CN108341202A - A kind of cold chain transportation scheduling center system and method - Google Patents
A kind of cold chain transportation scheduling center system and method Download PDFInfo
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- CN108341202A CN108341202A CN201810130376.2A CN201810130376A CN108341202A CN 108341202 A CN108341202 A CN 108341202A CN 201810130376 A CN201810130376 A CN 201810130376A CN 108341202 A CN108341202 A CN 108341202A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G7/00—Devices for assisting manual moving or tilting heavy loads
- B65G7/02—Devices adapted to be interposed between loads and the ground or floor, e.g. crowbars with means for assisting conveyance of loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0832—Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
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Abstract
A kind of cold chain transportation scheduling center system and method provided by the invention, for controlling robot and removable refrigerator, wherein system includes：Robot control module navigates to removable refrigerator corresponding with inventory information is sorted, the removable refrigerator of control robotic conveyance to preset appointed place for sending comprising the assignment instructions control robot for sorting inventory information.In the present invention, the system controls the corresponding removable refrigerator of robotic conveyance to appointed place by sending assignment instructions, allow user that the sorting of kinds of goods can be completed in appointed place, when sorting the kinds of goods of substantial amounts, a large amount of costs of labor can be saved, a large amount of human times are saved, kinds of goods is improved and sorts efficiency, it realizes cold chain automatic dispatching, solves current cold chain and need artificial the technical issues of sorting kinds of goods mostly.
Description
Technical field
The present invention relates to cold chain transportation dispatching technique field more particularly to a kind of cold chain transportation scheduling center system and sides
Method.
Background technology
The Cold Chain Circulation rate only 30% or so in China at present, compared with European and American developed countries (nearly 100% Cold Chain Circulation rate)
Gap is very big；Not only make a large amount of fresh kinds of goods damage in the process of circulation to rot, while constraining the circulation of fresh kinds of goods
With development.
Fresh kinds of goods need to be stored in all kinds of refrigerators in Cold Chain Circulation, and different fresh kinds of goods need different refrigeration
Temperature and humidity.Freezed and position is fixed since refrigerator needs to connect power supply, kinds of goods are sorted from different refrigerators to be become
The very process of labor intensive time.
It is, therefore, desirable to provide the cold chain transportation of a kind of control robot and removable refrigerator dispatches center system to robot
Transportation dispatching processing is carried out with removable refrigerator, needs artificial the technical issues of sorting kinds of goods mostly to solve current cold chain.
Invention content
The present invention provides a kind of cold chain transportation of control robot and removable refrigerator scheduling center system and method, energy
It is enough that transportation dispatching processing is carried out to robot and removable refrigerator, it solves current cold chain and needs the artificial technology for sorting kinds of goods mostly
Problem.
A kind of cold chain transportation provided by the invention dispatches center system, for controlling robot and removable refrigerator, including：
Robot control module navigates to and picks comprising the assignment instructions control robot for sorting inventory information for sending
The corresponding removable refrigerator of inventory information, control robotic conveyance is selected to move refrigerator to preset appointed place.
Preferably, which further includes sorting scheduler module to retrieve for receiving sorting inventory information input by user
Corresponding removable refrigerator calculates the shortest robot in corresponding path, generates comprising the assignment instructions for sorting inventory information.
Preferably, which further includes storage scheduler module, for calculating corresponding machine according to storage inventory information
People and removable refrigerator generate warehouse-in instruction；
Robot control module is additionally operable to transmission warehouse-in instruction control robot and navigates to corresponding removable refrigerator, control
Robotic conveyance moves refrigerator to garage entering area.
Preferably, which further includes：
Removable refrigerator control module, refrigerated storage temperature and humidity for controlling each removable refrigerator.
Preferably, which further includes information reception and memory module, for receiving the state position information of robot, connecing
The refrigerated storage temperature humidity location information for moving refrigerator is received, default appointed place information, kinds of goods inventory information is received and will own
In information storage to database.
A kind of cold chain transportation dispatching method provided by the invention dispatches center system based on a kind of such as above-mentioned cold chain transportation
It is scheduled, including：
Sorting inventory information input by user is received, corresponding removable refrigerator is retrieved, calculates corresponding path most
Short robot is generated comprising the assignment instructions for sorting inventory information；
It sends comprising the assignment instructions for sorting inventory information to the robot, controls robot and navigate to and sort kinds of goods letter
Corresponding removable refrigerator is ceased, control robotic conveyance moves refrigerator to preset appointed place so that user can be pre-
If appointed place carry out kinds of goods sorting.
Preferably, this method further includes：
Receive storage inventory information, according to the corresponding temperature humidity condition calculating of storage inventory information be matched to it is corresponding can
Mobile refrigerator calculates the shortest robot in corresponding path, generates warehouse-in instruction；
It sends warehouse-in instruction control robot and navigates to corresponding removable refrigerator, the removable refrigerator of control robotic conveyance
To garage entering area.
Preferably, this method further includes：
Sending regulating command to removable refrigerator makes removable refrigerator is adjusted according to regulating command to move inside refrigerator
Temperature and humidity.
Preferably, this method further includes：
After kinds of goods sort, the refrigerated storage temperature humidity location information and kinds of goods inventory information for moving refrigerator output are received, is deposited
It stores up to database；
After kinds of goods storage, the refrigerated storage temperature humidity location information and kinds of goods inventory information for moving refrigerator output are received, is deposited
It stores up to database.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
A kind of cold chain transportation scheduling center system and method provided by the invention, for controlling robot and moving cold
Cabinet, wherein system include：Robot control module leads for sending comprising the assignment instructions control robot for sorting inventory information
Boat to removable refrigerator corresponding with inventory information is sorted, control robotic conveyance moves refrigerator to preset appointed place.
In the present invention, which controls the corresponding removable refrigerator of robotic conveyance to appointed place by sending assignment instructions so that
The sorting of kinds of goods can be completed in appointed place in user, when sort substantial amounts kinds of goods when, can save largely manually at
This, saves a large amount of human times, improves kinds of goods and sorts efficiency, realizes cold chain automatic dispatching, solve current cold chain needs mostly
The technical issues of manually sorting kinds of goods.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of schematic diagram of cold chain transportation dispatching method provided by the invention；
Fig. 2 is that a kind of cold chain transportation provided by the invention dispatches the robot of center system control and showing for removable refrigerator
It is intended to.
Specific implementation mode
The present invention provides a kind of cold chain transportation of control robot and removable refrigerator scheduling center system and method, energy
It is enough that transportation dispatching processing is carried out to robot and removable refrigerator, it solves current cold chain and needs the artificial technology for sorting kinds of goods mostly
Problem.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
All other embodiment that those of ordinary skill is obtained without making creative work, belongs to protection of the present invention
Range.
One embodiment of a kind of cold chain transportation scheduling center system provided by the invention, for controlling robot and removable
Dynamic refrigerator, including：
Robot control module navigates to and picks comprising the assignment instructions control robot for sorting inventory information for sending
The corresponding removable refrigerator of inventory information, control robotic conveyance is selected to move refrigerator to preset appointed place.
In the present invention, which controls the corresponding removable refrigerator of robotic conveyance to specified by sending assignment instructions
Point so that the sorting of kinds of goods can be completed in appointed place in user, when sorting the kinds of goods of substantial amounts, can save a large amount of
Cost of labor saves a large amount of human times, improves kinds of goods and sorts efficiency, realizes cold chain automatic dispatching, solve current cold chain
Artificial the technical issues of sorting kinds of goods is needed mostly.
The assignment instructions can be comprising sorting inventory information, specified removable refrigerator, specified robot, robot
The selection of the assignment instructions of operating path and preset appointed place, the removable refrigerator and robot is calculated according to preset algorithm
Go out, is generally calculated with the minimum target of resource consumption.Thus, controllable robot is moved to according to robot operating path
The removable refrigerator of instruction simultaneously transports removable refrigerator to appointed place.
The robot is transportation robot, can be transported to removable refrigerator, can be lifted from bottom it is removable
Refrigerator can also be to move refrigerator from side " taking in one's arms ", it might even be possible to be to move refrigerator from pull-up above.In the present invention,
The application examples that removable refrigerator is lifted from bottom is provided.
Removable refrigerator, that is, revocable refrigerator, can be picked up or be lifted, to be moved to remaining place.
It is retouch detailed to a kind of one embodiment progress that cold chain transportation dispatches center system provided by the invention above
It states, another embodiment for dispatching center system to a kind of cold chain transportation provided by the invention is described in detail below.
Another embodiment of a kind of cold chain transportation scheduling center system provided by the invention, for controlling robot and can
Mobile refrigerator, including：
Robot control module navigates to and picks comprising the assignment instructions control robot for sorting inventory information for sending
The corresponding removable refrigerator of inventory information, control robotic conveyance is selected to move refrigerator to preset appointed place.
Scheduler module is sorted, for receiving sorting inventory information input by user, corresponding removable refrigerator is retrieved, counts
The shortest robot in corresponding path is calculated, is generated comprising the assignment instructions for sorting inventory information.
It is put in storage scheduler module, for calculating corresponding robot and removable refrigerator according to storage inventory information, is generated
Warehouse-in instruction；
Robot control module is additionally operable to transmission warehouse-in instruction control robot and navigates to corresponding removable refrigerator, control
Robotic conveyance moves refrigerator to garage entering area.
Removable refrigerator control module, refrigerated storage temperature and humidity for controlling each removable refrigerator.
Information receives and memory module, the refrigeration for receiving the state position information of robot, receiving removable refrigerator
Temperature humidity location information, default appointed place information receive kinds of goods inventory information and will be in all information storages to database.
It is detailed to a kind of another embodiment progress that cold chain transportation dispatches center system provided by the invention above
Description below will be described in detail a kind of cold chain transportation dispatching method provided by the invention.
Referring to Fig. 1, a kind of cold chain transportation dispatching method provided by the invention, based on a kind of such as above-mentioned cold chain transportation tune
Degree center system is scheduled, including：
101, sorting inventory information input by user is received, corresponding removable refrigerator is retrieved, calculates corresponding road
The shortest robot of diameter is generated comprising the assignment instructions for sorting inventory information；
102, it sends comprising the assignment instructions for sorting inventory information to the robot, controls robot and navigate to and sort goods
The corresponding removable refrigerator of product information, control robotic conveyance move refrigerator to preset appointed place so that user can be with
Kinds of goods sorting is carried out in preset appointed place.
The sorting of above-mentioned two steps, that is, kinds of goods, picking process, are construed to：Receive the assignment instructions of center system, robot
According to the route of planning, specified removable refrigerator is advanced to by navigation.By the vision lens of robot device, on refrigerator
Two-dimension code label be read out information and verification.Meanwhile vision lens also can robot measurement and refrigerator relative position, into
Line position sets adjustment.Then robot is moved under refrigerator and lifts refrigerator, is transported to specified kinds of goods and sorts area.Kinds of goods are completed to sort
Afterwards, refrigerator control flow update transmission corresponding information；It is instructed according to center system, is transported to removable refrigerator simultaneously by robot
Next appointed place.
Further, this method further includes：
Receive storage inventory information, according to the corresponding temperature humidity condition calculating of storage inventory information be matched to it is corresponding can
Mobile refrigerator calculates the shortest robot in corresponding path, generates warehouse-in instruction；
It sends warehouse-in instruction control robot and navigates to corresponding removable refrigerator, the removable refrigerator of control robotic conveyance
To garage entering area.
Storage, the goods putting process of above two steps, that is, kinds of goods, are construed to：According to storage inventory information, distributed by center system
Robot and removable refrigerator.Robot advances to specified removable refrigerator by navigation, refrigerator is transported according to the route of planning
It is sent to garage entering area.After completing kinds of goods storage, refrigerator control flow update transmission corresponding information；It is instructed simultaneously according to center system,
Removable refrigerator is transported to next appointed place by robot.
Further, this method further includes：
Sending regulating command to removable refrigerator makes removable refrigerator is adjusted according to regulating command to move inside refrigerator
Temperature and humidity.
Further, this method further includes：
After kinds of goods sort, the refrigerated storage temperature humidity location information and kinds of goods inventory information for moving refrigerator output are received, is deposited
It stores up to database；
After kinds of goods storage, the refrigerated storage temperature humidity location information and kinds of goods inventory information for moving refrigerator output are received, is deposited
It stores up to database.
The application examples that center system is dispatched to a kind of cold chain transportation provided by the invention is described in detail below.
Cold chain transportation scheduling center system can control robot and removable refrigerator.Robot is according to centrally located control
The instruction that system is sent out carries out task execution.For example, can carry by auto-navigation to designated position and move refrigerator to off-sorting station
Domain.Receive instruction and execute task process in, robot by special wireless communication protocol with remote control software into
Row interaction not only ensures that robot can accurately and reliably complete task, and oneself state is reported to central control in time
System.Interaction between all robots is scheduled also through the instruction of central control system intelligence operation.In addition, machine
Device people also has dedicated secure wireless channel to be connected with depot safety system, once safety governor sets out, safety alarm is (such as fire
It is alert), all robots all can be out of service.
Referring to Fig. 2, robot is by lift mechanism, hoofing part, master control tablet, detecting lenses barrier inductor and fill
Battery is constituted, and can be instructed according to center system, and auto-navigation is lifted to designated position, rotation and Mobile refrigerator, together
When read move refrigerator on 2 D code information.
Referring to Fig. 2, removable refrigerator is by cabinet, control flow, automatic temperature-adjustment humidity-adjustment equipment, supporting rack and rechargeable battery structure
At.Fresh kinds of goods can be assigned to by center system in removable refrigerator accordingly and put according to refrigeration feature；Cabinet Nei Kean
Pretend and answers shelf, separation or storing containers, to be suitble to fresh kinds of goods to put；Cold in-cabinet temperature and humidity parameter are by center
System carries out remote adjustment, is monitored automatically by control flow, while being capable of transfer management kinds of goods inventory information.
Removable refrigerator configures rechargeable battery, for powering to equipment such as automatic temperature-adjustment humidity-adjustments；Removable refrigerator passes through ground
Face power supply or robot charge, and are monitored by control flow.Removable refrigerator bottom is installed by supporting rack, it is possible to provide suitable
Space, for robot enter, lifting and Mobile refrigerator.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the module
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple module or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or module
It closes or communicates to connect, can be electrical, machinery or other forms.
The module illustrated as separating component may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, you can be located at a place, or may be distributed over multiple
On network module.Some or all of module therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each function module in each embodiment of the present invention can be integrated in a processing module, it can also
That modules physically exist alone, can also two or more modules be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.
If the integrated module is realized in the form of software function module and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Stating embodiment, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
Modification or replacement, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of cold chain transportation dispatches center system, for controlling robot and removable refrigerator, which is characterized in that including：
Robot control module navigates to comprising the assignment instructions control robot for sorting inventory information for sending and sorts goods
The corresponding removable refrigerator of product information, control robotic conveyance move refrigerator to preset appointed place.
2. a kind of cold chain transportation according to claim 1 dispatches center system, which is characterized in that further include：
Scheduler module is sorted to retrieve corresponding removable refrigerator for receiving sorting inventory information input by user, calculate
The corresponding shortest robot in path, generates comprising the assignment instructions for sorting inventory information.
3. a kind of cold chain transportation according to claim 1 dispatches center system, which is characterized in that
Further include storage scheduler module, it is raw for calculating corresponding robot and removable refrigerator according to storage inventory information
At warehouse-in instruction；
Robot control module is additionally operable to transmission warehouse-in instruction control robot and navigates to corresponding removable refrigerator, control machine
People's transport moves refrigerator to garage entering area.
4. a kind of cold chain transportation according to claim 1 dispatches center system, which is characterized in that further include：
Removable refrigerator control module, refrigerated storage temperature and humidity for controlling each removable refrigerator.
5. a kind of cold chain transportation according to claim 1 dispatches center system, which is characterized in that further include information receive and
Memory module moves the refrigerated storage temperature humidity location information, pre- of refrigerator for receiving the state position information of robot, receiving
If appointed place information receives kinds of goods inventory information and will be in all information storages to database.
6. a kind of cold chain transportation dispatching method, based on a kind of cold chain transportation scheduling as described in any one of claim 1 to 5
Center system is scheduled, which is characterized in that including：
Sorting inventory information input by user is received, corresponding removable refrigerator is retrieved, it is shortest to calculate corresponding path
Robot is generated comprising the assignment instructions for sorting inventory information；
It sends comprising the assignment instructions for sorting inventory information to the robot, controls robot and navigate to and sort inventory information pair
The removable refrigerator answered, control robotic conveyance move refrigerator to preset appointed place so that user can be preset
Appointed place carries out kinds of goods sorting.
7. a kind of cold chain transportation dispatching method according to claim 6, which is characterized in that further include：
Storage inventory information is received, is matched to according to the corresponding temperature humidity condition calculating of storage inventory information corresponding removable
Refrigerator calculates the shortest robot in corresponding path, generates warehouse-in instruction；
Send that warehouse-in instruction control robot navigates to corresponding removable refrigerator, control robotic conveyance moves refrigerator to entering
Base area.
8. a kind of cold chain transportation dispatching method according to claim 6, which is characterized in that further include：
Sending regulating command to removable refrigerator makes removable refrigerator adjust the temperature moved inside refrigerator according to regulating command
Degree and humidity.
9. a kind of cold chain transportation dispatching method according to claim 7, which is characterized in that further include：
Kinds of goods sort after, receive move refrigerator output refrigerated storage temperature humidity location information and kinds of goods inventory information, store to
Database；
Kinds of goods storage after, receive move refrigerator output refrigerated storage temperature humidity location information and kinds of goods inventory information, store to
Database.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710072098 | 2017-02-10 | ||
| CN2017100720985 | 2017-02-10 |
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| CN108341202A true CN108341202A (en) | 2018-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810128928.6A Pending CN108455160A (en) | 2017-02-10 | 2018-02-08 | A kind of loading robot and cold chain transportation combination |
| CN201810130376.2A Pending CN108341202A (en) | 2017-02-10 | 2018-02-08 | A kind of cold chain transportation scheduling center system and method |
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| Application Number | Title | Priority Date | Filing Date |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109533767A (en) * | 2018-11-16 | 2019-03-29 | 浙江朗鲜电子商务有限公司 | A kind of Cold Chain Logistics transport processing system and method |
| CN111483741A (en) * | 2020-04-10 | 2020-08-04 | 北京每日优鲜电子商务有限公司 | Conveying system and conveying method |
| CN112581200A (en) * | 2019-09-27 | 2021-03-30 | 坎德拉（深圳）科技创新有限公司 | Unmanned retail method, server and storage medium |
| CN112875112A (en) * | 2020-12-31 | 2021-06-01 | 广东工业大学 | Digital twin-based high-density stereoscopic warehouse storage position allocation and scheduling method |
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| KR20210079300A (en) * | 2018-10-22 | 2021-06-29 | 피아지오 패스트 포워드 인코포레이티드 | Mobile carrier with replaceable cargo |
| CN111147576B (en) * | 2019-12-25 | 2023-04-07 | 重庆特斯联智慧科技股份有限公司 | Intelligent transportation system and method for shopping in scenic spot |
| CN112046952A (en) * | 2020-09-02 | 2020-12-08 | 北京云迹科技有限公司 | Double-charging container and logistics device |
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| CN111483741A (en) * | 2020-04-10 | 2020-08-04 | 北京每日优鲜电子商务有限公司 | Conveying system and conveying method |
| CN112875112A (en) * | 2020-12-31 | 2021-06-01 | 广东工业大学 | Digital twin-based high-density stereoscopic warehouse storage position allocation and scheduling method |
| CN112875112B (en) * | 2020-12-31 | 2021-08-10 | 广东工业大学 | Digital twin-based high-density stereoscopic warehouse storage position allocation and scheduling method |
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