | Logistics line planning method | |
| CN108942874A (en) | A kind of supermarket Xun Huo robot | |
| CN108994816A (en) | A kind of robot of supermarket | |
| CN211055378U (en) | Unmanned aerial vehicle distribution system for community | |
| CN108171893A (en) | A kind of intelligent internet of things system and its method of work of campus express delivery dispatching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |