CN111008806A - Automatic picking method based on RFID - Google Patents
Automatic picking method based on RFID Download PDFInfo
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- CN111008806A CN111008806A CN201911290753.XA CN201911290753A CN111008806A CN 111008806 A CN111008806 A CN 111008806A CN 201911290753 A CN201911290753 A CN 201911290753A CN 111008806 A CN111008806 A CN 111008806A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
- G06Q10/0875—Itemisation or classification of parts, supplies or services, e.g. bill of materials
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
Abstract
The invention relates to an automatic goods picker method based on RFID, which comprises the following steps: when goods are put in storage, selecting a corresponding label type according to packaging materials, producing an EPC code according to article information, writing the EPC code into an EPC area, writing the article information into a USER area, and locking the EPC area and the USER area to be read-only after data writing is finished; defining container numbers and positions according to the actual container positions and specification numbers of the warehouse and recording the container numbers and the positions into a warehouse management system, wherein each container has a number and a position defined in the system so as to find a correct position according to the position number; the picking robot is connected with the warehouse management system through the wireless communication module, and downloads a picking task from a background, plans a picking route, and displays task details and picking progress; the warehouse management system provides an article in-out management function and a goods picking task management function, an EPC number and a container position are distributed to the articles through in-warehouse management, RFID labels are printed, a goods picking task is formulated through the goods picking task management function, the goods picking task is issued, and the goods picking progress is tracked.
Description
Technical Field
The invention relates to an RFID (radio frequency identification) technology, in particular to an automatic picking method based on RFID.
Background
Today, the warehouse logistics industry has great influence as basic service in the aspect of integrating electronic commerce into national economy and daily life, and the warehouse logistics industry has wide field, more people absorbing and accepting employment and great effect of promoting production and pulling consumption, and plays an important role in promoting the adjustment of national industrial structure, changing economic development mode, enhancing national economy competitiveness, improving national civilian living level and the like.
The popularization of the Internet, the use of the Internet of things and cloud platforms from conception to input, the coming 5G era, the RFID technology becoming mature day by day, and the unmanned technology endows new connotation of the warehousing and logistics of new retail. Unmanned vehicles, unmanned planes, unmanned supermarkets and intelligent robots are in a continuous bright phase. The logistics storage management information degree and the intelligent degree are improved, the labor cost is saved, the accuracy and the timeliness are improved, and the intelligent unmanned storage logistics platform is constructed in the development direction of the whole field. The national IT huge in Ali, Jingdong, Baidu, Mei Tuo and the like, and the American silicon valley and the like are interested in researching and developing various devices and building an intelligent unmanned storage, logistics and delivery system. However, a management system based on RFID technology is still lacked
Disclosure of Invention
It is an object of the present invention to provide an RFID-based automated picker method for solving the above-mentioned problems of the prior art.
The invention relates to an automatic goods picker method based on RFID, which comprises the following steps: writing data on an RFID label according to article information, fixing the RFID label on an article package, storing a unique identifier in an EPC (electronic product code) area of the RFID label, storing the article information in a USER (USER) area, defining an EPC (electronic product code) coding rule and a corresponding data dictionary according to warehouse services, selecting a corresponding label type according to a package material when goods are put in storage, producing an EPC code according to the article information, writing the article information into the USER area, and locking the EPC area and the USER area to be read only after the data are written; defining container numbers and positions according to the actual container positions and specification numbers of the warehouse and recording the container numbers and the positions into a warehouse management system, wherein each container has a number and a position defined in the system so as to find a correct position according to the position number; the picking robot is connected with the warehouse management system through the wireless communication module, and downloads a picking task from a background, plans a picking route, and displays task details and picking progress; the warehouse management system provides an article in-out management function and a picking task management function, an EPC number and a container position are distributed to the articles through the in-warehouse management, RFID labels are printed, a picking task is formulated through the picking task management function, the picking task is issued, and the picking progress is tracked;
according to one embodiment of the RFID-based automatic order picker method, the robot constructs a work map of corresponding relation between container numbers and positions through SLAM and laser radar.
According to one embodiment of the RFID-based automatic goods picking machine method, the RFID goods picking robot is composed of a goods transporting robot and a trailer, and the goods transporting robot is provided with a SLAM, a laser radar, an android controller, a wireless communication module, an RFID energy sensitive mechanical arm and an RFID reader-writer.
In one embodiment of the RFID-based automated picker method according to the present invention, the drawer is a metal housing and incorporates an RFID antenna.
According to an embodiment of the automatic picking machine method based on the RFID, after the robot reaches the correct container position, the RFID filter is set to accurately search the appointed RFID label through the RFID energy sensitive mechanical arm, and the position of the mechanical arm is adjusted according to the signal energy value returned by the label, so that the goods can be picked accurately.
According to an embodiment of the automatic picking machine method based on RFID, the dragging box is used for storing goods picked by the robot, the dragging box is internally provided with an RFID reader-writer and an antenna, when the picked goods are placed into the dragging box, the RFID reader-writer reads RFID label information of the goods, and whether the picked goods are the goods required by the picking task is verified.
The RFID tag is used for recording information of the article, the RFID read-write equipment is used for automatically identifying the article, the robot is used for automatically constructing a work map to plan picking connection, the RFID energy sensitive mechanical arm is used for automatically picking the article, and the RFID read-write equipment arranged in the trailer box is used for ensuring that a picking task is correctly executed. The invention can improve the informatization and automation degree of warehouse article management, save labor cost, improve the accuracy and efficiency of sorting warehouse articles, and play an important role in the fields of storage, logistics and the like.
Drawings
FIG. 1 is a flow chart of an RFID-based automated picking robot apparatus and system of the present invention;
fig. 2 is a schematic diagram of the composition of an automatic picking robot based on RFID of the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
Fig. 1 is a flowchart of an automatic picking robot device and system based on RFID according to the present invention, fig. 2 is a schematic diagram of an automatic picking robot based on RFID according to the present invention, and as shown in fig. 1 and fig. 2, an automatic picking method based on RFID according to the present invention includes:
(1) manufacturing and installing an RFID label: and writing data into the RFID tag according to the article information, and fixing the RFID tag on the article package. The RFID label EPC area stores a unique identifier, and the USER area stores article information. And according to the EPC encoding rule and the corresponding data dictionary defined by the warehouse service, selecting the corresponding label types according to the packaging materials when the goods are put in storage. The EPC code is produced according to the article information and written into the EPC area, and the article information is written into the USER area. After the data is written, locking the EPC area and the USER area as read-only;
(2) the robot scene map construction step: and defining the serial number and the position of the container according to the actual container position and specification quantity of the warehouse and recording the serial number and the position into a warehouse management system and a robot control system. Each container has a number and a position defined in the system, the robot constructs a working map of the corresponding relation between the container number and the position through SLAM and laser radar, and finds out the correct position according to the position number;
(3) assembling the RFID picking robot: the RFID picking robot is composed of a cargo carrying robot and a dragging box. The goods transporting robot is provided with a SLAM, a laser radar, an android controller, a wireless communication module, an RFID energy sensitive mechanical arm and an RFID reader-writer. The trailer box is a metal shell (used for shielding electromagnetic signals) and is internally provided with an RFID antenna;
(4) the RFID picking robot system deployment step: the picking robot is connected with the warehouse management system through a wireless communication module, and a picking task management system is deployed on an android controller of the picking robot and is responsible for downloading picking tasks from a background, planning picking routes, and displaying task details and picking progress; the warehouse management system provides an article in-out management function and a picking task management function, an EPC number and a container position are distributed to the articles through the in-warehouse management, RFID labels are printed, a picking task is formulated through the picking task management function, the picking task is issued, and the picking progress is tracked;
as shown in fig. 1 and 2, an automatic picking method based on RFID of the present invention specifically includes:
the step 1 comprises the following steps:
step 11: designing a data dictionary and collecting article information. The item information is recorded in terms of warehouse management operations, such as manufacturer, date of manufacture, item type, packaging type … …. Designing a data dictionary according to the article information, such as packaging categories divided into trays (outer package, carrying case, bag), cases (outer package, inner storage case, single article), bags (outer package, inner containing single article with label), single articles (single article) … …;
step 12: and EPC encoding. The EPC area of the RFID tag stores the EPC, which is a unique identifier that the tag can edit in the system. The RFID read-write equipment is used for reading the EPC most conveniently and quickly, and the EPC is composed of an article type, a manufacturer number, a random number and the like. Producing the EPC according to the related information of the article and the EPC coding rule;
step 13: and selecting the type of the label and installing the label. The reading and writing of the RFID label are easily interfered by the external environment, and the RFID labels made of various materials appear on the market aiming at different application scenes, such as: ceramic labels, paper labels, anti-metal labels … …. Selecting a label made of a proper material, and fixing the label on the outer package of a tray, a box or a bag or on the surface of a single product;
step 14: and (5) making and sending the RFID label. According to the requirement of warehouse management business, a human-computer interaction interface of RFID label issuing software displays item information to be collected, an operator fills the item information, an EPC code is generated according to an EPC encoding rule, an RFID read-write device is used for writing the EPC code into an EPC area of the RFID label, and the item information is written into a USER area of the RFID label. Then locking the EPC area and the USER area as read-only;
the step 2 comprises the following steps:
step 21: and defining the position of the warehouse container. Defining a container number in a warehouse management system, and defining the position of the container according to the SLAM requirement;
step 22: and constructing a robot scene map. The robot is connected with the warehouse management system through the wireless communication module, downloads the serial number and the position information of the container, and constructs a work map by using an SLAM technology;
the step 3 comprises the following steps:
step 31: and assembling the cargo robot. The goods transporting robot is provided with a SLAM, a laser radar, an android controller, a wireless communication module and an RFID energy sensitive mechanical arm; SLAM and lidar are used to construct work maps and automatic positioning. And the android control machine is used for deploying a picking task management system. After the robot arrives at the correct container position, the RFID filter is set to accurately search the designated RFID label through the RFID energy sensitive mechanical arm, and the position of the mechanical arm is adjusted according to the signal energy value returned by the label to accurately pick the goods.
Step 32: and (5) assembling the dragging box. The trailer box is used for storing goods picked by the robot. The dragging box is internally provided with an RFID reader-writer and an antenna, when an article is picked out and put into the dragging box, the RFID reader-writer reads the RFID label information of the article, whether the picked article is the article required by the picking task is verified, and in order to prevent the interference of the external label information, a metal shell is used for shielding external electromagnetic signals.
The step 4 comprises the following steps:
step 41: and (5) system deployment. A picking task management system is deployed at the picking robot, a wireless communication module is used for connecting a warehouse local area network, and the picking robot downloads a picking task from a background, plans a picking route, and displays task details and picking progress; the warehouse management system is connected with a warehouse local area network through a network cable, and is used for formulating and issuing a picking task and tracking the picking progress of the robot;
step 42: and warehousing goods. When goods are put in a warehouse, the warehouse management system distributes an epc number, a container number for storing the goods, an RFID label is printed, the label epc area stores the goods number, the user area stores the related information of the goods, and the label surface prints the text information of the goods;
step 43: and (5) making and issuing a picking task. The manager formulates a picking task according to the business operation warehouse management system and assigns the picking task to a certain robot to complete the picking task;
step 44: and (5) picking the goods by the robot. The robot plans a goods picking route, finds a correct container, precisely picks goods through the RFID energy sensitive mechanical arm, puts the goods into a trailer, and verifies whether the goods put into the trailer are the goods required by a task through the trailer RFID read-write equipment;
step 45: and ending the task. After the robot correctly picks up all goods, the goods are conveyed to a specified position, the robot informs a warehouse management system worker to take away the goods, and after the RFID read-write equipment in the trailer monitors that all the goods in the trailer are taken away, the robot informs the warehouse management system to finish the goods picking task;
as shown in fig. 1 and 2, an embodiment of an automatic picking method based on RFID of the present invention includes:
the step 1 comprises the following steps:
step 11: and (5) data acquisition. From the raw data set, the following information is collected for any point: distance to origin (warehouse), distance to other points, latest arrival time, vehicle speed v (all vehicle speeds are the same);
in implementation, a view or a table may be made on the original database, assuming that the number of points is n, and the attributes of the table include: point id, distance to origin Li, latest arrival time Ti, and the information of n points is inserted into the table. And (4) manufacturing an n-order symmetric matrix, and storing the distance value Lij between the point i and the point j in the ith row and j column. The vehicle running speed is constant at v. The distance matrix is as follows:
step 11: designing a data dictionary and collecting article information. The item information is recorded in terms of warehouse management operations, such as manufacturer, date of manufacture, item type, packaging type … …. Designing a data dictionary based on article information, such as packaging categories divided into cases (outer package, inner storage package, single article), bags (outer package, inner containing single article with label), single article (single article) … …;
in implementation, the articles are divided into three levels of boxes, bags and single articles according to the requirement of warehouse management. The single article has the own article information and label; the package is wrapped with a package label, and the single product with the label is placed in the package part; the outside of the box is provided with a box label, and the inside of the box is provided with a labeled bag or single product. Defining a data dictionary: type of label, type of article, type of manufacturer, date of manufacture … …
Step 12: and EPC encoding. The EPC area of the RFID tag stores the EPC, which is a unique identifier that the tag can edit in the system. The RFID read-write equipment is used for reading the EPC most conveniently and quickly, and the EPC is composed of an article type, a manufacturer number, a random number and the like;
in practice, the total length (number of bytes) of the EPC is specified, e.g. 24, and a value or random number defined by which data dictionary each byte position value corresponds is specified.
Step 13: and selecting the type of the label and installing the label. The reading and writing of the RFID label are easily interfered by the external environment, and the RFID labels made of various materials appear on the market aiming at different application scenes, such as: ceramic labels, paper labels, anti-metal labels … …. Selecting a label made of a proper material, and fixing the label on the outer package of a box or a bag or on the surface of a single product;
in the implementation, according to the outer packaging material of individual product, package, case, select the label of suitable material, for example: ceramic labels, paper labels, anti-metal labels … …. The label is secured to the outer surface.
Step 14: and (5) making and sending the RFID label. According to the requirement of warehouse management business, a human-computer interaction interface of RFID label issuing software displays item information to be collected, an operator fills the item information, an EPC code is generated according to an EPC encoding rule, an RFID read-write device is used for writing the EPC code into an EPC area of the RFID label, and the item information is written into a USER area of the RFID label. Then locking the EPC area and the USER area as read-only;
in implementation, label making software is developed, and the software provides a human-computer interaction interface for an operator to input article information; generating an EPC according to the EPC coding rule and the item information; operating RFID read-write equipment to write the EPC into an EPC area of the label and write the article information into a USER area; and locking the operating authority of the EPC area and the USER area of the tag as read-only.
The step 2 comprises the following steps:
step 21: and defining the position of the warehouse container. Defining container numbers and positions in a warehouse management system;
when the method is implemented, the number is defined according to the number of the containers, and the positions of the containers are recorded.
Step 22: and constructing a robot scene map. The robot is connected with the warehouse management system through the wireless communication module, downloads the serial number and the position information of the container, and constructs a work map by using an SLAM technology;
when the method is implemented, the robot acquires container information and article storage information of the whole warehouse from a warehouse management system, and a work map is constructed.
The step 3 comprises the following steps:
step 31: and assembling the cargo robot. The goods transporting robot is provided with a SLAM, a laser radar, an android controller, a wireless communication module and an RFID energy sensitive mechanical arm; SLAM and lidar are used to construct work maps and automatic positioning. And the android control machine is used for deploying a picking task management system. After the robot arrives at the correct container position, the RFID filter is set to accurately search the designated RFID label through the RFID energy sensitive mechanical arm, and the position of the mechanical arm is adjusted according to the signal energy value returned by the label to accurately pick the goods.
When the robot is implemented, the hardware of the robot comprises a SLAM, a laser radar, an android controller, a wireless communication module and an RFID energy sensitive mechanical arm. And deploying a picking task management system in the android control machine. The system is accessed to a warehouse local area network through a wireless communication module and is communicated with a warehouse management system. The picking task can be downloaded and the picking progress can be uploaded. When the mechanical arm is controlled to pick goods, the RFID reading and writing equipment installed in the mechanical arm is arranged, the filtering condition is set to be the epc of the goods to be picked, the RFID reader-writer starts to continuously count, the moving direction of the mechanical arm is controlled according to the returned energy value, and the goods are finally picked.
Step 32: and (5) assembling the dragging box. The trailer box is used for storing goods picked by the robot. The dragging box is internally provided with an RFID reader-writer and an antenna, when an article is picked out and put into the dragging box, the RFID reader-writer reads the RFID label information of the article, whether the picked article is the article required by the picking task is verified, and in order to prevent the interference of the external label information, a metal shell is used for shielding external electromagnetic signals.
When the device is implemented, the external wall of the trailer box is hung with an rfid reader and connected with 3 antennas, the internal wall is hung with 2 antennas, and the mechanical arm is provided with 1 antenna. The drag case shell is the metal casing. And the Rfid reader-writer is connected with the android controller through a network cable or a serial port cable.
The step 4 comprises the following steps:
step 41: and (5) system deployment. A picking task management system is deployed at the picking robot, a wireless communication module is used for connecting a warehouse local area network, and the picking robot downloads a picking task from a background, plans a picking route, and displays task details and picking progress; the warehouse management system is connected with a warehouse local area network through a network cable, and is used for formulating and issuing a picking task and tracking the picking progress of the robot;
during implementation, a picking task management system is deployed at a picking robot, a wireless communication module is used for connecting a warehouse local area network, and the picking robot downloads a picking task from a background, plans a picking route, and displays task details and picking progress; the warehouse management system is connected with a warehouse local area network through a network cable, and used for formulating and issuing a picking task and tracking the picking progress of the robot.
Step 42: and warehousing goods. When goods are put in a warehouse, the warehouse management system distributes an epc number, a container number for storing the goods, an RFID label is printed, the label epc area stores the goods number, the user area stores the related information of the goods, and the label surface prints the text information of the goods;
in implementation, when goods are put in storage, the warehouse management system distributes the epc number, the container number for storing the goods, the RFID label is printed, the goods number is stored in the epc area of the label, the related information of the goods is stored in the user area, and the text information of the goods is printed on the surface of the label.
Step 43: and (5) making and issuing a picking task. The manager formulates a picking task according to the business operation warehouse management system and assigns the picking task to a certain robot to complete the picking task;
in implementation, an administrator formulates a picking task according to the business operation warehouse management system and assigns the picking task to a certain robot to complete. The warehouse management system issues the picking task to the robot, and the picking task system of the robot displays the current picking task.
Step 44: and (5) picking the goods by the robot. The robot plans a goods picking route, finds a correct container, precisely picks goods through the RFID energy sensitive mechanical arm, puts the goods into a trailer, and verifies whether the goods put into the trailer are the goods required by a task through the trailer RFID read-write equipment;
when the system is implemented, the robot goods picking task system plans a goods picking path according to the container number and the position information of goods in the task and the current position information of the robot. The robot searches for the containers one by one according to a planned path, finds out the correct container, accurately picks up the goods through the RFID energy sensitive mechanical arm, and puts the goods into the trailer, and the trailer RFID read-write equipment verifies whether the goods put into the trailer are the goods required by the task.
Step 45: and ending the task. After the robot correctly picks up all goods, the goods are conveyed to a specified position, the robot informs a warehouse management system worker to take away the goods, and after the RFID read-write equipment in the trailer monitors that all the goods in the trailer are taken away, the robot informs the warehouse management system to finish the goods picking task;
when the goods picking task is implemented, the robot is conveyed to a specified position after correctly picking out all goods, the robot informs a warehouse management system worker to take the goods away, monitors whether all the goods in the trailer box are taken away through the RFID antenna in the trailer box, and informs the warehouse management system to finish the goods picking task.
The invention provides an RFID-based warehouse automatic picking method, which is realized by a set of hardware equipment and a software system. The implementation of the system is beneficial to laying a foundation for informatization and intellectualization of warehouse logistics. Meanwhile, the technical difficulty of the scheme is overcome, the method is practical and feasible, the popularization is facilitated, the labor cost for picking the goods in the warehouse can be reduced practically, and the efficiency is improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (6)
1. An RFID-based automated picker method, comprising:
writing data on an RFID label according to article information, fixing the RFID label on an article package, storing a unique identifier in an EPC (electronic product code) area of the RFID label, storing the article information in a USER (USER) area, defining an EPC (electronic product code) coding rule and a corresponding data dictionary according to warehouse services, selecting a corresponding label type according to a package material when goods are put in storage, producing an EPC code according to the article information, writing the article information into the USER area, and locking the EPC area and the USER area to be read only after the data are written;
defining container numbers and positions according to the actual container positions and specification numbers of the warehouse and recording the container numbers and the positions into a warehouse management system, wherein each container has a number and a position defined in the system so as to find a correct position according to the position number;
the picking robot is connected with the warehouse management system through the wireless communication module, and downloads a picking task from a background, plans a picking route, and displays task details and picking progress; the warehouse management system provides an article in-out management function and a goods picking task management function, an EPC number and a container position are distributed to the articles through in-warehouse management, RFID labels are printed, a goods picking task is formulated through the goods picking task management function, the goods picking task is issued, and the goods picking progress is tracked.
2. The RFID-based automated picker method of claim 1, wherein the robot constructs a work map of container number and location correspondence via SLAM and lidar.
3. The RFID-based automated picker method according to claim 1, wherein the RFID picking robot is composed of a freight robot and a trailer, the freight robot has a SLAM, a laser radar, an android controller, a wireless communication module, an RFID energy sensitive robot arm, and an RFID reader.
4. The RFID-based automated picker method according to claim 3, wherein the tote is a metal housing and has an RFID antenna built therein.
5. The method as claimed in claim 3, wherein the RFID filter is set to precisely search for the designated RFID tag through the RFID energy sensitive robot arm after the robot reaches the correct container position, and the robot arm is adjusted in position according to the signal energy value returned by the tag to precisely pick up the goods.
6. The automatic picking machine method based on RFID as claimed in claim 3, characterized in that the dragging box is used to store the goods picked by the robot, the dragging box is provided with an RFID reader and an antenna inside, when the picked goods are put into the dragging box, the RFID reader reads the RFID tag information of the goods to verify whether the picked goods are the goods required by the picking task.
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| CN108465641A (en) * | 2018-03-14 | 2018-08-31 | 郑州工程技术学院 | A kind of goods sorting system |
| CN109359924A (en) * | 2018-11-19 | 2019-02-19 | 炬星科技（深圳）有限公司 | Logistics subregion picking method, device, terminal, system and storage medium based on robot |
| CN110263886A (en) * | 2019-06-13 | 2019-09-20 | 北京计算机技术及应用研究所 | A kind of automatic goods sorting method in warehouse based on RFID |
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| CN111891611A (en) * | 2020-07-08 | 2020-11-06 | 北京国联视讯信息技术股份有限公司 | Intelligent warehousing distribution system, method and device and readable storage medium |
| CN113561841A (en) * | 2021-07-14 | 2021-10-29 | 福建星云电子股份有限公司 | Battery pack scheduling method |
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