CN112896904A - Intelligent warehousing system - Google Patents
Intelligent warehousing system Download PDFInfo
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- CN112896904A CN112896904A CN202110087868.XA CN202110087868A CN112896904A CN 112896904 A CN112896904 A CN 112896904A CN 202110087868 A CN202110087868 A CN 202110087868A CN 112896904 A CN112896904 A CN 112896904A
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- 238000012546 transfer Methods 0.000 claims abstract description 27
- 238000012423 maintenance Methods 0.000 claims abstract description 25
- 239000000463 material Substances 0.000 claims description 47
- 238000000034 method Methods 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 5
- 238000012856 packing Methods 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000012806 monitoring device Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000007726 management method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
- B65G1/137—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
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
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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
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
Abstract
本发明提出一种智能仓储系统，通过设置人脸识别装置、转运车、立体货柜、堆垛机器人以及智能仓储运维装置，可以实现智能化入库、出库以及盘点操作，在仓库内部无需人员操作，提高了仓储管理的效率以及准确性。
The present invention proposes an intelligent warehousing system. By setting up a face recognition device, a transfer vehicle, a three-dimensional container, a stacking robot and an intelligent warehousing operation and maintenance device, intelligent warehousing, warehousing and inventory operations can be realized, and no personnel are required in the warehouse. operation, improve the efficiency and accuracy of warehouse management.
Description
Technical Field
The invention relates to the technical field of warehousing, in particular to an intelligent warehousing system.
Background
The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed.
In recent years, the technology of transporting goods based on warehousing robots is becoming mature. In the prior art, a storage robot can lift a goods shelf with goods through a lifting disc at the top of the storage robot and move forward by scanning a two-dimensional code on the ground, so that the goods shelf with ordered goods can be transported to a manual processing area.
However, in the process of implementing the present invention, the inventor finds that the current smart warehousing system cannot be completely automated, and is low in efficiency.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an intelligent warehousing system, which can realize intelligent warehousing, ex-warehouse and checking operation, does not need personnel operation in a warehouse, and improves the efficiency and the accuracy of warehousing management.
According to a first aspect of the present invention, there is provided an intelligent warehousing system, which at least comprises a face recognition device, a plurality of conveyor belts, a transfer trolley, a three-dimensional container, a stacking robot and an intelligent warehousing operation and maintenance device, wherein:
the face recognition device is arranged outside the warehouse and used for carrying out face recognition verification on personnel entering the goods delivery area or the goods taking area;
the conveying belts are respectively connected with the warehouse inlet and the warehouse outlet of the warehouse and are used for conveying warehouse-in materials onto a transfer trolley of the warehouse or conveying warehouse-out materials of the transfer trolley out of the warehouse;
the transfer trolley is used for transporting the warehoused materials to the stacking robot from the conveying belt or transporting the warehoused materials on the stacking robot to the corresponding conveying belt;
the three-dimensional container comprises a plurality of layers of bins for placing materials;
the stacking robot is used for automatically stacking the warehousing materials of the transfer trolley to the bin lattices at the designated position, or taking the ex-warehouse materials from the bin lattices at the designated position and placing the ex-warehouse materials on the transfer trolley;
and the intelligent warehousing operation and maintenance device is communicated with the face recognition device and the stacking robot and is used for generating warehousing orders, ex-warehouse orders or inventory orders according to warehousing requests, ex-warehouse requests or inventory requests of an external system, determining the driving path and the operation sequence of the stacking robot and controlling the transfer trolley and the stacking robot to realize warehousing operations, ex-warehouse operations and inventory operations.
Preferably, the materials are all adhered with RFID barcodes, and the RFID barcodes at least comprise the ID, name and size information of the materials.
Preferably, infrared sensors are arranged on the left side, the right side and the front side of the stacking robot.
Preferably, the system further comprises a video monitoring device for monitoring the articles in the warehouse and the warehousing operation and the ex-warehouse operation.
Preferably, the method further comprises the following steps:
the intelligent mobile terminal is communicated with the intelligent warehousing operation and maintenance device and is used for managing warehousing lists, ex-warehouse lists and checking lists and monitoring warehousing processes, ex-warehouse processes and checking processes; and for querying real-time warehousing information.
Preferably, the bottom of the stacking robot is matched with a rack servo motor and a servo speed reducer by adopting double tracks.
Preferably, the robot arm of the palletizer robot is fitted with grippers of various sizes.
Preferably, the warehousing port and the delivery port are both provided with a bar code printer and a wireless code scanning gun.
Preferably, the transfer trolley, the stacking robot and the intelligent warehousing operation and maintenance device are communicated by a wireless local area network.
Preferably, the warehousing port and the delivery port are mutually independent or combined into the same access; the goods delivering area and the goods taking area are separated areas or the same area.
The implementation of the invention has the following beneficial effects:
the invention provides an intelligent warehousing system which can realize intelligent warehousing, ex-warehouse and inventory operation by arranging a face recognition device, a transfer trolley, a three-dimensional counter, a stacking robot and an intelligent warehousing operation and maintenance device, does not need personnel operation in a warehouse, and improves the efficiency and the accuracy of warehousing management.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an embodiment of an intelligent warehousing system provided by the invention;
FIG. 2 is a diagrammatic illustration of the construction of the tank referred to in FIG. 1;
FIG. 3 is a schematic diagram of a warehousing operation involving the present invention;
FIG. 4 is a schematic diagram of the ex-warehouse operation process according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Fig. 1 is a schematic structural diagram illustrating an embodiment of an intelligent warehousing system provided by the present invention; as shown in fig. 2, in the present embodiment, the intelligent warehousing system at least includes a face recognition device 1, a plurality of conveyor belts 2, a transfer vehicle 3, a three-dimensional container 4, a stacking robot 5, and an intelligent warehousing operation and maintenance device 6, wherein:
the face recognition device 1 is arranged outside the warehouse and used for carrying out face recognition verification on personnel to enter a goods delivering area or a goods taking area, and material conveying ports are arranged at a warehouse entry port or a warehouse exit port; in an actual example, the warehousing port and the delivery port are independent from each other or combined into a same access; the goods delivering area and the goods taking area are separated areas or the same area. Can be set according to the characteristics of the actual application place.
The conveying belts 2 are respectively connected with the warehouse inlet and the warehouse outlet of the warehouse and are used for conveying warehouse-in materials into the warehouse or conveying warehouse-out materials out of the warehouse; specifically, the device is used for transporting the warehousing materials into the transfer trolley 3 of the warehouse or transporting the ex-warehouse materials of the transfer trolley 3 out of the warehouse;
the transfer trolley 3 is provided with a fixed running track and is used for transporting the warehoused materials to the stacking robot from the conveying belt or transporting the warehoused materials on the stacking robot to the corresponding conveying belt;
the three-dimensional container 4 is arranged in the warehouse and comprises a plurality of layers of bins for placing materials;
the stacking robot 5 is used for automatically stacking the warehoused materials in the transfer trolley to the bin lattices at the designated position, or taking the warehoused materials out of the bin lattices at the designated position and placing the warehoused materials in the transfer trolley; and the intelligent warehousing operation and maintenance device 6 is communicated with the face recognition device and the stacking robot, and is used for generating warehousing orders, ex-warehouse orders or inventory orders according to warehousing requests, ex-warehouse requests or inventory requests of the external system 8, determining the driving path and the operation sequence of the stacking robot, and controlling the transfer vehicle and the stacking robot to realize warehousing operations, ex-warehouse operations and inventory operations. The external system 8 may be, for example, an ERP system or an MES system. In an external system, the material class information needs to be defined, and the corresponding material class is specified without being pasted with an RFID bar code, and the material class information is synchronized with the intelligent warehousing operation and maintenance device; and the intelligent warehousing operation and maintenance device 6 needs to maintain warehouse goods position information and define the goods and materials recommended to be stored in a specific warehouse position.
In one example, the materials are all pasted with RFID bar codes, and the RFID bar codes at least comprise ID, names and size information of the materials. It is understood that in other examples, a one-dimensional code or a two-dimensional code may be used instead of the RFID barcode;
in one example, the three-dimensional container 4 is an automatic three-dimensional warehouse shelf which is of a full-frame type and has high space utilization rate; and (4) stacking and unstacking the packing boxes by matching with a stacking robot. The goods shelf part adopts national standard section bars, the surface of the goods shelf part adopts powder spraying and paint baking treatment, and the strength and the insulativity are sufficiently ensured; the size of the upper bin of the same shelf is not unique, and the adaptability is strong; the top sliding contact type conduction is adopted, so that the accident condition that the goods shelf is electrified due to faults is avoided; advanced wireless local area network data transmission is adopted in signal transmission, and the situations of data line damage, electric leakage and the like caused by various types and frequent activities are avoided.
In one example, infrared sensors are arranged on the left side, the right side and the front side of the stacking robot 5, infrared detectors are arranged on the left end and the right end, the positioning accuracy of the stacking robot is improved, the accuracy error can be increased to +/-1 mm through the infrared detectors, the distance between a goods shelf and materials is reduced, the utilization rate of a storage area is improved, the collision between a pallet fork and the bottom of the materials can be reduced, and the probability of accidents is reduced. An infrared detector is arranged on the front side of the stacking robot, so that whether goods and people block the channel or not can be detected, and the stacking robot is prevented from colliding with obstacles on the channel.
The bottom of the stacking robot is matched with a rack servo motor and a servo reducer by adopting double tracks, and the running speed can reach 2.5 meters per second at most. Preferably, the robot arm of the palletizer robot is fitted with grippers of various sizes. The stacking robot is an automatic stacking device suitable for component products such as packing boxes, packing bags, electric appliances and the like. The gripper of the mechanical hand can be replaced to complete stacking and unstacking of different goods, so that the purchase cost of a customer is reduced relatively, and the mechanical hand is suitable for packaging boxes of various shapes.
In an actual example, the stacking robot is started according to a PLC program in the stacking robot, a software system in the intelligent warehousing operation and maintenance device sends an instruction, the instruction is sent to the PLC through a network protocol, and the PLC is linked with the stacking robot.
In one example, the system further comprises a video monitoring device for monitoring the whole process of warehousing, ex-warehousing and inventory operation.
The intelligent mobile terminal 9 is communicated with the intelligent warehousing operation and maintenance device, is used for managing warehousing lists, ex-warehouse lists and inventory lists, and can start and monitor warehousing processes, ex-warehouse processes and inventory processes; and is used for inquiring the real-time warehousing information; the OA approval function can be further realized in the smart mobile terminal 9.
And the warehousing port and the ex-warehouse port are both provided with a bar code printer and a wireless code scanning gun 7. The bar code printer is used for printing RFID bar codes which are used for being stuck on materials when the materials are put in storage; the wireless code scanning gun is used for scanning and identifying the RFID bar codes on the materials when the materials are delivered from a warehouse.
In one example, the palletizing robot and the intelligent warehousing operation and maintenance device are communicated by a wireless local area network.
The warehousing and ex-warehouse operations involved in the present invention will be further described with reference to fig. 2 to 3. Firstly, warehousing operation:
after the warehouse is approved by a warehouse manager, the external system pushes the warehousing documents to the intelligent warehousing operation and maintenance device, the intelligent warehousing operation and maintenance device judges whether the goods level meets the requirement, if so, a warehousing entry is generated, and the warehousing entry comprises the type, the quantity and the equipment codes of the warehoused goods;
the warehouse entry personnel enter a delivery area through the verification of face identification outside the warehouse, start the warehousing equipment and print RFID bar codes;
the warehousing personnel paste warehousing RFID bar codes to the goods to be warehoused, the goods are placed on the conveying belt, the goods enter the warehouse, the goods are confirmed to belong to the goods shelf through the transfer trolley and the RFID system, and the goods are stacked to the designated position through the stacking robot, so that the goods are put on the shelf;
after the warehousing is finished, the intelligent warehousing operation and maintenance device feeds back the warehousing operation result and closes the transmission port.
II, ex-warehouse operation:
after the warehouse manager approves, the external system pushes the delivery documents to the intelligent warehousing operation and maintenance device, and the intelligent warehousing operation and maintenance device generates a delivery list which comprises the types and the quantity of the materials needing to be received;
the warehouse-out personnel enter the goods taking area through the verification of the face recognition system outside the warehouse, and the warehousing equipment is started;
according to the identity authentication system correlation delivery list, the stacking robot automatically unstacks and stops the goods at a delivery opening according to the material receiving condition, and the goods are transported to a goods taking area through the conveying equipment to finish delivery of the goods; when the pallet truck sends the materials to the warehouse outlet, the RFID data is read for comparison, if the comparison is incorrect, an abnormal alarm is given, and the alarm mode can be acousto-optic alarm or alarm data is pushed to the outside for display;
after the delivery documents and delivery tasks are completed, delivery is completed, and the intelligent warehousing operation and maintenance device feeds back delivery operation results;
and the warehouse-out personnel push the goods to leave the warehouse.
Thirdly, checking operation:
after being approved by a warehouse manager, the external system pushes the checking documents to the intelligent warehousing operation and maintenance device, and generates checking tasks on the intelligent warehousing operation and maintenance device, wherein the ex-warehouse tasks comprise the types and the quantity of materials to be checked;
the system automatically compares the real-time data of the warehouse with the inventory data, carries out intelligent inventory and outputs an inventory result;
and after the document checking and the task of checking are finished, checking the documents in excess and entering the warehouse and checking the documents in shortage and leaving the warehouse according to results.
The implementation of the invention has the following beneficial effects:
the invention provides an intelligent warehousing system which can realize intelligent warehousing, ex-warehouse and inventory operation by arranging a face recognition device, a transfer trolley, a three-dimensional counter, a stacking robot and an intelligent warehousing operation and maintenance device, does not need personnel operation in a warehouse, and improves the efficiency and the accuracy of warehousing management.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. The utility model provides an intelligent warehousing system which characterized in that includes face identification device, at least a conveyer belt, transfer car (buggy), three-dimensional packing cupboard, stacking robot and intelligent warehousing fortune dimension device at least, wherein:
the face recognition device is arranged outside the warehouse and used for carrying out face recognition verification on personnel to enter the goods delivery area or the goods taking area;
the conveying belt is respectively connected with the warehouse inlet and the warehouse outlet of the warehouse and is used for conveying the warehouse-in materials onto a transfer trolley of the warehouse or conveying the warehouse-out materials of the transfer trolley out of the warehouse;
the transfer trolley is used for transporting the warehoused materials to the stacking robot from the conveying belt or transporting the warehoused materials on the stacking robot to the corresponding conveying belt;
the three-dimensional container is arranged in the warehouse and comprises a plurality of layers of warehouse grids for placing materials;
the stacking robot is used for automatically stacking the warehoused materials in the transfer trolley to the bin lattices at the designated position, or taking the warehoused materials out of the bin lattices at the designated position and placing the warehoused materials in the transfer trolley;
and the intelligent warehousing operation and maintenance device is communicated with the face recognition device and the stacking robot and is used for generating warehousing orders, ex-warehouse orders or inventory orders according to warehousing requests, ex-warehouse requests or inventory requests of an external system, determining the driving path and the operation sequence of the stacking robot and controlling the transfer trolley and the stacking robot to realize warehousing operations, ex-warehouse operations and inventory operations.
2. The intelligent warehousing system of claim 1, wherein RFID barcodes are attached to the materials, and the RFID barcodes at least comprise ID, name and size information of the materials.
3. The intelligent warehousing system of claim 2, wherein infrared sensors are disposed on both left and right sides and front of the palletizing robot.
4. The intelligent warehousing system of claim 3, further comprising a video monitoring device for monitoring the warehousing and ex-warehouse operations of the articles in the warehouse.
5. The intelligent warehousing system of claim 4, further comprising:
the intelligent mobile terminal is communicated with the intelligent warehousing operation and maintenance device and is used for managing warehousing orders, ex-warehouse orders and inventory orders and starting or monitoring warehousing processes, ex-warehouse processes and inventory processes; and for querying real-time warehousing information.
6. The intelligent warehousing system of claim 5, wherein the bottom of the stacking robot is matched with a rack servo motor and a servo reducer by a double track.
7. The smart warehousing system of claim 6, wherein the robot arm of the palletizer robot is fitted with a plurality of sized hand grippers.
8. The intelligent warehousing system of claim 7, wherein a bar code printer and a wireless code scanning gun are arranged at the warehousing port and the ex-warehouse port.
9. The intelligent warehousing system of claim 8, wherein the transfer car, palletizer robot and the intelligent warehousing operation and maintenance device communicate using a wireless local area network.
10. The intelligent warehousing system of any one of claims 1 to 9, wherein the warehousing port and the ex-warehouse port are independent from each other or combined into a same entrance; the goods delivering area and the goods taking area are separated areas or the same area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110087868.XA CN112896904A (en) | 2021-01-22 | 2021-01-22 | Intelligent warehousing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110087868.XA CN112896904A (en) | 2021-01-22 | 2021-01-22 | Intelligent warehousing system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113391635A (en) * | 2021-06-25 | 2021-09-14 | 上海品蓝信息科技有限公司 | Cooperative mechanical intelligent warehousing system |
| CN113762888A (en) * | 2021-08-13 | 2021-12-07 | 广西电网有限责任公司来宾供电局 | Intelligent robot for warehouse management |
| CN113762887A (en) * | 2021-08-13 | 2021-12-07 | 江西省智能产业技术创新研究院 | Intelligent logistics system of plane warehouse |
| CN114596039A (en) * | 2022-03-24 | 2022-06-07 | 京东方科技集团股份有限公司 | Storage equipment management method and system, electronic equipment and storage medium |
| CN115258506A (en) * | 2022-07-08 | 2022-11-01 | 安徽宇升智能装备有限公司 | A kind of intelligent storage system and method based on mobile robot |
| CN115676201A (en) * | 2022-10-12 | 2023-02-03 | 中国工商银行股份有限公司 | Terminal management method, device, computer equipment, storage medium and program product |
| CN118811327A (en) * | 2024-07-24 | 2024-10-22 | 广州起重机械有限公司 | A method for controlling the entry and exit of a bridge-type crane intelligent stereoscopic warehouse |
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| JPH04235806A (en) * | 1991-01-16 | 1992-08-24 | Daifuku Co Ltd | Warehousing-delivery work of automatic storage |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113391635A (en) * | 2021-06-25 | 2021-09-14 | 上海品蓝信息科技有限公司 | Cooperative mechanical intelligent warehousing system |
| CN113762888A (en) * | 2021-08-13 | 2021-12-07 | 广西电网有限责任公司来宾供电局 | Intelligent robot for warehouse management |
| CN113762887A (en) * | 2021-08-13 | 2021-12-07 | 江西省智能产业技术创新研究院 | Intelligent logistics system of plane warehouse |
| CN114596039A (en) * | 2022-03-24 | 2022-06-07 | 京东方科技集团股份有限公司 | Storage equipment management method and system, electronic equipment and storage medium |
| CN115258506A (en) * | 2022-07-08 | 2022-11-01 | 安徽宇升智能装备有限公司 | A kind of intelligent storage system and method based on mobile robot |
| CN115676201A (en) * | 2022-10-12 | 2023-02-03 | 中国工商银行股份有限公司 | Terminal management method, device, computer equipment, storage medium and program product |
| CN118811327A (en) * | 2024-07-24 | 2024-10-22 | 广州起重机械有限公司 | A method for controlling the entry and exit of a bridge-type crane intelligent stereoscopic warehouse |
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Application publication date: 20210604 |