CN106023361A - Intelligent warehouse management system and method - Google Patents

Intelligent warehouse management system and method Download PDF

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Publication number
CN106023361A
CN106023361A CN201610314806.7A CN201610314806A CN106023361A CN 106023361 A CN106023361 A CN 106023361A CN 201610314806 A CN201610314806 A CN 201610314806A CN 106023361 A CN106023361 A CN 106023361A
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CN
China
Prior art keywords
outbound
warehouse
data
goods
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610314806.7A
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Chinese (zh)
Other versions
CN106023361B (en
Inventor
陈泽华
朱长东
倪呈祥
刘亚男
官习炳
张洋
陈海涛
韩光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CHANGZHOU KEHUI POWER EQUIPMENT Co Ltd
State Grid Corp of China SGCC
Yichang Power Supply Co of State Grid Hubei Electric Power Co Ltd
Original Assignee
CHANGZHOU KEHUI POWER EQUIPMENT Co Ltd
State Grid Corp of China SGCC
Yichang Power Supply Co of State Grid Hubei Electric Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by CHANGZHOU KEHUI POWER EQUIPMENT Co Ltd, State Grid Corp of China SGCC, Yichang Power Supply Co of State Grid Hubei Electric Power Co Ltd filed Critical CHANGZHOU KEHUI POWER EQUIPMENT Co Ltd
Priority to CN201610314806.7A priority Critical patent/CN106023361B/en
Publication of CN106023361A publication Critical patent/CN106023361A/en
Application granted granted Critical
Publication of CN106023361B publication Critical patent/CN106023361B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07CTIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00Individual registration on entry or exit
    • G07C9/20Individual registration on entry or exit involving the use of a pass
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06KGRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0029Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06QINFORMATION 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
    • G06Q10/00Administration; Management
    • G06Q10/08Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06QINFORMATION 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
    • G06Q10/00Administration; Management
    • G06Q10/08Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

The invention discloses an intelligent warehouse management system and method. The system comprises an in-warehouse information collection system and an ex-warehouse information collection system. The in-warehouse information collection system comprises a door control arranged at a warehouse doorway, and a first camera aligned with the warehouse doorway, the door control component comprises a door controller, a door control card wiper and an electronic control lock, and the door controller is communicated with the door control card wiper and the electronic control lock and is connected with the first camera through a timer. The ex-warehouse information collection system comprises an infrared sensor and a second camera, the infrared sensor, a power switch and a power supply form a loop, the second camera, the infrared sensor and the power supply form a loop, and the power switch is connected with the door controller. The first camera and the second camera are connected with a data terminal. The method includes the steps of in-warehouse information collecting, ex-warehouse information collecting and checking. The intelligent warehouse management system and method have the advantage that intelligent warehouse management can be efficiently and accurately carried out.

Description

A kind of Intelligent storehouse management system and method
Technical field
The present invention relates to a kind of treasury management system, particularly to a kind of Intelligent storehouse management system.
Background technology
The management of conventional electric power Tools treasury mostly uses artificial account way to manage or based on ultrahigh frequency RFID skill The way to manage of art.Along with socioeconomic development, electric power enterprise scale is increasing, the instrument safeguarded for power equipment Kind and the quantity of device, instrument and Work tool are many and miscellaneous, manage by artificial account mode, and just seem is more and more difficult, The needs of power generation can not be met.
Summary of the invention
The present invention provides a kind of Intelligent storehouse management system, implements the intelligent management of storehouse efficiently, accurately.
Realization the technical scheme is that, a kind of Intelligent storehouse management system includes putting information acquisition system, outbound in storage Information acquisition system:
Described warehouse-in information acquisition system includes being located at gate inhibition's parts on doorway, storehouse, the first photographic head, the first photographic head alignment storehouse Doorway, gate inhibition's parts include access controller, entrance guard card reader, electric control lock, access controller respectively with entrance guard card reader, automatically controlled Lock connection, gate inhibition's control device is connected by timer and the first photographic head;
Described outbound information acquisition system includes being located at infrared inductor, second camera, and infrared inductor, power supply are opened Close, power supply forms loop, and second camera and infrared inductor, power supply form loop, and on and off switch is with access controller even Connect;
First photographic head, second camera are connected with data terminal.
Further, warehouse-in information gathering system fill also include put in storage infrared scanner, warehouse-in infrared scanner respectively with door Prohibit controller, data terminal connects.
Further, outbound information acquisition system also includes outbound infrared scanner, outbound infrared scanner and infrared ray Induction apparatus, power supply form loop, and outbound infrared scanner is connected with data terminal.
Further, Intelligent storehouse management system also includes that information check system, described information check system include being located at Sliding rope on top, warehouse, and the data acquisition device being enclosed within sliding rope, slide in data acquisition device edge under the traction of pull rope Rope is mobile, and commodity are provided with semi-active electronic tag;
Described data acquisition device includes power supply, air-data harvester, aerial low frequency activation device, and aerial low frequency activation device is by prolonging Time device and power supply form loop, air-data harvester and power supply form loop, and activating after the energising of aerial low frequency activation device partly has Source electronic tag, air-data harvester reads semi-active electronic tag internal information.
Further, warehouse-in information acquisition system includes two-dimension code generator, and two-dimension code generator is with access controller even Connect.
Further, two-dimension code generator is connected by intermediate data storage device with two-dimensional code reader, intermediate data Memorizer is connected with verification of data device, and verification of data device is connected with access controller, and commodity are provided with semi-active electronic tag, number Data can be write to semi-active electronic tag according to verifier and read semi-active electronic tag data.
A kind of Intelligent storehouse management method includes putting information gathering, outbound information gathering, verification in storage;
Described warehouse-in information gathering, is included in storehouse doorway and gathers warehouse-in personnel and thing goods image and infrared image;
Described outbound information gathering, gathers outbound personnel and thing goods image and infrared image including doorway, storehouse;
Described verification, compares warehouse-in personnel's infrared image with outbound personnel's infrared image, and whether inquiry outbound personnel take Small article outbound, compares warehouse-in thing goods infrared image with outbound thing goods infrared image, checks that warehouse-in, outbound goods are No genus one identical goods.
Further, a kind of Intelligent storehouse management method also includes into database data injection, outbound digital independent;
Described enter database data inject, enter storehouse doorway at goods and carry out putting in storage while information gathering, set by data input In the standby semi-active electronic tag that goods information write is attached on goods;
Described outbound digital independent, goes out while warehouse door mouth carries out outbound information gathering at goods, passes through data fetch equipment Read goods semi-active electronic tag internal information.
The invention have the advantage that 1, gate control system gathered with image capturing system, either enter storehouse or outbound, There is image to generate, leave image evidence for check in the future.
2, replacing ultrahigh frequency RFID with semi-active electronic tag, ultrahigh frequency RFID signal can not effectively penetrate human body and gold Belong to, when staff embraces by Work tool or during the simultaneously inbound/outbound process of multiple instrument, wherein have Work tool to block other Work tool On ultra-high frequency RFID label can cause and read less than the situation of label;Meanwhile, ultra-high frequency RFID label also can be avoided to be fixed on gold On genus instrument or the distance of reaction that is fixed on non-metallic tool is different and non-the one of ultra-high frequency RFID label induction coil Cause property, the identification distance causing ultrahigh frequency RFID reader is different, causes the instrument of misreading or reads the phenomenon less than instrument.
3, taking inventory of articles from the storeroom can be carried out in real time.
4, double active electronic label storage information of 2 D code information is utilized to check.
Accompanying drawing explanation
Fig. 1 is control structure schematic diagram of the present invention.
Fig. 2 is outbound information acquisition system electrical block diagram.
Fig. 3 is that preferred electrical architecture schematic diagram fills in warehouse-in information gathering system..
Fig. 4 is outbound information acquisition system preferred electrical architecture schematic diagram.
Fig. 5 is information check system structural representation.
Fig. 6 is the present invention preferred control structure schematic diagram.Such as figure, warehouse-in information acquisition system 10, outbound information gathering system System 20, gate inhibition's parts the 11, first photographic head 12, access controller 13, entrance guard card reader 14, electric control lock 15, timer 16, warehouse-in Infrared scanner 17, infrared inductor 21, second camera 22, on and off switch 23, outbound infrared scanner 24, information are checked System 40, sliding rope 41, data acquisition device 42, pull rope 43, semi-active electronic tag 44, air-data harvester 45, aerial Low frequency activation device 46, chronotron 47.
Detailed description of the invention
In Fig. 1, a kind of Intelligent storehouse management system includes putting information acquisition system 10, outbound information acquisition system in storage 20:
Warehouse-in information acquisition system 10 includes gate inhibition's parts the 11, first photographic head 12 being located at doorway, storehouse, and the first photographic head 12 is right Doorway, quasi-storehouse, gate inhibition's parts 11 include access controller 13, entrance guard card reader 14, electric control lock 15, access controller 13 respectively with Entrance guard card reader 14, electric control lock 15 connect, and gate inhibition's control device 13 is connected with the first photographic head 12 by timer 16;
During work, when operator enter storehouse (or warehouse) or take article entrance, operator is brushed by the ID card carried with Entrance guard card reader 14 once, access controller, by verification ID card information verification personnel identity, generates gate inhibition simultaneously and puts record in storage, By setting the time at timer 16 in advance, can with delay start the first photographic head 12 working time, make operator open the door into After entering storehouse, the first photographic head 12 just starts work, with after preventing operator from swiping the card the most busy do not enter into storehouse i.e. from Open, cause image record by mistake.
In Fig. 2, outbound information acquisition system 20 includes being located at infrared inductor 21, second camera 22, infrared ray Induction apparatus 21, on and off switch 23, power supply form loop, and second camera 22 forms loop, work with infrared inductor 21, power supply When making, after access controller 13 cross-check information is correct, open gate inhibition, quit work instruction on and off switch 23 1 simultaneously, Infrared inductor 21 quits work, when i.e. operator enter storehouse, and infrared inductor 21, second camera 22 no power, Not working, after work person people enters storehouse, gate inhibition closes, and access controller 13 is to 23 1 work orders of on and off switch, infrared ray sense Answering device 21 to be energized, line outside line induction apparatus 21 is started working, and when operator need outbound, can touch infrared inductor 21, After infrared inductor 21 is touched, second camera 22 is energized, and second camera 22 starts takes a picture to outbound personnel.
First photographic head 12, second camera 22 are connected with data terminal 30, first photographic head 12, second camera 30 View data fully enters data terminal 30.
In Fig. 3, warehouse-in information gathering system fills 10 and also includes putting in storage infrared scanner 17, and warehouse-in infrared scanner 17 is respectively Being connected with access controller 13, data terminal 30, during work, access controller 13 is after verification data, to warehouse-in infrared scan Instrument 17 sends signal, and warehouse-in infrared scanner carries out infrared sweeping instrument to entering operator, general warehouse-in product temperature and human body Temperature there are differences, especially for large scale commercial product, and such as power transformation device etc., after warehouse-in infrared scanner 17 imaging, can be apparent from The shape determining warehouse-in commodity, also can substantially judge people's belongings simultaneously, it is red that data terminal 30 receives warehouse-in Outer scanner 17 signal.
In Fig. 4, outbound information acquisition system 20 also includes outbound infrared scanner 24, and outbound infrared scanner 24 is with red Outside line induction apparatus 21, power supply form loop, and outbound infrared scanner 24 is connected with data terminal 30, during work, and access controller After 13 cross-check information are correct, opening gate inhibition, quit work instruction on and off switch 23 1 simultaneously, infrared inductor 21 is not Being energized, do not work, outbound infrared scanner 24 also quits work, and when i.e. operator enter storehouse, outbound infrared scanner 24 is not Energising, does not works, and after work person people enters storehouse, gate inhibition closes, and access controller 13 is to 23 1 work orders of on and off switch, infrared Line induction apparatus 21 is energized, works, and when operator need outbound, can touch infrared inductor 21, infrared inductor 21 After touched, outbound infrared scanner 24 is energized, and outbound infrared scanner 24 starts and is scanned outbound personnel, data terminal 30 receive outbound infrared scanner 24 signal, can put infrared scan in storage when certain commodity is put in storage by program set in advance The image that the image that instrument 17 is formed is formed with outbound infrared scanner 24 during outbound contrasts, and again whether can check commodity Unanimously, prevent commodity from being taken by mistake or taking by mistake, it is also possible to the image of outbound, warehouse-in personnel to be compared, whether sees operator Pushing belt small commercial articles outbound.
In Fig. 5, Intelligent storehouse management system also includes that information check system 40, information check system 40 include being located at storehouse Sliding rope 41 on top, storehouse, and the data acquisition device 42 being enclosed within sliding rope 41, data acquisition device 42 is in the traction of pull rope 43 Lower moving along sliding rope 41, commodity are provided with semi-active electronic tag 44;
Data acquisition device 42 includes that power supply, air-data harvester 45, aerial low frequency activation device 46, aerial low frequency activation device 46 lead to Crossing chronotron 47 and form loop with power supply, air-data harvester 45 forms loop with power supply, and aerial low frequency activation device 46 is energized The semi-active electronic tag of rear activation 44.
When taking inventory, by artificial or mechanical traction sliding rope 41, make data acquisition device 42 slide along sliding rope 41, sliding During Dong, chronotron 47 (is avoided, by same semi-active electronic tag 44 reconditioning in certain area, making to take inventory at times Data distortion) start aerial low frequency activation device 46, after aerial low frequency activation device 46 starts, pay the semi-active electronics mark on commodity alive Signing 44, air-data harvester 45 receives the information paid on the semi-active electronic tag of commodity alive 44, air-data harvester 45 Entering data into data terminal 30 or be directly inputted on screen, storehouse is taken inventory by instant realization, and this journey whole only needs Plant somewhat, it is also possible to pre-setting an electronic warehouse plane graph, the data input electricity that air-data harvester 45 is gathered Sub-warehouse plane graph, i.e. can understand the position of cargo storage in real time.
As Fig. 6 put in storage information acquisition system include two-dimension code generator 18, two-dimension code generator 18 and access controller 13 Connect.
Two-dimension code generator 18 is connected by intermediate data storage device 50 with two-dimensional code reader 19, intermediate data storage device 50 are connected with verification of data device 60, and verification of data device and access controller connect 13, and commodity are provided with semi-active electronic tag 44, number Data can be write to semi-active electronic tag 44 according to verifier 60 and read semi-active electronic tag 44 data.
During warehouse-in, two-dimension code generator 18 is made to generate unique corresponding Quick Response Code, access controller by input merchandise news 13 receive signal, if after confirming that operator's ID card information is correct, access controller 13 opens gate inhibition, operator simultaneously Being attached on commodity by Quick Response Code, corresponding data and 2 D code information are inputted intermediate data storage device by two-dimension code generator 18 simultaneously 50, when commodity enter gate inhibition and carry to verification of data device 60, data storage 50 is stored information input by verification of data device 60 On the semi-active electronic tag of commodity 44;
During outbound, commodity are transported at two-dimensional code reader 19, and two-dimensional code reader 19 reads commodity 2 D code information, and by information Input intermediate data storage device 50, when commodity are carried into verification of data device 60, and verification of data device 60 reads the semi-active electricity of commodity The information of subtab 44, and the 2 D code information extracted in the information and date memorizer 50 of reading is compared, if one Cause, then verification of data device 60 sends signal to access controller 13, opens gate inhibition.
A kind of Intelligent storehouse management method includes putting information gathering, outbound information gathering, verification in storage;
Described warehouse-in information gathering, is included in storehouse doorway and gathers warehouse-in personnel and thing goods image and infrared image;
Described outbound information gathering, gathers outbound personnel and thing goods image and infrared image including doorway, storehouse;
Described verification, compares warehouse-in personnel's infrared image with outbound personnel's infrared image, and whether inquiry outbound personnel take Small article outbound, compares warehouse-in thing goods infrared image with outbound thing goods infrared image, checks that warehouse-in, outbound goods are No genus one identical goods.
Preferably, a kind of Intelligent storehouse management method also includes into database data injection, outbound digital independent;
Described enter database data inject, enter storehouse doorway at goods and carry out putting in storage while information gathering, set by data input In the standby semi-active electronic tag that goods information write is attached on goods, it is also possible to it is the most right to be generated by two-dimension code generator Answer Quick Response Code, Quick Response Code is attached on goods;
Described outbound digital independent, goes out while warehouse door mouth carries out outbound information gathering at goods, passes through data fetch equipment Read goods semi-active electronic tag internal information, it is also possible to read the Quick Response Code being attached on goods by Quick Response Code reading machine, use In the semi-active electronic labeling information of comparison, check whether goods belongs to identical goods.

Claims (8)

1. an Intelligent storehouse management system, is characterized in that: described intelligent management system includes putting information acquisition system, outbound in storage Information acquisition system:
Described warehouse-in information acquisition system includes being located at gate inhibition's parts on doorway, storehouse, the first photographic head, the first photographic head alignment storehouse Doorway, gate inhibition's parts include access controller, entrance guard card reader, electric control lock, access controller respectively with entrance guard card reader, automatically controlled Lock connection, gate inhibition's control device is connected by timer and the first photographic head;
Described outbound information acquisition system includes being located at infrared inductor, second camera, and infrared inductor, power supply are opened Close, power supply forms loop, and second camera and infrared inductor power supply form loop, and on and off switch is with access controller even Connect;
First photographic head, second camera are connected with data terminal.
A kind of Intelligent storehouse management system the most according to claim 1, is characterized in that: described warehouse-in information gathering system fills also Including warehouse-in infrared scanner, warehouse-in infrared scanner is connected with access controller, data terminal respectively.
A kind of Intelligent storehouse management system the most according to claim 1, is characterized in that: described outbound information acquisition system is also Including outbound infrared scanner, outbound infrared scanner and infrared inductor, power supply form loop, outbound infrared scanner with Data terminal connects.
A kind of Intelligent storehouse management system the most according to claim 1, is characterized in that: described Intelligent storehouse management system is also Including information check system, described information check system includes the sliding rope being located on top, warehouse, and the number being enclosed within sliding rope According to vasculum, data acquisition device moves along sliding rope under the traction of pull rope, and commodity are provided with semi-active electronic tag;
Described data acquisition device includes power supply, air-data harvester, aerial low frequency activation device, and aerial low frequency activation device is by prolonging Time device and power supply form loop, air-data harvester and power supply form loop, and activating after the energising of aerial low frequency activation device partly has Source electronic tag, air-data harvester reads semi-active electronic tag internal information.
A kind of Intelligent storehouse management system the most according to claim 1, is characterized in that: described warehouse-in information acquisition system bag Including two-dimension code generator, two-dimension code generator is connected with access controller.
A kind of Intelligent storehouse management system the most according to claim 5, is characterized in that: described two-dimension code generator and two dimension Code reader is connected by intermediate data storage device, and intermediate data storage device is connected with verification of data device, verification of data device and door Prohibit controller connect, commodity are provided with semi-active electronic tag, verification of data device can to semi-active electronic tag write data and Read semi-active electronic tag data.
7. an Intelligent storehouse management method, is characterized in that: described method includes putting information gathering, outbound information gathering, core in storage Right;
Described warehouse-in information gathering, is included in storehouse doorway and gathers warehouse-in personnel and thing goods image and infrared image;
Described outbound information gathering, gathers outbound personnel and thing goods image and infrared image including doorway, storehouse;
Described verification, compares warehouse-in personnel's infrared image with outbound personnel's infrared image, and whether inquiry outbound personnel take Small article outbound, compares warehouse-in thing goods infrared image with outbound thing goods infrared image, checks that warehouse-in, outbound goods are No genus one identical goods.
8., according to claim 7 Intelligent storehouse management method, it is characterized in that: described method also include into database data inject, Outbound digital independent;
Described enter database data inject, enter storehouse doorway at goods and carry out putting in storage while information gathering, set by data input In the standby semi-active electronic tag that goods information write is attached on goods;
Described outbound digital independent, goes out while warehouse door mouth carries out outbound information gathering at goods, passes through data fetch equipment Read goods semi-active electronic tag internal information.
CN201610314806.7A 2016-05-13 2016-05-13 A kind of Intelligent storehouse management system and method Expired - Fee Related CN106023361B (en)

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CN107734249A (en) * 2017-09-26 2018-02-23 四川仪岛科技有限公司 A kind of gate inhibition's video capture system and control method
CN109242399A (en) * 2018-10-20 2019-01-18 河南汇纳科技有限公司 A kind of material warehouse inlet-outlet management system based on LoRa network
CN109426836A (en) * 2017-08-22 2019-03-05 洛阳华清天木生物科技有限公司 A kind of laboratory harmful influence closed loop management system and method
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CN115424388A (en) * 2022-09-11 2022-12-02 李鸿浩 Supermarket (convenience store) inventory commodity management method and system
CN117787326A (en) * 2024-02-28 2024-03-29 山东通广电子股份有限公司 Tool and instrument warehouse management method

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CN106778901A (en) * 2016-12-30 2017-05-31 广州视源电子科技股份有限公司 Indoor article loses reminding method and device
CN109426836A (en) * 2017-08-22 2019-03-05 洛阳华清天木生物科技有限公司 A kind of laboratory harmful influence closed loop management system and method
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CN109242399A (en) * 2018-10-20 2019-01-18 河南汇纳科技有限公司 A kind of material warehouse inlet-outlet management system based on LoRa network
CN111126888A (en) * 2018-10-31 2020-05-08 南京智能仿真技术研究院有限公司 Warehouse management system with high automation degree
CN109685413A (en) * 2018-11-28 2019-04-26 成都理工大学 A kind of treasury management system based on active electronic label
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CN113822625A (en) * 2021-08-26 2021-12-21 上海航天精密机械研究所 Guided missile warehouse-in and warehouse-out method suitable for distributed guided missile warehouse
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