CN109230148A - Unmanned intelligent warehousing system based on robot - Google Patents
Unmanned intelligent warehousing system based on robot Download PDFInfo
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- CN109230148A CN109230148A CN201810873270.1A CN201810873270A CN109230148A CN 109230148 A CN109230148 A CN 109230148A CN 201810873270 A CN201810873270 A CN 201810873270A CN 109230148 A CN109230148 A CN 109230148A
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- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0216—Codes or marks on the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/046—RFID
Abstract
The invention discloses the unmanned intelligent warehousing systems based on robot, belong to intelligent storage technical field, unmanned intelligent warehousing system based on robot, including central server, store in a warehouse robot and emergency robot, central server, arbitrarily equal two-way signaling connects between the two with emergency robot for storage robot, central server includes multirobot communication module, multirobot scheduling and planning module and warehouse state collection and detection module, storage robot includes main control module, detection of obstacles module, two dimensional code read module, radio frequency read module, wireless communication module, map storage and locating module and contactless charging receiving module, the contactless charging of storage robot offer safely and fast is provided, it avoids because of robotic contact formula charging bring fire hazard, emergency robot is introduced simultaneously , can significant increase storage efficiency and safety, while the processing and response speed of emergency case can be promoted.
Description
Technical field
The present invention relates to intelligent storage technical fields, more specifically to the unmanned intelligent storage based on robot
System.
Background technique
With the development of science and technology, robot is more and more applied in intelligent warehousing system, also there are many high-techs
Skill enterprise has had centainly in unmanned intelligent warehousing system of the research and development based on robot, and in the technology of storage robot
Development and progress, existing storage robot can be sorted or be removed to cargo automatically according to electronic tag or two-dimension code label
Fortune, may be implemented basic unmanned storage in certain degree.
But to the safety problem of the unmanned intelligent repository based on robot, there is no the solutions of comparative maturity to do at present
Method inevitably has inflammable and explosive commodity in storage, or cargo itself can have inflammable risk during transportation, have
Certain fire safety evaluating hidden danger, more important question is that, robot is typically necessary charging, if the positional distance of robot charging
Warehouse farther out, can greatly reduce working efficiency back and forth, if robot is located in warehouse or closer apart from warehouse, and have biggish
Charge security risk, because the hidden danger that fire occurs in common contact charging process is larger, processing not in time can be serious
The security against fire in warehouse is influenced, and generally artificial charging in the prior art, not only spent human and material resources, and common filled
Electrical efficiency is lower, when pressure of storing in a warehouse is big, is difficult quick response.
Summary of the invention
1. technical problems to be solved
Aiming at the problems existing in the prior art, the purpose of the present invention is to provide the unmanned intelligent storehouses based on robot
Storage system, it can be implemented as the contactless charging of storage robot offer safely and fast, avoids because of robotic contact formula
Charge bring fire hazard, while introducing emergency robot, can significant increase storage efficiency and safety, while can be promoted
The processing and response speed of emergency case.
2. technical solution
To solve the above problems, the present invention adopts the following technical scheme that.
Unmanned intelligent warehousing system based on robot, including central server, storage robot and emergency robot,
Arbitrarily equal two-way signaling connects between the two for the central server, storage robot and emergency robot, the center service
Device includes multirobot communication module, multirobot scheduling and planning module and warehouse state collection and detection module, the storehouse
Storage robot include main control module, detection of obstacles module, two dimensional code read module, radio frequency read module, wireless communication module,
Map storage with locating module and contactless charging receiving module, the detection of obstacles module, two dimensional code read module and
Radio frequency read module is connect with main control module one way signal, the wireless communication module, map storage and locating module and non-
Contact charging receiving module is connect with main control module two-way signaling, and the emergency robot includes main control module, barrier
Detection module, two dimensional code read module, radio frequency read module, wireless communication module, map storage and locating module, contactless
Charge transmitting module, contactless charging receiving module, infrared heat sensor, smoke sensor device, image collecting device and dioxy
Change carbon fire extinguishing jet device, it can be implemented as the contactless charging of storage robot offer safely and fast, avoid because of machine
Device people's contact charges bring fire hazard, while introducing emergency robot, can significant increase storage efficiency and safety,
The processing and response speed of emergency case can be promoted simultaneously.
Further, detection of obstacles module in the emergency robot, two dimensional code read module, radio frequency read module,
Infrared heat sensor, smoke sensor device and carbon-dioxide fire engine injection apparatus with emergency robot in main control module one way signal
Connection, wireless communication module, map store and locating module, contactless charging transmitting module, non-in the emergency robot
Contact charging receiving module and image collecting device are connect with main control module two-way signaling in emergency robot.
Further, the storage robot and emergency robot are respectively positioned in warehouse and run, and include more in the warehouse
A storage rack, contactless charging region is provided in the warehouse, and the lower end in the contactless charging region is equipped with
The contactless charging transmitting module in warehouse, when the robot that stores in a warehouse is lower than certain percentage with emergency robot electric quantity, according to
Those skilled in the art are incorporated into logical language, under the control of main control module, can go to the contactless charging in warehouse automatically
It charges in region.
Further, the storage kinds of goods post RFID electronic label and two-dimension code label, the RFID before entering warehouse
Electronic tag and two-dimension code label record the relevant information for having kinds of goods, and the relevant information includes the title, type, life of kinds of goods
Date, shelf-life, manufacturer's information, settlement information, storage date and gross mass information are produced, convenient for retrospect inventory information, just
It is managed in kinds of goods.
Further, the RFID electronic label and two-dimension code label are integrated label, and RFID tag is located at two dimension
Code inside tags, the integration label are pasted on the side of kinds of goods packaging, and RFID electronic label and two-dimension code label can be simultaneously
As the identification code of kinds of goods, the case where avoiding one of tag damage and can not identify kinds of goods.
Further, the contactless charging technique is the electronic induction technology of Qi standard, this technology has convenience
With the big feature of versatility two, it is easy to implement and cost is controllable.
Further, battery is mounted in the storage robot and emergency robot, in the emergency robot
Much larger than the accumulator capacity being respectively mounted in storage robot, robot of in emergency circumstances meeting an urgent need can lead to the accumulator capacity of installation
Cross contactless charging transmitting module for storage robot charging, when the contactless charging region in warehouse can not normal use when,
It not will cause the case where storage robot is not available because that can not charge in short time, will not influence the normal operation in warehouse.
Further, the central server is connected with cloud server, and maintenance is stored in the cloud server
Person related information, and warehouse state data being timely feedbacked to maintenance personnel's mobile phone terminal or the end PC, personnel convenient for safeguarding and
When grasp warehouse state and situation, convenient for promoted case of emergency processing response speed.
Further, the carbon-dioxide fire engine injection apparatus includes carbon dioxide extinguisher and presses electric pushrod, when
When infrared heat sensor and smoke sensor device in emergency robot sense that fire occurs, emergency robot can be moved to fire
Near source, start electric pushrod, trigger carbon dioxide extinguisher ejecting extinguishing, until open fire disappears, image collecting device can be examined
Detecting fire whether there is, and associated picture can be uploaded to cloud server in real time, and be fed back in time by mobile phone terminal or the end PC
To maintenance personnel, maintenance personnel can remotely operate in mobile phone terminal or the end PC, can control the shift position of emergency robot
Whether with the injection of carbon-dioxide fire engine injection apparatus.
Further, the ratio of storage robot and robot of meeting an urgent need is 10:1 in each warehouse, and is at least existed
One emergency robot, it is ensured that the normal operation in warehouse.
3. beneficial effect
Compared with the prior art, the present invention has the advantages that
(1) this programme can be implemented as the contactless charging of storage robot offer safely and fast, avoid because of machine
People's contact charges bring fire hazard, while introducing emergency robot, can significant increase storage efficiency and safety, together
When can promote the processing and response speed of emergency case.
(2) detection of obstacles module, two dimensional code read module, radio frequency read module, infrared heat sensing in emergency robot
Device, smoke sensor device and carbon-dioxide fire engine injection apparatus are connect with main control module one way signal in emergency robot, are met an urgent need
Wireless communication module, map storage and locating module, contactless charging transmitting module, contactless charging receive in robot
Module and image collecting device are connect with main control module two-way signaling in emergency robot.
(3) storage robot and emergency robot are respectively positioned in warehouse and run, and include multiple storage racks, warehouse in warehouse
It is inside provided with contactless charging region, the lower end in contactless charging region is equipped with the contactless charging transmitting mould in warehouse
Block is incorporated into logic according to those skilled in the art when the robot that stores in a warehouse is lower than certain percentage with emergency robot electric quantity
Language, under the control of main control module, the contactless charging region that can be gone to automatically in warehouse is charged.
(4) storage kinds of goods post RFID electronic label and two-dimension code label, RFID electronic label and two dimension before entering warehouse
Code label records the relevant information for having kinds of goods, and relevant information includes the title, type, date of manufacture, shelf-life, production of kinds of goods
Company-information, settlement information, storage date and gross mass information, convenient for retrospect inventory information, convenient for being managed to kinds of goods.
(5) RFID electronic label and two-dimension code label are integrated label, and RFID tag is located inside two-dimension code label,
Integrated label is pasted on the side of kinds of goods packaging, and RFID electronic label and two-dimension code label can be simultaneously as the identifications of kinds of goods
Code, the case where avoiding one of tag damage and can not identify kinds of goods.
(6) contactless charging technique is the electronic induction technology of Qi standard, this technology has convenience and versatility two
Big feature, is easy to implement and cost is controllable.
(7) it is mounted on battery in storage robot and emergency robot, the electric power storage pool capacity installed in robot of meeting an urgent need
For amount much larger than the accumulator capacity being respectively mounted in storage robot, robot of in emergency circumstances meeting an urgent need can pass through contactless charging
Transmitting module is the charging of storage robot, when the contactless charging region in warehouse can not normal use when, will not make in the short time
The case where not being available at storage robot because that can not charge, will not influence the normal operation in warehouse.
(8) central server is connected with cloud server, and maintenance personnel's relevant information is stored in cloud server, and
Warehouse state data can be timely feedbacked to maintenance personnel's mobile phone terminal or the end PC, personnel convenient for safeguarding grasp the state in warehouse in time
And situation, convenient for promoting the processing response speed of case of emergency.
(9) carbon-dioxide fire engine injection apparatus includes carbon dioxide extinguisher and pressing electric pushrod, when emergency robot
In infrared heat sensor and smoke sensor device sense fire occur when, emergency robot can be moved near fire source, open
Dynamic electric pushrod, triggers carbon dioxide extinguisher ejecting extinguishing, until open fire disappears, whether image collecting device can detect open fire
In the presence of, and associated picture can be uploaded to cloud server in real time, and maintenance personnel is fed back to by mobile phone terminal or the end PC in time,
Maintenance personnel can remotely operate in mobile phone terminal or the end PC, and the shift position of controllable emergency robot and carbon dioxide go out
Whether the injection of fire-fighting injection device.
(10) ratio of storage robot and robot of meeting an urgent need is 10:1 in each warehouse, and at least there is an emergency machine
Device people, it is ensured that the normal operation in warehouse.
Detailed description of the invention
Fig. 1 is systematic schematic diagram of the invention；
Fig. 2 is emergency robot system schematic diagram of the invention；
Fig. 3 is warehouse layout partial schematic diagram of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention；Technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description；Obviously；Described embodiments are only a part of the embodiments of the present invention；Instead of all the embodiments, it is based on
Embodiment in the present invention；It is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment；It shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the instruction such as term " on ", "lower", "inner", "outside" " top/bottom end "
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and cannot understand
For indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Be equipped with ", " be arranged/connect ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, be also possible to removable
Connection is unloaded, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements.It for the ordinary skill in the art, can be specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
Embodiment 1:
Unmanned intelligent warehousing system based on robot referring to FIG. 1-2, including central server, storage robot
With emergency robot, arbitrarily equal two-way signaling is connected between the two for central server, storage robot and emergency robot, center
Server includes multirobot communication module, multirobot scheduling and planning module and warehouse state collection and detection module, storehouse
Storage robot include main control module, detection of obstacles module, two dimensional code read module, radio frequency read module, wireless communication module,
Map storage and locating module and contactless charging receiving module, detection of obstacles module, two dimensional code read module and radio frequency
Read module is connect with main control module one way signal, wireless communication module, map storage and locating module and Non-contact type charging
Electric receiving module is connect with main control module two-way signaling, and emergency robot includes main control module, detection of obstacles module, two dimension
Code read module, radio frequency read module, wireless communication module, map storage with locating module, contactless charging transmitting module,
Contactless charging receiving module, infrared heat sensor, smoke sensor device, image collecting device and carbon-dioxide fire engine injection dress
It sets, detection of obstacles module, two dimensional code read module, radio frequency read module, infrared heat sensor, smog pass in robot of meeting an urgent need
Sensor and carbon-dioxide fire engine injection apparatus are connect with main control module one way signal in emergency robot, nothing in robot of meeting an urgent need
Line communication module, map storage and locating module, contactless charging transmitting module, contactless charging receiving module and image
Acquisition device is connect with main control module two-way signaling in emergency robot.
Detection of obstacles module in storage robot and robot of meeting an urgent need can protect storage robot or emergency machine
The safety of people, route can be avoided automatically or change by encountering barrier, map storage in storage robot and robot of meeting an urgent need and
Locating module can help to store in a warehouse robot or emergency robot accurately finds corresponding position in warehouse, and accurately according to planning
Route it is mobile.
Referring to Fig. 3, storage robot and emergency robot are respectively positioned in warehouse and run, it include multiple storage goods in warehouse
Frame, contactless charging region is provided in warehouse, and the lower end in contactless charging region is equipped with the contactless charging in warehouse
Transmitting module is compiled when the robot that stores in a warehouse is lower than certain percentage with emergency robot electric quantity according to those skilled in the art
Enter logical language, under the control of main control module, the contactless charging region that can be gone to automatically in warehouse is charged, storage
It is mounted on battery in robot and emergency robot, the accumulator capacity installed in robot of meeting an urgent need is much larger than storage machine
The accumulator capacity being respectively mounted in people, robot of in emergency circumstances meeting an urgent need can be storage machine by contactless charging transmitting module
Device people charging, when the contactless charging region in warehouse can not normal use when, not will cause the robot that stores in a warehouse in the short time because of nothing
The case where method charges and is not available, will not influence the normal operation in warehouse, and contactless charging technique is the electronics of Qi standard
Induction technology, this technology have convenience and the big feature of versatility two, are easy to implement and cost is controllable, machine of storing in a warehouse in each warehouse
The ratio of device people and emergency robot is 10:1, and at least there is an emergency robot, it is ensured that the normal operation in warehouse.
Storage kinds of goods post RFID electronic label and two-dimension code label, RFID electronic label and two dimensional code mark before entering warehouse
Label record has the relevant information of kinds of goods, and relevant information includes the title, type, date of manufacture, shelf-life, manufacturer of kinds of goods
Information, settlement information, storage date and gross mass information, convenient for retrospect inventory information, convenient for being managed to kinds of goods, RFID electricity
Subtab and two-dimension code label are integrated label, and RFID tag is located inside two-dimension code label, and integrated label is pasted on
The side of kinds of goods packaging, RFID electronic label and two-dimension code label can avoid one of which simultaneously as the identification code of kinds of goods
Tag damage and the case where can not identify kinds of goods.
Central server is connected with cloud server, maintenance personnel's relevant information is stored in cloud server, and can
Warehouse state data are timely feedbacked to maintenance personnel's mobile phone terminal or the end PC, personnel convenient for safeguarding grasp in time warehouse state and
Situation, convenient for promoting the processing response speed of case of emergency.
Carbon-dioxide fire engine injection apparatus includes carbon dioxide extinguisher and pressing electric pushrod, when in emergency robot
When infrared heat sensor and smoke sensor device sense that fire occurs, emergency robot can be moved near fire source, starting electricity
Dynamic push rod, triggers carbon dioxide extinguisher ejecting extinguishing, until open fire disappears, image collecting device can detect whether open fire is deposited
, and associated picture can be uploaded to cloud server in real time, and maintenance personnel is fed back to by mobile phone terminal or the end PC in time, it ties up
Shield personnel can remotely operate in mobile phone terminal or the end PC, can control shift position and the carbon-dioxide fire engine of emergency robot
Whether the injection of injection apparatus.
The contactless charging of storage robot offer safely and fast is originally provided, is avoided because of robotic contact formula
Charge bring fire hazard, while introducing emergency robot, can significant increase storage efficiency and safety, while can be promoted
The processing and response speed of emergency case.
It is described above；It is merely preferred embodiments of the present invention；But scope of protection of the present invention is not limited thereto；
Anyone skilled in the art is in the technical scope disclosed by the present invention；According to the technique and scheme of the present invention and its
It improves design and is subject to equivalent substitution or change；It should be covered by the scope of protection of the present invention.
Claims (10)
1. the unmanned intelligent warehousing system based on robot, including central server, storage robot and emergency robot,
Be characterized in that: arbitrarily equal two-way signaling connects between the two for the central server, storage robot and emergency robot, described
Central server includes that multirobot communication module, multirobot scheduling and planning module and warehouse state are collected and detection mould
Block, the storage robot includes main control module, detection of obstacles module, two dimensional code read module, radio frequency read module, wireless
Communication module, map storage and locating module and contactless charging receiving module, the detection of obstacles module, two dimensional code are read
Modulus block and radio frequency read module are connect with main control module one way signal, the wireless communication module, map storage and positioning
Module and contactless charging receiving module are connect with main control module two-way signaling, and the emergency robot includes master control mould
Block, detection of obstacles module, two dimensional code read module, radio frequency read module, wireless communication module, map storage and positioning mould
Block, contactless charging transmitting module, contactless charging receiving module, infrared heat sensor, smoke sensor device, Image Acquisition
Device and carbon-dioxide fire engine injection apparatus.
2. the unmanned intelligent warehousing system according to claim 1 based on robot, it is characterised in that: the emergency machine
Detection of obstacles module, two dimensional code read module, radio frequency read module, infrared heat sensor, smoke sensor device and two in device people
Carbonoxide fire extinguishing jet device is connect with main control module one way signal in emergency robot, channel radio in the emergency robot
Interrogate module, map storage and locating module, contactless charging transmitting module, contactless charging receiving module and Image Acquisition
Device is connect with main control module two-way signaling in emergency robot.
3. the unmanned intelligent warehousing system according to claim 1 based on robot, it is characterised in that: the storage machine
Device people and emergency robot are respectively positioned in warehouse and run, and include multiple storage racks in the warehouse, are provided in the warehouse
The lower end in contactless charging region, the contactless charging region is equipped with the contactless charging transmitting module in warehouse.
4. the unmanned intelligent warehousing system according to claim 1 based on robot, it is characterised in that: the storage goods
Product post RFID electronic label and two-dimension code label before entering warehouse, and the RFID electronic label and two-dimension code label, which record, to be had
The relevant information of kinds of goods, the relevant information include the titles of kinds of goods, type, the date of manufacture, the shelf-life, manufacturer's information,
Settlement information, storage date and gross mass information.
5. the unmanned intelligent warehousing system according to claim 4 based on robot, it is characterised in that: the RFID electricity
Subtab and two-dimension code label are integrated label, and RFID tag is located inside two-dimension code label, and the integration label is viscous
It is affixed on the side of kinds of goods packaging.
6. the unmanned intelligent warehousing system according to claim 1 based on robot, it is characterised in that: described non-contact
Formula charging technique is the electronic induction technology of Qi standard.
7. the unmanned intelligent warehousing system according to claim 1 based on robot, it is characterised in that: the storage machine
It is mounted on battery in device people and emergency robot, the accumulator capacity installed in the emergency robot is much larger than storage machine
The accumulator capacity being respectively mounted in device people.
8. the unmanned intelligent warehousing system according to claim 1 based on robot, it is characterised in that: genuinely convinced in described
Business device is connected with cloud server, maintenance personnel's relevant information is stored in the cloud server, and can be by warehouse state
Data are timely feedbacked to maintenance personnel's mobile phone terminal or the end PC.
9. the unmanned intelligent warehousing system according to claim 1 based on robot, it is characterised in that: the titanium dioxide
Carbon fire extinguishing jet device includes carbon dioxide extinguisher and pressing electric pushrod.
10. the unmanned intelligent warehousing system according to claim 1 or 3 based on robot, it is characterised in that: Mei Gesuo
The ratio for stating store in a warehouse in warehouse robot and robot of meeting an urgent need is 10:1, and at least there is an emergency robot.
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| CN201810873270.1A CN109230148A (en) | 2018-08-02 | 2018-08-02 | Unmanned intelligent warehousing system based on robot |
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| CN201810873270.1A CN109230148A (en) | 2018-08-02 | 2018-08-02 | Unmanned intelligent warehousing system based on robot |
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| WO2020151724A1 (en) * | 2019-01-21 | 2020-07-30 | 深圳市海柔创新科技有限公司 | Intelligent warehousing system, goods picking and placing method, and background processing terminal of intelligent warehousing system |
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| CN111674817A (en) * | 2020-06-12 | 2020-09-18 | 深圳市海柔创新科技有限公司 | Storage robot control method, device, equipment and readable storage medium |
| NO20190546A1 (en) * | 2019-04-25 | 2020-10-26 | Autostore Tech As | An automated storage and retrieval system with fire detection device and methods of locating and/or verifying fire or smoke in an automated storage and retrieval system |
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Application publication date: 20190118 |