CN115973661A - Logistics conveying system and method based on latent robot - Google Patents
Logistics conveying system and method based on latent robot Download PDFInfo
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- CN115973661A CN115973661A CN202310278881.2A CN202310278881A CN115973661A CN 115973661 A CN115973661 A CN 115973661A CN 202310278881 A CN202310278881 A CN 202310278881A CN 115973661 A CN115973661 A CN 115973661A
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Abstract
The invention relates to a logistics conveying system and a logistics conveying method based on a latent robot, which comprise a goods shelf, a stacking robot and a plurality of latent robots with adjustable heights and angles, wherein the goods shelf is used for storing goods; the stacking robot is used for conveying goods to the goods shelf by the latent robot; the latent robot is used for conveying the goods in the storage point to the feeding position of the stacking robot and conveying the goods from the discharging position of the stacking robot to the delivery point; at least one formula robot of hiding is used for the butt joint tray, and the tray lower extreme is provided with the locating rack that is used for supporting the tray, and the upper surface at formula robot of hiding is placed to the locating rack. The invention has the advantages that: can replace conveying system through latent formula robot, can make storage point and delivery point freely set up, reduce storage system's upgrading cost, realize the accurate of "people is looked for in goods" formula and carry.
Description
Technical Field
The invention relates to the technical field of logistics conveying, in particular to a logistics conveying system and a logistics conveying method based on a latent robot.
Background
The existing automatic storage system generally comprises a storage system, a conveying system and a picking system, wherein after a goods taking instruction is input in the working process, the picking system picks the goods, then the goods are transferred to the conveying system for conveying, in order to be convenient for taking and loading the goods, a storage point and a delivery point must be close enough to the conveying system, and the matched storage system, conveying system and picking system are customized according to specific products, once the products needing to be stored are replaced, the automatic storage system needs to be redesigned or changed, and the change difficulty is high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a logistics conveying system based on a latent robot, which can enable storage points and delivery points to be freely arranged by replacing the conveying system with the latent robot, reduce the upgrading cost of the storage system, and realize 'goods finding person' type accurate conveying.
The invention relates to a logistics conveying system based on a latent robot, which comprises a goods shelf, a stacking robot and a plurality of latent robots with adjustable heights and angles, wherein,
the goods shelf is used for storing goods;
the stacking robot is used for conveying goods to the goods shelf by the latent robot;
the latent robot is used for conveying goods at a storage point to a feeding position of the stacking robot and conveying the goods from a discharging position of the stacking robot to a delivery point;
at least one formula of hiding robot is used for the butt joint tray, the tray lower extreme is provided with the locating rack that is used for supporting the tray, the locating rack is placed the upper surface of formula of hiding robot just the central point of locating rack puts with the central point of formula of hiding robot puts unanimously.
Further, at least one latent robot is used for butting the roller conveying lines, a connecting hole is formed in the lower end of each roller conveying line, a hollow connecting column is connected to the upper end of each latent robot, and when the connecting columns are in butt joint with the connecting holes, a controller in each latent robot is electrically connected with a controller of each roller conveying line through a wire harness penetrating through the hollow connecting columns.
Further, the latent robot is used for butt joint drive mechanism, the detachable tractor that is connected with of drive mechanism, the tractor includes a plurality of bearing mechanism that are used for bearing the weight of goods, and a plurality of bearing mechanism connect gradually through coupling mechanism, bearing mechanism is used for bearing come from the storage point or the goods of goods shelves.
Furthermore, the upper end of the concealed robot is connected with a heightening support, the top of the heightening support is connected with a laser sensor, the height of the heightening support is not lower than that of goods borne by the bearing mechanism, the laser sensor is used for detecting an obstacle in front of the concealed robot for a certain distance and communicating with a controller of the concealed robot when the obstacle exists in front, and the controller of the concealed robot controls the concealed robot to decelerate or stop moving or avoid the obstacle after receiving a signal from the laser sensor.
Furthermore, the height of the heightening support can be adjusted according to the height of the goods borne by the bearing mechanism, and the height of the laser sensor is adjusted along with the heightening support.
Further, formula of hiding robot includes robot body, braced frame, elevating system and lift platform, braced frame with this body coupling of robot, the elevating system lower extreme with braced frame connects, the elevating system upper end with lift platform connects, lift platform is last to be connected with the gyration top and to stretch the subassembly.
Further, elevating system includes crank, crank connecting rod, transverse connecting rod, first upper portion connecting rod, first lower connecting rod, second upper portion connecting rod, second lower connecting rod and first driving motor, first upper portion connecting rod with first lower connecting rod passes through first axis of rotation rotatable coupling, second upper portion connecting rod with second lower connecting rod passes through second axis of rotation rotatable coupling, first upper portion connecting rod with the upper end of second upper portion connecting rod with lift platform rotatable coupling, second upper portion connecting rod with second lower connecting rod with braced frame rotatable coupling, the one end of crank connecting rod with crank rotatable coupling, the other end of crank connecting rod with first axis of rotation is connected, the one end of transverse connecting rod with first axis of rotation is connected, the other end of transverse connecting rod with the second axis of rotation is connected, the crank with first driving motor transmission is connected.
Further, gyration jacking subassembly includes that the gyration is supported, the gyration support rotatable with lift platform connects, the gyration is supported and is meshed with the gyration action wheel, the gyration action wheel is connected with the transmission of second driving motor, second driving motor with lift platform directly or indirectly is connected.
The invention also provides a cargo conveying method, which comprises the following steps,
s1, acquiring a type of goods to be conveyed, a type of an ex-warehouse point and a type of a warehouse point, and generating first instruction information;
s2, calling a latent robot of the butt-joint tray, a latent robot of the butt-joint roller conveying line or a latent robot of the butt-joint traction mechanism according to the first instruction information;
and S3, conveying the goods to a delivery point, a storage point, a loading position of a stacking robot or a discharging position of the stacking robot through the latent robot.
Further, when the latent robot of the docking traction mechanism is taken to transport goods, the height of the goods is detected in a manual or automatic mode, and then the height connected to the heightening support is adjusted according to the height of the goods so as to adjust the laser sensor;
when the laser sensor detects a front obstacle, the laser sensor communicates with the controller of the latent robot, and after the controller of the latent robot receives a signal from the laser sensor, the latent robot is controlled to decelerate or stop moving or avoid the obstacle.
The invention has the advantages that: but through the setting of the formula of hiding robot of a plurality of height-adjusting and angle, replace conveying system through the formula of hiding robot, can make storage point and delivery point freely set up, reduce storage system's upgrading cost, realize the accurate of "people is found to goods" formula and carry.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a logistics transportation system based on a latent robot.
Fig. 2 is a schematic view of the overall structure of the latent robot.
Fig. 3 is a schematic structural view of the elevating mechanism.
Fig. 4 is a schematic structural view of the pivoting jack assembly.
Fig. 5 is a schematic view of a docking structure of the latent robot and the tray.
Fig. 6 is a schematic view of a docking structure of the latent robot and the roller conveyor line.
Fig. 7 is a schematic view of a docking structure of the latent robot and the traction mechanism.
Fig. 8 is a schematic view of a coupling structure of the heightening bracket.
1. A robot body; 2. a support frame; 21. an upper inductive switch; 22. a lower inductive switch; 3. a lifting mechanism; 31. a crank; 32. a crank connecting rod; 33. a transverse connecting rod; 34. a first upper link; 341. a first rotating shaft; 35. a first lower link; 36. a second upper link; 361. a second rotating shaft; 37. a second lower link; 38. a first drive motor; 4. a lifting platform; 5. a rotating jack-out assembly; 51. rotating and supporting; 52. a rotary driving wheel; 53. a second drive motor; 10. a shelf; 20. a stacking robot; 30. a hidden robot; 301. a positioning frame; 302. a tray; 303. a roller conveying line; 304. a traction mechanism; 305. a tractor; 306. a carrying mechanism; 307. heightening a bracket; 308. a laser sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The logistics transportation system based on the latent robot in a preferred embodiment of the invention comprises a goods shelf 10, a stacking robot 20 and a plurality of latent robots 30 with adjustable height and angle, wherein,
a shelf 10 for storing goods;
a palletizing robot 20 for transferring the goods from the concealed robot 30 to the shelf 10;
the latent robot 30 is used for conveying goods at a storage point to a feeding position of the stacking robot 20 and conveying the goods from a discharging position of the stacking robot 20 to a delivery point;
at least one latent robot 30 is used for docking the tray 302, a positioning frame 301 for supporting the tray 302 is arranged at the lower end of the tray 302, the positioning frame 301 is placed on the upper surface of the latent robot 30, and the central position of the positioning frame 301 is consistent with the central position of the latent robot 30.
Based on the problems that in the prior art, in order to take and load goods conveniently, the storage point and the delivery point are close enough to the conveying system, and due to the fact that the matched storage system, the conveying system and the picking system are customized according to specific products, once the products needing to be stored are replaced, the automatic storage system needs to be redesigned or changed, and the change difficulty is large.
The present embodiment transports goods by providing the hidden robot 30 with adjustable height and angle, since the motion of the hidden robot 30 does not depend on a fixed transport track. After the positions of the palletizer robot 20, the ex-warehouse point and the warehousing point are fixed. When the warehousing requirements are acquired, the latent robot 30 moves to a warehousing point, after the warehousing point finishes loading, the latent robot 30 carries the goods to move to a loading position of the stacking robot 20, and the goods are transferred to the goods shelf 10 by the stacking robot 20. When the goods taking demand is acquired, the stacking robot 20 finishes taking the goods, then the goods are placed on the latent robot 30, and the latent robot 30 conveys the goods to the delivery point. When the goods shift in the transportation process or the goods taking height is insufficient, the height and the rotating angle of the latent robot 30 are adjusted, so that the goods can be aligned to the stacking robot 20 or the delivery point, and the goods can be conveyed quickly.
The positioning frame 301 is further placed on the upper surface of the latent robot 30, and the center of the positioning frame 301 is consistent with the center of the latent robot 30, so that the latent robot 30 can bear a larger tray 302 within the bearing range of the latent robot 30, and the probability of gravity center deviation of the tray 302 can be reduced. Further, in the conveying process, the volume of the goods transported at a time is increased by the pallet 302 and the positioning frame 301, and in the actual implementation process, the pallet 302 can be unloaded by a forklift provided at the delivery point, and the pallet 302 is placed on the positioning frame 301 above the latent robot 30 by the forklift provided at the warehousing point.
In one embodiment, the latent robot 30 comprises a robot body 1, a supporting frame 2, a lifting mechanism 3 and a lifting platform 4, wherein the supporting frame 2 is connected with the robot body 1, the lower end of the lifting mechanism 3 is connected with the supporting frame 2, the upper end of the lifting mechanism 3 is connected with the lifting platform 4, and the lifting platform 4 is connected with a rotary jacking component 5;
the lifting mechanism 3 comprises a crank 31, a crank connecting rod 32, a transverse connecting rod 33, a first upper connecting rod 34, a first lower connecting rod 35, a second upper connecting rod 36, a second lower connecting rod 37 and a first driving motor 38, wherein the first upper connecting rod 34 and the first lower connecting rod 35 are rotatably connected through a first rotating shaft 341, the second upper connecting rod 36 and the second lower connecting rod 37 are rotatably connected through a second rotating shaft 361, the upper ends of the first upper connecting rod 35 and the second upper connecting rod 36 are rotatably connected with the lifting platform 4, the second upper connecting rod 36 and the second lower connecting rod 37 are rotatably connected with the supporting frame 2, one end of the crank connecting rod 32 is rotatably connected with the crank 31, the other end of the crank connecting rod 32 is connected with the first rotating shaft 341, one end of the transverse connecting rod 33 is connected with the first rotating shaft 341, the other end of the transverse connecting rod 33 is connected with the second rotating shaft 361, and the crank 31 is in transmission connection with the first driving motor 38.
In practical implementation, the first driving motor 38 drives the crank to rotate, so that the crank connecting rod 32 and the transverse connecting rod 33 move to the right, the first upper connecting rod 34 and the first lower connecting rod 35 are driven to be opened, the second upper connecting rod 36 and the second lower connecting rod 37 are driven to be opened, and the height of the lifting platform 4 is adjusted. In such an arrangement, the first upper link 34 (the second upper link 36) and the first lower link 35 (the second lower link 37) are in a compressed state before lifting, the occupied space is small, when the lifting needs to be performed, two sets of link mechanisms can realize forced synchronous opening movement through the transverse link 33, the lifting platform 4 can be prevented from deflecting due to inconsistent lifting on two sides, and the probability of damage is reduced. And because a cavity is formed between the two sets of link mechanisms, devices such as a power supply, a main controller and the like can be conveniently placed in the cavity, and the occupied space is further saved.
In the above embodiment, the rotating and jacking assembly 5 includes the rotating support 51, the rotating support 51 is rotatably connected to the lifting platform 4, the rotating support 51 is engaged with the rotating driving wheel 52, the rotating driving wheel 52 is in transmission connection with the second driving motor 53, and the second driving motor 53 is directly or indirectly connected to the lifting platform 4. Under actual working conditions, the second driving motor 53 can drive the rotary driving wheel 52 to drive the rotary support 51 to rotate, so that the angle of the goods can be adjusted. The rotary support 51 is connected with a supporting plate, and the latent robot 30 can adjust the rotation angle of the rotary support 51 to keep goods static on the supporting plate regardless of turning around or turning.
In the actual implementation process, the side of the supporting frame 2 is connected with an upper inductive switch 21 and a lower inductive switch 22 which are used for monitoring the position of the lifting platform 4, and the upper inductive switch 21 and the lower inductive switch 22 are both connected with a main controller. First driving motor 38 and second driving motor 53 are connected with main control unit respectively, through last inductive switch 21 and lower inductive switch 22 setting, can carry out real-time monitoring to the position of lift platform 4, after lift platform 4 reachd the assigned position, start or close through main control unit control first driving motor 38 and second driving motor 53, prevent to lead to link mechanism or gyration to support 51 and take place the damage because of first driving motor 38 and second driving motor 53 excessively rotate. In practical implementation, the first driving motor 38 and the second driving motor 53 are both servo motors.
In one embodiment, at least one latent robot 30 is used for docking the roller conveyor line 303, a connecting hole is formed in the lower end of the roller conveyor line 303, a hollow connecting column is connected to the upper end of the latent robot 30, and when the connecting column is docked with the connecting hole, a controller in the latent robot 30 is electrically connected with the controller of the roller conveyor line 303 through a wire harness penetrating through the hollow connecting column.
In one application scenario of the above embodiment, the storage point, the delivery point, the loading position of the palletizing robot 20, or the unloading position of the palletizing robot 20 at least includes a conveyor belt for conveying goods, and in an actual implementation process, a pressure sensor or a photoelectric sensor is disposed on a side surface of a butt joint portion of the roller conveyor line 303, the pressure sensor or the photoelectric sensor is connected with a controller of the roller conveyor line 303, in an actual implementation process, the photoelectric sensor is used, when the roller conveyor line 303 and the conveyor belt are in butt joint in place, the photoelectric sensor sends a signal of being in place, and when the controller of the roller conveyor line 303 receives the signal of being in place, the motor of the roller conveyor line 303 is started to drive the roller to rotate, so that the goods on the roller conveyor line 303 are transferred to the conveyor belt for further processing. And a correlation photoelectric sensor is also arranged at the blanking position of the roller conveying line 303 and is connected with a controller of the roller conveying line 303. When the correlation photoelectric sensor detects that goods on the roller conveying line 303 are conveyed, a separation instruction is sent to the controller of the roller conveying line 303, the controller of the roller conveying line 303 forwards the separation instruction to the controller of the latent robot 30, and the controller of the latent robot 30 controls the driving wheels of the latent robot 30 to rotate, so that the latent robot 30 is separated from the conveying belt, and the next round of conveying action is started.
In another application scenario of the above embodiment, the hidden robot 30 can drive the roller conveyor line 303 to dock between two conveyor belts, and if the distance between the two conveyor belts is long, the multiple hidden robots 30 can also realize successive docking, so that the conveying range of goods can be further expanded.
In one embodiment, the latent robot 30 is used to dock the towing mechanism 304, the towing mechanism 304 is detachably connected with a towing vehicle 305, the towing vehicle 305 includes a plurality of carrying mechanisms 306 for carrying goods, the plurality of carrying mechanisms 306 are connected in sequence through the connecting mechanism, and the carrying mechanisms 306 are used to carry goods from the storage point or the shelf 10.
When needs transported a large amount of light goods, no matter be tray 302 or roller 303's conveying efficiency can't satisfy the transport demand, bear the weight of the goods through a plurality of load bearing mechanism 306 this moment, and a plurality of load bearing mechanism 306 pulls and transports through same latent formula robot 30, under the prerequisite that does not exceed latent formula robot 30's load-carrying capacity, can once only realize the transportation of a large amount of goods. When the latent robot 30 is used to transport goods from the warehousing points, the goods are placed on the bearing mechanism 306 in sequence only through the feeding mechanism arranged at the warehousing points, then the goods can be conveyed to the stacking robot 20 through the latent robot 307, and the stacking robot 20 sequentially places the goods on the shelf 10 to realize the warehousing of the goods.
In the above embodiment, the upper end of the latent robot 30 is connected to a heightening bracket 307, the top of the heightening bracket 307 is connected to a laser sensor 308, the height of the heightening bracket 307 is not lower than the height of the cargo carried by the carrying mechanism 308, the laser sensor 308 is configured to detect an obstacle in front of the latent robot 30 by a certain distance and communicate with the controller of the latent robot 30 when the obstacle exists in front, and the controller of the latent robot 30 controls the latent robot 30 to decelerate or stop moving or avoid the obstacle after receiving a signal from the laser sensor 308. The height of the heightening bracket 307 can be adjusted according to the height of the cargo carried by the carrying mechanism 306, and the height of the laser sensor 308 is adjusted along with the heightening bracket 307.
The invention also relates to a cargo conveying method, comprising the following steps,
s1, acquiring a type of goods to be conveyed, a type of an ex-warehouse point and a type of a warehouse point, and generating first instruction information;
s2, calling the latent robot 30 of the docking tray 302, the latent robot 30 of the docking roller conveying line 303 or the latent robot 30 of the docking traction mechanism 304 according to the first instruction information;
and S3, conveying the goods to a delivery point, a storage point, a feeding position of the stacking robot 20 or a discharging position of the stacking robot 20 through the latent robot 30.
In the above embodiment, when the latent robot 30 of the docking traction mechanism 305 is taken to transport the goods, the height of the goods is detected manually or automatically, and then the height connected to the heightening bracket 307 is adjusted according to the height of the goods to adjust the laser sensor 308; when the laser sensor 308 detects an obstacle in front, the controller communicates with the controller of the latent robot 30, and after receiving the signal from the laser sensor 308, the controller of the latent robot 30 controls the latent robot 30 to decelerate or stop moving or avoid the obstacle.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the scope of the specific embodiments, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. The utility model provides a commodity circulation conveying system based on latent formula robot which characterized in that: comprises a goods shelf, a stacking robot and a plurality of latent robots with adjustable height and angle, wherein,
the goods shelf is used for storing goods;
the stacking robot is used for conveying goods to the goods shelf by the latent robot;
the latent robot is used for conveying goods at a storage point to a feeding position of the stacking robot and conveying the goods from a discharging position of the stacking robot to a delivery point;
at least one formula of hiding robot is used for the butt joint tray, the tray lower extreme is provided with the locating rack that is used for supporting the tray, the locating rack is placed the upper surface of formula of hiding robot just the central point of locating rack puts with the central point of formula of hiding robot puts unanimously.
2. The latenti-robot-based logistics conveying system of claim 1, wherein: at least one latent formula robot is used for butt joint roller transfer chain, roller transfer chain lower extreme is provided with the connecting hole, latent formula robot upper end is connected with hollow connection post, works as the connecting post with during the connecting hole butt joint, controller among the latent formula robot is through passing the pencil of hollow connection post is connected with the controller electricity of roller transfer chain.
3. The latenti-robot-based logistics conveying system of claim 1, wherein: the latent robot is used for a butt joint traction mechanism, the traction mechanism is detachably connected with a tractor, the tractor comprises a plurality of bearing mechanisms used for bearing goods, the bearing mechanisms are sequentially connected through a connecting mechanism, and the bearing mechanisms are used for bearing the goods from the storage points or the goods shelves.
4. The latentiy robot-based logistics conveying system of claim 3, wherein: the upper end of the concealed robot is connected with a heightening support, the top of the heightening support is connected with a laser sensor, the height of the heightening support is not lower than that of goods borne by the bearing mechanism, the laser sensor is used for detecting an obstacle in front of the concealed robot for a certain distance and communicating with a controller of the concealed robot when the obstacle exists in front, and the controller of the concealed robot controls the concealed robot to decelerate or stop moving or avoid the obstacle after receiving a signal from the laser sensor.
5. The latent robot-based logistics conveying system of claim 4, wherein: the height of the heightening support can be adjusted according to the height of goods borne by the bearing mechanism, and the height of the laser sensor is adjusted along with the heightening support.
6. The latent robot-based logistics conveying system according to any one of claims 1 to 5, wherein: latent formula robot includes robot body, braced frame, elevating system and lift platform, braced frame with this body coupling of robot, the elevating system lower extreme with braced frame connects, the elevating system upper end with lift platform connects, it stretches the subassembly to be connected with the gyration top on the lift platform.
7. The latent robot-based logistics conveying system of claim 6, wherein: elevating system includes crank, crank connecting rod, transverse connecting rod, first upper portion connecting rod, first lower connecting rod, second upper portion connecting rod, second lower connecting rod and a driving motor, first upper portion connecting rod with first lower connecting rod passes through first axis of rotation rotatable coupling, second upper portion connecting rod with second lower connecting rod passes through second axis of rotation rotatable coupling, first upper portion connecting rod with the upper end of second upper portion connecting rod with lift platform rotatable coupling, second upper portion connecting rod with second lower connecting rod with braced frame rotatable coupling, the one end of crank connecting rod with crank rotatable coupling, the other end of crank connecting rod with first axis of rotation is connected, the one end of transverse connecting rod with first axis of rotation is connected, the other end of transverse connecting rod with second axis of rotation is connected, the crank with first driving motor transmission is connected.
8. The latent robot-based logistics conveying system of claim 7, wherein: the rotary jacking assembly comprises a rotary support, the rotary support is rotatable and connected with the lifting platform, the rotary support is meshed with a rotary driving wheel, the rotary driving wheel is in transmission connection with a second driving motor, and the second driving motor is directly or indirectly connected with the lifting platform.
9. A cargo conveying method applied to the logistics conveying system based on the latent robot of any one of claims 1 to 5, wherein the logistics conveying method comprises the following steps: comprises the following steps of (a) carrying out,
s1, acquiring a type of goods to be conveyed, a type of an ex-warehouse point and a type of a warehouse point, and generating first instruction information;
s2, calling a latent robot of the docking tray, a latent robot of the docking roller conveying line or a latent robot of the docking traction mechanism according to the first instruction information;
and S3, conveying the goods to a delivery point, a storage point, a loading position of a stacking robot or a discharging position of the stacking robot through the latent robot.
10. A method of cargo transfer according to claim 9, wherein: when the latent robot of the docking traction mechanism is taken to transport goods, the height of the goods is detected in a manual or automatic mode, and then the height connected to the heightening support is adjusted according to the height of the goods so as to adjust the laser sensor;
when the laser sensor detects a front obstacle, the laser sensor communicates with the controller of the latent robot, and after the controller of the latent robot receives a signal from the laser sensor, the latent robot is controlled to decelerate or stop moving or avoid the obstacle.
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| CN202310278881.2A CN115973661A (en) | 2023-03-21 | 2023-03-21 | Logistics conveying system and method based on latent robot |
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