CN201012841Y - Positioning system of automatic tiered warehouse facility - Google Patents
Positioning system of automatic tiered warehouse facility Download PDFInfo
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- CN201012841Y CN201012841Y CNU2006200122086U CN200620012208U CN201012841Y CN 201012841 Y CN201012841 Y CN 201012841Y CN U2006200122086 U CNU2006200122086 U CN U2006200122086U CN 200620012208 U CN200620012208 U CN 200620012208U CN 201012841 Y CN201012841 Y CN 201012841Y
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Abstract
The utility model relates to a positioning system, in particular to a positioning system used in the automated warehouse of the ERP management system. The utility model is electromagnetic coupled with a detecting bus with the Gray-code arrangement laid beside the moving track of the stacker through a antenna on the stacker; transmits the moving position information of the stacker through the position detecting mode of mobile station; meanwhile uses an antenna on the stacker and electromagnetic coupled with a detecting bus laid beside the lifting column of the stacker through the antenna on the stacker; transmits the lifting position information of stacker uses the position detecting mode of fixed station, so as to accurately detect the stacker position, make no abrasion of mechanical contact during the detection, directly output the address of the moving direction and lifting direction of the stacker to the warehouse controller, and the detection accuracy reaches about 5 millimeter, thereby realizing the automatic moving of the stacker and the automatic piling and taking of the goods.
Description
Technical field
The utility model relates to a kind of position fixing system, particularly a kind of position fixing system that is applied to the automatic stereowarehouse of ERP management system.
Technical background
ERP---Enterprise Resource Planning enterprise resource planning, be meant and be based upon on the information techenology basis, with systematized management thought, the management platform of decision-making operation means is provided for business decision layer and employee, and automatic stereowarehouse is an important branch in the ERP system, the core of logistics management in large-scale manufacturing enterprise.
In the existing automatic stereowarehouse location of piler mainly adopted modes such as travel switch location, laser positioning, often receive the influence of external environment easily, for example the retardance of travel switch contact site, laser beam blocks etc., cause the inefficacy of piler location, or stacking is walked or direction of improvement is inaccurate, cause heap to get the goods failure, thereby influence the normal operation of whole tiered warehouse facility.
The utility model content
The utility model has overcome above-mentioned shortcoming, provide a kind of can accurate positioning, the position fixing system of the simple automatic stereowarehouse of installation and maintenance.
The technical scheme in the invention for solving the technical problem is: comprise three-dimensional storehouse exchange, three-dimensional storehouse server, the in-out-storehouse management computing machine, monitor workstation and piler, a three-dimensional storehouse controller links to each other with described three-dimensional storehouse exchange, and be connected with to organize the piler position detection unit more, described piler position detection unit comprises that being used to detect first of piler walking position detects bus and the second detection bus that is used to detect the piler raised position, described first detects bus is connected with the geocoding emitting/receiving, piler is provided with antenna and the geocoding reception/projector that links to each other with described first antenna, described second detects bus is connected with the geocoding emitting/receiving, piler also is provided with second antenna and the geocoding reception/projector that links to each other with described second antenna, the detection bus of described detection bus for arranging in the Gray code mode, comprise at least two pairs of heart yearns, wherein a pair of datum line for being parallel to each other, all the other each be to intersect once A wire every a step-length to A wire, the step-length of every pair of A wire has nothing in common with each other, and is respectively 2
0W, 2
1W, 2
2W ..., 2
N-1W, wherein, n is the logarithm of A wire, W is a minimum step.
Also can comprise an induction loop parallel with described detection bus, described induction loop is connected with the inductive communication unit, and described piler is provided with the inductive communication unit that links to each other with antenna.
The described antenna that links to each other with geocoding projector or geocoding receptor can comprise main coil and the secondary coil that parameter is identical, direction is identical, and described main coil is nearer than the distance between secondary coil and the described Gray bus.
Inductive communication unit on the described piler, the geocoding reception/projector that links to each other with first antenna can link to each other with a Programmable Logic Controller respectively with the geocoding reception/transmitter unit that links to each other with the described second detection bus.
Described detection bus also can comprise with at least one pair of A wire step-length and equating, and the A wire of half step-length that staggers.
The minimum step of described detection bus can be 20～400 millimeters, and preferred values is 200 millimeters.
The total length of described detection bus can be 2
N-1* W.
The utility model carries out electromagnetic coupled by the antenna that is installed in piler and the other detection bus of arranging in the Gray code mode of piler walking track that is laid in, transmit the location information of piler walking by the mobile station location detection mode, carry out electromagnetic coupled by the antenna that is installed on the piler with the detection bus of arranging in the Gray code mode that the piler that is laid in promotes the column side simultaneously, transmit the location information that piler promotes by fixed station position probing mode, realization is to the accurate detection of described piler position, make testing process not have the mechanicalness contact wear, and the address of piler direction of travel and direction of improvement directly outputed in the controller of three-dimensional storehouse, accuracy of detection can reach 5 millimeters, and then the automatic traveling of realization piler, heap is got goods automatically.Because intersecting twisting in the Gray code mode, described detection bus heart yearn arranges, guarantee to detect the omnidistance non-overlapping point of crossing of bus heart yearn, can in the mobile object domain of walk, detect absolute address continuously, accurately, accuracy of detection reaches 5 millimeters, can satisfy the pinpoint demand of piler position fully; And because the detection bus has used distinctive intersection twisting structure and phase-detection technology, can eliminate the electromagnetic interference that power supply is opened, stopped producing in the process, be not subjected to the influence of environmental noise and received signal level fluctuation yet, can be such as the medium-term and long-term failure-free work of severe environmental conditions such as iron ore field; In addition, be installed in outdoor detection bus, antenna case, top case, termination rack and intersegmental case and adopt non-metallic material to make and the employing sealing technology, be not afraid of rainwater, dust, the acid and alkali resistance corrosion.
Description of drawings
Fig. 1 is an automated storage and retrieval system scheme drawing of the present utility model
Fig. 2 is a piler position detection unit scheme drawing in the utility model
Fig. 3 is the cable conductor expansion drawing that detects bus in the utility model
Fig. 4 is the fundamental diagram of fixed station detection mode in the utility model
Fig. 5 is the fundamental diagram of movement station detection mode in the utility model
Fig. 6 is accurate address testing schematic diagram among the present invention
Fig. 7 is housings and Gray bus distribution schematic diagram among the present invention
The specific embodiment
As shown in Figure 1, the utility model serves as the control core with three-dimensional storehouse exchange, described three-dimensional storehouse exchange and three-dimensional storehouse server 1, three-dimensional storehouse server 2, the in-out-storehouse management computing machine, monitor workstation 1, monitor workstation 2 and go out to put in storage chopping machine and link to each other, formation is to the room entry/exit management control in three-dimensional storehouse, described three-dimensional storehouse exchange also links to each other with a plurality of piler position detection unit by three-dimensional storehouse controller, be used for accurately detecting the walking and the raised position of piler, described three-dimensional storehouse exchange also links to each other with the ERP system server by the ERP system exchange, thereby constitutes the automatic stereowarehouse control branch of whole ERP system.
Said system has constituted the three-dimensional warehouse system based on the ERP management system, be divided into three layers of ERP system management level, storehouse management supervisory layers, warehouse key-course, described ERP system management level are produced and logistics retardance state and goods and materials inventory information for the ERP management system provides, and can also adjust accordingly the tissue of production and logistics according to manufacturing program and instruction that ERP system is assigned; Described storehouse management supervisory layers is used for the three-dimensional storehouse of automatic card system is carried out management and running, adopts the various information of three- dimensional storehouse server 1,2 storage repository, and operating personal is finished in-out-storehouse management by the inbound/outbound process supervisory computer; Described warehouse key-course decomposes the instruction that described storehouse management supervisory layers is assigned, be handed down to underlying device, finishes the control to the network system underlying device, and on-the-spot logistics information is reported the storehouse management supervisory layers by the management and monitoring level.Described three-dimensional storehouse controller can adopt programmable logic controller (PLC), and promptly PLC realizes the monitoring management to whole warehouse key-course.
Described piler position detection unit as shown in Figure 2, comprise detection bus 1 that walks abreast with piler walking track and the detection bus 2 that walks abreast with the piler column, two pairs of induction loops (indicating among the figure) walk abreast with described detection bus 1, be used for the data inductive communication, the two ends of described detection bus 1 are provided with top case 11 and termination rack 12, geocoding projector 13 links to each other with described detection bus 1 by described top case 11, geocoding receptor 15 links to each other with antenna case Y1, and be arranged on the mobile piler, inductive communication unit 31 also links to each other with described induction loop 3 by described top case 11, another inductive communication unit 32 links to each other with antenna case Y2, also be arranged in the described mobile piler, the two ends of described detection bus 2 also are provided with top case 21 and termination rack 22, described geocoding receptor 24 links to each other with described detection bus 2 by described top case 21, and also be arranged in the described piler, the geocoding projector is connected with antenna case Y2, and is arranged on the piler.Described inductive communication unit 32, geocoding receptor 15 all link to each other with Programmable Logic Controller 4 respectively with 24.
Adopted two kinds of detection modes in the utility model, i.e. fixed station detection mode and movement station detection mode, the described piler walking position is detected promptly adopted the movement station detection mode, and the fixed station detection mode is then adopted in the detection of piler raised position.Below the principle of work and the process of two kinds of detection modes are done detailed description.
(1) the piler raised position detects
The detection bus of described detection bus for arranging in the Gray code mode, comprise cable sheath and the cable conductor and the core rod that wrap up by described cable sheath, described cable conductor as shown in Figure 3, described cable conductor has two kinds, be datum line R line and A wire G0 line-G9 line, datum line R line does not intersect in whole detection bus section, busbar section, is used to obtain standard signal, and A wire is used to detect the address.Each, intersects once every a step-length by the layout of asynchronous calipers rule to A wire, and establishing the minimum step that detects bus is W, then G0, G1, G2 ... G8, G9 step-length are respectively 2
0W, 2
1W, 2
2W ... 2
8W, 2
9W, i.e. 1W, 2W, 4W ... 256W, 512W.
A wire by above-mentioned layout, can realize the detection of absolute address, movement station (being piler 23) is gone up an antenna case that has emitting antenna is installed, the antenna spacing is from detecting bus cable 8～20CM, the high-frequency signal of antenna case emission by electromagnetic induction by in the piler walking detection bus cable receive, the R line is a pair of line of parallel lay-up, the signal that receives is as reference signal, G0～G9 has different point of crossings in different positions, its signal that receives is after intersecting through even number, phase place is identical with reference signal, and after through the odd number point of crossing, phase place is opposite with the phase place of reference signal, if the address is " 0 " during the regulation same-phase, the address is " 1 " during antiphase, then obtains unique 10 geocoding in a certain position of detecting the bus cable, and this is corresponding to an address of piler.
As shown in Figure 3, describe fixed station detection mode principle of work by the address detection system of a minimum, the detection bus in this system only is made up of the A wire of pair of cross and the datum line of pair of parallel.When feeding exchange current in the aerial coil of movement station, near antenna, can produce alternating magnetic field, because antenna is from detecting bus very near (about 80 millimeters), so described detection bus is approximate be in an alternation, in the well-distributed magnetic field, therefore every pair is detected the bus heart yearn and can produce induced electric motive force.The address signal of being launched by the antenna of described movement station is sent on the A wire and datum line that detects bus by the electromagnetic coupled mode, and signal is sent to the geocoding receptor of fixed station by A wire and datum line.The geocoding receptor carries out the phase bit comparison to the received signal.When the signal phase of the A wire of address " 0 " is identical with the signal phase of datum line, define the movement station address so and be " 0 "; When the signal phase of the A wire of address " 1 " is opposite with the signal phase of datum line, the movement station address is " 1 " so.Thereby realized finishing address detected at fixed station.
In this process, movement station antenna case is signal " emitting antenna ", and the detection bus heart yearn that fixedly installs is signal " receiving wire "; Detect the address of movement station by fixed station, described movement station will obtain piler and promote the address and need obtain by communication.
(2) the piler walking position detects
The detection bus of described detection bus for arranging in the Gray code mode, and as shown in Figure 2, repeat no more here.
By the A wire of above-mentioned layout, can realize the detection of absolute address, the geocoding producer of fixed station is at T
R0Constantly connect standard signal line R0, at first send a synchronous head, and then send the R0 signal; T
G0Constantly connect A wire G0, send the G0 signal; Connect successively and to G1, G2 ... G8, G9 send signal.After the receiving wire of movement station received synchronous head signal, the signal of next time was R0, and then is G0, G1, G2 ... G8, G9.The address detected unit produces a standard signal according to the R0 signal that receives on the movement station, send into after each road A wire signal amplification shaping that and then will receive and carry out phase demodulation and counting, G0, G1, G2 ... G8, G9 signal phase are identical with the R0 signal, if specified address is " 0 ", the address is " 1 " during antiphase, can obtain one group of Gray code.The piler walking position that Gray code conversion is become decimal digit can obtain moving at last.
As shown in Figure 4, checking system with 4 addresses is that example specifically describes mobile testing process: the geocoding projector of described fixed station is given signal respectively with the same frequency time-sharing format and is detected bus gauge target, A wire 1, A wire 2, and signal is sent to the antenna of movement station by the electromagnetic coupled mode.
The geocoding receptor of movement station is in order after the received signal, and the signal of two pairs of A wires is carried out bit comparison mutually with the datum line signal respectively, if the signal phase of A wire is identical with the signal phase of datum line, defines the address so and is " 0 "; If phase place is opposite, the definition address is " 1 ".The signal phase of two of address 1 pairs of A wires is identical with the signal phase of datum line among Fig. 3, so address 1 is " 00 ".The signal phase of first pair of A wire in the address 2 is identical with the signal phase of datum line, and the signal phase of second pair of A wire is opposite with the signal phase of datum line, so address 2 is " 01 ".
Can see from top analysis, detect bus and can detect 2 addresses, can detect 4 addresses with two pairs of A wires with a pair of A wire.In fact, can detect 2 with n to A wire
nIndividual address.
According to electromagnetic theory:
Φ=S*B is wherein: Φ is a magnetic flow, and S is an area coil, and B is an electromagnetism intensity.
E=N*d Φ/dt is wherein: e is an induced voltage, and N is the number of turn of coil.
Theoretically, as long as will detect bus minimum step W obtains enough little, detecting the bus accuracy of positioning just can do very highly, but on engineering owing to detect bus heart yearn, antenna size error, lifting swing, the Distribution of Magnetic Field irregularity, and factor such as external interference, detect bus minimum step W value and be subjected to certain limitation.W obtains too little, and the electromagnetic induction area diminishes, and the signal to noise ratio of address detected is low, causes the address instability.According to engineering experience, the W=200 millimeter is better.
Detect bus minimum step W and determine that according to accuracy of positioning cable length is determined by quantity that detects the bus heart yearn and minimum step W.In general:
Absolute fix precision μ=W/2 (wherein W is for detecting the bus minimum step)
Detect bus length L=2
n* μ (wherein n is for detecting the quantity of bus heart yearn)
We know that the accuracy of detection of big address is when detecting bus minimum step W=200 millimeter by top analysis:
μ=W/2=200/2=100 millimeter.
If detect the bus A wire and be 10, when the W=200 millimeter, then detect bus length and be (G0-G9):
L=2
10* 100 (millimeter)=102.4 meter.
Detecting bus length can decide according to requirement of engineering, and single detection bus length can reach 102.4 meters, and many detection buses are sliceable to satisfy requirement of engineering.
200 millimeters of A wire G0 step-lengths begin to intersect at 100 millimeters; 400 millimeters of G1 step-lengths begin to intersect at 200 millimeters; 800 millimeters of G2 step-lengths begin to intersect at 400 millimeters, 51.2 meters of G8 step-lengths, 25.6 meters intersections once; 102.4 meters of G9 step-lengths, 51.2 meters intersections once.
Select that a kind of address detected mode of operation to consider decision according to the demand of control system.If the center of gravity of control system on movement station, then adopts mobile detection mode better; If the center of gravity of control system at fixed station, then adopts the fixed test mode more suitable.
In addition, can increase a pair of A wire L0 in described detection bus, as shown in Figure 4, the step-length of described A wire L0 is that transpostion interval follows G0 the same, and step-length just staggers half.
The same with the absolute address method of inspection, accurate address also is divided into fixed station detection mode and movement station detection mode.Two kinds of mode of operation principles are identical, are example with the fixed station detection mode here, increase a pair of A wire L0 in detecting the bus cable, and its transpostion interval is the same with G0, and minimum step just staggers half.
As shown in Figure 5, G0, the intersection spacing unanimity of two pairs of lines of L0 is 200 millimeters, and staggers 100 millimeters, and wherein the R line is a datum line, does not intersect.
When feeding exchange current in the aerial coil of movement station, the induced electric motive force that A wire G0, L0 produce is as follows:
V0＝-N*dΦ0/dt ....................(1)
V1＝-N*dΦ1/dt ....................(2)
Φ＝S*B .....?...?..........(3)
Wherein, V0, V1---the last induced electromotive force signal amplitude of cable conductor G0, L0;
N---detect the bus heart yearn number of turns, here N=1;
B---magnetic-field intensity;
S---magnetic field acts on the payload space on cable conductor G0, the L0;
Act on payload space on the heart yearn G0 if S0 is magnetic field, S1 is that magnetic field acts on the payload space on the heart yearn L0, and H is the width of cable, and W is for detecting the minimum step of bus heart yearn.When the antenna on the movement station by Fig. 5 in mode when moving (miles of relative movement is X, X＜100 millimeter).
Then: V0=-d Φ 0/dt=-BdS0/dt=-Bd (HW-2HX)/dt .... (4)
V1＝-dΦ1/dt＝-BdS1/dt＝-Bd(2HX)/dt ....(5)
In the interval, get at one time by (4)/(5):
V0/V1＝W/2X-1 ....(6)
After the detection bus installed, when the antenna signal source was constant, by formula (6) as can be known, in millimeter scope of X＜100, V0/V1 and X were linear.Because the intersection spacing of G0, L0 is identical and stagger 100 millimeters, thus a V0/V1 ratio correspondence is always arranged in each position of 100 millimeters spacings, and the influence that not fluctuateed by environmental noise and received signal level of this ratio.
With V0, V1 rectification, A/D change digital quantity, V0, V1 send into CPU, calculate V0/V1, this ratio is corresponding to an address of (0 → 100 millimeter) in the big address, its accuracy of detection is μ/m, m is the isodisperse of big address segmentation.If in theory V0/V1 ratio is infinitely segmented, can obtain very high accuracy of detection, but because the restriction of technological condition, address segmentation number can not be very big, according to engineering experience, it is 20 better that the segmentation number is got.For example, if the big address precision that the detection bus obtains is 100 millimeters, the segmentation number is 20, then accurate address precision=100/20=5 millimeter.
Comprise main coil and secondary coil in the described housings, as shown in Figure 6, described main coil is the same with the secondary coil parameter, connects in the same way, and main coil is near apart from induction cable signal radiation scope, and secondary coil is far away apart from induction cable signal radiation scope.Because main coil and secondary coil have range difference, concerning the induced signal of address, the signal power of two coil receptions is variant; Concerning interfering signal, the signal of two coil receptions is quite strong and weak.The signal power is variant; Concerning interfering signal, the signal of two coil receptions is quite strong and weak.Like this, by collection and the comparison to G0 line and L0 line, can either eliminate the electromagnetic interference that power supply is opened, stopped producing in the process, not dip again and detect the receiving sensitivity of antenna, the difference coil of quite coaxial distribution causes system signal noise ratio much lower.
Main beneficial effect of the present invention is: carry out electromagnetic coupled by the antenna that is installed in piler and the other detection bus of piler walking track that is laid in, transmit the location information of piler walking by the mobile station location detection mode, carry out electromagnetic coupled by the antenna that is installed on the piler with the detection bus that the piler that is laid in promotes the column side simultaneously, transmit the location information that piler promotes by fixed station position probing mode, realization makes testing process not have the mechanicalness contact wear to the accurate detection of described piler position; Because detecting the bus heart yearn intersects twisting in the Gray code mode and arranges, guarantee to detect the omnidistance non-overlapping point of crossing of bus heart yearn, can in the mobile object domain of walk, detect absolute address continuously, accurately, accuracy of detection reaches 5 millimeters, and then the automatic traveling of realization piler, heap is got goods automatically.In addition, also can position signal and predefined controlling schemes be adjusted the output driving frequency value of frequency converter in the piler in real time in the ban according to detected piler, piler is run near behind the destination address position speed steadily being dropped under the lower speed with higher speed earlier works, and at the destination address place accurately braking stop standard, thereby guarantee the smooth running of piler.
And because the detection bus has used distinctive intersection twisting structure and phase-detection technology, can eliminate the electromagnetic interference that power supply is opened, stopped producing in the process, be not subjected to the influence of environmental noise and received signal level fluctuation yet, can be such as the medium-term and long-term failure-free work of severe environmental conditions such as iron ore field; In addition, be installed in outdoor detection bus, antenna case, top case, termination rack and intersegmental case and adopt non-metallic material to make and the employing sealing technology, be not afraid of rainwater, dust, the acid and alkali resistance corrosion.
In addition, described induction loop is laid along detecting bus at regular intervals, realize the intercommunication of piler and three-dimensional storehouse controller by the inductive communication mode, by electromagnetic coupled signal send and signal receive between transmission information, frequency of utilization keying (FSK) mode is modulated, and uses coherent demodulation, standard traffic speed 4800bps or 9600bps, because the inductive communication mode of described employing induction loop is this area routine techniques, repeats no more here.
More than automated storage and retrieval system provided by the utility model is described in detail, used specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present utility model and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present utility model, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as restriction of the present utility model.
Claims (7)
1. the position fixing system of an automatic stereowarehouse, comprise three-dimensional storehouse exchange, three-dimensional storehouse server, the in-out-storehouse management computing machine, monitor workstation and piler, it is characterized in that: a three-dimensional storehouse controller links to each other with described three-dimensional storehouse exchange, and be connected with to organize the piler position detection unit more, described piler position detection unit comprises that being used to detect first of piler walking position detects bus and the second detection bus that is used to detect the piler raised position, described first detects bus is connected with the geocoding emitting/receiving, piler is provided with antenna and the geocoding reception/projector that links to each other with described first antenna, described second detects bus is connected with the geocoding emitting/receiving, piler also is provided with second antenna and the geocoding reception/projector that links to each other with described second antenna, the detection bus of described detection bus for arranging in the Gray code mode, comprise at least two pairs of heart yearns, wherein a pair of datum line for being parallel to each other, all the other each be to intersect once A wire every a step-length to A wire, the step-length of every pair of A wire has nothing in common with each other, and is respectively 2
0W, 2
1W, 2
2W ..., 2
N-1W, wherein, n is the logarithm of A wire, W is a minimum step.
2. the position fixing system of automatic stereowarehouse according to claim 1, it is characterized in that: also comprise an induction loop parallel with described detection bus, described induction loop is connected with the inductive communication unit, and described piler is provided with the inductive communication unit that links to each other with antenna.
3. the position fixing system of automatic stereowarehouse according to claim 1 and 2, it is characterized in that: the described antenna that links to each other with geocoding projector or geocoding receptor comprises main coil and the secondary coil that parameter is identical, direction is identical, and described main coil is nearer than the distance between secondary coil and the described detection bus.
4. the position fixing system of automatic stereowarehouse according to claim 1 and 2 is characterized in that: the inductive communication unit on the described piler, the geocoding reception/projector that links to each other with first antenna with detect the geocoding reception/transmitter unit that bus links to each other and link to each other with a Programmable Logic Controller respectively with described second.
5. the position fixing system of automatic stereowarehouse according to claim 1 and 2, it is characterized in that: described detection bus also comprises with at least one pair of A wire step-length and equating, and the A wire of half step-length that staggers.
6. the position fixing system of automatic stereowarehouse according to claim 1 and 2, it is characterized in that: the minimum step of described detection bus is 20～400 millimeters, preferred values is 200 millimeters.
7. the position fixing system of automatic stereowarehouse according to claim 1 and 2, it is characterized in that: the total length of described detection bus is 2
N-1* W.
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| CNU2006200122086U CN201012841Y (en) | 2006-04-18 | 2006-04-18 | Positioning system of automatic tiered warehouse facility |
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| CNU2006200122086U CN201012841Y (en) | 2006-04-18 | 2006-04-18 | Positioning system of automatic tiered warehouse facility |
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| WO2014015505A1 (en) * | 2012-07-26 | 2014-01-30 | 中国神华能源股份有限公司 | Method and system used for silo |
| CN104692015A (en) * | 2015-02-13 | 2015-06-10 | 国家电网公司 | Unattended rapid picking warehousing system based on IOT (Internet of Things) technology |
| CN105501785A (en) * | 2015-12-14 | 2016-04-20 | 安徽凯莎工业设备制造有限公司 | Method for positioning intelligent warehouse |
| CN108792449A (en) * | 2018-07-11 | 2018-11-13 | 东莞市敏顺自动化科技有限公司 | A kind of production line of high-precision conveying |
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| WO2014015505A1 (en) * | 2012-07-26 | 2014-01-30 | 中国神华能源股份有限公司 | Method and system used for silo |
| CN104692015A (en) * | 2015-02-13 | 2015-06-10 | 国家电网公司 | Unattended rapid picking warehousing system based on IOT (Internet of Things) technology |
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| CN105501785A (en) * | 2015-12-14 | 2016-04-20 | 安徽凯莎工业设备制造有限公司 | Method for positioning intelligent warehouse |
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| CN108792449B (en) * | 2018-07-11 | 2023-12-12 | 东莞市敏顺自动化科技有限公司 | Production line for high-precision conveying |
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