CN210735196U - System for intelligence letter sorting goods - Google Patents
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- CN210735196U CN210735196U CN201921253105.2U CN201921253105U CN210735196U CN 210735196 U CN210735196 U CN 210735196U CN 201921253105 U CN201921253105 U CN 201921253105U CN 210735196 U CN210735196 U CN 210735196U
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Abstract
The utility model relates to an intelligence commodity circulation technical field, in particular to system of intelligence letter sorting goods, including storage robot and letter sorting robot. The warehousing robot comprises a first moving device and a first storage device, the first storage device is used for storing or lifting goods to be sorted and/or containers for storing the goods to be sorted, the warehousing robot conveys the goods to be sorted and/or the containers for storing the goods to be sorted to a first target position through the first moving device, the sorting robot comprises a second moving device and a second storage device, sorted goods are stored in the second storage device, the sorting robot conveys the sorted goods to a second target position through the second moving device, goods are sorted by utilizing different robots, the efficiency of goods sorting is improved, meanwhile, the sorting is carried out by the robot, and the error rate caused by manual sorting is reduced.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to an intelligence commodity circulation technical field, in particular to system of intelligence letter sorting goods.
[ background of the invention ]
With the increasing development of artificial intelligence and online shopping, a great development opportunity is brought to the intelligentization of warehousing, sorting and logistics of goods, and in recent years, the technology for transporting goods based on a warehousing robot is increasingly mature. In the prior art, a warehousing robot can transport goods in a warehouse of the warehoused goods according to a predetermined route, for example, the goods are transported to an operation platform from a goods shelf, and corresponding sorting is carried out according to goods orders by manual work.
The inventor discovers at the in-process of realizing this application, mainly sorts the goods through the manual work among the correlation technique, and letter sorting efficiency is not high, moreover, because artificial misoperation causes the letter sorting easily to make mistakes to also be difficult for discovering the letter sorting mistake.
[ Utility model ] content
In order to solve the technical problem, the embodiment of the utility model provides a system of intelligence letter sorting goods utilizes the robot to carry out the goods letter sorting, has promoted the efficiency of goods letter sorting, simultaneously, sorts by the robot, has reduced the error rate that artifical letter sorting leads to.
The embodiment of the utility model provides a solve its technical problem and adopt following technical scheme:
there is provided a system for intelligently sorting goods, comprising:
the warehousing robot is provided with a first moving device and a first storage device, the first storage device is used for storing or lifting goods to be sorted and/or containers storing the goods to be sorted, and the warehousing robot conveys the goods to be sorted and/or the containers storing the goods to be sorted to a first target position through the first moving device;
the sorting robot is provided with a second moving device and a second storage device, sorted goods are stored in the second storage device, the sorting robot conveys the sorted goods to a second target position through the second moving device, and the sorted goods are taken out from the goods to be sorted and/or the container storing the goods to be sorted.
Optionally, the system further comprises a supply station and/or a robot arm, the first target location being located in the area of the supply station and/or the robot arm location.
Optionally, the system further comprises a sorting bay, the second target location being located at the sorting bay;
the sorting robot is also provided with a dumping device which dumps the second storage device so as to dump the sorted goods stored in the second storage device into a bin of the sorting grid.
Optionally, the system further comprises a fixed rack and/or a mobile rack, the containers comprise the mobile rack, containers located on the fixed rack and/or containers located on the mobile rack, and the warehousing robots comprise a first warehousing robot and/or a second warehousing robot;
the first warehousing robot is provided with a carrying device, a first moving device and a first storage device; the first warehousing robot is specifically configured to:
the first handling device of the first warehousing robot carries the goods to be sorted and/or the containers storing the goods to be sorted from the fixed shelves to the first storage device of the first warehousing robot, and the first warehousing robot conveys the goods to be sorted and/or the containers storing the goods to be sorted to a first target position through a first moving device of the first warehousing robot;
the second warehousing robot is provided with a lifting device, another first moving device and another first storage device, the another first storage device is a tray, and the second warehousing robot is specifically used for:
the first moving device moves to the position below the moving shelf, the moving shelf stores goods to be sorted and/or containers of the goods to be sorted, the lifting device drives the tray to be lifted so as to jack up the moving shelf, and the second warehousing robot conveys the moving shelf to a first target position through the first moving device of the second warehousing robot.
Optionally, the first warehousing robot is further configured to transport the containers and/or the remaining goods to be sorted to an original storage location and/or a new storage location when the containers and/or the goods to be sorted remain in the first warehousing robot after sorting is completed.
Optionally, the second warehousing robot is further configured to transport the mobile shelf to the original position and/or the new storage position of the mobile shelf and/or transport the container of the mobile shelf to the new storage position when goods to be sorted remain in the mobile shelf and/or the container on the mobile shelf after sorting is completed.
Optionally, the sorting robot is configured to reach a third target location to receive the sorted goods and transport the sorted goods to the second target location.
Optionally, the sorting robot further has a detection device;
when the detection device detects that the received sorted goods match the sorted goods type and/or the goods quantity, the sorting robot transports the sorted goods to the second target position.
Optionally, the system further comprises a processing terminal instructing the warehousing robot to transport the goods to be sorted and/or the containers storing the goods to be sorted to a first target location, and/or instructing the sorting robot to transport the sorted goods to a second target location.
Optionally, the quantity of the goods to be sorted is determined according to the quantity of the goods required by the order, and the quantity of the goods to be sorted is not less than the quantity of the goods required by the order.
Compared with the prior art, the embodiment of the utility model provides an intelligent storage system, including storage robot and letter sorting robot, storage robot is used for transporting the container to the first target location that waits to sort goods and/or storage remain to sort goods, letter sorting robot is used for transporting letter sorting goods to second target location, utilizes the robot to carry out the goods letter sorting, has promoted the efficiency of goods letter sorting, simultaneously, sorts by the robot, has reduced the error rate that manual sorting leads to.
[ description of the drawings ]
One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.
Fig. 1 is a schematic diagram illustrating a system for intelligently sorting goods according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a first warehousing robot of the system for intelligently sorting goods shown in fig. 1;
fig. 3 is a schematic structural view of a second stocker robot of the system for intelligently sorting goods shown in fig. 1;
fig. 4 is a schematic structural view of a sorting robot of the system for intelligently sorting goods shown in fig. 1;
fig. 5 is a schematic structural view of another state of the sorting robot shown in fig. 4.
[ detailed description ] embodiments
In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a system 100 for intelligently sorting goods according to an embodiment of the present invention. The system 100 for intelligently sorting goods includes: the warehouse robot 10 and the sorting robot 20, the warehouse robot 10 and the sorting robot 20 may be connected to the processing terminal 30 through a network, which may be a wired network or a wireless network. The warehousing robot 10 is used for transporting goods to be sorted and/or containers storing the goods to be sorted to a first target position, and the sorting robot 20 is used for transporting the sorted goods to a second target position. The sorted goods are taken out of the goods to be sorted and/or the container storing the goods to be sorted, wherein the goods to be sorted can be stored in a container, such as a container.
The system 100 for intelligently sorting goods further comprises a supply console 40 and/or a robot arm, and the first target position is located in the area of the supply console 40 and/or the robot arm. When sorting the goods, the goods to be sorted need to be transported to the position area of the operation table 40 or the mechanical arm, so that the goods can be sorted through the operation table 40 or the mechanical arm.
The system 100 for intelligently sorting goods further includes a sorting bay 50, and the second target location is located in the sorting bay 50. After the goods to be sorted are sorted at the operating table 40 or the mechanical arm, the sorted goods can be transported to the sorting bays 50 by the sorting robot 20, and a goods bin can be placed in each sorting bay, which can correspond to the receiving party. After sorting is complete, the bins may be transported to an delivery area for delivery.
The system 100 for intelligently sorting goods further comprises a fixed rack and/or a movable rack, the containers comprise the movable rack, containers located on the fixed rack and/or containers located on the movable rack, the warehousing robot 10 comprises a first warehousing robot 101 and/or a second warehousing robot 102, the first warehousing robot 101 is used for transporting the goods to be sorted and/or the containers storing the goods to be sorted from the fixed rack to a first target position, and the second warehousing robot 102 is used for transporting the movable rack storing the goods to be sorted and/or the movable rack storing the containers of the goods to be sorted to a first target position.
The quantity of the goods to be sorted is determined according to the quantity of the goods required by the order, and the quantity of the goods to be sorted is not less than the quantity of the goods required by the order. For example, according to the order requirement, 50 mice and 5 keyboards need to be sorted out, the number of goods to be sorted can be larger than or equal to the number, so as to reduce the number of picking, for example, a container with 60 mice and a container with 10 keyboards can be directly picked. When a plurality of goods to be sorted meeting the condition exist, the goods can be selected according to the first-in first-out, the distance between the goods and a goods supply operating platform or a mechanical arm, and the production date or the storage quantity, for example, the goods close to the goods supply operating platform or the mechanical arm can be selected preferentially, and the goods with a shorter quality guarantee period can be selected preferentially.
The goods to be sorted and/or the containers for storing the goods to be sorted are located at positions and/or the goods taking positions are accurately positioned by the identification codes on the goods to be sorted and/or the containers, and can also be determined through visual identification, for example, the positions of the containers for storing the goods to be sorted can be determined through two-dimensional codes on the containers, meanwhile, the two-dimensional codes on the containers are aligned with cameras of the storage robot, so that the accurate positioning of the goods taking positions is guaranteed, and the positions of the containers can also be identified through visual identification, so that the containers are aligned to carry out the operation of taking the containers.
The first warehousing robot 101 is further configured to transport the containers and/or the remaining goods to be sorted to the original storage location and/or a new storage location when the containers and/or the remaining goods to be sorted remain in the first warehousing robot after sorting is completed.
The second warehousing robot 102 is further configured to transport the mobile shelf to the original position and/or the new storage position of the mobile shelf and/or transport the container of the mobile shelf to the new storage position when the goods to be sorted remain in the mobile shelf and/or the container on the mobile shelf after sorting is completed. Wherein the original storage position and/or the new storage position are determined according to the vacant storage position in the system.
The system 100 for intelligently sorting goods further includes a third target position, the sorting robot 20 arrives at the third target position to receive the sorted goods and transport the sorted goods to the second target position, and the sorted goods are taken out from the goods to be sorted and/or the containers storing the goods to be sorted.
The third target position may be a specific position where the delivery console or the robot arm delivers the sorted goods, for example, a stop point of the sorting robot 20 in the region of the delivery console or the robot arm, so as to stop at the position to receive the sorted goods.
The first target position reached by the warehousing robot and the second target position reached by the sorting robot can be located in the same area, for example, a supply console area.
In the embodiment of the present application, after the sorting robot 20 delivers the sorted goods to the sorting compartment, the robot can travel from the sorting compartment to the third target position of the delivery console or the robot arm area to receive the sorted goods taken out from the goods to be sorted by the delivery console or the robot arm.
In the embodiment of the present application, the sorting robot 20 may transport the sorted goods from the third target position for receiving the sorted goods to the second target position, that is, the sorting cell corresponding to the sorted goods, after receiving the sorted goods.
Referring to fig. 2 and 3 together, fig. 2 is a schematic structural diagram of the first warehousing robot 101, and fig. 3 is a schematic structural diagram of the second warehousing robot 102. The warehousing robot 10 includes a first moving device and a first storage device, the first storage device is used for storing or lifting goods to be sorted and/or containers storing the goods to be sorted, and the warehousing robot transports the goods to be sorted and/or the containers storing the goods to be sorted to a first target position through the first moving device.
In the first stocker robot 101, the first stocker robot 101 includes the first moving device 11a, the first storage device 12a, the carrying device 13, and the lifting device 14. The first storage device 12a, the conveying device 13, and the lifting device 14 are all mounted on the first moving device 11 a. The first moving device 11a is a movable chassis, and the first moving device 11a is configured to drive the first warehousing robot 10 to move according to the planned path. The first storage device 12a is used for storing goods to be sorted and/or containers for storing goods to be sorted, and in some other embodiments, the first storage device 12a may include a plurality of storage units, each of which may hold one or more goods. The carrying device 13 is movable in the vertical direction relative to the first moving device 11a so that the carrying device 13 is positioned horizontally opposite to any one of the storage units. The handling device 13 can handle the goods to be sorted and/or the containers storing the goods to be sorted from the fixed racks to the first storage device 12a, and the first warehousing robot can transport the goods to be sorted and/or the containers storing the goods to be sorted to the first target location by the first moving device 11a thereof. The lifting device 14 is used for driving the carrying device 13 to move relative to the first storage device 12a along the vertical direction, and the lifting assembly 40 comprises a lifting transmission mechanism and a lifting driving mechanism. Wherein the lifting drive mechanism is used for providing a second driving force for moving the carrying device 13 in the vertical direction relative to the first storage device 12a, and the lifting transmission mechanism is used for transmitting the second driving force to the carrying device 13.
In the second stocker robot 102, the second stocker robot 102 includes another first moving device 11b, another first storage device 12b, and a lifting device 15, the lifting device 15 is mounted to the first moving device 11b, and the first storage device 12b is mounted to the lifting device 15. The first moving device 11b includes a plurality of first driving wheels installed at a bottom end of the second warehousing robot 102, and the first moving device 11b drives the second warehousing robot 102 to move in a work space, for example, a warehouse, by the first driving wheels. The first storage device 12a is a pallet, and the first storage device 12a is used for placing a mobile shelf storing goods to be sorted and/or containers of goods to be sorted. The lifting device 15 is movable in a vertical direction with respect to the first moving device 11b, and the lifting device 15 drives the tray to be lifted to jack up the moving rack. The first moving device 11b moves to the lower part of the moving rack, the lifting device 15 drives the tray to be lifted to jack up the moving rack, and the second warehousing robot 102 delivers the moving rack to the first target position through the first moving device 11b thereof.
Referring to fig. 4 and 5, fig. 4 is a schematic structural view illustrating a non-toppling state of the sorting robot 20, and fig. 5 is a schematic structural view illustrating a toppling state of the sorting robot 20. The sorting robot 20 includes a second moving device 21, a second storage device 22, and a dumping device 23, and both the second storage device 22 and the dumping device 23 are mounted on the second moving device 21.
The second moving device 21 includes at least two second driving wheels installed at a bottom end of the sorting robot 20, the second moving device 21 drives the sorting robot 20 to travel along a planned path by the second driving wheels, and the sorting robot 20 delivers the sorted goods to a second target location by the second moving device 21. The second storage device 22 is a rotatable tray, and the second storage device 22 is used for storing sorted goods. The dumping device 23 is a link mechanism, and the dumping device 23 can rotate relative to the second moving device 21 to drive the second storage device 22 to dump the sorted goods stored in the second storage device 22 into the bin of the sorting compartment 50.
The sorting robot 20 further comprises a detecting device (not shown) for detecting whether the received sorted goods match the sorted goods type and/or the goods quantity; and if the goods are matched, the sorted goods are conveyed to the second target position, and the second target position is the sorting grid corresponding to the received goods. And if not, feeding back the unmatched information to the operation table, the mechanical arm and/or the processing terminal. It is understood that the detecting device may be set according to actual requirements, for example, a visual sensing device, and the type and/or quantity of the goods put into the sorting robot may be determined by shooting images, or the quantity of the goods put into the sorting robot may be determined by other sensing devices, such as a weight sensor, and it is only necessary that the detecting device can detect the type and/or quantity of the goods put into the sorting robot.
In this embodiment, the processing terminal 30 is configured to instruct the warehousing robot to transport the goods to be sorted and/or the containers storing the goods to be sorted to the first target location, and/or instruct the sorting robot to transport the sorted goods to the second target location.
In this embodiment of the present application, the processing terminal 30 is further configured to:
determining the quantity of goods to be sorted according to the quantity of the goods required by the order;
determining the type of the sorted goods according to the goods type information of the order;
determining the quantity of the sorted goods according to the quantity information of the goods of the order and/or the capacity information of the sorting robot;
determining the first target position according to information of goods to be sorted and/or the container information;
determining the second target location according to the order destination;
and according to the type, the quantity and the second target position of the sorted goods, instructing the sorting robot 20 to reach a third target position to receive the sorted goods and transporting the sorted goods to the second target position.
The processing terminal 30 is further configured to:
and instructing the warehousing robot to convey goods to be sorted and/or containers storing the goods to be sorted to a first target position according to the inventory information stored in the system, the received order information and the dynamic information of the first warehousing robot and/or the second warehousing robot.
The processing terminal 30 may count the quantity of each type of goods on the order to be sorted to determine the quantity of each type of goods to be sorted. The processing terminal 30 may determine the number of sorted goods directly according to the information on the number of goods on the order or the capacity information of the sorting robot, wherein the sorted goods are taken out from the goods to be sorted; the processing terminal 30 may determine the first target position according to the information of the goods to be sorted and/or the information of the containers, and different goods to be sorted and/or containers may have different first target positions, which are all located in the area of the supply console 40 or the robot arm, so as to sort the goods to be sorted by the supply console 40 or the robot arm. The processing terminal 30 may also determine the second target location according to the order destination; different orders have different delivery destinations, and therefore the second destination locations are also located at different sorting bays. The processing terminal 30 may further instruct the sorting robot 20 to receive the sorted goods or to deliver the sorted goods according to the sorted goods type, the sorted goods quantity, and the second target position.
In this embodiment of the application, after the goods of the order are sorted, it may be determined that the sorting task is completed, and it may be determined that the sorting task is completed by the warehousing robot 10, or by the operation terminal and/or the mechanical arm of the supply operation console, or by the processing terminal 30, and meanwhile, in order to trigger the supply operation console and/or the mechanical arm to perform the sorting operation, the processing terminal 30 may instruct the supply operation console and/or the mechanical arm to take out the type and the number of the goods to be sorted each time from the goods to be sorted, for example, information of the goods to be sorted from a certain storage shelf of the first warehousing robot; or from which compartment of the container of the goods to be sorted and their quantity are taken out. In a similar way, the mechanical arm can take out the goods to be sorted from the packing box of a certain layer of goods shelf of the first storage robot according to the specific goods position information, and take out the goods to be sorted from a certain lattice of the packing box for storing the goods to be sorted.
An embodiment of the utility model provides a system 100 of intelligence letter sorting goods, including said storage robot 10 with letter sorting robot 20, storage robot 10 is used for transporting the container to the first target location of waiting to sort goods and/or storage to remain to sort goods, letter sorting robot 20 is used for transporting letter sorting goods to second target location, utilizes different robots to carry out the goods letter sorting, has promoted the efficiency of goods letter sorting, simultaneously, sorts by the robot, has reduced the error rate that manual sorting leads to.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A system for intelligently sorting goods, comprising:
the warehousing robot is provided with a first moving device and a first storage device, the first storage device is used for storing or lifting goods to be sorted and/or containers storing the goods to be sorted, and the warehousing robot conveys the goods to be sorted and/or the containers storing the goods to be sorted to a first target position through the first moving device;
the sorting robot is provided with a second moving device and a second storage device, sorted goods are stored in the second storage device, the sorting robot conveys the sorted goods to a second target position through the second moving device, and the sorted goods are taken out from the goods to be sorted and/or the container storing the goods to be sorted.
2. The system of claim 1, further comprising a supply station and/or a robotic arm, wherein the first target location is located in the area of the supply station and/or robotic arm location.
3. The system of claim 1, further comprising a sorting bay, the second target location being located at the sorting bay;
the sorting robot is also provided with a dumping device which dumps the second storage device so as to dump the sorted goods stored in the second storage device into a bin of the sorting grid.
4. The system according to claim 1, characterized in that the system further comprises a fixed rack and/or a mobile rack, the containers comprise the mobile rack, containers located on the fixed rack and/or containers located on the mobile rack, the warehousing robots comprise a first and/or a second warehousing robot;
the first warehousing robot is provided with a carrying device, a first moving device and a first storage device; the first warehousing robot is specifically configured to:
the first handling device of the first warehousing robot carries the goods to be sorted and/or the containers storing the goods to be sorted from the fixed shelves to the first storage device of the first warehousing robot, and the first warehousing robot conveys the goods to be sorted and/or the containers storing the goods to be sorted to a first target position through a first moving device of the first warehousing robot;
the second warehousing robot is provided with a lifting device, another first moving device and another first storage device, the another first storage device is a tray, and the second warehousing robot is specifically used for:
the first moving device moves to the position below the moving shelf, the moving shelf stores goods to be sorted and/or containers of the goods to be sorted, the lifting device drives the tray to be lifted so as to jack up the moving shelf, and the second warehousing robot conveys the moving shelf to a first target position through the first moving device of the second warehousing robot.
5. The system of claim 4, wherein the first warehousing robot is further configured to transport the containers and/or the remaining goods to be sorted to an original storage location and/or a new storage location when the containers and/or the remaining goods to be sorted remain in the first warehousing robot after sorting is completed.
6. The system according to claim 4, wherein the second warehousing robot is further configured to transport the mobile racking to the original location and/or the new storage location of the mobile racking and/or to transport the container of the mobile racking to the new storage location when the goods to be sorted remain in the mobile racking and/or the container on the mobile racking after sorting is completed.
7. The system of claim 1, wherein the sorting robot is configured to receive the sorted goods upon reaching a third target location and to transport the sorted goods to the second target location.
8. The system of claim 7, wherein the sorting robot further has a detection device;
when the detection device detects that the received sorted goods match the sorted goods type and/or the goods quantity, the sorting robot transports the sorted goods to the second target position.
9. The system according to any one of claims 1 to 8, further comprising a processing terminal instructing the warehousing robot to transport the goods to be sorted and/or the containers storing the goods to be sorted to a first target location and/or instructing the sorting robot to transport the sorted goods to a second target location.
10. The system of claim 9, wherein the quantity of the goods to be sorted is determined according to a quantity of goods required by an order, and the quantity of the goods to be sorted is not less than the quantity of goods required by the order.
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| CN201921253105.2U CN210735196U (en) | 2019-07-31 | 2019-07-31 | System for intelligence letter sorting goods |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722676A (en) * | 2020-12-29 | 2021-04-30 | 珠海新天地科技有限公司 | Automatic goods picking system and goods picking method thereof |
| CN114408425A (en) * | 2021-08-18 | 2022-04-29 | 深圳市库宝软件有限公司 | Cargo scheduling method, device, equipment, warehousing system and storage medium |
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2019
- 2019-07-31 CN CN201921253105.2U patent/CN210735196U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722676A (en) * | 2020-12-29 | 2021-04-30 | 珠海新天地科技有限公司 | Automatic goods picking system and goods picking method thereof |
| CN114408425A (en) * | 2021-08-18 | 2022-04-29 | 深圳市库宝软件有限公司 | Cargo scheduling method, device, equipment, warehousing system and storage medium |
| CN114408425B (en) * | 2021-08-18 | 2024-05-07 | 深圳市库宝软件有限公司 | Cargo scheduling method, device, equipment, warehousing system and storage medium |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |