CN106856590A - A kind of parallel real-time radio warehouse logisticses communication system of multiband - Google Patents
A kind of parallel real-time radio warehouse logisticses communication system of multiband Download PDFInfo
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- CN106856590A CN106856590A CN201710005048.5A CN201710005048A CN106856590A CN 106856590 A CN106856590 A CN 106856590A CN 201710005048 A CN201710005048 A CN 201710005048A CN 106856590 A CN106856590 A CN 106856590A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/16—Discovering, processing access restriction or access information
Abstract
The invention discloses a kind of parallel real-time radio warehouse logisticses communication system of multiband, including a center to center communications platform and a large amount of terminal nodes for serving merchandising machine people.Center to center communications platform has N number of expansion interface, can carry out communication simultaneously according to network size mounting one to N number of communication center node for being in different frequency range.The order of center to center communications platform issue is sent on multiple terminal nodes by the communication center node for mounting, and is beamed back after terminal node treatment order and is fed back to center to center communications platform.It is good that present system can cut type, the communication center node of varying number can be mounted on center to center communications platform according to different network sizes, the parallel real-time wireless communication of multiband is realized, warehouse logisticses communication is cannot be only used for, the occasion of other high-speed multi-drop real-time Communication for Power is equally applicable for.
Description
Technical field
The present invention relates to wireless communication technology, more particularly to a kind of parallel real-time radio warehouse logisticses communication system of multiband
System.
Background technology
Logistics is very important link in commodity circulation supply chain, and critical role is occupied in national economy, and is stored in a warehouse
It is the core link of modern logistics.The explosive growth of electronic commerce affair, has expedited the emergence of the fast development of Intelligent logistics industry.
In current ecommerce, there is forwarding unit to minimize for logistics distribution, wide in variety, the small, batch of batch is more, cycle is short spy
Point, traditional artificial operation, conveyor type is also or the warehouse logisticses mode of AGV formulas has been difficult in adapt to the development of ecommerce and needs
Ask.Autonomous mobile robot is introduced into storage space, instead of a dead lift goods, the work that can efficiently reduce workman is strong
Degree, reduces maintenance cost, improves operational efficiency, and has good reconfigurability to being laid out for storage space, can answer extensively
For the large-scale logistics center of the industries such as express delivery, ecommerce, tobacco and wine, medicine, food, beverage, clothes, communication, supermarket.
Different from conventional conveyor or AGV system, track route and the data message of merchandising machine people are real-time updates
And change, to be kept in touch with central control board all the time, it is therefore desirable to ensure the rapidity of communication, accuracy and reality
Shi Xing, therefore requirement to group-net communication is very high.The current producer's quantity for making finished product communication system both at home and abroad is few and price is high
Expensive, multiplex WiFi is communicated, and networking is complicated under bulk storage plant application background, and communications difficulties are high.
The content of the invention
The purpose of the present invention is to solve the shortcomings of the prior art, there is provided a kind of parallel real-time radio warehouse logisticses of multiband
Communication system.
The purpose of the present invention is realized by such technical scheme：A kind of parallel real-time radio warehouse logisticses of multiband
Communication system, it is characterised in that：The system includes a center to center communications platform and a large amount of terminal sections for serving merchandising machine people
Point；Center to center communications platform is made up of PC and center control mainboard；There is N number of expansion interface in the control mainboard of center, can be according to network
Scale mounting 1 carries out communicating simultaneously to the main radio-frequency module of N number of different frequency range, during these main radio-frequency modules are the communication of network
Heart node, all main radio-frequency modules are operated in 430MHz~440MHz frequency ranges；Center control mainboard receives what PC sent
Data are divided into the N parts of main radio-frequency module for being sent to different frequency range by complete data packet, and each main radio-frequency module sends commands to together
The terminal node being connected on merchandising machine people of frequency range, thereafter recycling terminal node feedback merchandising machine people information simultaneously
Center control mainboard is aggregated into, being sent back to PC after the data of the center control mainboard integration all main radio-frequency modules for the treatment of shows,
Complete a complete wheel communication.
The center control mainboard is by microcontroller, the main radio-frequency module of different frequency range, power management module, voltage stabilizing mould
Block, serial communication modular, buffer module, JTAG download modules, key-press module, microcontroller reset module, startup selection mould
Block, microcontroller LED light are constituted, wherein main radio-frequency module, power management module, Voltage stabilizing module, serial communication modular, slow
Rush device module, JTAG download modules, key-press module, microcontroller reset module, the selecting module that starts, microcontroller LED instructions
Lamp is connected with microcontroller, and each main radio-frequency module is all connected with radio frequency reseting module, radio-frequency module LED light and antenna；
The power management module and Voltage stabilizing module are to main board power supply；Serial communication modular connects microcontroller and PC and carries out data friendship
Change and show；Buffer module provides high-impedance state and is selected with completing principal and subordinate's piece of SPI for the I/O port of main radio-frequency module；JTAG downloads mould
Block carries out download program；Microcontroller reset module resets microprocessor, the main radio-frequency module of radio frequency reseting module reset；Start choosing
Select module selection microprocessor Starting mode；Radio-frequency module LED light shows the working condition of main radio-frequency module；Microcontroller
LED light shows the working condition of microcontroller.
On the microcontroller of described center control mainboard after electricity, initial work is completed first, then detect that PC is
It is no to send new data, there is new data then to carry out data renewal, select mode that new data is divided into N respectively thereafter by SPI principal and subordinate's pieces
Part is sent to N number of main radio-frequency module for working in different frequency range and reclaims the data of last moment return, into circular wait, phase
Between also can detect PC whether send new data and update the data, when timer produce interrupt signal after then penetrated to the hero of biography on PC
The data of each terminal node that frequency module is returned, complete one and take turns data interaction；Complete initialization on main radio-frequency module after electricity first
Work, then forms a network center and waits with the terminal node networking of frequency range, and new number is sent to node after having node to network
According to and reclaim terminal node feedback data, period when network terminal node there is no data to return when carry out packet loss re-transmission, if
This terminal node is then still marked without response, after with all of terminal node completion communication in network, main radio-frequency module is waited
The SPI signal of microcontroller arrives, and receives subsequent time new data by SPI and feeds back the terminal node data that epicycle is collected,
Complete one and take turns data interaction.
The terminal node turns serial ports mould by from radio-frequency module, microcontroller, power management module, Voltage stabilizing module, USB
Block, JTAG download modules, radio frequency reseting module, power indication LED, radio-frequency module LED light and antenna are constituted, wherein from
Radio-frequency module, power management module, Voltage stabilizing module, USB turn serial port module, JTAG download modules, power indication LED and micro-control
Device processed is connected, and radio frequency reseting module, radio-frequency module LED light and antenna are connected with from radio-frequency module；USB turns serial port module
Data exchange and display can be carried out with peripheral hardware；JTAG download modules can download；Radio frequency reseting module resets from radio-frequency module；
The power-up state of power indication LED display terminal node；Radio-frequency module LED light shows the work shape from radio-frequency module
State.
On the microcontroller of described terminal node after electricity, initial work is completed first, then search for network, if detection
Then apply networking to network, wait network center to send data, after receiving data, the data that last moment collects are beamed back into network
Center, the action according to the data control merchandising machine people for receiving thereafter and collect the numbering of logistics robot, position, goods,
The information such as dump energy, wait next round datacycle.
The center control mainboard is powered by direct current 5V power supplys, also can the power taking from PC by USB；Terminal node can be by
Battery is powered, USB powers, also can be from power taking on merchandising machine people's power supply.
The microcontroller of described center control mainboard is STM32 controllers, uses 8MHz and 12MHz crystal oscillators, work electricity
It is 3.3V to press；The main radio-frequency module and from radio-frequency module use CC1110, it is internally integrated enhanced 8051 controller, makes
With 26MHz and 32.768kHz crystal oscillators, operating voltage is 3.3V, and SPI communication speed is up to 1Mbps.
The beneficial effects of the invention are as follows：The Scalability of system is good, can be in center to center communications platform according to different network sizes
The communication center node of upper mounting varying number, realizes the parallel real-time wireless communication of multiband, in point-to-point speed feelings not high
Traffic rate is accelerated by multiband parallel form under condition.The communication distance of 433MHz frequency ranges is long, and Wireless networking protocols make
Relayed without using a large amount of routing nodes with simple star-network topology, networking is simply efficient.System can portion on a large scale
In large-scale logistics warehouse, terminal node depends on merchandising machine people and powers, and can also be taken by battery self-powered or USB for administration
Electricity, power supply mode is flexible.System has taken into account traffic rate and communication distance, and Scalability is good, and communication efficiency is good, low cost, no
Warehouse logisticses communication is can only be used to, the occasion of other high-speed multi-drop real-time Communication for Power is equally applicable for.
Brief description of the drawings
Fig. 1 is overall structure block diagram of the invention；
The hardware block diagram of Tu2Shi centers control mainboard；
The program flow diagram of Tu3Shi centers control mainboard；
Fig. 4 is the hardware block diagram of terminal node；
Fig. 5 is the program flow diagram of terminal node.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, the present invention is a kind of parallel real-time radio warehouse logisticses communication system of multiband, including a center
Called station and a large amount of terminal nodes for serving merchandising machine people；Center to center communications platform is made up of PC and center control mainboard；
There is N number of expansion interface in the control mainboard of center, the main radio-frequency module that can mount 1 to N number of different frequency range according to network size is carried out
Simultaneously communicate, these main radio-frequency modules are the communication center node of network, all main radio-frequency modules be operated in 430MHz~
In 440MHz frequency ranges；Center control mainboard receives the complete data packet that PC sends, and data is divided into N parts and is sent to different frequency range
Main radio-frequency module, each main radio-frequency module sends commands to the terminal node being connected on merchandising machine people of same frequency range, its
Afterwards recycling terminal node feedback merchandising machine people information and be aggregated into center control mainboard, at the control mainboard integration of center
PC is sent back to after the data for managing all main radio-frequency modules to show, complete a complete wheel communication；Center control mainboard is by direct current
5V power supplys are powered, also can the power taking from PC by USB；Terminal node can battery-powered, USB power, also can be from logistics machine
Power taking on device people's power supply.Whole system power supply mode is various, and Scalability is good, adapts to different places and carries out steady for a long time
Fixed work.
As shown in Fig. 2 the center control mainboard is by microcontroller, the main radio-frequency module of different frequency range, power management mould
Block, Voltage stabilizing module, serial communication modular, buffer module, JTAG download modules, key-press module, microcontroller reset module, open
Dynamic selecting module, microcontroller LED light are constituted, wherein main radio-frequency module, power management module, Voltage stabilizing module, serial ports are logical
Letter module, buffer module, JTAG download modules, key-press module, microcontroller reset module, startup selecting module, microcontroller
Device LED light is connected with microcontroller, and each main radio-frequency module is all connected with radio frequency reseting module, radio-frequency module LED and indicates
Lamp and antenna；Control centre's mainboard primarily serve connection and information processing effect, above connect PC displays, under connect radio communication mould
Block, constitutes complete data path.
The microcontroller of center control mainboard use STM32 microcontrollers, model STM32103ZET6, aboundresources,
Using 8MHz and 12MHz crystal oscillators, operating voltage is 3.3V, and the voltage tolerance range of I/O port can reach 5V, reserve area
By the way of CR1220 button cells and VCC3.3 hybrid power supplies, when having external power source, CR1220 does not power for power supply,
And when external power source disconnects, then powered by CR1220, with the accurate and backing register for ensureing real-time clock
Appearance is not lost；The model CC1110F32 of main radio-frequency module, enhanced 8051 controller, communications band are internally integrated using it
It is 433MHz, using 26MHz and 32.768kHz crystal oscillators, operating voltage is 3.3V, and SPI communication speed is up to 1Mbps；Power supply pipe
Reason module converts input voltage into the output of 5V power supplys, and Voltage stabilizing module output 3.3V DC voltages are microcontroller, main radio frequency mould
Block, buffer module, JTAG download modules, key-press module, microcontroller reset module, radio frequency reseting module, radio-frequency module LED
Indicator lamp, microcontroller LED light are powered；Serial communication modular connects STM32 microcontrollers and PC and carries out data exchange
And display, using the logical baud rate of 921600bps, baud rate reaches as high as 4.5Mbps；Buffer module is the I/O port of CC1110
High-impedance state is provided and is selected with completing principal and subordinate's piece of SPI, the I/O port output line of CC1110 does not have tri-state control end, carried out as slave
Can occur during the SPI communication of one master and multiple slaves many slaves simultaneously turn on drag down data line level and cannot proper communication situation therefore
Additional triple gate is needed to be controlled；JTAG download modules can download STM32 and CC1110 programs；Microcontroller reset module is answered
Position STM32, radio frequency reseting module reset CC1110, the reset of two modules are mutually independent of each other；Start selecting module selection STM32
Starting mode, it is more convenient that a key download circuit makes serial ports download；Radio-frequency module LED light shows the work of radio-frequency module
Make state；Microcontroller LED light shows the working condition of microcontroller；Antennal interface is used to connect antenna and radio frequency mould
Block, the quality of antenna can influence the quality of communication.
As shown in figure 3, the center control mainboard course of work is as follows：
(1) initialize：Clock module, time delay module, interrupt module, SPI modules, serial ports are initialized on microcontroller after electricity
Module, LED display module and timer module, set the form of packet；On main radio-frequency module electricity after initialize clock module,
Time delay module, SPI modules, LED display module and timer module, form network center and search whether periphery has node to network.
(2) data distributing：PC issues data to controller, and controller sends the data to N number of communication center node in batches,
Communication center node forms network and waits terminal node to network in respective frequency range, is its distribution end if having terminal node to network
Mouthful, data are sent to all terminal nodes in network, system carries packet loss retransmission mechanism, is marked if not being successfully connected yet after retransmitting
Note trouble node.In addition, PC can send the data of subsequent time to controller at any time.
(3) data are uploaded：Terminal node receive the information that will be collected into after the data that communication center node is sent beam back it is logical
Letter Centroid, communication center node waits controller to read data after collecting all data, and controller timing is read by SPI
The data of each communication center node, integrate thereafter processing data and are sent to display on PC.
(4) multiband Parallel Implementation mode：Controller as SPI main frames, each band communication Centroid as SPI from
Machine, main frame selects mode to gate a slave and carries out data exchange by principal and subordinate's piece, and this when, other slaves were buffered device module
Controlled output high-impedance state, does not influence this to communicate.Main frame successively with N number of slave complete communication after, N number of slave simultaneously oneself
Frequency range and terminal node are communicated, because SPI speed is very fast, when the time of main frame and slave communication is relative to network service
Between it is negligible, therefore can be considered that system uses the parallel communication mode of multiband.
Requirement due to logistics communication to traffic rate and communication distance is all very high, the WiFi of 2.4GHz can accomplish at a high speed but
, not enough, it is necessary to a large amount of routing nodes are relayed, algorithm expense is also larger, development difficulty is big for communication distance, and 433MHz communication speed
Rate is not high but can accomplish non-relay long haul communication, and star-network exploitation simple and stable, by multiband parallel form energy
Effectively solve the problems, such as that traffic rate is unhappy, inexpensive, efficient solution can be provided for logistics communication predicament.
As shown in figure 4, the terminal node is by from radio-frequency module, microcontroller, power management module, Voltage stabilizing module, USB
Turn serial port module, JTAG download modules, radio frequency reseting module, power indication LED, radio-frequency module LED light and antenna structure
Into wherein turn serial port module, JTAG download modules, power LED from radio-frequency module, power management module, Voltage stabilizing module, USB referring to
Show that lamp is connected with microcontroller, radio frequency reseting module, radio-frequency module LED light and antenna are connected with from radio-frequency module；On
State from radio-frequency module and refer to CC1110F32, it is internally integrated enhanced 8051 controller.Terminal node is used as merchandising machine people
Communication module, receive numbering, position, goods, the remaining electricity of the data sent of communication center node and feedback stream robot
The information such as amount are to communication center node.
Microcontroller used is built-in enhanced 8051 controller of CC1110F32 radio frequency chips in terminal node, is made
With 26MHz and 32.768kHz crystal oscillators, operating voltage is 3.3V, and SPI communication speed is up to 1Mbps, serial communication speed
115200bps；The 3V voltage conversions that be input into for battery by power management module are exported for 3.3V power supplys, and be input into for USB by Voltage stabilizing module
5V voltage conversions be 3.3V output, 3.3V DC voltages for USB turn serial port module, JTAG download modules, radio frequency reseting module,
Power indication LED, radio-frequency module LED light are powered, and are powered compared to USB, and battery powered mode is more convenient, flexible；
USB turns serial port module and can connect 8051 microcontrollers and PC to carry out data exchange and display；JTAG download modules can be downloaded
CC1110 programs；Radio frequency reseting module reset CC1110；Power indication LED shows the power-up state of node；Radio-frequency module LED
Indicator lamp shows the working condition of radio-frequency module；Antennal interface is used to connect antenna and radio-frequency module, and the quality of antenna can influence
The quality of communication.
As shown in figure 5, the terminal node course of work is as follows：
(1) initialize：Clock module, time delay module, LED display module, serial ports mould are initialized after electricity from radio-frequency module
Block, searches surrounding network and the connection that networks.
(2) data receiver：Communication center node can be its distribution port and send data after terminal node networks, and receive number
Being transmitted to merchandising machine people by serial ports after data are necessarily processed according to rear terminal node carries out corresponding operating.
(3) data is activation：The data that will be received collect numbering, the position of logistics robot while being transmitted to merchandising machine people
Put, the information such as goods, dump energy, these information are sent back into communication center node, then wait for next data transfer.
Claims (7)
1. the parallel real-time radio warehouse logisticses communication system of a kind of multiband, it is characterised in that：The system includes that a center leads to
Letter platform and a large amount of terminal nodes for serving merchandising machine people；Center to center communications platform is made up of PC and center control mainboard；In
There is N number of expansion interface in heart control mainboard, the main radio-frequency module that can mount 1 to N number of different frequency range according to network size is carried out together
Shi Tongxin, these main radio-frequency modules are the communication center node of network, all main radio-frequency modules be operated in 430MHz~
In 440MHz frequency ranges；Center control mainboard receives the complete data packet that PC sends, and data is divided into N parts and is sent to different frequency range
Main radio-frequency module, each main radio-frequency module sends commands to the terminal node being connected on merchandising machine people of same frequency range, its
Afterwards recycling terminal node feedback merchandising machine people information and be aggregated into center control mainboard, at the control mainboard integration of center
PC is sent back to after the data for managing all main radio-frequency modules to show, complete a complete wheel communication.
2. the parallel real-time radio warehouse logisticses communication system of a kind of multiband according to claim 1, it is characterised in that：Institute
Center control mainboard is stated by microcontroller, the main radio-frequency module of different frequency range, power management module, Voltage stabilizing module, serial communication
Module, buffer module, JTAG download modules, key-press module, microcontroller reset module, startup selecting module, microcontroller
LED light constitute, wherein main radio-frequency module, power management module, Voltage stabilizing module, serial communication modular, buffer module,
JTAG download modules, key-press module, microcontroller reset module, start selecting module, microcontroller LED light and micro-control
Device processed is connected, and each main radio-frequency module is all connected with radio frequency reseting module, radio-frequency module LED light and antenna；The power supply pipe
Reason module and Voltage stabilizing module are to main board power supply；Serial communication modular connects microcontroller and PC and carries out data exchange and display；
Buffer module provides high-impedance state and is selected with completing principal and subordinate's piece of SPI for the I/O port of main radio-frequency module；JTAG download modules enter stroke
Sequence is downloaded；Microcontroller reset module resets microprocessor, the main radio-frequency module of radio frequency reseting module reset；Start selecting module choosing
Select microprocessor Starting mode；Radio-frequency module LED light shows the working condition of main radio-frequency module；Microcontroller LED is indicated
Lamp shows the working condition of microcontroller.
3. the parallel real-time radio warehouse logisticses communication system of a kind of multiband according to claim 2, it is characterised in that：Institute
On the microcontroller of the center control mainboard stated after electricity, initial work is completed first, then detect whether PC sends new number
According to, there is new data then to carry out data renewal, thereafter by SPI principal and subordinate's pieces select mode respectively by new data be divided into N parts be sent to it is N number of
Work in the main radio-frequency module of different frequency range and reclaim the data of last moment return, into circular wait, period also can detect
Whether PC is sent new data and is updated the data, and is then returned to hero of biography radio-frequency module on PC after timer produces interrupt signal
Each terminal node data, complete one take turns data interaction；Initial work is completed first after electricity on main radio-frequency module, then shape
Waited into network center and being networked with the terminal node of frequency range, to node sent new data after thering is node to network and reclaim terminal
The data of node feeding back, period carries out packet loss re-transmission when the terminal node for networking does not have data to return, if remaining unchanged without responding
This terminal node is marked, after with all of terminal node completion communication in network, main radio-frequency module waits the SPI of microcontroller
Signal arrives, and receives subsequent time new data by SPI and feeds back the terminal node data that epicycle is collected, and completes a wheel data and hands over
Mutually.
4. the parallel real-time radio warehouse logisticses communication system of a kind of multiband according to claim 1, it is characterised in that：Institute
Terminal node is stated to be downloaded by turning serial port module, JTAG from radio-frequency module, microcontroller, power management module, Voltage stabilizing module, USB
Module, radio frequency reseting module, power indication LED, radio-frequency module LED light and antenna are constituted, wherein from radio-frequency module, electricity
Source control module, Voltage stabilizing module, USB turn serial port module, JTAG download modules, power indication LED and are connected with microcontroller, penetrate
Frequency reseting module, radio-frequency module LED light and antenna are connected with from radio-frequency module；USB turns serial port module can be entered with peripheral hardware
Row data exchange and display；JTAG download modules can download；Radio frequency reseting module resets from radio-frequency module；Power LED refers to
Show the power-up state of lamp display terminal node；Radio-frequency module LED light shows the working condition from radio-frequency module.
5. the parallel real-time radio warehouse logisticses communication system of a kind of multiband according to claim 4, it is characterised in that：Institute
On the microcontroller of the terminal node stated after electricity, initial work is completed first, then search for network, the Shen if network is detected
Please network, wait network center to send data, after receiving data, the data that last moment collects be beamed back into network center, thereafter
The action of merchandising machine people is controlled according to the data for receiving and collect numbering, position, goods, dump energy of logistics robot etc.
Information, waits next round datacycle.
6. the parallel real-time radio warehouse logisticses communication system of a kind of multiband according to claim 1, it is characterised in that：Institute
Center control mainboard is stated to be powered by direct current 5V power supplys, also can the power taking from PC by USB；Terminal node can it is battery-powered,
USB powers, also can be from power taking on merchandising machine people's power supply.
7. the parallel real-time radio warehouse logisticses communication system of a kind of multiband according to claim 1, it is characterised in that：Institute
The microcontroller of the center control mainboard stated is STM32 controllers, and using 8MHz and 12MHz crystal oscillators, operating voltage is 3.3V；Institute
State main radio-frequency module and from radio-frequency module using CC1110, it is internally integrated enhanced 8051 controller, using 26MHz and
32.768kHz crystal oscillators, operating voltage is 3.3V, and SPI communication speed is up to 1Mbps.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113741297A (en) * | 2021-09-10 | 2021-12-03 | 北京京东乾石科技有限公司 | Task processing method, device and system for multiple robots and robot |
| CN115514592A (en) * | 2022-10-19 | 2022-12-23 | 通号通信信息集团上海有限公司 | Communication equipment for replacing SSI (serial peripheral interface) multiple slave machines by adopting double SPI (serial peripheral interface) and IO (input/output) interruption |
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| 沈博闻于宁波 刘景泰: "仓储物流机器人集群的智能调度和路径规划", 《中国知网》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113741297A (en) * | 2021-09-10 | 2021-12-03 | 北京京东乾石科技有限公司 | Task processing method, device and system for multiple robots and robot |
| CN115514592A (en) * | 2022-10-19 | 2022-12-23 | 通号通信信息集团上海有限公司 | Communication equipment for replacing SSI (serial peripheral interface) multiple slave machines by adopting double SPI (serial peripheral interface) and IO (input/output) interruption |
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| CN106856590B (en) | 2020-01-14 |
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