CN204256507U - A kind of intelligent flexible automated warehouse storage system - Google Patents
A kind of intelligent flexible automated warehouse storage system Download PDFInfo
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- CN204256507U CN204256507U CN201420784397.3U CN201420784397U CN204256507U CN 204256507 U CN204256507 U CN 204256507U CN 201420784397 U CN201420784397 U CN 201420784397U CN 204256507 U CN204256507 U CN 204256507U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The utility model discloses a kind of intelligent flexible automated warehouse storage system, comprise robotization gate control system, automatic handing system, automatic scanning system and Production Scheduling System, wherein: robotization gate control system, for managing the switch of barndoor gate, is provided with the required kind of commodity of input and the touch-screen of number; Robotization gate control system connects Production Scheduling System, and Production Scheduling System receives the warehouse-in of commodity and goes out library information, and stores warehouse information, sends location, navigation information to automatic handing system; Automatic handing system comprises several transfer robots, transfer robot is provided with location and navigational system, read in real time by scanning system and upload to the production scheduling plateform system of PC background server, import in the system of database by it, real-time update database, storehouse management user can pass through Terminal Server Client real time access, management, and the operation of supervisory system.
Description
Technical field
The utility model relates to a kind of intelligent flexible automated warehouse storage system.
Background technology
Warehouse is the core link of modern logistics, is an important step in enterprise material circulation supply chain.Artificial and the mechanization storage of the development experience in warehouse, automated warehousing, intelligent three developing stage of storing in a warehouse.The application of infotech has become the mainstay of storage technique, and the combination of automated warehousing and information acquisition decision system and the utilization of wireless radio-frequency make storage towards intelligentized future development.
But, along with the continuous growth of portfolio and the continuous lifting of customer demand, warehouse is also faced with increasing challenge, how to reduce inventory investment, strengthen Stock control and supervision, reduce logistics and dispensing expense, improve the utilization rate of space, personnel and equipment, shorten warehouse-in flow process and look into ETCD estimated time of commencing discharging, becoming Reducing Cost in Enterprises, improve the key of self competitive power.
Utility model content
The utility model is in order to solve the problem, propose a kind of intelligent flexible automated warehouse storage system, system is by distributing rationally standardization shelf and position thereof, and the intelligent handling system of the artificial basic motion unit of independent navigation conveying robot, realize the automatic loading and unloading of shelf, carrying and operationies on incoming and outgoing inventory, thus change plurality of devices in traditional warehousing system and coexist, cost is high, the conspicuous contradiction that utilization factor is low, form collection automatic loading and unloading, carrying, the intelligent agile automated storage and retrieval system that storage is integrated, commercial production can be widely used in, business, multiple applications such as logistics transfer.
To achieve these goals, the utility model adopts following technical scheme:
A kind of intelligent flexible automated warehouse storage system, comprising: robotization gate control system, automatic handing system, automatic scanning system and Production Scheduling System, wherein:
Robotization gate control system, for managing the switch of barndoor gate, is provided with the required kind of commodity of input and the touch-screen of number;
Robotization gate control system connects Production Scheduling System, and Production Scheduling System receives the warehouse-in of commodity and goes out library information, and stores warehouse information, sends location, navigation information to automatic handing system;
Automatic handing system comprises several transfer robots, and transfer robot is provided with location and navigational system;
After described automatic handing system is transported goods and scanned by automatic scanning system, by freight handling to appointed area,
Described automatic scanning system connects Production Scheduling System, the goods information of transmission scanning, and Production Scheduling System carries out corresponding data storage and calculating, and described Production Scheduling System connects background server.
Described background server, according to user's request, transmit control signal to Production Scheduling System according to priority level, Production Scheduling System driving transfer robot and automatic scanning system complete quick warehouse-in, empty van goes out warehouse-in, FCL goes out warehouse-in, non-FCL goes out warehouse-in, old commodity are put in storage and piling.
Multiple RFID label tag is installed on, to mark key point in described warehouse.
Described warehouse comprises memory block warehouse compartment, working area warehouse compartment and delivery of cargo district warehouse compartment, is also provided with stacking machine, to the charge position of transfer robot charging and parking stall in warehouse.
Based on location and the warehouse-out method of navigational system, comprise the following steps:
(1) user card punching enters warehouse by gate control system, the kind of the commodity required for being inputted by the touch-screen on doorway and number; Delivery of cargo district waits for that required commodity ship by robot;
(2) production scheduling platform is according to user's request, calling data storehouse relevant information, and robot command extracts commodity to corresponding warehouse compartment, and it is to be scanned that the shelf that commodity are housed are transported to automatic scanning system etc. by robot;
(3) Production Scheduling System the ammeter number of outbound will issue scanning system, the commodity number that surface sweeping system needs according to these information scannings, and the case number of needs is transported to delivery of cargo district by robot; In delivery of cargo district, user waits for that robot extracts the commodity oneself needed after being put down by shelf as requested, and confirm;
(4) to receive picking complete for Production Scheduling System, and send instructions under robot, first remaining scanning system of transporting to confirms by robot, confirms errorless, and stacking machine is put into robot in robot together with the shelf held up and transports warehouse compartment back; If user gets table, number is not right, and alarm notification user check;
(5) robot transports remaining commodity back former warehouse compartment.
In described step (5), the empty shelf of buffer area are transported to piler and confirm whether user rationally places empty van by robot; If rationally placed, empty shelf are put back to buffer area by robot, and gate control system is opened, and allow user to leave; If place unreasonable, ALM prompting user, until chest is rationally placed, gate inhibition opens, and user leaves, and outbound process terminates.
In described step (4), in the process of transfer robot and scanning system associated working, transfer robot can pass through the mission bit stream of the real-time upload location information of Wi-Fi and receiving scheduling system, completing required for completing of task, scanning system can upload in real time outbound warehouse-in article upload in the database of host computer, the function situation of ipc monitor real-time system, by the ruuning situation of network real-time monitoring system, ensures the normal operation of system.
Based on the storage method of said system, comprising:
(1) user card punching enters warehouse by gate control system, by needing the commodity of warehouse-in to be put into delivery of cargo region, clicks into library button by the touch-screen on doorway;
(2) according to user command, Production Scheduling System calling data library information, robot command removes commodity to delivery of cargo, and it is to be scanned that the shelf that commodity are housed are transported to stacking machine etc. by robot;
(3) the kind number of commodity that scanning system will be put in storage issues host computer server stores, the scanning system end of scan, and host computer traffic order is assigned, robot will treat that stock thing is transported in warehouse, gate control system is opened, and user leaves, and warehouse-in process terminates.
Described location and navigational system, comprise RFID positioning unit, cmos image collecting unit and information process unit;
RFID positioning unit, comprises rfid interrogator, RFID label tag; Wherein, RFID label tag is set in turn in key point place, path, and rfid interrogator is arranged at the bottom of mobile robot, gathers the information of RFID label tag, the operating path of verification robot;
Cmos image collecting unit, comprises CMOS camera and lighting circuit, described CMOS camera, is fixed on the bottom middle-end of mobile robot, and gather the path indicator line that ground is arranged, described lighting circuit is arranged at around CMOS camera;
Information process unit, comprise controller, processor and serial communication interface, described controller receives the path indicator line video information that CMOS camera gathers, by its filtering, eliminate blemishes after be transferred to processor, processor connects rfid interrogator by serial communication interface, obtains positioning signal.
Based on location and the localization method of navigational system, comprise the following steps:
(1) lay red path markings on ground, robot operational site, and every setpoint distance, a RFID label tag is installed on markings;
(2) when mobile robot receives out warehouse-in assignment instructions, mobile robot is from the access path district of district that awaits orders, the rfid interrogator of bottom reads the FRID label information of starting point, uploads to RFID serial ports and obtain positioning signal by processor by the antenna of rfid interrogator;
(3) mobile robot is by cmos image collecting unit way to acquire graticule image, and is transferred to controller, and controller carries out pre-service to image, recovers useful path color information;
(4) segmentation based on color is carried out to image, the space of color is transformed into YCbCr color space from RGB, Threshold segmentation is carried out to red chrominance component wherein;
(5) in robot ride process, by camera first acquisition approach image, the image obtained is processed, understands image implication and way to acquire information.
In described step (2), robot obtains key point information by rfid interrogator and shows that path is correct to mobile robot, if can't detect key point information, the processor control adjustment amplitude that swings finds key point.
In described step (3), the pre-service of image comprises filtering, level and smooth, enhancing, stain, barrier in removal of images.
In described step (4), in YCbCr color space, Y refers to luminance component, and Cb refers to chroma blue component, and Cr refers to red chrominance component, and the conversion formula that rgb space is converted to YCbCr space is as follows:
The beneficial effects of the utility model are:
(1) warehouse district is arranged arbitrarily, not by storehouse shape constraining; Only can realize various new-type storage classification, partition management and scheduling by software, have the advantages that flexibility is arranged; Support automatic selection and the in-out-storehouse management of plurality of specifications model and classification article; Warehouse adopts modular design concept, whole warehouse convenient to construct, and warehouse can reduce storage capacity with enterprise demand or increase storage capacity;
(2) carrying adopting intelligent mobile robot to realize shelf realizes out warehouse-in robotization, and realizes lift truck by simple auxiliary device; Lower cost realizes the quick in-out-storehouse management of any shelf;
(3) read by RFID and bar codes technique going out putaway stock article No. and accurately obtain goods number line item of going forward side by side enter database by comparing both the data obtaineds, by production scheduling platform, data management being carried out to goods;
(4) go out to put efficiency optimization in storage according to user's request Implementation repository, compared by storage capacity and go out warehouse-in efficiency biobjective scheduling algorithm, warehouse inventory is effectively managed, production management platform can automatic acquisition and instruct optimize search volume, adjust the direction of search adaptively, find out internal object position, storehouse fast, space in reasonable distribution storehouse;
(5) read in real time by scanning system and upload to the production scheduling plateform system of PC background server, import in the system of database by it, real-time update database, storehouse management user can pass through Terminal Server Client real time access, management, and the operation of supervisory system.
Accompanying drawing explanation
Fig. 1 is system architecture figure of the present utility model;
Fig. 2 is warehouse of the present utility model arrangenent diagram;
Fig. 3 is the utility model outbound process flow diagram;
Fig. 4 is warehouse-in process flow diagram;
Fig. 5 is the data management figure of the local and remote client of the utility model.
Embodiment:
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
As shown in Figure 1, agile intelligent flexible automated warehouse storage system, comprising:
Robotization gate control system;
The automatic transporting plateform system of transfer robot composition;
Autoscan plateform system;
The production scheduling plateform system of background server;
The production scheduling platform of background server, according to user's request, completes quick warehouse-in according to priority level rule coordination transfer robot and scanning system, empty van goes out warehouse-in, FCL goes out to put in storage, non-FCL goes out the function such as warehouse-in, old commodity warehouse-in, piling.The production scheduling platform of background server goes out warehouse situation real-time update database according to commodity.By networking, we long-rangely can monitor system, manage.
The location of transfer robot and navigational system, comprise RFID positioning unit, cmos image collecting unit and information process unit;
RFID positioning unit, comprises rfid interrogator, RFID label tag; Wherein, RFID label tag is set in turn in key point place, path, and rfid interrogator is arranged at the bottom of mobile robot, gathers the information of RFID label tag, the operating path of verification robot;
Cmos image collecting unit, comprises CMOS camera and lighting circuit, described CMOS camera, is fixed on the bottom middle-end of mobile robot, and gather the path indicator line that ground is arranged, described lighting circuit is arranged at around CMOS camera;
Information process unit, comprise controller, processor and serial communication interface, described controller receives the path indicator line video information that CMOS camera gathers, by its filtering, eliminate blemishes after be transferred to processor, processor connects rfid interrogator by serial communication interface, obtains positioning signal.
CMOS camera is arranged in the middle of the bottom of mobile robot, and rfid interrogator is arranged on the position being close to camera.
RFID label tag is passive passive label.
Processor is dsp processor.
When mobile robot receives out warehouse-in assignment instructions, mobile robot is from the access path district of district that awaits orders, the rfid interrogator of bottom reads the FRID label information of starting point, uploads to RFID serial ports and obtain positioning signal by dsp processor process information by the antenna of rfid interrogator.
Mobile robot is by cmos image collecting unit way to acquire graticule image, and in order to avoid the impact of extraneous light change on image acquisition effect, native system adds floor light circuit around camera, and the image that CMOS is collected is more clear.
The video image that CMOS collects uploads to DM642 controller by video terminal, DM642 is by carrying out pre-service to image, comprise filtering, level and smooth, enhancing, the information that in removal of images, stain, barrier etc. are irrelevant, recover useful path color information, strengthen detectability and the reduced data to greatest extent of colouring information.Then the segmentation based on color is carried out to image.
The utility model is different from general pattern processing mode and adopts histogram method to obtain colouring information histogram, extracts the region of color interested, but color space is transformed into YCbCr space from RGB.YCbCr is not a kind of definitely color space, and be the version of YUV compression and skew, wherein Y refers to luminance component, and Cb refers to chroma blue component, and Cr refers to red chrominance component.The Y-component of naked eyes to video of people is more responsive, and therefore by after carrying out sub sampling to chromatic component and reducing chromatic component, naked eyes are by the change of imperceptible picture quality.
The conversion formula that rgb space is converted to YCbCr space is as follows:
Namely the utility model carries out Threshold segmentation to Cr to the algorithm of image procossing, and the utility model have selected 100 as threshold value according to the colour brightness of path-line by different Threshold segmentation Contrast on effect.
Autoscan plateform system, comprises moving positioning device and scanister, and described moving positioning device comprises controller and hoisting gear, wherein:
Hoisting gear comprises servomotor, leading screw lifting table, support and finger motor, and driven by servomotor leading screw lifting table moves; Two ends on support are fixed with four holding fingers, and when leading screw lifting table moves to assigned address, controller sends a signal to finger motor, and finger motor drives holding finger to central motion, clamps ammeter box;
Motor can directly be set to forward fixing angle to, stops operating afterwards.
Scanister is arranged on support, and described scanister comprises four scanners, wherein three scanner cross direction profiles, and for scanning ammeter, another scanner is longitudinally arranged, and for scanning the information of case number (CN), counts warehouse-in case number (CN) information;
Controller controls hoisting gear running, and described controller communicates with the host computer storing the ammeter number deposited in Turnover Box.
Scanner is Keyemce BL-1300 type bar-code reader.
In discrete ammeter bar code scanning system, scanister position is fixed, wait for that ammeter is transported to region to be scanned, PLC passes through acknowledge(ment) signal, after detection position is fixing, control servomotor moves, by controlling servomotor motor pulses number, driving guide screw movement, ensureing that scanner arrives specified altitude assignment simultaneously, PLC controls horizontal servomotor and moves, and drives scanner motion to complete scanning process.Scanner installs four, longitudinal scanner is responsible for the information scanning case number (CN), count warehouse-in case number (CN) information, three horizontal scanner scanning ammeter information, the data sent by host computer determine the ammeter number deposited in Turnover Box, control to open two or three scanner work, be transferred on host computer by Ethernet by PLC, record data in database, thus complete the record statistics of warehouse ammeter information.
Scanning system single unit system is fixing, is provided with mobile device, and band scanner arrives the position of specifying.Scanning system entirety contains four scanners, comprise three transverse directions with a longitudinal direction, these four scanners are mounted on the mobile device of scanning system movement.Horizontal scanning scan by the open side of Turnover Box, and there is bar code the upside of ammeter, and scanning system can drive mobile scanning by the lead screw guide rails of transverse direction, longitudinal direction have controller to control to height after directly scan case number (CN).
The utility model has following characteristics:
(1) automatic loading and unloading, carrying, storage and intelligent agile automated storage and retrieval system is integrally collected
The carrying adopting intelligent mobile robot to realize shelf realizes out warehouse-in robotization, and realizes lift truck by simple auxiliary device; Lower cost realizes the quick in-out-storehouse management of any shelf.
(2) flexible storage design and storage capacity configuration mode
Warehouse district is arranged arbitrarily, not by storehouse shape constraining; Only can realize various new-type storage classification, partition management and scheduling by software, have the advantages that flexibility is arranged; Support automatic selection and the in-out-storehouse management of plurality of specifications model and classification article; Warehouse adopts modular design concept, whole warehouse convenient to construct, and warehouse can reduce storage capacity with enterprise demand or increase storage capacity.
(3) storage capacity realizing demand orientation compares and goes out warehouse-in efficiency biobjective scheduling algorithm
Go out to put efficiency optimization in storage according to user's request Implementation repository, compared by storage capacity and go out warehouse-in efficiency biobjective scheduling algorithm, warehouse inventory is effectively managed.Production management platform can automatic acquisition and instruct optimize search volume, adjust the direction of search adaptively, find out internal object position, storehouse fast, space in reasonable distribution storehouse.
(4) based on the intelligent identifying system that RFID combines with bar codes technique
Read by RFID and bar codes technique going out putaway stock article No. and accurately obtain goods number line item of going forward side by side enter database by comparing both the data obtaineds, by production scheduling platform, data management being carried out to goods.
(5) based on the data management of local user and Terminal Server Client
Read in real time by scanning system and upload to the production scheduling plateform system of PC background server, import in the system of database by it, real-time update database, storehouse management user can pass through Terminal Server Client real time access, management, and the operation of supervisory system.
This agile intelligent flexible automated warehouse storage system includes storage area, working area, delivery of cargo are gone, the part such as stacking machine (part of scanning system), host computer, please refer to shown in lower Fig. 3 in detail:
As shown in Figure 3, outbound process:
User card punching enters warehouse by gate control system, the kind of the commodity required for being inputted by the touch-screen on doorway and number.Then in delivery of cargo district, user just can wait for that required commodity ship by robot.The production scheduling platform of background server is according to user's request, and calling data storehouse relevant information, extracts commodity according to dependency rule robot command to corresponding warehouse compartment, and it is to be scanned that the shelf that commodity are housed are transported to scanning system etc. by robot.The production scheduling platform of background server the ammeter number of outbound will issue scanning system, the commodity number that surface sweeping system needs according to these information scannings, and the case number of needs is transported to delivery of cargo district by robot.
In delivery of cargo district, user waits for that robot extracts the commodity oneself needed after being put down by shelf as requested.And empty shelf are placed on buffer area according to the direction of arrow of specifying, click picking after putting well on the touchscreen complete.
It is complete that the production scheduling platform of background server receives picking, and send instructions under robot, first remaining scanning system of transporting to confirms by robot, confirms errorless, and stacking machine is put into robot in robot together with the shelf held up and transports warehouse compartment back.If user gets table, number is not right, and daemon software alarm notification user checks.
User checks and gets table number, until it is correct to get table number.
Robot transports remaining commodity back former warehouse compartment.And the empty shelf of buffer area are transported to piler confirm user whether empty van is rationally placed.If rationally placed, empty shelf are put back to buffer area by robot, and gate control system is opened, and user can leave.If place unreasonable, ALM prompting user, until chest is rationally placed, gate inhibition opens, and user leaves, and outbound process terminates.
As shown in Figure 4, process is put in storage:
User card punching enters warehouse by gate control system, by needing the commodity of warehouse-in to be put into delivery of cargo region, is clicked into library button by the touch-screen on doorway.Daemon software is according to user command, and calling data storehouse relevant information, removes commodity according to dependency rule robot command to delivery of cargo, and it is to be scanned that the shelf that commodity are housed are transported to stacking machine etc. by robot.The kind number of the commodity that scanning system will be put in storage issues host computer server stores, the scanning system end of scan, and host computer traffic order is assigned, and robot will treat that stock thing is transported in warehouse, and gate control system is opened, and user leaves, and warehouse-in process terminates.
As shown in Figure 4, in the process of transfer robot and scanning platform associated working, transfer robot can pass through the mission bit stream of the real-time upload location information of Wi-Fi and receiving scheduling platform, completing required for completing of task, scanning system can upload in real time outbound warehouse-in article upload in the database of host computer, local administrator can be accessed by local computer and monitor the function situation of real-time system, also by the ruuning situation of network real-time monitoring system, the normal operation of system can be ensured.
By reference to the accompanying drawings embodiment of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (5)
1. an intelligent flexible automated warehouse storage system, is characterized in that: comprise robotization gate control system, automatic handing system, automatic scanning system and Production Scheduling System, wherein:
Robotization gate control system, for managing the switch of barndoor gate, is provided with the required kind of commodity of input and the touch-screen of number;
Robotization gate control system connects Production Scheduling System, and Production Scheduling System receives the warehouse-in of commodity and goes out library information, and stores warehouse information, sends location, navigation information to automatic handing system;
Automatic handing system comprises several transfer robots, and transfer robot is provided with location and navigational system;
After described automatic handing system is transported goods and scanned by automatic scanning system, by freight handling to appointed area,
Described automatic scanning system connects Production Scheduling System, the goods information of transmission scanning, and Production Scheduling System carries out corresponding data storage and calculating, and described Production Scheduling System connects background server;
Described background server, according to user's request, transmit control signal to Production Scheduling System according to priority level, Production Scheduling System driving transfer robot and automatic scanning system complete quick warehouse-in, empty van goes out warehouse-in, FCL goes out warehouse-in, non-FCL goes out warehouse-in, old commodity are put in storage and piling.
2. a kind of intelligent flexible automated warehouse storage system as claimed in claim 1, is characterized in that: be installed on multiple RFID label tag in described warehouse, to mark key point.
3. a kind of intelligent flexible automated warehouse storage system as claimed in claim 1, is characterized in that: described warehouse comprises memory block warehouse compartment, working area warehouse compartment and delivery of cargo district warehouse compartment, is also provided with stacking machine, to the charge position of transfer robot charging and parking stall in warehouse.
4. a kind of intelligent flexible automated warehouse storage system as claimed in claim 1, is characterized in that: described location and navigational system, comprises RFID positioning unit, cmos image collecting unit and information process unit;
RFID positioning unit, comprises rfid interrogator, RFID label tag; Wherein, RFID label tag is set in turn in key point place, path, and rfid interrogator is arranged at the bottom of mobile robot, gathers the information of RFID label tag, the operating path of verification robot;
Cmos image collecting unit, comprises CMOS camera and lighting circuit, described CMOS camera, is fixed on the bottom middle-end of mobile robot, and gather the path indicator line that ground is arranged, described lighting circuit is arranged at around CMOS camera;
Information process unit, comprise controller, processor and serial communication interface, described controller receives the path indicator line video information that CMOS camera gathers, by its filtering, eliminate blemishes after be transferred to processor, processor connects rfid interrogator by serial communication interface, obtains positioning signal.
5. a kind of intelligent flexible automated warehouse storage system as claimed in claim 1, it is characterized in that: described automatic scanning system, comprise moving positioning device and scanister, described moving positioning device comprises controller and hoisting gear, wherein:
Hoisting gear comprises servomotor, leading screw lifting table, support and finger motor, and driven by servomotor leading screw lifting table moves; Two ends on support are fixed with four holding fingers, and when leading screw lifting table moves to assigned address, controller sends a signal to finger motor, and finger motor drives holding finger to central motion, clamps ammeter box;
Motor can directly be set to forward fixing angle to, stops operating afterwards;
Scanister is arranged on support, and described scanister comprises four scanners, wherein three scanner cross direction profiles, and for scanning ammeter, another scanner is longitudinally arranged, and for scanning the information of case number (CN), counts warehouse-in case number (CN) information;
Controller controls hoisting gear running, and described controller communicates with the host computer storing the ammeter number deposited in Turnover Box.
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| CN104460628A (en) * | 2014-12-11 | 2015-03-25 | 山东大学 | Intelligent flexible automation warehousing system and method |
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| CN105858045A (en) * | 2016-06-03 | 2016-08-17 | 北京极智嘉科技有限公司 | Automatic cargo picking system and automatic cargo picking method |
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