CN105844309A - Input and output identification method - Google Patents
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- CN105844309A CN105844309A CN201610098236.2A CN201610098236A CN105844309A CN 105844309 A CN105844309 A CN 105844309A CN 201610098236 A CN201610098236 A CN 201610098236A CN 105844309 A CN105844309 A CN 105844309A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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Abstract
The invention relates to the field of warehouse management, in particular to an input and output identification method. Specifically, a conventional way of one sensor is replaced by respectively arranging two sensors at an outer side and an inner side of a warehouse door, and the timing starts when one of the two sensors first identifies a sensing signal; a first timing duration is obtained when the other sensor identifies the sensing signal; and if the first timing duration is less than a first preset period of time and the other sensor identifies the sensing signal, goods are determined to move from a sensing region of the one sensor to a sensing region of the other sensor, and in order to eliminate misreading, the following step is added, which is to restart timing and determine whether the sensor that first identifies the sensing signal identifies the sensing signal in a second preset time range, and to decide that the goods are out of or in the warehouse if not and that misreading is likely to occur if so.
Description
Technical field
The present invention relates to store management field, particularly relate to one and go out to put recognition methods in storage.
Background technology
Traditional treasury management system uses and arranges a sensor in region, doorway, this sensor and system
Number system (such as enumerator) associates, and by electronic tag, (electronic tag is made up of chip and antenna, each
Electronic tag has unique No. ID and user data area) it is arranged on goods and materials, enter when warehouse keeper extracts goods and materials
When entering in the induction region of sensor, sensor recognizes the data such as the product information that electronic tag sends, and touches
Sending out and be attached thereto number system counting, the odd even counted by number system judges outbound or warehouse-in.
But this treasury management system exists and misreads phenomenon, particularly as follows: warehouse keeper extracts goods and materials enters sensing
Find time in the induction region of device that goods and materials extract mistake, need to return and change, be now in due to warehouse keeper
In induction region, number system is complete counting, and warehouse keeper changes goods and materials, if according to meter in returning to storehouse
The judged result of number system is that warehouse keeper has extracted a certain goods and materials and leaves storehouse, and actually warehouse keeper does not goes out
Storehouse, thereby results in situation about misreading.
There is presently no this method misreading phenomenon of solution.
Summary of the invention
The technical problem to be solved is: provide a kind of minimizing misread phenomenon go out to put recognition methods in storage.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is:
One goes out to put recognition methods in storage, including:
First sensor is set outside warehouse door, the second sensor is set inside warehouse door, described first
The induction region of sensor and the second sensor is the most overlapping；
In two sensors, a sensor recognizes induced signal, starts timing；
Another sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then another sensor recognizes described induced signal
Time restart timing；
Judge whether the sensor first recognizing induced signal recognizes sensing letter in the second preset time range
Number；
Once go out to put action in storage if it is not, recorded.
The beneficial effects of the present invention is: be separately positioned on outside warehouse door by two sensors and inside door
Replace the mode of a traditional sensor, additionally by timing, when in two sensors, a sensor is first
When recognizing induced signal, timing starts；Another sensor obtains first when recognizing described induced signal
Timing duration；If the first timing duration is less than the first Preset Time, and another sensor recognizes described sense
Induction signal, illustrates that goods and materials move to the induction region of another sensor from the induction region of a sensor,
In order to eliminate the phenomenon misread, the step for of adding: restart timing and judge first to recognize sensing letter
Number sensor in the second preset time range, whether recognize induced signal, if no longer recognizing sensing
Signal, it can be assumed that goods and materials outbound or warehouse-in, if recognized, then is likely to occur misreading phenomenon.Pass through
Above-mentioned scheme, both can know that goods and materials were outbound or warehouse-in, moreover it is possible to solve the phenomenon misread.
Accompanying drawing explanation
Fig. 1 is that a kind of of the present invention goes out to put the flow chart of steps of recognition methods in storage.
Detailed description of the invention
By describing the technology contents of the present invention in detail, being realized purpose and effect, below in conjunction with embodiment also
Accompanying drawing is coordinated to be explained.
The design of most critical of the present invention is: when first sensor recognizes induced signal, it is judged that second passes
Whether sensor recognizes induced signal in the first Preset Time, in conjunction with judging that first sensor is pre-second
If whether recognizing induced signal in the time, i.e. can determine whether once go out warehouse-in or misread phenomenon.
Refer to Fig. 1, the one that the present invention provides goes out to put recognition methods in storage, including:
First sensor is set outside warehouse door, the second sensor is set inside warehouse door, described first
The induction region of sensor and the second sensor is the most overlapping；
In two sensors, a sensor recognizes induced signal, starts timing；
Another sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then another sensor recognizes described induced signal
Time restart timing；
Judge whether the sensor first recognizing induced signal recognizes sensing letter in the second preset time range
Number；
Once go out to put action in storage if it is not, recorded.
Knowable to foregoing description, the beneficial effects of the present invention is: be separately positioned on storehouse by two sensors
Outside door and replace the mode of a traditional sensor inside door, additionally by timing, when two sensings
When in device, a sensor first recognizes induced signal, timing starts；Another sensor recognizes described sense
The first timing duration is obtained during induction signal；If the first timing duration is less than the first Preset Time, and another passes
Sensor recognizes described induced signal, illustrates that goods and materials move to another from the induction region of a sensor and pass
The induction region of sensor, in order to eliminate the phenomenon misread, the step for of adding: restart timing and sentence
Whether the disconnected sensor first recognizing induced signal recognizes induced signal in the second preset time range, as
Fruit no longer recognizes induced signal, it can be assumed that goods and materials outbound or warehouse-in, if recognized, is then likely to out
Now misread phenomenon.By above-mentioned scheme, both can know that goods and materials were outbound or warehouse-in, moreover it is possible to solve to misread
Phenomenon.
Further, described induced signal is the radiofrequency signal that the electronic tag being arranged on goods and materials sends；Institute
State electronic tag and include No. ID of goods and materials.
Seen from the above description, sensor can recognize induced signal, and also just explanation goods and materials pass through electronics mark
The information (such as No. ID) of goods and materials can be sent to sensor by label, and sensor is sent to server or controller
Carry out goods and materials in-out-storehouse management.
Further, No. ID of described first sensor differs with No. ID of the second sensor.
Seen from the above description, can be identified it is which induction apparatus by No. ID, and No. ID is unique mark,
Such as identity information.
It is further, described that " in two sensors, a sensor recognizes induced signal, starts timing；
Another sensor obtains the first timing duration when recognizing described induced signal；If the first timing duration is less than
First Preset Time, then another sensor restarts timing when recognizing described induced signal；Judge first
Whether the sensor recognizing induced signal recognizes induced signal in the second preset time range；If it is not,
Record and once gone out to put action in storage." particularly as follows:
First sensor recognizes induced signal, starts timing；
Second sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then when the second sensor recognizes described induced signal
Restart timing；
Judge whether first sensor recognizes induced signal in the second preset time range；If it is not, record
Once put in storage.
Seen from the above description, first sensor is arranged on outside warehouse door, and the second sensor is arranged on storehouse
Inside Men, first sensor first recognizes induced signal, is followed by the second sensor and recognizes induced signal,
Then illustrate that now goods and materials are in state to be put in storage.
It is further, described that " in two sensors, a sensor recognizes induced signal, starts timing；
Another sensor obtains the first timing duration when recognizing described induced signal；If the first timing duration is less than
First Preset Time, then another sensor restarts timing when recognizing described induced signal；Judge first
Whether the sensor recognizing induced signal recognizes induced signal in the second preset time range；If it is not,
Record and once gone out to put action in storage." particularly as follows:
Second sensor recognizes induced signal, starts timing；
First sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then when first sensor recognizes described induced signal
Restart timing；
Judge whether the second sensor recognizes induced signal in the second preset time range；If it is not, record
Outbound.
Seen from the above description, first sensor is arranged on outside warehouse door, and the second sensor is arranged on storehouse
Inside Men, the second sensor first recognizes induced signal, is followed by first sensor and recognizes induced signal,
Then illustrate that now goods and materials are in the state wanting outbound.
It is further, described that " in two sensors, a sensor recognizes induced signal, starts timing；
Another sensor obtains the first timing duration when recognizing described induced signal；If the first timing duration is less than
First Preset Time, then another sensor restarts timing when recognizing described induced signal；Judge first
Whether the sensor recognizing induced signal recognizes induced signal in the second preset time range；If it is not,
Record and once gone out to put action in storage." particularly as follows:
In two sensors, a sensor recognizes induced signal, is counted as 1 and starts timing；
Another sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then another sensor recognizes described induced signal
Time restart timing；
Judge whether the sensor first recognizing induced signal recognizes sensing letter in the second preset time range
Number；
Once go out to put action in storage if it is not, recorded；
If so, clearing is counted.
Seen from the above description, binning state is gone out by what the odd even of counting can represent these goods and materials, such as odd number
Representing warehouse-in, even number represents outbound.
Further, described first Preset Time is 3s, and described second Preset Time is 3s.
Seen from the above description, the first Preset Time and the second Preset Time are arranged according to two sensors
Distance, the sensitivity of sensor and normal person walk obtained by rate analysis.
Refer to Fig. 1, embodiments of the invention one are:
It should be understood that arrange electronic tag on goods and materials, this electronic tag includes No. ID of these goods and materials,
Such as ID123456, this No. ID identity information representing these goods and materials, this information sends in the way of radiofrequency signal,
Server or controller can go out including current according to this No. ID concrete data inquiring these goods and materials
Warehouse-in record.When warehouse keeper holds the induction region that these goods and materials enter sensor, electronic tag sends radio frequency
Signal, sensor can receive and identify induced signal, and (induced signal hereinafter mentioned is institute here
The radiofrequency signal said).Can constantly recognize same goods and materials in same induction region, but only count once.
First sensor is sensors A, and the second sensor is sensor B.When detecting that goods and materials are via sensor
A is to during by the detection region of sensor B, and system judges this materials warehousing and by information record；Otherwise,
Sensing when goods and materials pass through sensors A via sensor B, system judges this goods and materials outbound, and information is remembered
Record.
Technical scheme needs to be arranged at outside warehouse door by sensors A, and sensor B is arranged at storehouse
Inside door, and sensors A is nonoverlapping with the induction region of sensor B, so the purpose of design
It is not have two sensors at synchronization to recognize induced signal simultaneously.
The purpose arranging two sensors is to identify outbound or warehouse-in, it can in addition contain solve
Misread problem, be embodied as follows:
When the hand-held goods and materials of warehouse keeper (ID123456) wants outbound, now sensor B can first recognize this thing
The induced signal that money sends, meanwhile, starts timing；
Subsequently, if when sensors A recognizes described induced signal and obtain the first timing duration now,
When the first timing duration is less than the first Preset Time (3s), the warehouse keeper induction zone from sensor B is described
Territory moves to the induction region of sensors A, can be expressed as outbound；When sensors A recognizes induced signal
Time restart timing and judge whether sensor B recognizes sensing in the range of the second Preset Time (3s)
Signal；If sensor B recognizes again induced signal, then explanation warehouse keeper returns to the sensing of sensor B
Region, it is believed that warehouse keeper may take goods and materials by mistake or occur that other abnormal conditions need to return, and system just will
Counting resets, it is also possible to send abnormity prompt by system, and system for prompting manager carries out on-the-spot confirmation reason.
If not recognizing induced signal, then explanation warehouse keeper's outbound at 3s inner sensor B, just record one
Secondary outbound action.
In like manner, when the hand-held goods and materials of warehouse keeper (ID123456) is to be put in storage, now sensors A can first identify
The induced signal sent to these goods and materials, meanwhile, starts timing；
Subsequently, if when sensors A recognizes described induced signal and obtain the first timing duration now,
When the first timing duration is less than the first Preset Time (3s), the warehouse keeper induction zone from sensors A is described
Territory moves to the induction region of sensor B, can be expressed as warehouse-in；When sensors A recognizes induced signal
Time restart timing and judge that sensors A the most still recognizes sense in the range of the second Preset Time (3s)
Induction signal；If sensors A recognizes again induced signal, then explanation warehouse keeper returns to the sense of sensors A
Answering region, it is believed that warehouse keeper is likely to occur other abnormal conditions and is not returned by goods and materials, system just will meter
Number resets, it is also possible to send abnormity prompt by system, and system for prompting manager carries out on-the-spot confirmation reason.
If not recognizing induced signal at 3s inner sensor A, then explanation warehouse keeper warehouse-in, has just recorded one
Secondary warehouse-in action.
If there are multiple goods and materials to pass in and out simultaneously, due to the ID difference of each goods and materials, and the thing of different No. ID
Money separately counting and record, it is possible to achieve respectively different goods and materials are managed.
In sum, the one that the present invention provides goes out to put recognition methods in storage, is respectively provided with by two sensors
The mode of a traditional sensor is replaced, additionally by timing, when two outside warehouse door and inside door
When in sensor, a sensor first recognizes induced signal, timing starts；Another sensor recognizes institute
The first timing duration is obtained when stating induced signal；If the first timing duration is less than the first Preset Time, and another
Individual sensor recognizes described induced signal, illustrates that goods and materials move to another from the induction region of a sensor
The induction region of individual sensor, in order to eliminate the phenomenon misread, the step for of adding: restart timing
And judge whether the sensor first recognizing induced signal recognizes sensing letter in the second preset time range
Number, if no longer recognizing induced signal, it can be assumed that goods and materials outbound or warehouse-in, if recognized, the most very
It is likely to occur and misreads phenomenon.By above-mentioned scheme, both can know that goods and materials were outbound or warehouse-in, moreover it is possible to solve
The phenomenon certainly misread.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every profit
The equivalents made by description of the invention and accompanying drawing content, or directly or indirectly it is used in relevant technology
Field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (7)
1. one kind goes out to put recognition methods in storage, it is characterised in that including:
First sensor is set outside warehouse door, the second sensor is set inside warehouse door, described first
The induction region of sensor and the second sensor is the most overlapping；
In two sensors, a sensor recognizes induced signal, starts timing；
Another sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then another sensor recognizes described induced signal
Time restart timing；
Judge whether the sensor first recognizing induced signal recognizes sensing letter in the second preset time range
Number；
Once go out to put action in storage if it is not, recorded.
The most according to claim 1 go out to put recognition methods in storage, it is characterised in that described induced signal is
The radiofrequency signal that the electronic tag being arranged on goods and materials sends；Described electronic tag includes No. ID of goods and materials.
The most according to claim 1 go out to put recognition methods in storage, it is characterised in that described first sensor
No. ID differ with No. ID of the second sensor.
The most according to claim 3 go out to put recognition methods in storage, it is characterised in that described " two sensings
In device, a sensor recognizes induced signal, starts timing；Another sensor recognizes described sensing letter
Number time obtain the first timing duration；If the first timing duration is less than the first Preset Time, then another sensor
Timing is restarted when recognizing described induced signal；Judge first to recognize the sensor of induced signal second
Whether induced signal is recognized in preset time range；Once go out to put action in storage if it is not, recorded " concrete
For:
First sensor recognizes induced signal, starts timing；
Second sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then when the second sensor recognizes described induced signal
Restart timing；
Judge whether first sensor recognizes induced signal in the second preset time range；If it is not, record
Once put in storage.
The most according to claim 3 go out to put recognition methods in storage, it is characterised in that described " two sensings
In device, a sensor recognizes induced signal, starts timing；Another sensor recognizes described sensing letter
Number time obtain the first timing duration；If the first timing duration is less than the first Preset Time, then another sensor
Timing is restarted when recognizing described induced signal；Judge first to recognize the sensor of induced signal second
Whether induced signal is recognized in preset time range；Once go out to put action in storage if it is not, recorded " concrete
For:
Second sensor recognizes induced signal, starts timing；
First sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then when first sensor recognizes described induced signal
Restart timing；
Judge whether the second sensor recognizes induced signal in the second preset time range；If it is not, record
Outbound.
The most according to claim 1 go out to put recognition methods in storage, it is characterised in that described " two sensings
In device, a sensor recognizes induced signal, starts timing；Another sensor recognizes described sensing letter
Number time obtain the first timing duration；If the first timing duration is less than the first Preset Time, then another sensor
Timing is restarted when recognizing described induced signal；Judge first to recognize the sensor of induced signal second
Whether induced signal is recognized in preset time range；Once go out to put action in storage if it is not, recorded " concrete
For:
In two sensors, a sensor recognizes induced signal, is counted as 1 and starts timing；
Another sensor obtains the first timing duration when recognizing described induced signal；
If the first timing duration is less than the first Preset Time, then another sensor recognizes described induced signal
Time restart timing；
Judge whether the sensor first recognizing induced signal recognizes sensing letter in the second preset time range
Number；
Once go out to put action in storage if it is not, recorded；
If so, clearing is counted.
The most according to claim 1 go out to put recognition methods in storage, it is characterised in that described first when presetting
Between be 3s, described second Preset Time is 3s.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811454656.5A CN109558922B (en) | 2016-02-23 | 2016-02-23 | Electronic tag-based warehouse entry and exit identification method |
| CN201811454668.8A CN109376822B (en) | 2016-02-23 | 2016-02-23 | Warehouse-in and warehouse-out identification method with abnormal reminding function |
| CN201610098236.2A CN105844309B (en) | 2016-02-23 | 2016-02-23 | One kind going out storage recognition methods |
| CN201811456201.7A CN109299767B (en) | 2016-02-23 | 2016-02-23 | Warehouse-in and warehouse-out identification method convenient to manage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610098236.2A CN105844309B (en) | 2016-02-23 | 2016-02-23 | One kind going out storage recognition methods |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811454656.5A Division CN109558922B (en) | 2016-02-23 | 2016-02-23 | Electronic tag-based warehouse entry and exit identification method |
| CN201811456201.7A Division CN109299767B (en) | 2016-02-23 | 2016-02-23 | Warehouse-in and warehouse-out identification method convenient to manage |
| CN201811454668.8A Division CN109376822B (en) | 2016-02-23 | 2016-02-23 | Warehouse-in and warehouse-out identification method with abnormal reminding function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105844309A true CN105844309A (en) | 2016-08-10 |
| CN105844309B CN105844309B (en) | 2019-01-18 |
Family
ID=56588160
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811454668.8A Active CN109376822B (en) | 2016-02-23 | 2016-02-23 | Warehouse-in and warehouse-out identification method with abnormal reminding function |
| CN201610098236.2A Active CN105844309B (en) | 2016-02-23 | 2016-02-23 | One kind going out storage recognition methods |
| CN201811454656.5A Active CN109558922B (en) | 2016-02-23 | 2016-02-23 | Electronic tag-based warehouse entry and exit identification method |
| CN201811456201.7A Active CN109299767B (en) | 2016-02-23 | 2016-02-23 | Warehouse-in and warehouse-out identification method convenient to manage |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811454668.8A Active CN109376822B (en) | 2016-02-23 | 2016-02-23 | Warehouse-in and warehouse-out identification method with abnormal reminding function |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811454656.5A Active CN109558922B (en) | 2016-02-23 | 2016-02-23 | Electronic tag-based warehouse entry and exit identification method |
| CN201811456201.7A Active CN109299767B (en) | 2016-02-23 | 2016-02-23 | Warehouse-in and warehouse-out identification method convenient to manage |
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| CN (4) | CN109376822B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048900A (en) * | 2018-08-15 | 2018-12-21 | 深圳新物种科技有限公司 | robot, robot control system, method and device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113313218B (en) * | 2020-02-27 | 2023-03-21 | 中车唐山机车车辆有限公司 | Goods management system of rail train |
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| US20020104013A1 (en) * | 2001-02-01 | 2002-08-01 | Ohanes Ghazarian | Electronic vehicle product and personal monitoring |
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| US20020183882A1 (en) * | 2000-10-20 | 2002-12-05 | Michael Dearing | RF point of sale and delivery method and system using communication with remote computer and having features to read a large number of RF tags |
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| CN103366205B (en) * | 2013-07-31 | 2016-12-28 | 昆山信德佳电气科技有限公司 | The management method of electric-power safe instruments turnover storehouse |
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- 2016-02-23 CN CN201811454668.8A patent/CN109376822B/en active Active
- 2016-02-23 CN CN201610098236.2A patent/CN105844309B/en active Active
- 2016-02-23 CN CN201811454656.5A patent/CN109558922B/en active Active
- 2016-02-23 CN CN201811456201.7A patent/CN109299767B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020104013A1 (en) * | 2001-02-01 | 2002-08-01 | Ohanes Ghazarian | Electronic vehicle product and personal monitoring |
| CN101261721A (en) * | 2007-03-09 | 2008-09-10 | 海尔集团公司 | Statistical and management method and its device for article storage and taking |
| CN102473254A (en) * | 2009-07-09 | 2012-05-23 | 康尔福盛303公司 | Method and apparatus for automated medical supply take/store tracking |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048900A (en) * | 2018-08-15 | 2018-12-21 | 深圳新物种科技有限公司 | robot, robot control system, method and device |
| CN109048900B (en) * | 2018-08-15 | 2022-01-21 | 算丰科技（北京）有限公司 | Robot, robot control system, method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109558922B (en) | 2021-06-18 |
| CN109299767A (en) | 2019-02-01 |
| CN109299767B (en) | 2021-05-04 |
| CN109558922A (en) | 2019-04-02 |
| CN109376822A (en) | 2019-02-22 |
| CN109376822B (en) | 2021-06-18 |
| CN105844309B (en) | 2019-01-18 |
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