CN104809606B - There is the warehouse management system of guiding car dispatching distribution more - Google Patents
There is the warehouse management system of guiding car dispatching distribution more Download PDFInfo
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- CN104809606B CN104809606B CN201510215851.2A CN201510215851A CN104809606B CN 104809606 B CN104809606 B CN 104809606B CN 201510215851 A CN201510215851 A CN 201510215851A CN 104809606 B CN104809606 B CN 104809606B
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Abstract
The invention discloses a kind of warehouse management system with guiding car dispatching distribution more, including center management system and guiding car, center management system reads the quantity in stock and positional information that store list obtains material, according to task amount, the suitable guiding car type of material position selection and quantity, travel route is distributed to guide car, according to time most short principle selection guiding car, distribution material discrepancy storehouse task；The route that car distributes in warehouse along center management system is guided, and there are the functions such as self-positioning, avoidance；Guiding car completes material information scanning by vehicle-mounted interactive device, cartographic information is shown, task display receives and sends guiding car status information etc. to center management system.The present invention integrates material information and guiding car status information by center management system and guiding car is scheduled, guiding car is travelled to target location completion material along distribution path goes out storage, traditional storehouse management mode is optimized, and then improves the efficiency of warehousing management.
Description
Technical field
The present invention relates to warehouse management system technical field, especially a kind of storehouse with guiding car dispatching distribution more
Base management system.
Background technology
As factory automation is horizontal and the continuous improvement of Modern Logistics Technology, the requirement for warehouse management system are got over
Come higher.The efficiency of warehouse management system directly affects the running efficiency of enterprise.For manufacturing enterprise, have daily
Substantial amounts of parts storage and outbound, rely solely on traditional manual allocation mode to complete to read store list, corresponding material goes out
Storage, it is less efficient.And the automatic improving of warehousing management can improve the efficiency that material goes out storage, make production line more quickly
Operation, for the information process- of material, simplifies complicated flow, improves the work efficiency of staff.
In the patent of Publication No. 101051362, it is proposed that a kind of warehouse management system and one kind for the system
Fork truck.This invention proposes the warehouse alignment system based on RFID, central data processing facility handles received information and hair
Send operation information, and a kind of fork truck for adding vehicle-mounted terminal equipment.
The invention comes with some shortcomings, and does not refer to while more fork trucks of dispatching distribution go out storage task to complete material,
And in actual warehouse, it is bigger to go out the inventory of storage, generally requires more fork trucks and run at the same time to go to complete task, so
Just have higher efficiency；Meanwhile be not that any material is suitable for completing out storage from electrical forklift, smallclothes, sporadic material are still
Need manually to be chosen, manually how the relation between selection and guiding car defines, and also can influence the efficiency of storage.
In short, can be increasing, it is necessary to which more guiding car operates could complete at the same time with the material discrepancy amount in warehouse
The carrying task of material, and increasing with guiding car, warehouse management system need to have more guiding cars of dispatching distribution at the same time
The function of task is completed in order.Currently without the explanation or report for finding technology similar to the present invention, the country is also not yet collected into
Outer similar data.
The content of the invention
The present invention is in order to overcome above-mentioned deficiency present in traditional warehouse management system, it is proposed that one kind has more guiding cars
The warehouse management system of dispatching distribution function, the warehouse management system preferably improve the efficiency of warehouse management system.
To achieve these goals, the present invention is realized by following proposal：
A kind of warehouse management system with guiding car dispatching distribution more, including center management system and at least one
Guiding car；Wherein, the center management system goes out storage information by reading store list acquisition material, and is come in and gone out according to material
The guiding car of storehouse information selection suitable type, according to the current state information of all guiding cars under the type, selects completion task
Time shortest guiding car, and distribute driving path for the guiding car.
Preferably, the center management system includes scheduling allocation units and stock-keeping unit；Wherein：
The stock-keeping unit reads store list, obtains material and goes out storage information, including the type of material, shelf in storehouse
Material is gone out storage information and is sent to scheduling allocation units by the position in storehouse, material in the position of shelf and material inventory；
There is the environmental map in whole warehouse in the scheduling allocation units；Scheduling allocation units according to the type of material,
Shelf select the guiding car of respective type in the position in warehouse and material in the position of shelf, and scheduling allocation units obtain such
The current state informations of all guiding cars under type, and all guiding cars of task can be completed according to current state information selection,
Plan that each guiding car in wheeled path and/or estimation completes the time of required by task, selecting can be complete within the shortest time
These guiding cars are sent into the minimal number of guiding car of task, and by mission bit stream.
Preferably, the type of the material includes sporadic material or pallet material.
Preferably, the material includes the level of shelf in the position of shelf.
Preferably, the scheduling allocation units are advised according to the current location and target location of the guiding car that can complete task
Draw the time that each guiding car in wheeled path and/or estimation completes required by task；The each guiding car completes task
The required time includes guiding car running time and the stand-by period being likely to occur.
Preferably, controller and vehicle-mounted interactive device are installed on the guiding car；The guiding car is connected to mission bit stream
Afterwards, realize that positioning in warehouse environment and the driving path along distribution travel to target location and complete material using controller
Go out storage task；Material information, which is obtained, using vehicle-mounted interactive device and is sent to center management system renewal material goes out storage letter
The manual operation of breath and completion to guiding car；
When guiding car, which smoothly completes material, to be gone out to be put in storage task, corresponding information is sent to center management system, stock control
Unit real-time update quantity in stock, the status information of scheduling allocation units renewal guiding car；
When guiding car breaks down in the process of moving, it is impossible to when continuing to execute task, then the artificial treatment situation is needed,
The traffic in warehouse is blocked to prevent the guiding car；Guide car and send fault message to scheduling allocation units, scheduling allocation units weight
Task on new distribution malfunctions guiding car gives other guiding cars.
Preferably, the controller on the guiding car includes environmental perception module, makes bit location and path trace list by oneself
Member；Wherein, the environmental perception module includes laser ranging, infrared distance measurement and ultrasonic range finder sensor, is respectively used to detection and leads
Draw the obstacle information in car traveling front；It is described make by oneself bit location using environmental perception module distance measuring sensor ranging information with
Environmental map is matched, and obtains physical location of the guiding car in warehouse environment；The path trace unit is according to scheduling point
Driving path control with unit for guiding car planning guides car along this route.
Preferably, the vehicle-mounted interactive device includes material scan module and man-machine interaction unit；Wherein, the material is swept
Retouch module and include scanner, after car arrival corresponding warehouse compartment is guided, the material information of scanner scanning restocking and undercarriage, and should
Information is transferred to center management system, the inventory information in center management system real-time update database；The human-computer interaction list
Member shows map, driving path and the material of the scanning image of guiding car running environment by display screen, when high-order selection type is led
After drawing car and/or the corresponding warehouse compartment of low level selection type guiding car arrival, corresponding display is current on the display screen of man-machine interaction unit
The material of warehouse compartment goes out storage information, picking and the goods putting of these materials are manually completed by operating personnel.
Preferably, the material information includes：The title of material, the quantity of material, the Unit Weight of material and gross weight,
The unit volume of material and the type of cumulative volume and material.
Preferably, the current state information of the guiding car include the current electricity of guiding car, positional information, task amount with
And load capacity.
Preferably, the type of the guiding car includes high-order selection type, low level selection type and autonomous fork truck type；Wherein, institute
State high-order selection type guiding car and low level selection type guiding car respectively warehouse high-order level or low level level by manually carrying out
Picking and goods putting, the autonomous fork truck type guiding car are automatically performed restocking and undercarriage of the pallet cargo in different levels.
The warehouse management system with guiding car dispatching distribution more provided by the invention, is read by stock-keeping unit
Store list is taken to obtain stock and the positional information of material, scheduling allocation units are suitably led according to task amount, the selection of material position
Draw car type and quantity, and travel route is distributed for guiding car, car allotment is guided to corresponding according to deadline most short principle
Expect, storage task；Completed by some different types of automatic guided vehicles for being provided with controller and vehicle-mounted interactive device
Material goes out storage, and guiding car realizes the positioning in warehouse map using bit location is made by oneself, utilizes path trace unit edge
The route of center management system distribution, environmental perception module detect the barrier in environment；Guiding car utilizes vehicle-mounted interaction
Equipment come scan material information, show map information, display and receive task and to center management system send guiding car shape
State information etc..The present invention integrates material information and guiding car status information by center management system and guiding car is scheduled,
Guiding car is travelled to target location completion material along distribution path goes out storage, optimizes traditional storehouse management mode, and then
Improve the efficiency of warehousing management.
Compared with prior art, the present invention has the advantages that：
The warehouse management system with guiding car dispatching distribution more provided by the invention, is read by center management system
Take store list to obtain mission bit stream, and corresponding path is distributed for guiding car according to time most short principle, more guiding cars are at the same time
Corresponding task is performed in an orderly manner, is notified center management system real-time update stock in time after completion task and is guided the shape of car
State, is optimized original warehouse management system working method, improves the gentle running effect of Automated water of warehousing management
Rate.
Brief description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the logic function block diagram of warehouse management system；
Fig. 2 is center management system operational flow diagram.
Embodiment
Elaborate below to the embodiment of the present invention：The present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process.It should be pointed out that to those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.
Embodiment
Present embodiments provide a kind of warehouse management system with guiding car dispatching distribution more, including central management
System and at least one autonomous guiding car：
Center management system, mainly includes scheduling allocation units and stock-keeping unit.Stock-keeping unit reads material
It is single, obtain the type of material, shelf are believed in the position in warehouse, material in the position of shelf and material inventory, and by these
Breath is sent to scheduling allocation units.There is the environmental map in whole warehouse in scheduling allocation units.Scheduling allocation units are according to thing
The type (sporadic material or pallet material) of material and shelf the position in warehouse and material shelf specific location (shelf
Level) selection respective type guiding car (high-order selection type, low level selection type or autonomous fork truck type), scheduling allocation units obtain
The current state informations of all guiding cars of the type, status information include the current electricity of guiding car, positional information, task amount,
The information such as load capacity.Scheduling allocation units can complete all guiding cars of task according to above- mentioned information selection, and according to them
Current location and target location planning wheeled path, each guiding car of estimation complete the time of required by task, which includes
Car running time and the stand-by period being likely to occur etc. are guided, travels through all possibility situations, selecting can within the shortest time
The minimal number of guiding car of completion task, and mission bit stream is sent to these guiding cars；After guiding car is connected to mission bit stream,
Go out storage task along the route running of distribution to target location completion material.Guiding car sends corresponding letter when smoothly completing task
Cease to center management system, stock-keeping unit real-time update quantity in stock, the status information of scheduling allocation units renewal guiding car.
If guiding car breaks down in the process of moving, it is impossible to completes task, then needs the artificial treatment situation, is blocked up to prevent the guiding car
The traffic in warehouse is filled in, guiding car sends fault message to scheduling allocation units, and scheduling allocation units redistribute failure guiding
Task on car gives other guiding cars.
The polytype automatic guided vehicle of controller and vehicle-mounted interactive device, including the selection of high-order selection type, low level are installed
Type and autonomous fork truck type.The high position or low level that high position selection guides car, low level selection guiding car can be respectively in warehouse have manually
Picking, goods putting are carried out, autonomous fork truck can be automatically performed the upper and lower frame of pallet cargo.
Controller on automatic guided vehicle mainly includes environmental perception module, makes bit location, path trace unit by oneself.Environment
Sensing module includes laser ranging, infrared distance measurement and ultrasonic range finder sensor, for detecting the barrier in guiding car traveling front
Information.Make bit location by oneself to be matched with environmental map using the distance measuring sensor ranging information of environmental perception module, led
Draw physical location of the car in warehouse environment.The driving path that path trace unit is planned according to scheduling allocation units for guiding car
Control guides car along this route.
Vehicle-mounted interactive device includes material scan module and man-machine interaction unit, and material scan module, which includes, can scan two dimension
The scanner of code and bar code, after car arrival corresponding warehouse compartment is guided, the material information of undercarriage in scanning, and the information is transmitted
To center management system, the inventory information in center management system real-time update database.Man-machine interaction unit passes through display screen
Map, route information and the material of the scanning image of display guiding car running environment, when high position selection, low level selection guiding car arrive
Accordingly show that up to after corresponding warehouse compartment, on the display screen of man-machine interaction unit current warehouse compartment goes out to be put in storage material information, by operating
Personnel manually complete the upper undercarriage of these materials.
The present embodiment is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, this warehouse management system is mainly made of more guiding cars 10 and center management system 30, and utilize
Wireless network 20 carrys out interactive information.Wherein center management system 30 is mainly by 32 groups of scheduling allocation units 31 and stock-keeping unit
Into.Record the inventory information of material in warehouse, including the quantity of material, type and position etc. in stock-keeping unit 32
Information.Stock-keeping unit 32 can read store list, obtain position, the inventory information of material, and send that information to tune
Allocation unit 31 is spent to carry out decision-making.Scheduling allocation units 31 are responsible for the information of comprehensive material and the status information of guiding car, are
Car distribution driving path is guided, and according to corresponding dispatching distribution algorithm, selects the guiding car that task can be completed in the shortest time
Go execution task.Idiographic flow is as shown in Fig. 2, specific in embodiment introduce.
Guiding car 10 has polytype, is responsible for the artificial or full-automatic handling of diverse location material on shelf.Guide car 10
On equipped with controller 11 realize the functions such as self-positioning, avoidance and path trace, realize that material scans equipped with material scan module
Function, human-computer interaction function is realized equipped with vehicle-mounted interactive device.
Controller 11 mainly includes environment sensing unit 111, makes bit location 112 and path trace unit 113 by oneself.Environment sense
Know that unit 111 is made of some distance measuring sensors, for perceiving environmental information, guiding car when an obstacle is detected can stop automatically
Only.Make by oneself bit location 112 using above-mentioned environmental information and environmental map carry out matching realize it is self-positioning, and by the position of oneself
Information is sent to center management system 30 to make the decision-making of allocation schedule.The control guiding car of path trace unit 113 is in
The autonomous path of centre management system planning drives to relevant position.
Vehicle-mounted interactive device 12 is installed on guiding car, it mainly includes material scan module 121 and man-machine interaction unit
122.When guiding the car corresponding shelf of arrival, material scanning element 121 is scanned material information using scanner, material
Information can be Quick Response Code or bar code, and transmit this information to center management system.The display screen of man-machine interaction unit 122
Upper display guiding car run routing information, mission bit stream and material information etc., and some interfaces (such as function button) are provided for behaviour
Make personnel's operation.
The embodiment of materiel warehouse-out is explained in detail below.
Specific implementation step is as follows：When materiel warehouse-out is needed, stock-keeping unit 32 reads corresponding outbound thing
Material list, obtains material type, shelf location and the quantity in stock of task, and transmits these information to scheduling allocation units 31.Adjust
The operational process of allocation unit 31 is spent as shown in Fig. 2, selecting respective type according to the position of the type of material and shelf first
Guiding car, then obtain the current state informations of all guiding cars of this type, including their current position, electricity, load
Situation and the task amount undertaken, leading for task can be completed by being selected according to the charge condition of guiding car and the task amount undertaken
Draw car.Then, scheduling allocation units 31 are worked as using the map for being stored in center management system according to the position of shelf and guiding car
Preceding position is that the guiding car chosen is sequentially allocated the path of wheeled, and estimates these guiding cars along these routes
Time and the time needed to wait for by route conflict, select the n guiding car that task can be completed in the shortest time wherein, will
Mission bit stream is sent to this n guiding car.The vehicle-mounted interactive device 12 of guiding car receives the task of center management system transmission
Information and driving path, each guiding car using the path trace unit 113 in controller 11 come along corresponding route,
And show map information, routing information and the current position for guiding car on man-machine interaction unit 122.In the process of moving, when
When environmental perception module 111 perceives dynamic barrier (such as people or other guiding cars), guiding car can be automatically stopped, when dynamic
After barrier leaves, guiding car can be travelled then along respective paths.Reach after specifying shelf, if high-order selection or low level
Selection guiding car, operating personnel need to unload manually according to the outbound material information shown on vehicle-mounted interactive device from the shelf
Material, and by the Quick Response Code or bar code information of the scanning material of material scanning element 121, confirm the material and store list extracted
It is whether consistent, if inconsistent, operating personnel are reminded on man-machine interaction unit 122, after confirmation, man-machine interaction unit will
Information is sent to stock-keeping unit 32,32 real-time update inventory information of stock-keeping unit, and guiding car enters next shelf
Position, human-computer interaction interface 122 can guide car current location with real-time display, to help operating personnel to calibrate；If guide car
For from electrical forklift, then the process such as the unloading of above-mentioned material, scanning, validation of information is manual without operating personnel by being automatically performed
Intervene.When guide car because emergency case (during such as failure) cannot complete task when, it is necessary to staff handles the guiding car, and
Fault message is sent to management and running unit 31, scheduling allocation units 31 are dispatched other suitable guiding cars and led to transport failure
Draw the material of car.After guiding car gets corresponding outbound material, corresponding landing place, work are reached along the route distributed
Corresponding material is unloaded as personnel, so far, whole materiel warehouse-out task just completes.
The operation of materiel warehouse-in is similar to the above, and center management system 30 receives the store list of storage, scheduling allocation units
31 suitably guide car to designated position loaded material according to dispatching distribution algorithm picks mentioned above.Car is guided along distribution
Good path is reached after designated position loaded material, then according to the path redistributed to target shelf, high position selection with
Low level selection guiding car by manually placing material, autonomous fork truck be then automatically performed material restocking place, realize in-stockroom operation.Thing
Expect that scanning element 121 scans material information, judged, and be sent to stock-keeping unit 32, stock-keeping unit 32 receives
Information simultaneously updates stock.Guiding car returns to original position further along the path of distribution and awaits orders or perform other tasks, materiel warehouse-in operation
So far complete.
More conjunctions are chosen by the cooperation of above-mentioned warehouse management system various pieces, and using corresponding dispatching distribution algorithm
Suitable guiding car completes task, can effectively improve the efficiency of storage.
In the present embodiment：
Center management system goes out storage information by reading store list acquisition material, and suitable type is selected according to material information
Guiding car, task time shortest guiding car can be completed according to the current state information selection of guiding car, and be guiding car point
With driving path；
Autonomous guiding car utilizes road using making bit location by oneself and realize the positioning in warehouse environment in Vehicle Controller
The route that footpath tracking cell is distributed along center management system, the barrier in environment is detected using environmental perception module；
Vehicle-mounted interactive device on guiding car includes material scan module and man-machine interaction unit, passes through material scan module
Scanning material information is simultaneously sent to center management system, and man-machine interaction unit shows corresponding map, route information and scanning
Material image, operating personnel are carried out the undercarriage (storage, outbound) upper manually of material by man-machine interaction unit, realized to guiding car
Manual operation；
Guiding the current state information of car includes the current position of the current load situation of guiding car, guiding car, guiding car
Type, guiding car current electric quantity and operating status etc.；
It is title, quantity, Unit Weight and the gross weight of material information including the material, unit volume and cumulative volume, scattered
Material or pallet material etc.；
The type of guiding car includes high-order selection type, low level selection type and autonomous fork truck type, high-order selection type, low level and picks
Type selecting guiding car needs manually to realize the upper and lower frame (storage, outbound) of material after designated position is reached, and autonomous fork truck type guides car
The upper and lower frame (storage, outbound) of pallet class cargo is automatically performed after designated position is reached.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (9)
1. a kind of warehouse management system with guiding car dispatching distribution more, it is characterised in that including center management system
An and at least guiding car；Wherein, the center management system goes out storage information, and root by reading store list acquisition material
Go out the guiding car of storage information selection suitable type according to material, according to the current state information of all guiding cars under the type, choosing
Select and complete task time shortest guiding car, and driving path is distributed for the guiding car；
The center management system includes scheduling allocation units and stock-keeping unit；Wherein：
The stock-keeping unit reads store list, obtains material and goes out storage information, including the type of material, shelf in warehouse
Material is gone out storage information and is sent to scheduling allocation units by position, material in the position of shelf and material inventory；
There is the environmental map in whole warehouse in the scheduling allocation units；Type of the scheduling allocation units according to material, shelf
The guiding car of respective type is selected in the position of shelf in the position in warehouse and material, scheduling allocation units are obtained under the type
The current state informations of all guiding cars, and all guiding cars of task can be completed according to current state information selection, planning
The each guiding car in wheeled path and/or estimation completes the time of required by task, and selecting can complete to appoint within the shortest time
The minimal number of guiding car of business, and mission bit stream is sent to these guiding cars.
2. the warehouse management system with guiding car dispatching distribution more according to claim 1, it is characterised in that institute
Stating the type of material includes sporadic material or pallet material；The material includes the level of shelf in the position of shelf.
3. the warehouse management system with guiding car dispatching distribution more according to claim 1, it is characterised in that institute
State scheduling allocation units according to can complete task guiding car current location and target location planning wheeled path and/or
Estimate that each guiding car completes the time of required by task；The time that each guiding car completes required by task includes guiding
Car running time and the stand-by period being likely to occur.
4. the warehouse management system with guiding car dispatching distribution more according to any one of claim 1 to 3, its
It is characterized in that, controller and vehicle-mounted interactive device is installed on the guiding car；After the guiding car is connected to mission bit stream, utilize
Controller is realized the positioning in warehouse environment and is travelled along the driving path of distribution to the discrepancy of target location completion material
Storehouse task；Using vehicle-mounted interactive device obtain material information and be sent to center management system renewal material go out storage information and
Complete the manual operation to guiding car；
After guiding car, which smoothly completes material, goes out storage task, corresponding information is sent to center management system, stock-keeping unit
Real-time update quantity in stock, the status information of scheduling allocation units renewal guiding car；
When guiding car breaks down in the process of moving, it is impossible to when continuing to execute task, then the artificial treatment situation is needed, to prevent
The guiding car blocks the traffic in warehouse；Guiding car sends fault message and divides again to scheduling allocation units, scheduling allocation units
Other guiding cars are given with the task on failure guiding car.
5. the warehouse management system with guiding car dispatching distribution more according to claim 4, it is characterised in that institute
Stating the controller on guiding car includes environmental perception module, makes bit location and path trace unit by oneself；Wherein, the environment sense
Know that module includes laser ranging, infrared distance measurement and ultrasonic range finder sensor, be respectively used to the obstacle in detection guiding car traveling front
Thing information；The bit location of making by oneself is matched using the distance measuring sensor ranging information of environmental perception module with environmental map,
Obtain physical location of the guiding car in warehouse environment；The path trace unit is guiding car planning according to scheduling allocation units
Driving path control guiding car along this route.
6. the warehouse management system with guiding car dispatching distribution more according to claim 4, it is characterised in that institute
Stating vehicle-mounted interactive device includes material scan module and man-machine interaction unit；Wherein, the material scan module includes scanner,
After car arrival corresponding warehouse compartment is guided, the material information of scanner scanning restocking and undercarriage, and transmit this information to mesotube
Reason system, the inventory information in center management system real-time update database；The man-machine interaction unit is shown by display screen
Map, driving path and the material of the scanning image of car running environment are guided, when high-order selection type guides car and/or low level selection
After type guiding car reaches corresponding warehouse compartment, accordingly show that the material of current warehouse compartment goes out storage letter on the display screen of man-machine interaction unit
Breath, picking and the goods putting of these materials are manually completed by operating personnel.
7. the warehouse management system with guiding car dispatching distribution more according to claim 6, it is characterised in that institute
Stating material information includes：The title of material, the quantity of material, Unit Weight and the gross weight of material, the unit volume of material with
The type of cumulative volume and material.
8. the warehouse management system with guiding car dispatching distribution more according to claim 4, it is characterised in that institute
Stating the current state information of guiding car includes current electricity, positional information, task amount and the load capacity of guiding car.
9. the warehouse management system with guiding car dispatching distribution more according to claim 4, it is characterised in that institute
Stating the type of guiding car includes high-order selection type, low level selection type and autonomous fork truck type；Wherein, the high-order selection type guiding car
With low level selection type guiding car respectively warehouse high-order level or low level level by manually carrying out picking and goods putting, it is described autonomous
Fork truck type guiding car is automatically performed restocking and undercarriage of the pallet cargo in different levels.
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Application publication date: 20150729 Assignee: Nanjing Jingqi Intelligent Robot System Control Research Institute Co.,Ltd. Assignor: SHANGHAI JIAO TONG University Contract record no.: X2020320000300 Denomination of invention: Warehouse management system with multi guided vehicle scheduling and distribution function Granted publication date: 20180504 License type: Exclusive License Record date: 20201201 |