CN107265033A - It is a kind of to realize the shuttle rack control system for going out storage automatically - Google Patents
It is a kind of to realize the shuttle rack control system for going out storage automatically Download PDFInfo
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- CN107265033A CN107265033A CN201710563378.6A CN201710563378A CN107265033A CN 107265033 A CN107265033 A CN 107265033A CN 201710563378 A CN201710563378 A CN 201710563378A CN 107265033 A CN107265033 A CN 107265033A
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- shuttle
- rfid tag
- control system
- shuttle rack
- out storage
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- 239000000463 material Substances 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000012384 transportation and delivery Methods 0.000 claims description 11
- 238000013439 planning Methods 0.000 claims description 9
- 238000012795 verification Methods 0.000 abstract description 5
- 101100545272 Caenorhabditis elegans zif-1 gene Proteins 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000007726 management method Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
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- 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
- 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
- G06Q10/083—Shipping
- G06Q10/0833—Tracking
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Economics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
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- Entrepreneurship & Innovation (AREA)
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Abstract
The invention discloses it is a kind of realize automatically go out storage shuttle rack control system, including shuttle rack, lifting drive, it is arranged on the shuttle on lifting drive, communication unit and operated computer control unit, has the first RFID tag of dolly identification on the shuttle, has the second RFID tag on tunnel setting on shuttle rack, and be placed on the material bearing tray on shuttle with the 3rd RFID tag, in going out to be put in storage operation process, control instruction is sent by operated computer control unit, then control instruction is sent to shuttle to complete out input work by communication unit.The control system for going out storage automatically that the automaticity of the present invention is high, warehouse-in instruction can be automatically sent out by computer system and then controls shuttle to be automatically performed job instruction, the shuttle rack of the automatic Verification and status tracking that can realize in operation process.
Description
Technical field
The present invention relates to warehouse logisticses technical field, and in particular to a kind of to realize the shuttle rack control for going out storage automatically
System.
Background technology
At present, the input work that goes out to shuttle rack is completed by Shuttling trolley, and the operation of existing Shuttling trolley
Scheduling is then carried out by people by remote control, that is, needs the artificial control completed by hand-held remote controller to Shuttling trolley operation
System.There is following deficiency in above-mentioned existing method：1. efficiency is low；Artificial remote controller inefficiency, and often adopt
With the mode handled nearby, the activity duration is delayed significantly.2. slitless connection can not be carried out with intelligent warehouse management system, so that
So that warehousing and storage activities automation, procedure disconnect.
The technical problem to be solved in the present invention is that：The technical problem existed for prior art, the present invention provides one
Automaticity height is planted, warehouse-in instruction can be automatically sent out by computer system and then controls shuttle to be automatically performed operation
Instruction, the shuttle rack of automatic Verification and status tracking that can be realized in operation process go out to be put in storage automatically implementation method and
Its control system.
The content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art there is provided it is a kind of realize automatically go out storage shuttle type
Shelf control system, automaticity is high, warehouse-in instruction can be automatically sent out by computer system and then control shuttle
It is automatically performed job instruction, the automatic discrepancy of the shuttle rack of the automatic Verification and status tracking that can realize in operation process
The control system in storehouse.
The present invention adopts the following technical scheme that to solve technical problem：
It is a kind of to realize the shuttle rack control system for going out storage automatically, including shuttle rack, lifting drive, be arranged on
Shuttle, communication unit and operated computer control unit on lifting drive, the shuttle rack drive with lifting
Device is oppositely arranged, the first RFID tag for having dolly identification on the shuttle, and the tunnel on shuttle rack is made
With having the 3rd RFID tag on the second RFID tag, and the material bearing tray being placed on shuttle on industry point, going out
During input work, control instruction is sent by operated computer control unit, then control instruction is sent out by communication unit
Shuttle is delivered to complete out input work.
It is preferred that, the flow of the input work is：Material to be put in storage is put on material bearing tray, operated computer
Control unit can be that the material bearing tray distributes the shelf lane for carrying out operation according to the 3rd RFID tag of material bearing tray
Road setting and shuttle, complete input work.
It is preferred that, the flow of the Delivery is：The operated computer control unit is that Delivery carries out outbound
Work planning, that is, distribute outbound tunnel, tunnel operation original point, shuttle, looked for by the first RFID tag, the second RFID tag
The completion picking Delivery in specified outbound tunnel is instructed to specified shuttle and according to the planning Job execution of reception.
It is preferred that, in addition to RFID reader, the first RFID tag and the second tag can be read, and will read
Information is uploaded to operated computer control unit, and the information to reception is calibrated, with information in the Job execution instruction of planning
It is compared, if correctly, proceeded；Otherwise prompting error, terminates this subjob.
It is preferred that, be provided with infrared distance sensor on the shuttle, for judge distribution shelf tunnel apply whether
Material is filled with, when the data measured are less than infrared distance sensor preset value, operation is sent information to by communication unit
Computer control unit, terminates this subjob, job instruction is planned again.
It is preferred that, the infrared distance sensor uses model GP2Y0E03 infrared sensor, with small volume, essence
Degree is high, convenient to install.
It is preferred that, first RFID tag, the second RFID tag and the 3rd RFID tag are worked frequently using 12.56MHz
Rate.
It is preferred that, the communication unit is any one in GPRS module, gsm module and WIFI module.
Compared with prior art, the present invention has following beneficial effect：The invention provides a kind of automaticity it is high,
Warehouse-in instruction can be automatically sent out by computer system and then controls shuttle to be automatically performed job instruction, work can be realized
The control system for going out storage automatically of the shuttle rack of automatic Verification and status tracking during industry, concrete condition is as follows：
（1）The first RFID of the invention by representing its identity for setting on shuttle, material bearing tray and shelf tunnel
Label, the second RFID tag and the 3rd RFID tag, and the transmission for completing to instruct shuttle by communication unit, change existing
Man-hour manually hand-held remote control mode, improve whole operating efficiency, and then the Automated condtrol for entirely going out storage can be realized, realize
Warehousing and storage activities full automation；
（2）The Operation control mode of shuttle is improved to operated computer control by the present invention by conventional manual remote control, so that
The warehousing management level of shuttle rack can be greatly improved with intelligent warehouse management system slitless connection, and be greatly improved
The operating efficiency and operation automation level of current shuttle；
（3）The control system dependable performance, easy to operate, applied widely of the present invention, can be with intelligent warehouse management software
Slitless connection, realizes digitized automatic stored management.
Brief description of the drawings
Accompanying drawing is used for providing further understanding invention, and constitutes a part for specification, the embodiment with invention
It is used to explain the present invention together, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of structural representation for realizing the shuttle rack control system for going out storage automatically of the present invention；
Fig. 2 is a kind of control principle schematic diagram for realizing the shuttle rack control system for going out storage automatically of the present invention；
Marked in figure：1st, shuttle rack；2nd, lifting drive；3rd, shuttle；4th, communication unit；5th, operated computer control
Unit processed；6th, the first RFID tag；7th, the second RFID tag；8th, the 3rd RFID tag；9th, RFID reader；10th, it is infrared
Distance measuring sensor.
Embodiment
To make the purpose, technical scheme and advantage of invention clearer, the technical scheme of invention will be carried out below it is clear,
Complete description.Obviously, described embodiment is only to invent a part of embodiment, rather than whole embodiments.Based on hair
Embodiment in bright, those of ordinary skill in the art's all other reality resulting on the premise of creative work is not made
Example is applied, belongs to and invents protected scope.
, it is necessary to illustrate in the description of invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood in hair
Concrete meaning in bright.
As shown in Figure 1 and Figure 2, it is a kind of realize automatically go out storage shuttle rack control system, including shuttle rack 1,
Lifting drive 2, the shuttle 3 being arranged on lifting drive 2, communication unit 4 and operated computer control unit 5,
Wherein, shuttle rack 1 is oppositely arranged with lifting drive 2, and the first RFID on shuttle 3 with dolly identification is marked
Have the second RFID tag 7, and the material carrying being placed on shuttle 3 on tunnel setting on label 6, shuttle rack 1
Have the 3rd RFID tag 8 on pallet, in going out to be put in storage operation process, control instruction sent by operated computer control unit 5,
Then control instruction is sent to shuttle 3 to complete out input work by communication unit 4.In whole control process, institute
The distribution for having control instruction is completed by communication unit, is changed the mode of existing man-hour manually hand-held remote control, is substantially increased whole work
Industry efficiency, and then the Automated condtrol for entirely going out storage can be realized, realize warehousing and storage activities full automation.
Wherein, the flow of input work is：Material to be put in storage is put on material bearing tray, operated computer control is single
Member 5 can be that the shelf tunnel of material bearing tray distribution progress operation is made according to the 3rd RFID tag 8 of material bearing tray
Industry point and shuttle, complete input work, when shuttle 3 enters shelf tunnel setting, read first on shuttle 3
Second RFID tag 7 of RFID tag 6 and tunnel operation original point, and the first RFID tag 6 on shuttle 3 and tunnel are made
The information of second RFID tag 7 of industry original point is uploaded to operated computer control unit 5.5 pairs of operated computer control unit
The information received is verified, and is compared according to the information planned, if correctly, proceeded；Otherwise prompt
Mistake, terminates this subjob.
Wherein, the flow of Delivery is：Operated computer control unit 5 is that Delivery carries out Delivery planning,
I.e. distribution outbound tunnel, tunnel operation original point, shuttle, are found specified by the first RFID tag 6, the second RFID tag 7
Shuttle 3 and according to reception planning Job execution instruct in specified outbound tunnel complete picking Delivery, wearing
Shuttle car 3 enter shelf tunnel setting when, read shuttle 3 on the first RFID tag 6 and tunnel operation original point second
RFID tag 7, and by the first RFID tag 6 and the information of the second RFID tag 7 of tunnel operation original point on shuttle 3
It is transmitted to operated computer control unit 5.5 pairs of information received of operated computer control unit are verified, and foundation has been planned
Information be compared, if correctly, proceeded；Otherwise prompting error, terminates this subjob.
In addition, the shuttle rack control system that the realization of the present invention goes out storage automatically also includes RFID reader 9,
The first RFID tag 6 and the second tag 7 can be read, and operated computer control unit 5 is uploaded to by information is read, docks
The information of receipts is calibrated, and is compared with information in the Job execution instruction of planning, if correctly, proceeded；Otherwise
Prompting error, terminates this subjob.
Wherein, infrared distance sensor 10 is provided with shuttle 3, whether is filled with for judging that the shelf tunnel of distribution is applied
Material, when the data measured are less than 10 preset value of infrared distance sensor, operation meter is sent information to by communication unit
Calculation machine control unit 5, terminates this subjob, job instruction is planned again.
Wherein, infrared distance sensor 10 of the invention uses model GP2Y0E03 infrared sensor, with volume
Small, precision is high, convenient to install.
Wherein, the first RFID tag 6, the second RFID tag 7 and the 3rd RFID tag 8 use 12.56MHz working frequencies.
Wherein, communication unit 4 is any one in GPRS module, gsm module and WIFI module.
To sum up, the invention provides a kind of automaticity it is high, storage can be automatically sent out by computer system and refer to
Make and then control shuttle to be automatically performed job instruction, the shuttle of the automatic Verification and status tracking that can realize in operation process
The control system for going out storage automatically of formula shelf, changes the mode of existing man-hour manually hand-held remote control, improves whole operating efficiency,
And then the Automated condtrol for entirely going out storage can be realized, realize warehousing and storage activities full automation.
Described above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of realize the shuttle rack control system for going out storage automatically, it is characterised in that：Including shuttle rack（1）, rise
Drive device drops（2）, be arranged on lifting drive（2）On shuttle（3）, communication unit（4）With operated computer control
Unit（5）, the shuttle rack（1）With lifting drive（2）It is oppositely arranged, the shuttle（3）It is upper to have small vehicle body
First RFID tag of part identification（6）, shuttle rack（1）On tunnel setting on have the second RFID tag（7）, and put
Put in shuttle（3）On material bearing tray on have the 3rd RFID tag（8）, in going out to be put in storage operation process, by operation
Computer control unit（5）Control instruction is sent, then passes through communication unit（4）Control instruction is sent to shuttle（3）With
Complete out input work.
2. it is according to claim 1 it is a kind of realize automatically go out storage shuttle rack control system, it is characterised in that：Institute
The flow for stating input work is：Material to be put in storage is put on material bearing tray, operated computer control unit（5）Can basis
3rd RFID tag of material bearing tray（8）Distributed for the material bearing tray and carry out the shelf tunnel setting of operation and wear
Shuttle car, completes input work.
3. it is according to claim 1 it is a kind of realize automatically go out storage shuttle rack control system, it is characterised in that：Institute
The flow for stating Delivery is：The operated computer control unit（5）Delivery planning is carried out for Delivery, that is, is distributed
Outbound tunnel, tunnel operation original point, shuttle, pass through the first RFID tag（6）, the second RFID tag（7）Find what is specified
Shuttle（3）And instruct the completion picking Delivery in specified outbound tunnel according to the planning Job execution of reception.
4. it is according to claim 1 it is a kind of realize automatically go out storage shuttle rack control system, it is characterised in that：Also
Including RFID reader（9）, the first RFID tag can be read（6）With the second tag（7）, and information upload will be read
Give operated computer control unit（5）, the information to reception calibrates, and is compared with information in the Job execution instruction of planning
It is right, if correctly, proceeded；Otherwise prompting error, terminates this subjob.
5. it is according to claim 1 it is a kind of realize automatically go out storage shuttle rack control system, it is characterised in that：Institute
State shuttle（3）On be provided with infrared distance sensor（10）, for judging the shelf tunnel of distribution applies whether be filled with material, when
The data measured are less than infrared distance sensor（10）During preset value, operated computer control is sent information to by communication unit
Unit processed（5）, this subjob is terminated, job instruction is planned again.
6. it is according to claim 5 it is a kind of realize automatically go out storage shuttle rack control system, it is characterised in that：Institute
State infrared distance sensor（10）Using model GP2Y0E03 infrared sensor, with small volume, precision is high, convenient peace
Dress.
7. it is according to claim 1 it is a kind of realize automatically go out storage shuttle rack control system, it is characterised in that：Institute
State the first RFID tag（6）, the second RFID tag（7）With the 3rd RFID tag（8）Using 12.56MHz working frequencies.
8. it is according to claim 1 it is a kind of realize automatically go out storage shuttle rack control system, it is characterised in that：Institute
State communication unit（4）For any one in GPRS module, gsm module and WIFI module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710563378.6A CN107265033A (en) | 2017-07-12 | 2017-07-12 | It is a kind of to realize the shuttle rack control system for going out storage automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710563378.6A CN107265033A (en) | 2017-07-12 | 2017-07-12 | It is a kind of to realize the shuttle rack control system for going out storage automatically |
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| Publication Number | Publication Date |
|---|---|
| CN107265033A true CN107265033A (en) | 2017-10-20 |
Family
ID=60071931
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| CN201710563378.6A Withdrawn CN107265033A (en) | 2017-07-12 | 2017-07-12 | It is a kind of to realize the shuttle rack control system for going out storage automatically |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033183A (en) * | 2017-12-14 | 2018-05-15 | 北京起重运输机械设计研究院 | A kind of shelf shuttle is with changing a layer machine |
| CN108373002A (en) * | 2018-02-22 | 2018-08-07 | 安徽江淮汽车集团股份有限公司 | What a kind of material was classified automatically goes out Input System |
| CN108376270A (en) * | 2017-12-29 | 2018-08-07 | 深圳市检智能科技有限公司 | A kind of goods sorting method and its system based on electronic tag |
| CN108673474A (en) * | 2018-06-14 | 2018-10-19 | 深圳市傲顺精密科技有限公司 | The scanning means of multi-axis robot |
| CN109164811A (en) * | 2018-10-23 | 2019-01-08 | 广东嘉腾机器人自动化有限公司 | A kind of shuttle vehicle control and method |
| CN109383974A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of storage robot and its control method |
| CN109598314A (en) * | 2018-11-01 | 2019-04-09 | 云南昆钢电子信息科技有限公司 | T-type actively perceive system and method applied to the identification of long material stacking batch number |
| CN109625743A (en) * | 2019-01-25 | 2019-04-16 | 北京春溢通物流有限公司 | One kind being layered transportation system for container in large-scale logistics warehouse |
| CN110155579A (en) * | 2018-02-14 | 2019-08-23 | 菜鸟智能物流控股有限公司 | Logistics object processing method and system |
| CN110375734A (en) * | 2018-07-05 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of position calibration method and system of shelf storage space |
| CN111806942A (en) * | 2020-07-07 | 2020-10-23 | 北京每日优鲜电子商务有限公司 | Container type cargo bin capable of automatically entering and exiting cargos and working method thereof |
| CN112731886A (en) * | 2020-12-30 | 2021-04-30 | 南京华鑫德自动化有限公司 | AGV forklift intelligent logistics storage management method |
| CN113023210A (en) * | 2021-02-26 | 2021-06-25 | 山东瑞邦自动化设备有限公司 | Intelligent storage equipment for glove production industry |
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| JPH01133804A (en) * | 1987-11-19 | 1989-05-25 | Okamura Corp | Vertical type article storing shelf device in rotary automatic warehouse |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033183A (en) * | 2017-12-14 | 2018-05-15 | 北京起重运输机械设计研究院 | A kind of shelf shuttle is with changing a layer machine |
| CN108376270A (en) * | 2017-12-29 | 2018-08-07 | 深圳市检智能科技有限公司 | A kind of goods sorting method and its system based on electronic tag |
| CN108376270B (en) * | 2017-12-29 | 2021-08-03 | 深圳市检一智能科技有限公司 | Goods picking method and system based on electronic tag |
| CN110155579B (en) * | 2018-02-14 | 2021-09-21 | 菜鸟智能物流控股有限公司 | Logistics object processing method and system |
| CN110155579A (en) * | 2018-02-14 | 2019-08-23 | 菜鸟智能物流控股有限公司 | Logistics object processing method and system |
| CN108373002A (en) * | 2018-02-22 | 2018-08-07 | 安徽江淮汽车集团股份有限公司 | What a kind of material was classified automatically goes out Input System |
| CN108373002B (en) * | 2018-02-22 | 2019-11-26 | 安徽江淮汽车集团股份有限公司 | A kind of Input System out that material is classified automatically |
| CN108673474A (en) * | 2018-06-14 | 2018-10-19 | 深圳市傲顺精密科技有限公司 | The scanning means of multi-axis robot |
| CN108673474B (en) * | 2018-06-14 | 2023-11-07 | 深圳市傲顺精密科技有限公司 | Scanning device of multi-axis robot |
| CN110375734B (en) * | 2018-07-05 | 2021-05-25 | 北京京东乾石科技有限公司 | Position calibration method and system for storage positions of goods shelves |
| CN110375734A (en) * | 2018-07-05 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of position calibration method and system of shelf storage space |
| CN109383974A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of storage robot and its control method |
| CN109164811A (en) * | 2018-10-23 | 2019-01-08 | 广东嘉腾机器人自动化有限公司 | A kind of shuttle vehicle control and method |
| CN109598314A (en) * | 2018-11-01 | 2019-04-09 | 云南昆钢电子信息科技有限公司 | T-type actively perceive system and method applied to the identification of long material stacking batch number |
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| CN109625743A (en) * | 2019-01-25 | 2019-04-16 | 北京春溢通物流有限公司 | One kind being layered transportation system for container in large-scale logistics warehouse |
| CN111806942A (en) * | 2020-07-07 | 2020-10-23 | 北京每日优鲜电子商务有限公司 | Container type cargo bin capable of automatically entering and exiting cargos and working method thereof |
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