CN108945920A - The queuing of shelf and spinning solution, apparatus and system - Google Patents
The queuing of shelf and spinning solution, apparatus and system Download PDFInfo
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Abstract
The invention discloses a kind of queuings of shelf and spinning solution, apparatus and system, are related to material flows automation field, wherein the queuing of shelf and spinning solution, including, while carrying task distribution, queue scheduling is carried out to the handbarrow of Transport cargo rack；According to order requirements, the path of handbarrow Transport cargo rack is planned for the handbarrow, and adjusts the operating path of the handbarrow in real time；It is distributed in the operating path completed to carrying task in carrying task, real-time detection is carried out to ambient enviroment locating for the shelf；Ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then carries out rotation process to shelf.Queue scheduling is expanded into entire area, overcomes fixed queue area that can accommodate a limited number of defects of robot.The flexibly dynamic setting path point of rotation overcomes the fixed defect for causing circulation difference of rotary area.To improve shelf handling efficiency.
Description
Technical field
The present invention relates to material flows automation fields, and in particular, to a kind of queuing of shelf and spinning solution, device and is
System.
Background technique
Currently, material flows automation technology flourishes, robot goods to people's system is flexibly flexible and low cost with it
Advantage is widely applied in western developed country storage sector.In traditional warehouse homework, shelf are fixed, operating personnel
It needs to walk to specified goods yard and just can be carried out operation out.Robot goods is different from traditional work mode to people's system, and shelf are by moving
Mobile robot is transported to workbench, and is lined up, and personnel operate in workbench, without walking, robot goods to the National People's Congress
Personnel's operating efficiency is improved greatly.
Existing robot goods is into people's system, and mobile shelf can be with multi-panel goods putting, all around settable goods in 4 faces
Position, and manual operation can only operate one side simultaneously, thus need to rotate shelf.Robot needs to carry shelf row simultaneously
Team waits operating personnel's operation.Existing robot goods uses fixed queue area design, and the fixed area Zhuan Mian into people's system
Domain carries out shelf and turns face operation, while using camber line and entering the area Zhuan Mian method.This method is the disadvantage is that fixed queue area can hold
Receive robot limited amount, the robot that cannot be accommodated can stop obstruction other robot path on a passage.It is lined up path phase
To fixation, it be easy to cause path deadlock.The face region that turns in this method is fixed, and the bottleneck of efficiency is easily become, when multiple machines
People needs to turn face, and the robot of queuing waits the release for turning face region, so that circulation is deteriorated.Arc path enters rotation
The surplus between shelf that area needs is larger, is unfavorable for improving warehouse integral space utilization ratio.
Summary of the invention
It is an object of the present invention in view of the above-mentioned problems, propose a kind of queuing of shelf and spinning solution, device and be
System, to realize the advantages of improving shelf handling efficiency.
To achieve the above object, on the one hand technical solution of the present invention, provides a kind of shelf queuing and spinning solution, packet
It includes,
While carrying task is distributed, queue scheduling is carried out to the handbarrow of Transport cargo rack；
According to order requirements, the path of handbarrow Transport cargo rack is planned for the handbarrow, and in real time described in adjustment
The operating path of handbarrow；
It is distributed in the operating path completed to carrying task in carrying task, ambient enviroment locating for the shelf is carried out
Real-time detection；
Ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then carries out rotation process to shelf.
A kind of specific implementation according to an embodiment of the present invention,
The handbarrow is mobile robot.
A kind of specific implementation according to an embodiment of the present invention,
While the carrying task is distributed, queue scheduling is carried out to handbarrow, comprising: real time monitoring station waiting area
The task time of the handbarrow in domain and quantity decide whether to distribute new handbarrow Transport cargo rack to station.
A kind of specific implementation according to an embodiment of the present invention,
When above-mentioned carrying task is distributed, including high to priority or do not need the shelf of rotation and carry out scheduling of preferentially jumping the queue.
A kind of specific implementation according to an embodiment of the present invention,
It when carrying task is distributed, further include reducing the scheduling that shelf are carried out with rotation process.
A kind of specific implementation according to an embodiment of the present invention,
When above-mentioned carrying task is distributed, including, it is corresponding to the distribution of the task of carrying according to the attribute of task in carrying task
Station is lined up path layout mode.
A kind of specific implementation according to an embodiment of the present invention,
The station is lined up path layout mode, including double-station symmetrical layout versions, layout type arranged side by side and without specific
Rotary District queueing form and multioperation point layout type.
A kind of specific implementation according to an embodiment of the present invention,
In the multioperation point layout type, handbarrow does not need to wait in line another during reaching operating point
Handbarrow, in the case where handbarrow surrounding cells lattice do not have occupied situation, handbarrow can revolve shelf in operating point
Turn operation；In the path process that handbarrow reaches operating point, handbarrow can apply for that surrounding cells lattice complete shelf rotation
Task；
And judge that movement is to put down shelf or wait to have operated to handbarrow in next step according to the shelf operating time, such as
The shelf operating time is more than that handbarrow executes the next task time, and shelf are then put down, continued to execute next by handbarrow
A task, after the completion of shelf operation, reallocation handbarrow takes shelf away, as shelf operating times is no more than handbarrow
The next task time is executed, handbarrow then waits operation to complete.
A kind of specific implementation according to an embodiment of the present invention,
In double-station symmetrical layout versions, layout type arranged side by side and without in specific Rotary District queueing form, outlet port is set
Determine multiple directions, such as operation is completed to need to carry out rotation shelf again, and handbarrow can be again introduced into station queuing from outlet port
Area, can also leave station waiting area from outlet port, turn again to station waiting area by external path.
A kind of specific implementation according to an embodiment of the present invention,
It is described that rotation process is carried out to shelf during carrying task is distributed to carrying task and completed, i.e., appoint in carrying
Business distribution in real time tests to environment locating for shelf during completing to carrying task, and the environment locating for the shelf meets
It is rotated when rotating condition.
A kind of specific implementation according to an embodiment of the present invention,
It is described that the path of handbarrow Transport cargo rack is planned for the handbarrow according to order requirements, and adjust in real time
The operating path of the handbarrow, comprising:
Estimate station waiting area vacancy；
It such as estimates station waiting area to have vacant position, then selects a shelf simultaneously in the shelf of the station waiting area not moved to take
It distributes a handbarrow and moves to take the shelf；
After handbarrow gets shelf, station waiting area vacancy is estimated from newly, it is equal for all stations of the demand shelf
It is estimated, starts Transport cargo rack if estimating and having vacant position, if estimating no vacancy, waited in line in situ；
When shelf are adjacent near station waiting area, if station waiting area clear position is not vacateed, selection is removed
Fortune tool density is low and does not hinder that the position in other handbarrow paths is waited in line or delivery frame needs the goods to another
The station of frame enters station waiting area if station waiting area is had vacant position and vacateed；
It is had vacant position when vacateing in front of the real-time judge of station waiting area, mobile to station, no person original place is waited in line.
A kind of specific implementation according to an embodiment of the present invention,
It is described to estimate station waiting area vacancy specifically: if being currently the handbarrow of some station delivery frame
Quantity is less than the station waiting area size, then has vacant position certainly, and the handbarrow that no person calculates station waiting area end vacates one
The time in a vacancy, if this time less than the new time distributed handbarrow and reach station waiting area, is estimated, there are vacancy.
A kind of specific implementation according to an embodiment of the present invention,
Ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then carries out in rotation process to shelf, right
It includes three kinds of modes that shelf, which carry out rotation process, specifically: it is rotated on the path of carrying, in the rotation of station waiting area setting
Point rotation, and rotated in place in operating point.
A kind of specific implementation according to an embodiment of the present invention,
It is described to be distributed in the operating path completed to carrying task in carrying task, to surrounding's ring locating for the shelf
Border carries out real-time detection, comprising:
In the walking process of handbarrow path, nearby whether cell is occupied for detection forward path point, if can be same
When application to forward path surrounding's adjacent cells lattice, then using the path point as the point of rotation；
When handbarrow reaches the point of rotation of setting, surrounding cells lattice are occupied, are walked on if vacant success.
Before handbarrow reaches station, if carrying out rotation process to shelf not on path, enters station and set
Rotary District；
If the shelf for completing rotation also need to rotate, judge whether that surrounding cells lattice can be occupied in situ, if energy
Occupancy then occupies, and station waiting area is again introduced into if it cannot occupy, and continues the point of rotation for being lined up and entering setting.
A kind of specific implementation according to an embodiment of the present invention,
Shelf rotation is carried out using straight line and tangential path or dog leg path in the Rotary District.
On the other hand technical solution of the present invention, provides queuing and the rotating device of a kind of shelf, including,
Queue scheduling unit: while carrying task distribution, queue scheduling is carried out to the handbarrow of Transport cargo rack；
Path adjustment unit: according to order requirements, the path of handbarrow Transport cargo rack is planned for the handbarrow, and
The operating path of the handbarrow is adjusted in real time；
Environment detection unit: it is distributed in the operating path completed to carrying task in carrying task, to locating for the shelf
Ambient enviroment carry out real-time detection；
Rotating operation unit: ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then rotates to shelf
Operation.
A kind of specific implementation according to an embodiment of the present invention,
The handbarrow is mobile robot.
A kind of specific implementation according to an embodiment of the present invention,
The queue scheduling unit, including carrying distribution module: the handbarrow of real time monitoring station queue area is appointed
Business time and quantity, decide whether to distribute new handbarrow Transport cargo rack to station.
A kind of specific implementation according to an embodiment of the present invention,
The queue scheduling unit, including module of jumping the queue: preferentially being inserted to the shelf that priority is high or does not need to rotate
Team's scheduling.
A kind of specific implementation according to an embodiment of the present invention,
The queue scheduling unit, including Optimized Operation module: in the distribution of the task of carrying, reduction rotates shelf
The scheduling of operation.
A kind of specific implementation according to an embodiment of the present invention,
The queue scheduling unit further includes being lined up path layout distribution module: according to the attribute of task in carrying task
Corresponding station, which is distributed, to the task of carrying is lined up path layout mode.
A kind of specific implementation according to an embodiment of the present invention,
The station is lined up path layout mode, including double-station symmetrical layout versions, layout type arranged side by side and without specific
Rotary District queueing form and multioperation point layout type.
A kind of specific implementation according to an embodiment of the present invention,
In the multioperation point layout type, handbarrow does not need to wait in line another during reaching operating point
Handbarrow, in the case where handbarrow surrounding cells lattice do not have occupied situation, handbarrow can revolve shelf in operating point
Turn operation；In the path process that handbarrow reaches operating point, handbarrow can apply for that surrounding cells lattice complete shelf rotation
Task；
And judge that movement is to put down shelf or wait to have operated to handbarrow in next step according to the shelf operating time, such as
The shelf operating time is more than that handbarrow executes the next task time, and shelf are then put down, continued to execute next by handbarrow
A task, after the completion of shelf operation, reallocation handbarrow takes shelf away, as shelf operating times is no more than handbarrow
The next task time is executed, handbarrow then waits operation to complete.
A kind of specific implementation according to an embodiment of the present invention,
In double-station symmetrical layout versions, layout type arranged side by side and without in specific Rotary District queueing form, outlet port is set
Determine multiple directions, such as operation is completed to need to carry out rotation shelf again, and handbarrow can be again introduced into station queuing from outlet port
Area, can also leave station waiting area from outlet port, turn again to station waiting area by external path.
A kind of specific implementation according to an embodiment of the present invention,
The rotating operation unit, including real-time inspection module: distributing the mistake completed to carrying task in carrying task
It tests in real time to environment locating for shelf in journey, the environment locating for the shelf is rotated when meeting rotating condition.
A kind of specific implementation according to an embodiment of the present invention,
The path adjustment unit, comprising:
It estimates module: estimating station waiting area vacancy；
Selecting module: such as estimating station waiting area and have vacant position, then selects in the shelf of the station waiting area not moved to take
One handbarrow of one shelf and distribution moves to take the shelf；
Evaluation module: after handbarrow gets shelf, station waiting area vacancy is estimated from newly, for the institute of the demand shelf
There is station to be estimated, starts Transport cargo rack if estimating and having vacant position, if estimating no vacancy, be lined up in situ etc.
To；
First path planning module: when shelf are adjacent near station waiting area, if station waiting area spare bits
It sets and does not vacate, then selection transportation tool density is low and the position in other handbarrow paths is not hindered to wait in line or delivery
Frame needs the station of the shelf to another, and station waiting area is entered if station waiting area is had vacant position and vacateed；
Judgment module: having vacant position in front of the real-time judge of station waiting area when vacateing, mobile to station, and no person original place is lined up
It waits.
A kind of specific implementation according to an embodiment of the present invention,
Described estimate estimates station waiting area vacancy in module specifically: if being currently some station delivery frame
The quantity of handbarrow is less than the station waiting area size, then has vacant position certainly, and no person calculates the carrying at station waiting area end
Tool vacates the time in a vacancy, if this time is less than the time that new distribution handbarrow reaches station waiting area, in advance
Estimate that there are vacancy.
A kind of specific implementation according to an embodiment of the present invention,
The rotating operation unit, carrying out rotation process to shelf includes three kinds of modes, specifically: on the path of carrying
Rotation, the point of rotation rotation of setting in station waiting area, and rotated in place in operating point.
A kind of specific implementation according to an embodiment of the present invention,
The environment detection unit, comprising:
Detection module: in the walking process of handbarrow path, nearby whether cell is occupied for detection forward path point,
If can apply simultaneously to cell near forward path point, using the path point as the point of rotation；
First rotation judgment module: when handbarrow reaches the point of rotation of setting, surrounding cells lattice are occupied, if vacant
It is successful then walk on.
Second rotation judgment module: before handbarrow reaches station, if carrying out rotation behaviour to shelf not on path
Make, then enters the Rotary District of station setting；
Third rotates judgment module: if the shelf for completing rotation also need to rotate, judging whether to occupy in situ
Surrounding cells lattice occupy if it can occupy, station waiting area are again introduced into if it cannot occupy, and continue to be lined up and enter to set
The fixed point of rotation.
A kind of specific implementation according to an embodiment of the present invention,
Shelf rotation is carried out using straight line and tangential path or dog leg path in the Rotary District.
On the other hand technical solution of the present invention, additionally provides queuing and the rotary system of a kind of shelf, including,
Handbarrow: it is used for Transport cargo rack；
Shelf: for the goods yard for placing commodity to be arranged, and tool carrying can be handled upside down；
Shelf area: for storing shelf；
Server: the queuing of shelf described in operation the technical program and spinning solution adjust handbarrow and shelf
Degree configuration.
A kind of specific implementation according to an embodiment of the present invention,
The handbarrow is mobile robot.
A kind of specific implementation according to an embodiment of the present invention,
The mobile robot, be in-wheel driving trolley, have lifting body, have straight line walking, camber line walking and
Pivot turn Motor ability.
A kind of specific implementation according to an embodiment of the present invention,
The lifting body and trolley body self-movement realize that trolley body is motionless, and lifting body decline and jacking are dynamic
Make；Trolley body is motionless, lifting body rotation；Trolley body and lifting body are locked, with the rotation of identical speed；Trolley body and
Lifting body is rotated simultaneously with friction speed.
A kind of specific implementation according to an embodiment of the present invention,
It further include station and station waiting area；
The station: worker's job position；
The station waiting area: the region set near worker's job position, handbarrow Transport cargo rack is in the region
Caching waits in line worker's operation.
Technical solution of the present invention has the advantages that
1, technical solution of the present invention, from whole efficiency, using region-wide queuing policy, i.e., in the same of distribution task
When, robot queue scheduling is expanded into entire area, is lined up since when distributing task for robot, real time monitoring station row
The robot task time of group area and robot quantity decide whether to distribute new engine people picking frame and are sent to station.To
The a limited number of defects of robot can be accommodated by overcoming fixed queue area, while shelf rotation is refined into a task, root
The path point of rotation is flexibly set dynamically according to needs, and shelf rotation can be carried out in multiple positions；And can by station symmetric design,
Reduce shelf rotational tasks demand.To overcome rotary area to fix, bottleneck is easily become, when multiple mobile robots need to turn
When face, the robot of queuing waits the release of rotary area, so that the defect that circulation is deteriorated, is removed to reach and improve shelf
Transport the purpose of efficiency.
2, it is multi-direction to be lined up path increase, avoids deadlock.
3, it is lined up mechanism of jumping the queue, priority height or the shelf for not needing rotation are arranged path of jumping the queue, further increase
Efficiency.
4, multiple operating points are set in station area, for the shelf that the operating time is long, robot continues it after can putting down
He works, and robot again takes shelf away after the completion of operation, while supplementing another shelf, further increases efficiency.
5, station symmetric configuration avoids the generation of shelf rotational tasks in the task of distribution, further increases efficiency.
6, shelf rotation is carried out using straight line and tangential path or dog leg path in Rotary District, normally enters shelf
Reduce the preset clearance in the case of pure arc path between shelf and shelf when the point of rotation, it can be in the cell of same size
Under, shelf size can be bigger, improves warehouse space utilization rate.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the flow chart of the queuing and spinning solution of shelf described in the embodiment of the present invention；
Fig. 2 is to plan handbarrow Transport cargo rack according to order requirements described in the embodiment of the present invention for handbarrow
Path, and the flow chart of the operating path of the handbarrow is adjusted in real time；
Fig. 3 is the flow chart that described in the embodiment of the present invention shelf are carried out with rotation process；
Fig. 4 is the overlooking structure diagram of shelf described in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of double-station symmetric configuration described in the embodiment of the present invention；
Fig. 6 be the embodiment of the present invention described in and Column Layout structural schematic diagram；
Fig. 7 is the structural schematic diagram without specific Rotary District queueing form described in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the station of multioperation point described in the embodiment of the present invention；
Fig. 9 is the schematic diagram for adding circular arc path to rotate using straight line in Rotary District described in the embodiment of the present invention；
Figure 10 is the queuing of shelf and the structural block diagram of rotating device described in the embodiment of the present invention；
Figure 11 is the queuing of shelf and the structural block diagram of rotary system described in the embodiment of the present invention.
Specific embodiment
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Channel: the region that robot Transport cargo rack can walk in place.
Station waiting area: the region set near worker's job position, robot Transport cargo rack are cached in the region and are arranged
Team waits worker's operation.
Shelf: the square or rectangle shelf that can be carried by mobile robot.Shelf can divide multilayer, and four of every layer
Direction (i.e. four faces of shelf) settable goods yard.
As shown in Figure 1, queuing and the spinning solution of a kind of shelf, including,
Step S101: while carrying task distribution, queue scheduling, queue scheduling are carried out to the handbarrow of Transport cargo rack
When the task of distribution；
Step S102: according to order requirements, the path of handbarrow Transport cargo rack is planned for handbarrow, and is adjusted in real time
The operating path of the handbarrow；
Step S103: it is distributed in the operating path completed to carrying task in carrying task, to week locating for the shelf
Collarette border carries out real-time detection；
Step S104: ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then carries out rotation process to shelf.
As an alternative embodiment,
Handbarrow is mobile robot.
As an alternative embodiment, carrying out queue scheduling, packet to mobile robot while the distribution of the task of carrying
Include: the task time of the mobile robot of real time monitoring station queue area and quantity decide whether to distribute new mobile robot
Transport cargo rack is to station.If the task time of the mobile robot of station queue area and quantity are in full load condition no longer
New mobile robot is distributed, that is, postpones distributing new carrying task.
As an alternative embodiment, when above-mentioned carrying task is distributed, including to priority height or do not need to rotate
Shelf preferentially jump the queue scheduling.The mobile robot of face operation or the shifting that priority is high are not needed to carry out turning to shelf
Mobile robot can directly plan that nearest path is inserted into the cell nearest from operating position, the low robot etc. of priority
To.
As an alternative embodiment, further including when the distribution of the task of carrying, reduces and rotation process is carried out to shelf
Scheduling.Under i.e. symmetrical station layout scenarios.In the task of distribution, it is assumed that some shelf needs the face R to be presented to worker, in No.1 work
Position needs to rotate shelf, but is No. two stations of No.1 station mirror image, and shelf do not need to rotate, then can will generate the shelf
The Order splitting of task is to No. two stations.As shown in Figure 4.
As an alternative embodiment, when above-mentioned carrying task is distributed, including, according to the category of task in carrying task
Property distribute corresponding station to the task of carrying and be lined up path layout mode.
A kind of specific implementation according to an embodiment of the present invention,
Station is lined up path layout mode, including double-station symmetrical layout versions, layout type arranged side by side and without specific rotation
Queueing form of area and multioperation point layout type.
As shown in figure 5, double-station symmetric configuration: the region among 1~12 cell is the area Zhuan Mian.8 or 9 are used as moving machine
Device people, which stops, waits worker operating position.10 export for waiting area.The path of the mobile robot of shelf is not rotated are as follows: 1 → 4 →
7 → 9, or be 12 → 5 → 7 → 9.The mobile robot for needing to rotate shelf can enter Rotary District from 11,12,2,3, from rotation
Turning area can determine to 5,6,8,9 according to vacancy is lined up.It needs to rotate the mobile robot of shelf, can also be revolved No. 4 positions
Turn, as second point of rotation of station waiting area, increases efficiency when multiple mobile robots need to rotate.It is revolved in 4 positions
Before turning, 4 positions cell all around is locked, guarantees shelf spin safe.
As shown in fig. 6, simultaneously Column Layout: 1~12 is is lined up path under this layout type, can be queuing clockwise,
It can be queuing counterclockwise.It is rotary area among 1~12 cell.The path of the mobile robot of shelf is not rotated are as follows: 1 →
4 → 6, or be 12 → 5 → 6.Need to turn face operation mobile robot, 2,11,12 as into Rotary District cell, 3,
5,6 be the cell for Rotary District.It is stopped in No. 6 position mobile robots and waits worker's operation.10 export for waiting area.It is lined up
Region can also be spaced several cell arrangements with arranged adjacent.Need to rotate the mobile robot of shelf, it can also be 4
The rotation of number position, as second point of rotation of station waiting area, increases efficiency when multiple mobile robots need to rotate.?
Before the rotation of 4 positions, 4 positions cell all around is locked, guarantees shelf spin safe.
As shown in fig. 7, without specific Rotary District queueing form: operating position is in 8 positions.10 export for waiting area.1~8
Set the shelf rotation position that can be used as waiting area.Mobile robot rotates before shelf around system lock four lists all around
First lattice do not allow other mobile robots to enter, and guarantee spin safe.The queueing form of no specific Rotary District is not limited to 2 rows 5 column
Layout, can be increased and decreased according to demand.
As an alternative embodiment, as shown in figure 8, the station for multioperation point designs, using "-" type, often
A operating point mobile robot can be individually entered and be left.In this operative position, mobile robot reaches operating point mistake
It does not need to wait in line another mobile robot in journey.The number of operating point does not limit.It is not occupied in surrounding cells lattice
In the case of, mobile robot can rotate shelf in operating point；In the path process that mobile robot reaches operating point, moving machine
Device people can apply for that surrounding cells lattice complete shelf rotational tasks.According to the shelf operating time determine mobile robot put down shelf or
Person waits and having operated.If the shelf operating time is more than that mobile robot executes the next task time, mobile robot can be incited somebody to action
Shelf are put down, and continue to execute next task.After the completion of shelf operation, system reallocation mobile robot takes shelf away.
As an alternative embodiment, as shown in Fig. 5, Fig. 6 and Fig. 7, in double-station symmetrical layout versions, cloth arranged side by side
, there is headtotail deadlock situation to avoid being lined up mobile robot in office's mode and without in specific Rotary District queueing form.Outlet
The setting multiple directions of position 10, such as operation are completed to need to carry out rotation shelf again, and mobile robot can be No. 10 from outlet port
Be again introduced into station waiting area, also can from outlet port No. 10 leave station waiting area, turn again to station by external path
Waiting area.
As an alternative embodiment, being carried out during carrying task is distributed to carrying task and completed to shelf
Rotation process in real time tests to environment locating for shelf during carrying task is distributed to carrying task and completed,
The environment locating for the shelf is rotated when meeting rotating condition.
As an alternative embodiment, as shown in Fig. 2, planning handbarrow according to order requirements for handbarrow
The path of Transport cargo rack, and the operating path of the handbarrow is adjusted in real time, comprising:
Step S201: station waiting area vacancy is estimated；
Step S202: such as estimating station waiting area and have vacant position, i.e., if station waiting area is had vacant position or estimated in the presence of can
Energy property station then selects one mobile robot of a shelf and distribution to move to take in the shelf of the station waiting area not moved to take
The shelf；
Step S203: after mobile robot gets shelf, estimating station waiting area vacancy from newly, for the demand shelf
All stations are estimated, and start Transport cargo rack if estimating and having vacant position, if estimating no vacancy, are lined up in situ
It waits；
Step S204: when shelf are adjacent near station waiting area, if station waiting area clear position is not vacateed,
It then selects mobile robot density low and does not hinder that the position in other mobile robot paths is waited in line or delivery frame is to another
One needs the station of the shelf, and station waiting area is entered if station waiting area is had vacant position and vacateed；
Step S205: having vacant position in front of the real-time judge of station waiting area when vacateing, mobile to station, and no person original place is lined up
It waits.
As an alternative embodiment, step S201, estimates station waiting area vacancy specifically: if currently
It is less than station row for the quantity (mobile robot quantity inside waiting area containing station) of the mobile robot of certain station delivery frame
Team's area's size, then can have vacant position certainly.The mobile robot that no person calculates station waiting area end vacates the time in a vacancy,
The time be row's all mobile robots before it move move a step the time and come head of the queue shelf stop the operating time it
With if this time is less than the time that new distribution mobile robot reaches station waiting area, estimates and there is a possibility that vacancy.
As an alternative embodiment, ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then to goods
Frame carry out in rotation process in rotation process to shelf, and carrying out rotation process to shelf includes three kinds of modes, specifically:
It rotates on the path of carrying, the point of rotation rotation of setting in station waiting area, and is rotated in place in operating point.
As an alternative embodiment, as shown in figure 3, distributing the operation road completed to carrying task in carrying task
In diameter, real-time detection is carried out to ambient enviroment locating for shelf, ambient enviroment locating for the shelf as described in detecting is suitble to rotate,
Rotation process then is carried out to shelf, specially includes:
Step S301: judging whether shelf need to rotate, and direct preferential planning path, such as needs to revolve if not needing rotation
Turn then to carry out step S302；
Step S302: in the walking process of mobile robot path, nearby whether cell is occupied for detection forward path point
With if can apply for surrounding's adjacent cells lattice to forward path simultaneously, using the path point as the point of rotation；
Step S303: mobile robot reach setting the point of rotation when, occupy surrounding cells lattice, if occupying successfully into
The rotation of crudely-made articles frame discharges the occupancy of surrounding cells lattice, walks on if vacant success after the completion of shelf rotation；
Step S304: before mobile robot reaches station, if carrying out rotation process to shelf not on path, into
The Rotary District for entering station setting is rotated；
Step S305: if the shelf for completing rotation also need to rotate, judge whether that surrounding cells can be occupied in situ
Lattice, rotation in situ, is again introduced into station waiting area if it cannot occupy if it can occupy, and continues to be lined up and enters setting
The point of rotation carry out shelf rotation.
As an alternative embodiment, carrying out goods using straight line and tangential path or dog leg path in Rotary District
Frame rotation.When entering specific rotary area, if needing the surplus between shelf larger using one whole section of camber line.Using straight
Line is kept and adjacent shelf angle parallel in tangential mode in straightway shelf.Using dog leg path mode, shelf are always
It is parallel with adjacent shelf.Using straight line plus circular arc wise manner or broken line mode, reduce pure arc when shelf being made to normally enter the point of rotation
Preset clearance in the case of thread path between shelf and shelf, can be under the cell of same size, and shelf size can be bigger,
Improve warehouse space utilization rate.As shown in Figure 9.
On the other hand technical solution of the present invention, as shown in Figure 10, provides queuing and the rotating device of a kind of shelf, packet
It includes,
Queue scheduling unit: while carrying task distribution, queue scheduling is carried out to the handbarrow of Transport cargo rack；
Path adjustment unit: according to order requirements, the path of handbarrow Transport cargo rack is planned for the handbarrow, and
The operating path of the handbarrow is adjusted in real time；
Environment detection unit: it is distributed in the operating path completed to carrying task in carrying task, to locating for the shelf
Ambient enviroment carry out real-time detection；
Rotating operation unit: ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then rotates to shelf
Operation.
As an alternative embodiment, handbarrow is mobile robot.
As an alternative embodiment, queue scheduling unit, including carry distribution module: real time monitoring station is lined up
The task time of the handbarrow in region and quantity decide whether to distribute new handbarrow Transport cargo rack to station.
As an alternative embodiment, queue scheduling unit, including module of jumping the queue: to priority height or do not need to revolve
The shelf turned carry out scheduling of preferentially jumping the queue.
As an alternative embodiment, queue scheduling unit, including Optimized Operation module: in the distribution of the task of carrying
When, reduce the scheduling that shelf are carried out with rotation process.
As an alternative embodiment, queue scheduling unit, further includes, it is lined up path layout distribution module: according to
The attribute of task distributes corresponding station to the task of carrying and is lined up path layout mode in carrying task.
As an alternative embodiment, station is lined up path layout mode, including double-station symmetrical layout versions, simultaneously
Column Layout's mode and without specific Rotary District queueing form and multioperation point layout type.
As an alternative embodiment, handbarrow is during reaching operating point in multioperation point layout type
It does not need to wait in line another handbarrow, in the case where handbarrow surrounding cells lattice do not have occupied situation, handbarrow energy
Rotation process is carried out to shelf in operating point；In the path process that handbarrow reaches operating point, handbarrow can be applied week
It encloses cell and completes shelf rotational tasks；
And judge that movement is to put down shelf or wait to have operated to handbarrow in next step according to the shelf operating time, such as
The shelf operating time is more than that handbarrow executes the next task time, and shelf are then put down, continued to execute next by handbarrow
A task, after the completion of shelf operation, reallocation handbarrow takes shelf away, as shelf operating times is no more than handbarrow
The next task time is executed, handbarrow then waits operation to complete.
As an alternative embodiment, in double-station symmetrical layout versions, layout type arranged side by side and without specific rotation
In queueing form of area, outlet port sets multiple directions, and such as operation is completed to need to carry out rotation shelf again, and handbarrow can be from out
Mouth position is again introduced into station waiting area, and station waiting area can be also left from outlet port, turns again to work by external path
Position waiting area.
As an alternative embodiment, rotating operation unit, including real-time inspection module: i.e. in the distribution of the task of carrying
It tests in real time to environment locating for shelf during being completed to carrying task, the environment locating for the shelf meets rotating bars
It is rotated when part.
As an alternative embodiment, path adjustment unit, comprising:
It estimates module: estimating station waiting area vacancy；
Selecting module: such as estimating station waiting area and have vacant position, then selects in the shelf of the station waiting area not moved to take
One handbarrow of one shelf and distribution moves to take the shelf；
Evaluation module: after handbarrow gets shelf, station waiting area vacancy is estimated from newly, for the institute of the demand shelf
There is station to be estimated, starts Transport cargo rack if estimating and having vacant position, if estimating no vacancy, be lined up in situ etc.
To；
First path planning module: when shelf are adjacent near station waiting area, if station waiting area spare bits
It sets and does not vacate, then selection transportation tool density is low and the position in other handbarrow paths is not hindered to wait in line or delivery
Frame needs the station of the shelf to another, and station waiting area is entered if station waiting area is had vacant position and vacateed；
Judgment module: having vacant position in front of the real-time judge of station waiting area when vacateing, mobile to station, and no person original place is lined up
It waits.
Station waiting area vacancy is estimated in module as an alternative embodiment, estimating specifically: if currently just
It is less than the station waiting area size in the quantity of the handbarrow for some station delivery frame, then has vacant position certainly, no person calculates
The handbarrow at station waiting area end vacates the time in a vacancy, if this time is less than new distribution handbarrow and reaches work
The time of position waiting area, then estimate that there are vacancy.
As an alternative embodiment, rotating operation unit, carrying out rotation process to shelf includes three kinds of modes, tool
Body are as follows: rotate on the path of carrying, the point of rotation rotation of setting in station waiting area, and rotated in place in operating point.
As an alternative embodiment, environment detection unit and rotating operation unit work step specifically:
Environment detection unit, including detection module, the first rotation judgment module, the second rotation judgment module and third rotation
Judgment module.
In the walking process of handbarrow path, nearby whether cell is occupied for detection forward path point, if can be same
When application to forward path surrounding's adjacent cells lattice, then using the path point as the point of rotation；
When handbarrow reach the point of rotation of setting, surrounding cells lattice are occupied, carry out shelf rotation if occupying successfully,
The occupancy that surrounding cells lattice are discharged after the completion of shelf rotation, walks on if vacant success.
Before handbarrow reaches station, if carrying out rotation process to shelf not on path, enters station and set
Rotary District rotated；
If the shelf for completing rotation also need to rotate, judge whether that surrounding cells lattice can be occupied in situ, if energy
Then rotation in situ is occupied, station waiting area is again introduced into if it cannot occupy, continues the point of rotation for being lined up and entering setting
Carry out shelf rotation.
As an alternative embodiment, carrying out goods using straight line and tangential path or dog leg path in Rotary District
Frame rotation.
On the other hand technical solution of the present invention, as shown in figure 11, additionally provides queuing and the rotary system of a kind of shelf, packet
It includes,
Handbarrow: it is used for Transport cargo rack；
Shelf: for the goods yard for placing commodity to be arranged, and tool carrying can be handled upside down；
Shelf area: for storing shelf；
Server: the queuing and spinning solution for running the shelf of the technical program, which are scheduled handbarrow and shelf, matches
It sets.
As an alternative embodiment, handbarrow, is mobile robot.
A kind of specific implementation according to an embodiment of the present invention,
Mobile robot is the trolley of in-wheel driving, has lifting body, has straight line walking, camber line walking and original place
Turning action ability.
As an alternative embodiment, lifting body and trolley body self-movement, realize that trolley body is motionless, top
Rise mechanism decline and jacking movement；Trolley body is motionless, lifting body rotation；Trolley body and lifting body are locked, with identical
Speed rotation；Trolley body and lifting body are rotated simultaneously with friction speed.
As an alternative embodiment, further including station and station waiting area；
Station (station): worker's job position；
Station waiting area: the region set near worker's job position, handbarrow Transport cargo rack cache in the region
Wait in line worker's operation.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, without necessarily requiring or implying these.
There are any actual relationship or orders between entity or operation.Moreover, the terms "include", "comprise" or
Any other variant thereof is intended to cover non-exclusive inclusion by person, so that including the process, method of a series of elements, article
Or equipment not only includes those elements, but also including other elements that are not explicitly listed, or it is this for further including
The intrinsic element of process, method, article or equipment.In the absence of more restrictions, by sentence " including one
It is a ... " limit element, it is not excluded that there is also another in the process, method, article or apparatus that includes the element
Outer identical element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.
In the above-described embodiment, multiple steps or method can be with storages in memory and by suitable instruction execution
The software or firmware that system executes are realized.For example, in another embodiment, can be used if realized with hardware
Any one of following technology well known in the art or their combination are realized: being had for realizing logic function to data-signal
The discrete logic of the logic gates of energy, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate
Array (PGA), field programmable gate array (FPGA) etc..
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and same
Sample, the second component can also be referred to as first assembly, without departing from the introduction of inventive concept.Term as used herein " and/
Or " project listed any for including one or more associations and all combinations.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singular is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " includes " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or combinations thereof when being used in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical meaning of language, only if it were not for being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
Have and the consistent meaning of the meaning of term in the prior art.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. queuing and the spinning solution of a kind of shelf, it is characterised in that: including,
While carrying task is distributed, queue scheduling is carried out to the handbarrow of Transport cargo rack；
According to order requirements, the path of handbarrow Transport cargo rack is planned for the handbarrow, and adjusts the carrying in real time
The operating path of tool；
It distributes in the operating path completed to carrying task, ambient enviroment locating for the shelf is carried out real-time in carrying task
Detection；
Ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then carries out rotation process to shelf.
2. queuing and the spinning solution of shelf according to claim 1, it is characterised in that: the handbarrow is moving machine
Device people.
3. queuing and the spinning solution of shelf according to claim 1, it is characterised in that: the carrying task is distributed same
When, queue scheduling is carried out to handbarrow, comprising:
Task time and the quantity for monitoring the handbarrow of station queue area in real time decide whether that distributing new handbarrow carries
Shelf are to station.
4. queuing and the spinning solution of shelf according to claim 1, it is characterised in that: described to arrange handbarrow
Team's scheduling, comprising:
Scheduling of preferentially jumping the queue is carried out to priority height or the shelf for not needing rotation.
5. queuing and the spinning solution of shelf according to claim 1, it is characterised in that: described to arrange handbarrow
Team's scheduling, comprising:
Reduce the scheduling that shelf are carried out with rotation process.
6. queuing and the spinning solution of shelf according to claim 1, it is characterised in that: described to arrange handbarrow
Team's scheduling, comprising:
Corresponding station, which is distributed, to the task of carrying according to the attribute of task in carrying task is lined up path layout mode.
7. queuing and the spinning solution of shelf according to claim 6, it is characterised in that: the station is lined up path layout
Mode, comprising:
Double-station symmetrical layout versions, layout type arranged side by side and without specific Rotary District queueing form and multioperation point layout type.
8. queuing and the spinning solution of shelf according to claim 7, it is characterised in that: the multioperation point layout type
In:
Handbarrow does not need to wait in line another handbarrow during reaching operating point, in handbarrow surrounding cells
Lattice do not have in occupied situation, and handbarrow can carry out rotation process to shelf in operating point；Operating point is reached in handbarrow
Path process in, handbarrow can apply surrounding cells lattice complete shelf rotational tasks；
And judge that movement is to put down shelf or wait to have operated to handbarrow in next step according to the shelf operating time, such as shelf
Operating time is more than that handbarrow executes the next task time, and handbarrow then puts down shelf, continues to execute next
Business, after the completion of shelf operation, reallocation handbarrow takes shelf away, as shelf operating times is no more than handbarrow execution
Next task time, handbarrow then wait operation to complete.
9. queuing and the spinning solution of shelf according to claim 7, it is characterised in that: in the double-station symmetric configuration
Mode, layout type arranged side by side and without in specific Rotary District queueing form:
Outlet port sets multiple directions, and such as operation is completed to need to carry out rotation shelf again, and handbarrow can be from outlet port again
It is secondary to enter station waiting area, station waiting area can be also left from outlet port, turn again to station waiting area by external path.
10. queuing and the rotating device of a kind of shelf, it is characterised in that: include:
Queue scheduling unit: while carrying task distribution, queue scheduling is carried out to the handbarrow of Transport cargo rack；
Path adjustment unit: according to order requirements, the path of handbarrow Transport cargo rack is planned for the handbarrow, and in real time
Adjust the operating path of the handbarrow；
Environment detection unit: it is distributed in the operating path completed to carrying task in carrying task, to week locating for the shelf
Collarette border carries out real-time detection；
Rotating operation unit: ambient enviroment locating for the shelf as described in detecting is suitble to rotate, then carries out rotation process to shelf.
Priority Applications (12)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810577628.6A CN108945920A (en) | 2018-06-06 | 2018-06-06 | The queuing of shelf and spinning solution, apparatus and system |
| CN201910636295.4A CN110348749B (en) | 2018-06-06 | 2018-06-06 | Queuing method and system for goods shelf |
| EP19814838.9A EP3805131B1 (en) | 2018-06-06 | 2019-06-06 | Shelf management method and system, pickup area, and stock pickup system |
| MX2020013234A MX2020013234A (en) | 2018-06-06 | 2019-06-06 | Shelf management method and system, pickup area, and stock pickup system. |
| PCT/CN2019/090424 WO2019233484A1 (en) | 2018-06-06 | 2019-06-06 | Shelf management method and system, pickup area, and stock pickup system |
| KR1020217000360A KR102581222B1 (en) | 2018-06-06 | 2019-06-06 | Shelf management methods and systems, picking areas and inventory picking systems |
| AU2019281676A AU2019281676B9 (en) | 2018-06-06 | 2019-06-06 | Shelf management method and system, pickup area, and stock pickup system |
| CA3102308A CA3102308C (en) | 2018-06-06 | 2019-06-06 | Shelf management method and system, pickup area and stock pickup system |
| EP23207305.6A EP4292881A3 (en) | 2018-06-06 | 2019-06-06 | Shelf management method and system, pickup area, and stock pickup system |
| JP2020568239A JP6957772B2 (en) | 2018-06-06 | 2019-06-06 | Shelf management methods and systems, picking areas and inventory picking systems |
| US16/972,003 US20210323800A1 (en) | 2018-06-06 | 2019-06-06 | Shelf management method and system, pickup area and stock pickup system |
| JP2021164805A JP7084538B2 (en) | 2018-06-06 | 2021-10-06 | Shelf management methods and systems, picking areas and inventory picking systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810577628.6A CN108945920A (en) | 2018-06-06 | 2018-06-06 | The queuing of shelf and spinning solution, apparatus and system |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910636295.4A Division CN110348749B (en) | 2018-06-06 | 2018-06-06 | Queuing method and system for goods shelf |
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| CN108945920A true CN108945920A (en) | 2018-12-07 |
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| CN201810577628.6A Pending CN108945920A (en) | 2018-06-06 | 2018-06-06 | The queuing of shelf and spinning solution, apparatus and system |
| CN201910636295.4A Active CN110348749B (en) | 2018-06-06 | 2018-06-06 | Queuing method and system for goods shelf |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910636295.4A Active CN110348749B (en) | 2018-06-06 | 2018-06-06 | Queuing method and system for goods shelf |
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- 2018-06-06 CN CN201910636295.4A patent/CN110348749B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019233484A1 (en) * | 2018-06-06 | 2019-12-12 | 北京极智嘉科技有限公司 | Shelf management method and system, pickup area, and stock pickup system |
| CN109767132A (en) * | 2019-01-16 | 2019-05-17 | 多点生活(成都)科技有限公司 | Mark product picking management-control method, mark product picking control device and server |
| CN111582529A (en) * | 2019-02-18 | 2020-08-25 | 北京京东尚科信息技术有限公司 | Shelf scheduling method and device and computer readable storage medium |
| CN113184423A (en) * | 2019-04-01 | 2021-07-30 | 上海快仓智能科技有限公司 | Control method of automatic guided vehicle, automatic guided vehicle and cargo handling system |
| CN111736538A (en) * | 2019-05-17 | 2020-10-02 | 北京京东尚科信息技术有限公司 | Queue-insertion scheduling method and device |
| CN112239037A (en) * | 2019-07-16 | 2021-01-19 | 北京京东乾石科技有限公司 | Goods picking method, goods picking device and goods picking system based on goods storage equipment |
| CN112239037B (en) * | 2019-07-16 | 2023-09-26 | 北京京东乾石科技有限公司 | Goods picking method, goods picking device and goods picking system based on goods storage equipment |
| CN111776580A (en) * | 2019-07-16 | 2020-10-16 | 北京京东乾石科技有限公司 | Picking station and picking method |
| CN111776580B (en) * | 2019-07-16 | 2022-02-01 | 北京京东乾石科技有限公司 | Picking station and picking method |
| CN110458500A (en) * | 2019-08-15 | 2019-11-15 | 中建协筑(福建)供应链有限公司 | A kind of intelligent management and device of unmanned warehouse |
| CN112551015A (en) * | 2019-09-10 | 2021-03-26 | 天津京东深拓机器人科技有限公司 | Method and device for rotating goods shelf in carrying process |
| CN112551015B (en) * | 2019-09-10 | 2023-05-02 | 天津京东深拓机器人科技有限公司 | Method and device for rotating goods shelf in carrying process |
| CN112486050A (en) * | 2019-09-12 | 2021-03-12 | 北京京东乾石科技有限公司 | Method and device for scheduling shelf face changing, electronic equipment and computer readable medium |
| CN110531773A (en) * | 2019-09-12 | 2019-12-03 | 北京极智嘉科技有限公司 | Robot path dispatching method, device, server and storage medium |
| US11052539B2 (en) | 2019-09-12 | 2021-07-06 | Beijing Geekplus Technology Co. Ltd. | Method, server and storage medium for robot routing |
| CN112486050B (en) * | 2019-09-12 | 2023-09-26 | 北京京东乾石科技有限公司 | Scheduling method and device for shelf surface replacement, electronic equipment and computer readable medium |
| CN112529346A (en) * | 2019-09-19 | 2021-03-19 | 北京京东乾石科技有限公司 | Task allocation method and device |
| CN111123872B (en) * | 2019-12-27 | 2021-08-17 | 广东嘉腾机器人自动化有限公司 | Task scheduling management method and device, electronic equipment and storage medium |
| CN111123872A (en) * | 2019-12-27 | 2020-05-08 | 广东嘉腾机器人自动化有限公司 | Task scheduling management method and device, electronic equipment and storage medium |
| CN113128813A (en) * | 2019-12-31 | 2021-07-16 | 杭州海康机器人技术有限公司 | Method and device for scheduling goods shelf, warehouse system and storage medium |
| TWI829045B (en) * | 2020-12-23 | 2024-01-11 | 大陸商深圳市海柔創新科技有限公司 | Control method, control device, dispatch server and storage medium for a warehouse robot |
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| Publication number | Publication date |
|---|---|
| CN110348749A (en) | 2019-10-18 |
| CN110348749B (en) | 2023-04-18 |
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Application publication date: 20181207 |