CN107450491A - A kind of robot scheduling system, method, electronic equipment and storage medium - Google Patents
A kind of robot scheduling system, method, electronic equipment and storage medium Download PDFInfo
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- CN107450491A CN107450491A CN201710660774.0A CN201710660774A CN107450491A CN 107450491 A CN107450491 A CN 107450491A CN 201710660774 A CN201710660774 A CN 201710660774A CN 107450491 A CN107450491 A CN 107450491A
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- 238000003860 storage Methods 0.000 title claims abstract description 20
- 230000008569 process Effects 0.000 claims abstract description 13
- 238000007726 management method Methods 0.000 claims description 83
- 238000012544 monitoring process Methods 0.000 claims description 20
- 238000012545 processing Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 7
- 238000013479 data entry Methods 0.000 claims description 7
- 238000013500 data storage Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 230000006399 behavior Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 230000002085 persistent effect Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 231100000749 chronicity Toxicity 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a kind of robot scheduling system, method, electronic equipment and storage medium, the wherein system to include robot control system and middle control system；Robot control system is used to obtain robot management information from middle control system, according to robot management information generation assignment instructions, and assignment instructions is sent to the guiding car or external equipment associated with assignment instructions；Middle control system includes：First interface layer, including for obtaining the business interface of task bag from business management system；Intermediary service process layer, for according to the task bag generation robot management information obtained from business management system；Access Layer, including control interface, Access Layer are connected to robot control system by control interface.By setting up the middle control system formed a connecting link between the robot control system of routine and business management system；The flexible access of different machines people control system and business management system can be realized, enhances the scalability of robot scheduling system.
Description
Technical field
The present invention relates to robot dispatching technique, more particularly to a kind of robot to dispatch system, method, electronic equipment and deposit
Storage media.
Background technology
System is dispatched by existing robot, usually by robot control system (RCS, Robot Control System)
Directly with the WMS (WMS, Warehouse Manage System) or manufacturing execution system on corporate client backstage
(MES, Manufacturing Execution System) is connected, and enterprise backstage is sent out according to workflow by WMS or MES system
Go out instruction, robot just starts execution task after receiving instruction.This kind of scheduling system, directly by RCS and the WMS/ of operation layer
MES is connected, and whole system lacks flexibility and scalability；Due to no special between RCS and the WMS/MES of operation layer
Management bridge, if desired RCS or operation layer access or withdraw from, it is necessary to change WMS/MES, add the work of staff
Amount, it is unfavorable for the progress of production.
The content of the invention
For overcome the deficiencies in the prior art, an object of the present invention is to provide a kind of robot scheduling system, can
To realize the flexible access of different machines people control system and business management system, the expansible of robot scheduling system is enhanced
Property.
The second object of the present invention is to provide a kind of robot dispatching method, it is possible to achieve different machines people's control system
With the flexible access of business management system, the scalability that system is dispatched by robot is enhanced.
The third object of the present invention is to provide a kind of electronic equipment, it is possible to achieve different machines people control system and business
The flexible access of management system, enhance the scalability of robot scheduling system.
The fourth object of the present invention is to provide a kind of storage medium, is stored with computer program, it is possible to achieve different machines
The flexible access of device people control system and business management system, enhance the scalability of robot scheduling system.
An object of the present invention is realized using following technical scheme：
System, including robot control system and middle control system are dispatched by a kind of robot；
The robot control system is used to obtain robot management information from the middle control system, according to the machine
Device people management information generates assignment instructions, and the assignment instructions are sent to the guiding car associated with the assignment instructions or outer
Portion's equipment；
The middle control system includes：
First interface layer, including for obtaining the business interface of task bag from business management system；
Intermediary service process layer, for generating the robot management letter according to the task bag obtained from business management system
Breath；
Access Layer, including control interface, the Access Layer are connected to the robot control system by the control interface
System.
Further, the first interface layer also includes being used for the terminal interface being connected with operation terminal, and described first connects
Mouth layer is additionally operable to by the terminal interface and operation terminal interaction.
Further, the Access Layer also includes being used for the equipment interface being connected with external equipment.
Further, the middle control system also includes data storage layer, and the data storage layer includes for storage
Perdurable data including the robot management information.
Further, the robot control system includes：
Second interface layer, for obtaining robot management information from the middle control system；
Intermediate Control Layer, for generating assignment instructions according to the robot management information；
Car Access Layer is guided, guides car for accessing, and the assignment instructions are sent to the assignment instructions and associated
Guiding car.
Further, robot scheduling system also include being used for monitoring and record the robot control system and/
Or monitoring and the log pattern of middle control system state；The monitoring and log pattern include：
Data entries unit, for obtaining information from the robot control system and/or middle control system；
Data processing unit, for collecting and analyzing the information obtained by the Data entries unit；
Monitoring service unit, for exporting the analysis result of the data processing unit.
The second object of the present invention is realized using following technical scheme：
A kind of robot dispatching method, comprises the following steps：
Task bag is obtained from business management system；
According to the task generation robot management information got；
The robot management information is distributed to the robot control system associated with the robot management information；
The robot control system is used to generate assignment instructions according to the robot management information, and by the task
Instruction is sent to the guiding car or external equipment associated with the assignment instructions.
Further, the robot dispatching method is further comprising the steps of：
The job schedule of guiding car or external equipment is obtained from the robot control system；
The progress of the task is calculated according to the job schedule of the guiding car or external equipment.
The third object of the present invention is realized using following technical scheme：
A kind of electronic equipment, including memory, the program of processor and storage in memory, described program are configured
The step of above-mentioned robot dispatching method being realized into by computing device, during computing device described program.
The fourth object of the present invention is realized using following technical scheme：
A kind of storage medium, the media storage have computer program, real when the computer program is executed by processor
The step of existing above-mentioned robot dispatching method.
Compared with prior art, the beneficial effects of the present invention are：Pass through the robot control system and business pipe in routine
The middle control system formed a connecting link is set up between reason system；Robot control system access will be managed by Access Layer or withdrawn from
Function and the function that is handled task by intermediary service process layer uniformly arrive middle control system, and connect by first
Mouth layer communicates with business management system, alleviates the workload of business management system.When robot control system changes, it is not required to
WMS/MES is changed again, it is possible to achieve the flexible access of different machines people control system and business management system, enhance machine
People dispatches the scalability of system；Middle control system obtains task bag from business management system, to getting for task or orders
Singly carry out processing to split out different robot management informations and be handed down to corresponding robot control system, be easy to the unification of task
Management.
Brief description of the drawings
Fig. 1 is that the structural representation of system is dispatched by the robot of the embodiment of the present invention one；
Fig. 2 is the structural representation of middle control system in Fig. 1；
Fig. 3 is the structural representation of robot control system in Fig. 1；
Fig. 4 is the structural representation of monitoring and log pattern in Fig. 1；
Fig. 5 is the schematic flow sheet of the robot dispatching method of the embodiment of the present invention two；
Fig. 6 is the structural representation of the electronic equipment of the embodiment of the present invention three.
Embodiment
Below, with reference to accompanying drawing and embodiment, the present invention is described further, it is necessary to which explanation is, not
Under the premise of afoul, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Embodiment one
Robot scheduling system be it is a set of can access a variety of more mobile robots and and upper-layer service system, such as MES,
WMS etc. is docked, and guides more mobile robots to complete the management and running platform of particular task.It can be intelligent sliding to guide car
The motion that mobile robot iagv, two-dimension code navigation agv, laser navigation agv, vision guided navigation agv etc. have independent navigation function is set
It is standby.
If Fig. 1 is that system, including (RCS, the Robot Control of robot control system 110 dispatch in a kind of robot
) and middle control system 120 (WCS, Warehouse Control System) System；Middle control system 120 is used to locate
The business datum under the environment such as warehouse, factory building is managed, can be as in robot control system 110 and business management system 130
Interbed.
Robot control system 110 is used to obtain from middle control system 120 completes specific tasks for control machine people
Robot management information, according to robot management information generation assignment instructions, and by assignment instructions send to assignment instructions
The guiding car or external equipment of association.Robot control system 110 is mainly responsible for the access of robot, particularly a variety of not of the same race
The appointment of the robot, robot of class, automatic charging, rest area, traffic administration are returned automatically, shelf location management, commonly use abnormal
Processing etc.；Wherein traffic administration can be used for the management for realizing the external equipment related to the traffic of such as automatically-controlled door, elevator etc..
As shown in Fig. 2 middle control system 120 includes：First interface layer 121, intermediary service process layer 122 and access
Layer 123.
First interface layer 121, including the business interface for being communicated with business management system 130, for from service management
System 130 obtains task bag.Business management system 130 can be corporate client backstage WMS (WMS,
Warehouse Manage System) or manufacturing execution system (MES, Manufacturing Execution System), appoint
Business bag is a series of tasks that business management system 130 is distributed, for having been gone by one or more robot control systems 110
Into.
Intermediary service process layer 122, for generating robot management information according to task bag.Can be to from service management system
The task bags that get of system 130 or order carry out processing and split out different robot management informations being handed down to corresponding robot
Control system 110；Robot management information is used for control machine people and completes specific tasks.Intermediary service process layer 122 can be with
Further realize and progress control is carried out to information such as order, materials, specifically include following steps：From robot control system 110
The job schedule of guiding car or external equipment is obtained, specific a certain task is calculated according to the job schedule of guiding car or external equipment
Progress.
Access Layer 123, including control interface, Access Layer 123 are connected to robot control system 110 by control interface.
Access Layer 123 can access multiple robot control systems 110, and different robot control systems 110 can manage
Manage different regions, different types of guiding car or robot.The robot management letter that the processing of intermediary service process layer 122 is split out
Breath can be distributed to corresponding robot control system 110 by control interface, carry out phase by robot control system 110 afterwards
The calling cut-off.
The robot scheduling system that the present embodiment provides, passes through the robot control system and business management system in routine
Between set up the middle control system formed a connecting link；The work(that will be managed robot control system access by Access Layer or withdraw from
The function that and can be handled task by intermediary service process layer uniformly arrives middle control system, and passes through first interface layer
Communicated with business management system, alleviate the workload of business management system.When robot control system changes, it is not necessary to again
Change WMS/MES, it is possible to achieve the flexible access of different machines people control system and business management system, enhance robot tune
The scalability of degree system；Middle control system obtains task bag from business management system, to the task bag or order got
Carry out processing to split out different robot management informations and be handed down to corresponding robot control system, be easy to the unified pipe of task
Reason.
As preferred embodiment, first interface layer 121 also includes being used for the terminal interface being connected with operation terminal, the
One interface layer 121 is additionally operable to by terminal interface and operation terminal interaction.Such as operating terminal has operation interface, by operating boundary
Face can realize to be connected to the robot control system 110 of middle control system 120 or the control of business management system 130 or
Status inquiry.
As preferred embodiment, Access Layer 123 also includes being used for the equipment interface being connected with external equipment.Outside is set
Standby can be calling box, transmission belt, automatic code reader etc., can complete the processing of task concerns or obtain task status.
As preferred embodiment, middle control system 120 also includes data storage layer 124, and data storage layer 124 is used
, can be with relevant informations such as store tasks, order daily records, just in perdurable data of the storage including robot management information
In flow retrospect, inquiry.
As preferred embodiment, as shown in figure 3, robot control system 110 includes second interface layer 111, centre
Key-course 112 and guiding car Access Layer 113.
Second interface layer 111 is used to obtain robot management information from middle control system 120.Second interface layer 111 is also
Reported available for data, daily record upload etc. function.As and third party system, as mobile terminal inspection software carry out data interaction,
It can carry out data transmission interacting with http agreements.
Intermediate Control Layer 112 is used for according to robot management information generation assignment instructions.Robot management information equivalent to
The combination of one task, different assignment instructions are specifically included, it is necessary to distribute to different guiding cars or auxiliary equipment goes to complete.In
Between key-course 112 be mainly used in realizing service logic, dispatching algorithm, auxiliary equipment controls three major functions.Service logic is real
Existing is that the strategy such as timing that some are fixed is charged, the function such as data analysis；Dispatching algorithm is accomplished that vehicle dispatch, charging
Position management, break point management, path planning etc. need to combine the service logic that real time data can just make a policy；Auxiliary equipment control
System can realize the switch of the running such as elevator according to the running status automatic control equipment of guiding car, lifting, automatically-controlled door
Switch etc., to realize that guiding car normally can walk and work under scene.
Guide car Access Layer 113 to be used to access guiding car, and assignment instructions are sent to the guiding associated with assignment instructions
Car.So as to realize the functions such as the real-time access of guiding car, traffic administration, data, services.Guide car Access Layer 113 and guiding
Communication between car can be two-way, both can be that the active of guiding car Access Layer 113 issues instruction message to guiding car car, and be
Guide car distribution path；Can also be that guiding car realizes the upload of data and download in a manner of active request.
As preferred embodiment, robot control system 110 also includes data buffer storage layer 114 and persistent layer 115.Its
In, the main effect of data buffer storage layer 114 is the Hot Spare that can realize the data such as assignment instructions, and normal fortune is in system
Turn quickly to be backed up database file under state, it is extending transversely to meet the needs of different from Longitudinal Extension, such as data point
Analysis, flow trace etc..Persistent layer 115 can realize the lasting holding to system data；The type of data can include scene
Basic data, dispatch command data, map datum, user data, configuration data, daily record data, report data etc., system is lasting
Changing database has the advantages of simple and uniformity.
As preferred embodiment, robot scheduling system also includes being used to monitor and recorder people's control system
110 and/or monitoring and the log pattern 140 of the state of middle control system 120.As shown in figure 4, monitoring and log pattern 140 wrap
Include：Data entries unit 141, data processing unit 142, monitoring service unit 143.
Data entries unit 141, for obtaining information from robot control system 110 and/or middle control system 120；
Data processing unit 142, for collecting and analyzing the information obtained by Data entries unit 141；
Monitoring service unit 143, the analysis result for output data processing unit 142.
Monitoring and log pattern 140 are the synthesis of monitoring and daily record storage.Monitoring is mainly to middle control system 120
And/or the monitoring of robot control system 110, such as operating pressure, can monitor subsystems whether normal work, can in time
It was found that the problem of subsystem and being reported.Daily record storage is that the daily record data of individual subsystem is collected and counted, can be with
The each middle control system 120 of centralized displaying, the operating efficiency of robot control system 110, material transport situation, vehicle operation
Number and statistical information etc., and then estimate the actual efficiency of subsystems.The data of monitoring and log pattern 140 can be divided into
Realtime Statistics and Log backup data two parts, and be chronicity to the memory requirement of daily record.
By adding monitoring and log pattern 140 in robot scheduling system, for monitoring middle control system 120
And/or robot control system 110, it can be found in time when there is subsystem fault, can be with called data when task malfunctions
Retrospect；So as to ensure the normal operation of robot scheduling system, machine can also be continued to optimize according to monitoring data and daily record
People dispatches system.
Embodiment two
Robot dispatching method as shown in Figure 5, comprises the following steps：
Step S110, task bag is obtained from business management system.Control system obtains from business management system among specially
Take task bag, such as sequence information.
Step S120, according to the task generation robot management information got.Specially intermediary service process layer to from
The task that business management system is got carries out processing and splits out different robot management informations.
Step S130, the robot management information is distributed to the robot associated with the robot management information
Control system.Robot management information is handed down to corresponding robot control system by control system among specially.
Step S140, described robot control system is used to generate assignment instructions according to the robot management information, and
The assignment instructions are sent to the guiding car or external equipment associated with the assignment instructions.Different robot control systems
Different regions, different types of guiding car or robot can be managed.The robot management that middle control system processing is split out
Information can be distributed to corresponding robot control system by control interface, mutually be cut-off by robot control system afterwards
Calling.
The robot dispatching method that the present embodiment provides, task is obtained from business management system by middle control system
Bag, processing is carried out to the task bag or order got and splits out different robot management informations and is handed down to corresponding robot
Control system；The flexible access of different machines people control system and business management system can be realized, enhances robot scheduling
The scalability of system.
As preferred embodiment, robot dispatching method is further comprising the steps of：
Step S150, the job schedule of guiding car or external equipment is obtained from the robot control system.It is specially logical
The management information that Access Layer obtains robot control system is crossed, the completion feelings of guiding car or the respective task of external equipment can be learnt
Condition.
Step S160, the progress of the task is calculated according to the job schedule of the guiding car or external equipment.Synthesis is not
With the management information of robot control system, it is possible to certain task is calculated, such as the performance of order, it is achieved thereby that to ordering
The information such as list, material carry out progress control.
The system in method and previous embodiment in the present embodiment be based on two under same inventive concept aspects,
Above system embodiment is described in detail, so those skilled in the art can be well understood according to described above
The flow and implementation process of method in this implementation, it is succinct for specification, just repeat no more herein.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
Realized by the mode of software plus required general hardware platform.Based on such understanding, technical scheme essence
On the part that is contributed in other words to prior art can be embodied in the form of software product, the computer software product
It can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are causing a computer equipment
(can be personal computer, server, either network equipment etc.) performs some of each embodiment of the present invention or embodiment
Method described in part, such as：
A kind of storage medium, the storage medium are stored with computer program, and the computer program is executed by processor
The step of Shi Shixian aforementioned machines people's dispatching methods.
The present invention can be used in numerous general or special purpose computing system environments or configuration.Such as：Personal computer, service
Device computer, handheld device or portable set, laptop device, multicomputer system, the system based on microprocessor, machine top
Box, programmable consumer-elcetronics devices, network PC, minicom, mainframe computer including any of the above system or equipment
DCE etc., such as embodiment three.
Embodiment three
A kind of electronic equipment as shown in Figure 6, including memory 200, processor 300 and be stored in memory 200
Program, described program are configured to be performed by processor 300, and processor 300 realizes that above-mentioned robot adjusts when performing described program
The step of degree method.
The method in device and previous embodiment in the present embodiment be based on two under same inventive concept aspects,
Above method implementation process is described in detail, thus those skilled in the art can according to it is described above clearly
The structure and implementation process of the system in this implementation are solved, it is succinct for specification, just repeat no more herein.
Electronic equipment provided in an embodiment of the present invention, task can be obtained from business management system by middle control system
Bag, processing is carried out to the task bag or order got and splits out different robot management informations and is handed down to corresponding robot
Control system；The flexible access of different machines people control system and business management system can be realized, enhances robot scheduling
The scalability of system.
Above-mentioned embodiment is only the preferred embodiment of the present invention, it is impossible to the scope of protection of the invention is limited with this,
The change and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed scope.
Claims (10)
1. system is dispatched by a kind of robot, it is characterised in that：Including robot control system and middle control system；
The robot control system is used to obtain robot management information from the middle control system, according to the robot
Management information generates assignment instructions, and the assignment instructions are sent to the guiding car associated with the assignment instructions or outside and set
It is standby；
The middle control system includes：
First interface layer, including for obtaining the business interface of task bag from business management system；
Intermediary service process layer, for generating the robot management information according to the task bag obtained from business management system；
Access Layer, including control interface, the Access Layer are connected to the robot control system by the control interface.
2. system is dispatched by robot as claimed in claim 1, it is characterised in that：The first interface layer also includes being used for and behaviour
Make the terminal interface of terminal connection, the first interface layer is additionally operable to by the terminal interface and operation terminal interaction.
3. system is dispatched by robot as claimed in claim 1, it is characterised in that：The Access Layer also includes being used to set with outside
The equipment interface of standby connection.
4. system is dispatched by robot as claimed in claim 1, it is characterised in that：The middle control system is also deposited including data
Reservoir, the data storage layer are used to store the perdurable data including the robot management information.
5. the robot scheduling system as any one of claim 1-4, it is characterised in that the robot control system
Including：
Second interface layer, for obtaining robot management information from the middle control system；
Intermediate Control Layer, for generating assignment instructions according to the robot management information；
Car Access Layer is guided, guides car for accessing, and the assignment instructions are sent to what the assignment instructions associated and led
Draw car.
6. the robot scheduling system as any one of claim 1-4, it is characterised in that：Also include being used to monitor and remember
Record monitoring and the log pattern of the robot control system and/or middle control system state；The monitoring and log pattern
Including：
Data entries unit, for obtaining information from the robot control system and/or middle control system；
Data processing unit, for collecting and analyzing the information obtained by the Data entries unit；
Monitoring service unit, for exporting the analysis result of the data processing unit.
7. a kind of robot dispatching method, it is characterised in that comprise the following steps：
Task bag is obtained from business management system；
According to the task generation robot management information got；
The robot management information is distributed to the robot control system associated with the robot management information；
The robot control system is used to generate assignment instructions according to the robot management information, and by the assignment instructions
Send to the guiding car or external equipment associated with the assignment instructions.
8. robot dispatching method as claimed in claim 7, it is characterised in that further comprising the steps of：
The job schedule of guiding car or external equipment is obtained from the robot control system；
The progress of the task is calculated according to the job schedule of the guiding car or external equipment.
9. a kind of electronic equipment, it is characterised in that：It is described including memory, the program of processor and storage in memory
Program is configured to by computing device, realizes that robot as claimed in claim 7 or 8 adjusts during computing device described program
The step of degree method.
10. a kind of storage medium, the storage medium is stored with computer program, it is characterised in that：The computer program quilt
The step of robot dispatching method as claimed in claim 7 or 8 is realized during computing device.
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| CN108415430A (en) * | 2018-03-05 | 2018-08-17 | 菲尼克斯(南京)智能制造技术工程有限公司 | The AGV dispatching techniques of flexible manufacturing system |
| CN109129450A (en) * | 2018-08-07 | 2019-01-04 | 苏州工业园区宸连信息技术有限公司 | A kind of artificial intelligence execution system applied to split-type robot |
| CN109325734A (en) * | 2018-09-05 | 2019-02-12 | 江苏鸿信系统集成有限公司 | A kind of finance robot system |
| WO2020042385A1 (en) * | 2018-08-28 | 2020-03-05 | 博众精工科技股份有限公司 | Robot cluster scheduling system |
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