CN107662216A - A kind of robot delivery system and whole process allocator - Google Patents

A kind of robot delivery system and whole process allocator Download PDF

Info

Publication number
CN107662216A
CN107662216A CN201711038031.6A CN201711038031A CN107662216A CN 107662216 A CN107662216 A CN 107662216A CN 201711038031 A CN201711038031 A CN 201711038031A CN 107662216 A CN107662216 A CN 107662216A
Authority
CN
China
Prior art keywords
robot
dispensing machine
machine people
module
transport vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711038031.6A
Other languages
Chinese (zh)
Inventor
张涛
蔡阳春
阮进
郭璁
邓卓
王远志
刘明
陈鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen City Purdue Technology Co Ltd
Original Assignee
Shenzhen City Purdue Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen City Purdue Technology Co Ltd filed Critical Shenzhen City Purdue Technology Co Ltd
Priority to CN201711038031.6A priority Critical patent/CN107662216A/en
Publication of CN107662216A publication Critical patent/CN107662216A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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

Abstract

The present invention proposes a kind of robot delivery system and whole process allocator, the robot delivery system includes hardware module and communication control module, the hardware module includes dispensing machine people, sort picking point, plug into transport vehicle, the dispensing machine people includes robot body, display module, executing agency, first loading module, second loading module, the robot body can realize being automatically positioned of indoor and outdoors, avoidance, build figure and navigation by multisensor Data Fusion technology and GPS.The communication control module includes interactive system, rear end monitor supervision platform, robot central processing system, the interactive system includes robot display module and terminal interaction platform, the interactive system can provide dispatching sequence information and robot location's information, the rear end monitor supervision platform state of supervisory-controlled robot and can be controlled to robot in real time, and the robot central processing system can handle sequence information and realize the positioning of robot, avoidance and navigation.

Description

A kind of robot delivery system and whole process allocator
Technical field
The present invention relates to logistics distribution field, more particularly to a kind of robot delivery system and whole process allocator.
Background technology
At present in middle-size and small-size goods in municipal transport, the method generally used is by specific people after goods reaches city Go picking and then be then sent through destination, this pattern proposes very high requirement to human cost, how to reduce this to manpower The expenditure of cost, which turns into, builds the problem of intelligent city needs emphasis to consider.
The content of the invention
It is an object of the invention to provide a kind of robot delivery system and whole process allocator, realizes that whole process dispenses Service, reduce manpower.
To achieve the above object, adopt the following technical scheme that：
1. a kind of robot delivery system, including hardware module and communication control module, the hardware module includes dispensing machine People, picking point, transport vehicle of plugging into being sorted, the dispensing machine people includes robot body, display module, executing agency, and first Loading module, the second loading module, first loading module, the second loading module have storage space, the robot sheet Body is driven using wheel leg combination, and the robot body can sense by the way that camera, laser radar, IMU, encoder etc. Device Data fusion technique and GPS realize being automatically positioned of indoor and outdoors, avoidance, build figure and navigation and can pass through distribution Planning optimized operation path is calculated, the information that the optimal path includes has starting point, destination, barrier and walking path, The camera includes RGBD depth cameras, monocular cam, binocular camera.
2. a kind of whole process allocator, it is characterised in that realize following steps：
（1）Dispensing machine people receives sequence information in the sorting picking point；
（2）Dispensing machine people is in the sorting picking point picking and deposits in first loading module or second loading Module；
（3）Dispensing machine people is planned from fortune of being plugged into described in the sorting picking point arrival by the robot central processing system The optimal path of defeated car, and drive into and plugged into transport vehicle automatically；
（4）The transport vehicle of plugging into is pointed out distribution from sorting picking and sailed near target building, and transport vehicle of plugging into is in target building Neighbouring original place waits；
（5）Dispensing machine people rolls transport vehicle of plugging into away from automatically, plans that reaching target in building from current location dispenses the optimal of point Path, the normally travel on optimal path is realized by multi-sensor fusion technology, including avoid barrier and pedestrian, and Elevator button is pressed by executing agency and realizes disengaging elevator；
（6）Dispensing machine people is reached near target dispatching point, by voice message while being notified by terminal interaction platform Indoor occupant takes goods away；
（7）Dispensing machine people realizes the normally travel on optimal path along backtracking, and by multi-sensor fusion technology, Including avoiding barrier and pedestrian；
（8）Dispensing machine people drives into transport vehicle of plugging into, and transport vehicle of plugging into is with sailing for next target or picking point is sorted in return.
3. further, the communication control module includes interactive system, rear end monitor supervision platform, central processing system of robot System, the interactive system can provide dispatching sequence information and robot location's information, the interactive system are shown including robot Module and terminal interaction platform, the rear end monitor supervision platform state of supervisory-controlled robot and can be controlled to robot in real time System, the robot central processing system can handle sequence information and realize the positioning of robot, avoidance and navigation.The machine Human body can receive distribution information by the display module and the terminal interaction platform, described in the robot body receives Sequence information and robot location's information can be dispensed after distribution information by the robot central processing system real-time update, it is described Dispatching sequence information and robot location's information can be transferred to display module and the terminal interaction platform and by the display mould Block and terminal interaction platform are shown.
4. further, the dispensing machine people can have more, the executing agency uses Visual servoing control, and it is certainly 3 are no less than by degree.
5. further, when running into fortuitous event, the dispensing machine people brake is simultaneously out of service, while passes through center Processing system sends unexpected alarm to rear end monitor supervision platform, the notice exception treatment personnel's processing of rear end monitor supervision platform.
Brief description of the drawings：
Fig. 1 whole process delivery system frame diagrams；
Fig. 2 dispensing machine people.
In Fig. 2：1. robot body；2. robot display module；3. the second loading module；4. executing agency；5. first Loading module.

Claims (5)

1. a kind of robot delivery system, including hardware module and communication control module, the hardware module includes dispensing machine People, picking point, transport vehicle of plugging into being sorted, the dispensing machine people includes robot body, display module, executing agency, and first Loading module, the second loading module, first loading module, the second loading module have storage space, the robot sheet Body is driven using wheel leg combination, and the robot body can sense by the way that camera, laser radar, IMU, encoder etc. Device Data fusion technique and GPS realize being automatically positioned of indoor and outdoors, avoidance, build figure and navigation and can pass through distribution Planning optimized operation path is calculated, the information that the optimal path includes has starting point, destination, barrier and walking path, The camera includes RGBD depth cameras, monocular cam, binocular camera.
2. a kind of whole process allocator, it is characterised in that realize following steps：
(1) dispensing machine people receives sequence information in the sorting picking point；
(2) dispensing machine people in the sorting picking point picking and deposits in first loading module or second loading Module；
(3) dispensing machine people is planned from fortune of being plugged into described in the sorting picking point arrival by the robot central processing system The optimal path of defeated car, and drive into and plugged into transport vehicle automatically；
(4) transport vehicle of plugging into is pointed out distribution from sorting picking and sailed near target building, and transport vehicle of plugging into is in target building Neighbouring original place waits；
(5) dispensing machine people rolls transport vehicle of plugging into away from automatically, plans that reaching target in building from current location dispenses the optimal of point Path, the normally travel on optimal path is realized by multi-sensor fusion technology, including avoid barrier and pedestrian, and Elevator button is pressed by executing agency and realizes disengaging elevator；
(6) dispensing machine people is reached near target dispatching point, by voice message while being notified by terminal interaction platform Indoor occupant takes goods away；
(7) dispensing machine people realizes the normally travel on optimal path along backtracking, and by multi-sensor fusion technology, Including avoiding barrier and pedestrian；
(8) dispensing machine people drives into transport vehicle of plugging into, and transport vehicle of plugging into is with sailing for next target or picking point is sorted in return.
3. robot delivery system as claimed in claim 1, it is characterised in that the communication control module includes interaction and is System, rear end monitor supervision platform, robot central processing system, the interactive system can provide dispatching sequence information and robot location Information, the interactive system include robot display module and terminal interaction platform, and the rear end monitor supervision platform can monitor in real time The state of robot and robot is controlled, the robot central processing system can handle sequence information and realize machine The positioning of device people, avoidance and navigation.The robot body can be received by the display module and the terminal interaction platform Distribution information, the robot body can be matched somebody with somebody after receiving the distribution information by the robot central processing system real-time update Sequence information and robot location's information are sent, the dispatching sequence information and robot location's information can be transferred to the display mould Block and terminal interaction platform are simultaneously shown by the display module and terminal interaction platform.
4. a kind of robot delivery system as claimed in claim 1, it is characterised in that the dispensing machine people can have more Platform, the executing agency use Visual servoing control, and its free degree is no less than 3.
5. whole process allocator as claimed in claim 2, it is characterised in that when running into fortuitous event, the dispensing machines Device people brake is simultaneously out of service, while sends unexpected alarm by central processing system and put down to rear end monitor supervision platform, rear end monitoring Platform notice exception treatment personnel's processing.
CN201711038031.6A 2017-10-30 2017-10-30 A kind of robot delivery system and whole process allocator Pending CN107662216A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711038031.6A CN107662216A (en) 2017-10-30 2017-10-30 A kind of robot delivery system and whole process allocator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711038031.6A CN107662216A (en) 2017-10-30 2017-10-30 A kind of robot delivery system and whole process allocator

Publications (1)

Publication Number Publication Date
CN107662216A true CN107662216A (en) 2018-02-06

Family

ID=61144682

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711038031.6A Pending CN107662216A (en) 2017-10-30 2017-10-30 A kind of robot delivery system and whole process allocator

Country Status (1)

Country Link
CN (1) CN107662216A (en)

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108648533A (en) * 2018-07-24 2018-10-12 麦海峰 Intelligent teaching device
CN108665217A (en) * 2018-05-18 2018-10-16 清华大学 Point-to-point hierarchical cargo immediate distribution system, method and application
CN108776482A (en) * 2018-06-22 2018-11-09 北京京东尚科信息技术有限公司 Unmanned dispensing vehicle, dispatching control method and device for unmanned dispensing vehicle
CN108830526A (en) * 2018-05-21 2018-11-16 北京京东尚科信息技术有限公司 Dispensing device, dispenser, allocator and computer readable storage medium
CN109214887A (en) * 2018-08-16 2019-01-15 榆林学院 A kind of teleshopping system and method
CN109278056A (en) * 2018-11-22 2019-01-29 复旦大学无锡研究院 Unmanned dispensing machine people
CN109623836A (en) * 2018-12-13 2019-04-16 拉扎斯网络科技（上海）有限公司 Dispensing machine people
CN109636188A (en) * 2018-12-13 2019-04-16 拉扎斯网络科技（上海）有限公司 Order allocator and electronic equipment, dispensing machine people and movement system
CN109895115A (en) * 2019-03-21 2019-06-18 深兰科技（上海）有限公司 A kind of delivery processing method, device, medium and the equipment of service robot
CN109968353A (en) * 2019-02-19 2019-07-05 特斯联（北京）科技有限公司 A kind of artificial intelligence robot and its system for community's cruise auxiliary
CN110060663A (en) * 2019-04-28 2019-07-26 北京云迹科技有限公司 A kind of method, apparatus and system of answer service
CN110087190A (en) * 2019-05-16 2019-08-02 北京云迹科技有限公司 It is a kind of for notifying the method and device of user
CN110378648A (en) * 2019-07-09 2019-10-25 河南省吉立达机器人有限公司 Unmanned dispatching carrier dispatches system and method
CN110688669A (en) * 2019-09-03 2020-01-14 耀灵人工智能(浙江)有限公司 Distribution method for realizing privacy protection by using transfer robot and position block chain
CN110861104A (en) * 2019-11-29 2020-03-06 上海有个机器人有限公司 Method, medium, terminal and device for assisting robot in conveying articles
CN110900625A (en) * 2019-11-20 2020-03-24 陈海源 Manufacturing method of full-automatic remote control leaflet sending robot
CN110991708A (en) * 2019-11-15 2020-04-10 云南电网有限责任公司电力科学研究院 Equipment distribution system and method based on path judgment
CN111413963A (en) * 2020-02-20 2020-07-14 上海交通大学 Multifunctional robot autonomous distribution method and system
CN112025707A (en) * 2020-08-28 2020-12-04 济南浪潮高新科技投资发展有限公司 Robot distribution system based on 5G communication
CN112183925A (en) * 2020-08-26 2021-01-05 蓓安科仪（北京）技术有限公司 Management method and system for intelligent robot connection logistics workstation
CN112184098A (en) * 2019-07-05 2021-01-05 坎德拉（深圳）科技创新有限公司 Scheduling method of intelligent distribution system, server and storage medium
CN112193952A (en) * 2020-09-30 2021-01-08 杭州海康机器人技术有限公司 Elevator resource scheduling method and device
CN112193953A (en) * 2020-09-30 2021-01-08 杭州海康机器人技术有限公司 Elevator resource scheduling method and device
CN112967006A (en) * 2021-04-20 2021-06-15 苏州优智达机器人有限公司 Robot control method, robot, distribution system and distribution method
CN113172643A (en) * 2021-04-26 2021-07-27 通标标准技术服务（青岛）有限公司 Laboratory automatic logistics system robot
CN114264306A (en) * 2021-12-02 2022-04-01 山东新一代信息产业技术研究院有限公司 Indoor and outdoor combined distribution robot and distribution method
CN114289321A (en) * 2021-11-24 2022-04-08 北京化工大学 Sorting and distributing integrated logistics robot mechanism
CN115079703A (en) * 2022-07-22 2022-09-20 安徽工业大学 Takeout delivery robot and control method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105517923A (en) * 2013-06-17 2016-04-20 奥卡多创新有限公司 Systems and methods for order processing
CN106314594A (en) * 2016-08-26 2017-01-11 南京理工大学 Storage and transfer robot used for modern logistics industry
WO2017064202A1 (en) * 2015-10-13 2017-04-20 Starship Technologies Oü Method and system for autonomous or semi-autonomous delivery
CN106708047A (en) * 2016-12-21 2017-05-24 精效新软新技术（北京）有限公司 Intelligent article delivery robot device and control method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105517923A (en) * 2013-06-17 2016-04-20 奥卡多创新有限公司 Systems and methods for order processing
WO2017064202A1 (en) * 2015-10-13 2017-04-20 Starship Technologies Oü Method and system for autonomous or semi-autonomous delivery
CN106314594A (en) * 2016-08-26 2017-01-11 南京理工大学 Storage and transfer robot used for modern logistics industry
CN106708047A (en) * 2016-12-21 2017-05-24 精效新软新技术（北京）有限公司 Intelligent article delivery robot device and control method

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108665217A (en) * 2018-05-18 2018-10-16 清华大学 Point-to-point hierarchical cargo immediate distribution system, method and application
CN108830526A (en) * 2018-05-21 2018-11-16 北京京东尚科信息技术有限公司 Dispensing device, dispenser, allocator and computer readable storage medium
CN108776482A (en) * 2018-06-22 2018-11-09 北京京东尚科信息技术有限公司 Unmanned dispensing vehicle, dispatching control method and device for unmanned dispensing vehicle
CN108648533B (en) * 2018-07-24 2023-06-13 麦海峰 Intelligent textbook device
CN108648533A (en) * 2018-07-24 2018-10-12 麦海峰 Intelligent teaching device
CN109214887A (en) * 2018-08-16 2019-01-15 榆林学院 A kind of teleshopping system and method
CN109278056A (en) * 2018-11-22 2019-01-29 复旦大学无锡研究院 Unmanned dispensing machine people
CN109623836A (en) * 2018-12-13 2019-04-16 拉扎斯网络科技（上海）有限公司 Dispensing machine people
CN109636188A (en) * 2018-12-13 2019-04-16 拉扎斯网络科技（上海）有限公司 Order allocator and electronic equipment, dispensing machine people and movement system
CN109968353A (en) * 2019-02-19 2019-07-05 特斯联（北京）科技有限公司 A kind of artificial intelligence robot and its system for community's cruise auxiliary
CN109968353B (en) * 2019-02-19 2020-02-14 特斯联（北京）科技有限公司 Artificial intelligent robot and system for community cruise assistance
CN109895115A (en) * 2019-03-21 2019-06-18 深兰科技（上海）有限公司 A kind of delivery processing method, device, medium and the equipment of service robot
CN110060663A (en) * 2019-04-28 2019-07-26 北京云迹科技有限公司 A kind of method, apparatus and system of answer service
CN110087190A (en) * 2019-05-16 2019-08-02 北京云迹科技有限公司 It is a kind of for notifying the method and device of user
CN112184098A (en) * 2019-07-05 2021-01-05 坎德拉（深圳）科技创新有限公司 Scheduling method of intelligent distribution system, server and storage medium
CN110378648A (en) * 2019-07-09 2019-10-25 河南省吉立达机器人有限公司 Unmanned dispatching carrier dispatches system and method
CN110688669B (en) * 2019-09-03 2021-08-06 耀灵人工智能(浙江)有限公司 Distribution method for realizing privacy protection by using transfer robot and position block chain
CN110688669A (en) * 2019-09-03 2020-01-14 耀灵人工智能(浙江)有限公司 Distribution method for realizing privacy protection by using transfer robot and position block chain
CN110991708A (en) * 2019-11-15 2020-04-10 云南电网有限责任公司电力科学研究院 Equipment distribution system and method based on path judgment
CN110900625A (en) * 2019-11-20 2020-03-24 陈海源 Manufacturing method of full-automatic remote control leaflet sending robot
CN110861104A (en) * 2019-11-29 2020-03-06 上海有个机器人有限公司 Method, medium, terminal and device for assisting robot in conveying articles
CN111413963A (en) * 2020-02-20 2020-07-14 上海交通大学 Multifunctional robot autonomous distribution method and system
CN111413963B (en) * 2020-02-20 2021-10-15 上海交通大学 Multifunctional robot autonomous distribution method and system
CN112183925B (en) * 2020-08-26 2022-02-22 蓓安科仪（北京）技术有限公司 Management method and system for intelligent robot connection logistics workstation
CN112183925A (en) * 2020-08-26 2021-01-05 蓓安科仪（北京）技术有限公司 Management method and system for intelligent robot connection logistics workstation
CN112025707A (en) * 2020-08-28 2020-12-04 济南浪潮高新科技投资发展有限公司 Robot distribution system based on 5G communication
CN112193953B (en) * 2020-09-30 2021-07-16 杭州海康机器人技术有限公司 Elevator resource scheduling method and device
CN112193953A (en) * 2020-09-30 2021-01-08 杭州海康机器人技术有限公司 Elevator resource scheduling method and device
CN112193952A (en) * 2020-09-30 2021-01-08 杭州海康机器人技术有限公司 Elevator resource scheduling method and device
WO2022068935A1 (en) * 2020-09-30 2022-04-07 杭州海康机器人技术有限公司 Elevator resource scheduling method and apparatus
CN112193952B (en) * 2020-09-30 2022-04-26 杭州海康机器人技术有限公司 Elevator resource scheduling method and device
CN112967006A (en) * 2021-04-20 2021-06-15 苏州优智达机器人有限公司 Robot control method, robot, distribution system and distribution method
CN113172643A (en) * 2021-04-26 2021-07-27 通标标准技术服务（青岛）有限公司 Laboratory automatic logistics system robot
CN114289321A (en) * 2021-11-24 2022-04-08 北京化工大学 Sorting and distributing integrated logistics robot mechanism
CN114264306A (en) * 2021-12-02 2022-04-01 山东新一代信息产业技术研究院有限公司 Indoor and outdoor combined distribution robot and distribution method
CN115079703A (en) * 2022-07-22 2022-09-20 安徽工业大学 Takeout delivery robot and control method

Similar Documents

Publication Publication Date Title
CN107662216A (en) A kind of robot delivery system and whole process allocator
CN110741226A (en) Action device of automatic driving vehicle enhancement system
CN107097239B (en) A kind of intelligent express delivery allocator and its system based on automatic machinery people
US11594132B2 (en) Parking facility management server for a parking facility
US10538421B2 (en) Systems, devices, and methods for inventory management of carpet rolls in a warehouse
WO2017196759A1 (en) Article delivery system
CN104054034B (en) The control of the autonomous mode of dual-mode vehicle
US9146559B2 (en) System and method for gathering video data related to operation of an autonomous industrial vehicle
CN109264283A (en) Sorting system and container method for sorting
CN109525856B (en) Live broadcast selective purchasing and distribution system
CN110398972A (en) A kind of autonomous dispatching take-away robot
CN107249969B (en) Method for operating a vehicle
CN103771106B (en) A kind of workshop level mass transport trolley control system and control method
KR101805423B1 (en) ICT based Stereo Vision guided vehicle system for the next generation smart factory
CA2938073A1 (en) Systems, devices, and methods for providing passenger transport
CN108628317A (en) The automatic delivery method of the automatic dispenser of article and article
WO2022073052A1 (en) Method for the computer-aided processing of a status change of a goods carrier in a storage and picking system, and storage and picking system
CN114442607A (en) Multi-robot path coordination method and system
CN113290561A (en) Medical self-disinfection logistics robot and control method thereof
CN107665417A (en) A kind of vehicle dispatching method of goods delivery
CN114610028A (en) Intelligent delivery AGV trolley for hospital and delivery method thereof
CN110991708A (en) Equipment distribution system and method based on path judgment
CN116306009A (en) Distribution system and method thereof
WO2018027964A1 (en) Delivery system based on fingerprint recognition
WO2018027968A1 (en) Password identification based delivery system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20180206

WD01 Invention patent application deemed withdrawn after publication