CN106743340A - Bag control method and control system in logistics - Google Patents
Bag control method and control system in logistics Download PDFInfo
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- CN106743340A CN106743340A CN201611130280.3A CN201611130280A CN106743340A CN 106743340 A CN106743340 A CN 106743340A CN 201611130280 A CN201611130280 A CN 201611130280A CN 106743340 A CN106743340 A CN 106743340A
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- Prior art keywords
- package location
- parcel
- dolly
- upper package
- idle
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Classifications
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention provides bag control method and control system in a kind of logistics, and bag control method includes the position wrapped up on the upper bag platform of detection in the logistics；Position according to parcel determines upper package location；The time of upper package location is reached according to upper package location computation-free dolly；Controlling the movement velocity of parcel makes it reach package location while package location in the arrival of idle dolly, is wrapped in completion.
Description
Technical field
The present invention relates to communicate and computer realm, and more particularly to a kind of logistics on bag control method and control system.
Background technology
With the high speed development of Electronic Commerce in China, logistics service has become the focus of competition.How fast and accurately
Sorting and identification to wrapping up have turned into the focal point of logistics service industry.It is existing with the continuous progress of automaticity
Logistics service be mechanical automation from traditional manual sorting and identification turn.
In existing logistics system, upper bag is to be used as to move by the frequency converter of two additional two strap brakes of asynchronous motor
Power, on roller plus encoder is used as velocity feedback, then coordinates the speed of loop wire to carry out bag.This kind of upper bag method is due to using
Frequency converter carries out the control of speed, and the control accuracy of frequency converter and the hysteresis quality of signal transacting cause the acceleration of parcel motion or subtract
The more difficult control of speed.Further, carry out wrapping up the control of movement velocity using the feedback signal of encoder, control accuracy is low.
Speed control will definitely not cause the accuracy rate that parcel is reached on the go-no-go dolly in moving low, and influence go-no-go efficiency and mistake pick up thing
The generation of part.
The content of the invention
The present invention is in order to overcome the low problem of upper bag accuracy rate in existing logistics system, there is provided one kind accurately controls parcel
Movement velocity is so as to bag control method and control system in the logistics for improving upper bag accuracy rate.
To achieve these goals, the present invention provides bag control method in a kind of logistics, including：
The position wrapped up on bag platform in detection；
Position according to parcel determines upper package location；
The time of upper package location is reached according to upper package location computation-free dolly；
Controlling the movement velocity of parcel makes it reach package location while package location in the arrival of idle dolly, in completion
Bag.
In one embodiment of the invention, controlling the movement velocity of parcel makes it in the arrival of idle dolly while package location
The specific steps of package location include in arrival：
It is determined that distance of the position of parcel to upper package location；
The time of upper package location and the position of parcel to the distance controlling parcel of upper package location are reached according to idle dolly
Movement velocity.
In one embodiment of the invention, the time of upper package location and the position to upper bag position of parcel are reached according to idle dolly
The distance controlling parcel put is moved in the form of speed change.
In one embodiment of the invention, the motion of parcel includes loading area and synchronization zone, by constantly chasing after in loading area
Track wraps up to the distance of upper package location increaseing or decreasing the movement velocity of parcel；Wrapped up in synchronization zone with a constant speed
Moved.
In one embodiment of the invention, in synchronization zone, the movement velocity of parcel is in the direction of motion of idle dolly
Component is equal with the movement velocity of idle dolly.
In one embodiment of the invention, include the step of package location in the position determination according to parcel：
Obtain projected position of the central point of parcel on upper bag platform；
The straight line of projected position was obtained along the traffic direction of upper bag platform；
Straight line is defined as upper package location with the intersection point of the center line of idle moving of car track.
In one embodiment of the invention, the specific step of the time of upper package location is reached according to upper package location computation-free dolly
Suddenly include：
Idle dolly to the distance of upper package location is obtained according to upper package location；
Obtain the movement velocity of idle dolly；
Determine that idle dolly reaches the time of upper package location according to distance and movement velocity.
In one embodiment of the invention, when idle dolly operates in the dolly on loop wire and on loop wire with a constant speed
When being set with equidistant D, apart from upper package location apart from S=D*N, N is the current position of idle dolly to upper bag to idle dolly
Dolly quantity between position.
Another aspect of the present invention also provides bag control system in a kind of logistics, and the system includes that detection module, position are calculated
Module, Time Calculation module and control module.The position wrapped up on the upper bag platform of detection module detection.Position computation module is according to bag
The position wrapped up in determines upper package location.Time Calculation module reaches the time of upper package location according to upper package location computation-free dolly.
The movement velocity of control module control parcel makes it reach package location while package location in the arrival of idle dolly, in completion
Bag.
In one embodiment of the invention, control module controlled by following steps parcel make its idle dolly arrival on
Upper package location is reached while package location, is wrapped in completion：
It is determined that distance of the position of parcel to upper package location；
The time of upper package location and the position of parcel to the distance controlling parcel of upper package location are reached according to idle dolly
Movement velocity.
In sum, in the logistics that the present invention is provided bag control method and control system compared with prior art, with
Lower advantage：
Upper package location is determined by the position wrapped up, determines that idle dolly reaches upper package location further according to upper package location
Time, parcel and free time dolly are enabled finally by the movement velocity of control parcel while move to upper package location, it is complete
Into upper bag.Bag control method reaches package location according to idle dolly in the motion process of parcel in the logistics that the present invention is provided
Movement velocity of the time point from motion tracking and control parcel so that parcel can accurate upper bag.Further, by bag
The upper bag failure that the position wrapped up in is caused accurately to determine upper package location effectively prevent due to the position being wrapped on upper bag platform
Or upper bag mistake.
Additionally, be the accuracy and stationarity wrapped in guarantee, setting be wrapped in motion on bag platform include loading area and
Synchronization zone, bag control system is constantly according to the movement velocity of upper bag time point adjustment parcel in logistics in loading area, and enters
Behind synchronization zone, parcel will be moved with a constant speed, and the movement velocity is along the component on idle moving of car direction
Movement velocity with idle dolly is equal, has with idle dolly when the setting enables to superscribe onto idle dolly identical
Speed, considerably reduce the inertia wrapped up in packet procedures, can smoothly on upper bag to dolly.
It is that above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly,
And coordinate accompanying drawing, it is described in detail below.
Brief description of the drawings
Fig. 1 show the flow chart of bag control method in the logistics of one embodiment of the invention offer.
Fig. 2 show the particular flow sheet of step S2 in Fig. 1.
Fig. 3 show the assembling schematic diagram between bag platform and moving of car track.
Fig. 4 show the decomposing schematic representation of parcel movement velocity.
Fig. 5 show the schematic diagram of bag control system in the logistics of one embodiment of the invention offer.
Specific embodiment
In logistics control system, the accuracy wrapped in logistics directly affects the accuracy of packages and identification.It is existing
Logistics on bag method be using frequency converter as driving, encoder has that control accuracy is low as velocity feedback.Have
In consideration of it, the present invention is provided a kind of speed of service that can be wrapped up by real-time tracing and accurately determines that upper package location is accurate to reach
Bag control method in the logistics of upper bag.
As shown in figure 1, bag control method includes in the logistics of the present embodiment offer：The position wrapped up on bag platform in detection
(step S1).Position according to parcel determines upper package location (step S2).Reached according to upper package location computation-free dolly and wrapped
The time (step S3) of position.Control the movement velocity of parcel to make it be reached while package location in the arrival of idle dolly to wrap
Position, (step S4) is wrapped in completion.
Bag control method starts from step S1 in the logistics that the present embodiment is provided.As shown in figure 3, by upper bag platform 100
It is provided for the detection module 10 of the position of detection parcel.In the present embodiment, detection module 10 is with photoelectric converting function
Light curtain.However, the present invention is not limited in any way to the concrete structure of detection module 10.In other embodiments, detection module
10 can be other sensing devices such as the pressure sensor that is arranged on bag platform 100.
Because upper bag platform has certain width, as shown in figure 3, along the traffic direction of upper bag platform in this width range
The distance for wrapping up the center line of moving of car track is different.Specifically, as shown in figure 3, when parcel is located at upper bag platform
Left side when, its distance moved on dolly will be greater than parcel positioned at upper bag platform right side when distance.To avoid the width pair
The influence of upper bag accuracy performs step S2, it is necessary to determine upper package location according to the position on upper bag platform is wrapped in.Specifically
For, the determination of upper package location passes through following steps：
Projected position of the central point that step S21, acquisition are wrapped up on upper bag platform.
Step S22, the straight line L that projected position was obtained along the traffic direction of upper bag platform.
Step S23, straight line L is defined as upper package location with the intersection point of the center line of idle moving of car track, such as Fig. 3 institutes
Location A in showing.
Step S3 is performed after upper package location is determined, according to upper package location computation-free dolly reach upper package location when
Between.Calculating for the time can be calculated according to the movement velocity of idle dolly to the distance of upper package location and idle dolly.
In the present embodiment, when upper bag signal is not received, idle dolly follows loop wire motion, and (loop wire is the operation rail of idle dolly
Road), relative velocity between the two is zero.And when idle dolly receives the upper bag signal from console and carries out response
Afterwards, console will send the start trigger signal idle dolly, and idle dolly is run with a constant speed in annular.Cause
This, in the present embodiment, the time that idle dolly reaches package location can be according to the distance between idle dolly to upper package location
Obtained with the movement velocity of idle dolly.In the present embodiment, many dollies (including idle dolly and gone up the small of bag
Car) it is arranged on loop wire at equal intervals, spacing is D.Therefore current idle dolly is S=D*N to the distance of upper package location, N is sky
The current position of not busy dolly is to the dolly quantity between upper package location.According to idle dolly to upper package location apart from S and sky
The speed V of not busy dolly opposed annular, can obtain the time T (T=S/V) that idle dolly reaches upper package location, i.e., small when the free time
Car reaches package location in t0 moment setting in motions in free time at t0+T moment dolly.
Performing step S4, the movement velocity of control parcel afterwards makes its package location on the t0+T moment reaches, and is wrapped in completion.
The step is specifically included：First, it is determined that parcel position to upper package location distance.In the present embodiment, the central point of parcel
It is defined as parcel to the distance of upper package location to the air line distance between upper package location A.
Then, the time t0+T of upper package location and the position of parcel to the distance control of upper package location are reached according to idle dolly
Make the movement velocity of parcel.In the present embodiment, control parcel is moved in the form of speed change, the detection of console real-time tracing
The speed that the speed of service of parcel and the distance for having travelled constantly to adjust parcel is reached with so that being wrapped in the t0+T moment
Upper package location.This continuous trace detection and the constantly mode of adjustment can effectively make up and calculate the position to upper bag position of parcel
The influence of the error and other factorses produced by distance put, substantially increases the accuracy that parcel reaches upper package location.So
And, the present invention is not limited in any way to this.In other embodiments, the mode that parcel can be at the uniform velocity is run.But with respect to speed change
Speech, its counting accuracy requirement to wrapping up the distance of upper package location of the parcel of uniform motion is higher.
Specifically, the variable motion of parcel includes loading area and synchronization zone.Console constantly follows the trail of bag in loading area
The distance of package location and the movement velocity of current package is wrapped up in adjust the movement velocity of parcel.And wrapped up at the uniform velocity area
Moved with a constant speed, and the constant speed is relevant with the speed of service of idle dolly.Preferably, parcel is set
Component of the movement velocity in the direction of motion of idle dolly it is equal with the movement velocity of idle dolly.As shown in figure 4, when upper
It is constant due to having set idle dolly before when angle between the direction of motion of the center line of bag platform and idle dolly is θ
Speed V run, therefore synchronization zone parcel movement velocity Vb, according to the exploded relationship of speed, can obtain V=Vb*sin
θ.The setting causes that parcel and idle dolly can be with identical when parcel and idle dolly in upper package location when meeting at the t0+T moment
Speed moved in the direction of motion of idle dolly, greatly reduce the inertia superscribed onto idle dolly, complete parcel
Steady upper bag.In the present embodiment, because idle dolly is moved on the loop wire of motion, therefore, the fortune of idle dolly
Dynamic speed is the movement velocity that idle dolly adds loop wire with respect to the movement velocity of loop wire.In other embodiments, when loop wire is quiet
When only, idle dolly is the movement velocity of idle dolly with respect to the movement velocity of loop wire.
Further to improve the stationarity wrapped, it is to avoid be wrapped in skidding in motion process, be arranged on the low speed for loading section
Value is the 50%-80% of high speed value, it is preferred that it is 70% to set the ratio value.However, the present invention is not limited in any way to this.
In the present embodiment, before loading area on also have an Accreditation Waiting Area on bag platform.When all of dolly is all on loop wire
When reprinting has parcel, controller control is wrapped in Accreditation Waiting Area and waits until controller receives the response of idle dolly.This sets
Put may be implemented in dolly full load parcel can automatically into wait, effectively prevent parcel because pile up and collision and produce damage.
In the present embodiment, the communication between console and idle dolly and the communication between console and parcel are
Carried out by the way of Enthcat servo buses.Specifically Principle of Communication is：Letter is sent when controller receives upper bag signal
Number to the dolly on loop wire, the idle dolly on loop wire receives the signal and carries out response.What controller reception was reached at first should
Signal is answered, due to containing the address of the idle dolly for making response in answer signal, triggering is sent according to the address control unit
Signal starts the idle dolly to the idle dolly.The servo communication means has high data transfer and response speed, greatly
The adjustment of the big feedback and speed that improve the parcel speed of service, further increases the accuracy of bag.
It is corresponding with above-mentioned control method, as shown in figure 5, the present embodiment also provides bag control system in a kind of logistics,
The system includes detection module 10, position computation module 20, Time Calculation module 30 and control module 40.Detection module 10 is detected
The position wrapped up on upper bag platform.In the present embodiment, detection module 10 is the light curtain with photoelectric converting function.However, this hair
The bright concrete structure to detection module 10 is not limited in any way.In other embodiments, detection module 10 can be to be arranged on bag
Other sensing devices such as pressure sensor on platform 100.
Position computation module 20 determines upper package location according to the position of parcel.In the present embodiment, upper package location by with
Lower step determines：
Projected position of the central point that step S21, acquisition are wrapped up on upper bag platform.
Step S22, the straight line L that projected position was obtained along the traffic direction of upper bag platform.
Step S23, straight line L is defined as upper package location with the intersection point of the center line of idle moving of car track, such as Fig. 3 institutes
Location A in showing.
When why upper package location to be determined according to the position of parcel be due to operating personnel in practice or mechanical arm
Random is placed on upper bag platform parcel, is influenceed by upper bag platform width, two line of motion and idle dolly of parcel
Movement locus between intersection point be different, that is, it is that different, different upper package locations will determine idle small to go up package location
Car reaches the time of upper package location, so as to have a strong impact on the accuracy of upper bag, it is therefore desirable to which the position according to parcel is come on determining
Package location.
It is determined that Time Calculation module 30 reaches package location according to upper package location computation-free dolly after upper package location
Time.In the present embodiment, idle dolly is moved with loop wire, i.e., loop wire is the tracks of idle dolly.However, this hair
It is bright that this is not limited in any way.In other embodiments, idle dolly can be in static annular or linear motion.In this implementation
In example, when upper bag signal is not received, idle dolly follows loop wire to move (loop wire is the running track of idle dolly), both
Between relative velocity be zero.And after idle dolly receives the upper bag signal from console and carries out response, console
The start trigger signal idle dolly will be sent, idle dolly is run with a constant speed in annular.Therefore, in this implementation
In example, the time that idle dolly reaches package location can be according to the distance between idle dolly to upper package location and idle dolly
Obtained with respect to the movement velocity of loop wire.In the present embodiment, many dollies (including idle dolly and gone up the dolly of bag)
It is arranged on loop wire at equal intervals, spacing is D.Therefore current idle dolly is S=D*N to the distance of upper package location, N is idle small
The current position of car is to the dolly quantity between upper package location.It is small apart from D and free time according to idle dolly to upper package location
Car can obtain the time T that idle dolly reaches upper package location, i.e., when idle dolly is opened at the t0 moment with respect to the speed V of loop wire
When beginning to move, package location is reached in free time at t0+T moment dolly.
The movement velocity of the control parcel of control module 40 makes it reach bag while package location in the arrival of idle dolly
Position, wraps in completion.The step of controlling be：It is determined that parcel positional distance on package location distance.In the present embodiment, parcel
Central point to the air line distance between upper package location A be defined as parcel to upper package location distance.
Then, the time t0+T of upper package location and the position of parcel to the distance control of upper package location are reached according to idle dolly
Make the movement velocity of parcel.In the present embodiment, control parcel is moved in the form of speed change, the detection of console real-time tracing
The speed that the speed of service of parcel and the distance for having travelled constantly to adjust parcel is reached with so that being wrapped in the t0+T moment
Upper package location.This continuous trace detection and the constantly mode of adjustment can effectively make up and calculate the position to upper bag position of parcel
The influence of error and other factorses on being calculated produced by the distance put, substantially increases parcel and reaches the accurate of upper package location
Property.However, the present invention is not limited in any way to this.In other embodiments, the mode that parcel can be at the uniform velocity is run.But it is relative to become
For speed, its counting accuracy requirement to wrapping up the distance of upper package location of the parcel of uniform motion is higher.
Specifically, the variable motion of parcel includes loading area and synchronization zone.Console constantly follows the trail of bag in loading area
The distance of package location and the movement velocity of current package is wrapped up in adjust the movement velocity of parcel.And wrapped up at the uniform velocity area
Moved with a constant speed, and the constant speed is relevant with the speed of service of idle dolly.Preferably, parcel is set
Component of the movement velocity in the direction of motion of idle dolly it is equal with the movement velocity of idle dolly.As shown in figure 4, when upper
It is constant due to having set idle dolly before when angle between the direction of motion of the center line of bag platform and idle dolly is θ
Speed V run, therefore synchronization zone parcel movement velocity Vb, according to the exploded relationship of speed, can obtain V=Vb*sin
θ.The setting causes that parcel and idle dolly can be with identical when parcel and idle dolly in upper package location when meeting at the t0+T moment
Speed moved in the direction of motion of idle dolly, greatly reduce the inertia superscribed onto idle dolly, complete parcel
Steady upper bag.In the present embodiment, moved on the loop wire of motion during due to idle dolly, therefore, the fortune of idle dolly
Dynamic speed is the movement velocity that idle dolly adds loop wire with respect to the movement velocity of loop wire.In other embodiments, when loop wire is quiet
When only, idle dolly is the movement velocity of idle dolly with respect to the movement velocity of loop wire.
In sum, in the logistics that the present invention is provided bag control method and control system by the position wrapped up come on determining
Package location, determines that idle dolly reaches the time of upper package location further according to upper package location, finally by the motion of control parcel
Speed enables parcel and idle dolly while moving to upper package location, is wrapped in completion.Control is wrapped in the logistics that the present invention is provided
The time point that method processed reaches package location in the motion process of parcel according to idle dolly wraps up from motion tracking and control
Movement velocity so that parcel can accurate upper bag.Further, accurately determining upper package location by the position wrapped up has
Effect avoids the failure of upper bag or upper bag mistake caused due to the position being wrapped on upper bag platform.
Additionally, be the accuracy and stationarity wrapped in guarantee, setting be wrapped in motion on bag platform include loading area and
Synchronization zone, bag control system is constantly according to the movement velocity of upper bag time point adjustment parcel in logistics in loading area, and enters
Behind synchronization zone, parcel will be moved with a constant speed, and the movement velocity is along the component on idle moving of car direction
Movement velocity with idle dolly is equal, has with idle dolly when the setting enables to superscribe onto idle dolly identical
Speed, considerably reduce the inertia wrapped up in packet procedures, can smoothly on upper bag to dolly.
Although the present invention is disclosed above by preferred embodiment, but the present invention is not limited to, it is any to know this skill
Skill person, without departing from the spirit and scope of the present invention, can make a little change and retouching, therefore protection scope of the present invention is worked as
It is defined depending on claims scope required for protection.
Claims (10)
1. bag control method in a kind of logistics, it is characterised in that including：
The position wrapped up on bag platform in detection；
Position according to parcel determines upper package location；
The time of upper package location is reached according to upper package location computation-free dolly；
Controlling the movement velocity of parcel makes it reach package location while package location in the arrival of idle dolly, is wrapped in completion.
2. bag control method in logistics according to claim 1, it is characterised in that the movement velocity of the control parcel makes
Its specific steps for reaching package location while package location in the arrival of idle dolly includes：
It is determined that distance of the position of parcel to upper package location；
The motion that the time of upper package location and the position of parcel are wrapped up to the distance controlling of upper package location is reached according to idle dolly
Speed.
3. bag control method in logistics according to claim 2, it is characterised in that upper package location is reached according to idle dolly
Time and parcel position to upper package location distance controlling parcel moved in the form of speed change.
4. bag control method in logistics according to claim 3, it is characterised in that the motion of parcel includes loading area and same
Step area, the motion speed of parcel is increasedd or decreased in the loading area by continuous track packages to the distance of upper package location
Degree；Wrapped up in synchronization zone and being moved with a constant speed.
5. bag control method in logistics according to claim 4, it is characterised in that in the synchronization zone, the fortune of parcel
Dynamic component of the speed in the direction of motion of idle dolly is equal with the movement velocity of idle dolly.
6. bag control method in logistics according to claim 1, it is characterised in that on the position according to parcel determines
The step of package location, includes：
Obtain projected position of the central point of parcel on upper bag platform；
The straight line of projected position was obtained along the traffic direction of upper bag platform；
The straight line is defined as upper package location with the intersection point of the center line of idle moving of car track.
7. bag control method in logistics according to claim 1, it is characterised in that according to upper package location computation-free dolly
The specific steps of the time of package location include in arrival：
Idle dolly to the distance of upper package location is obtained according to upper package location；
Obtain the movement velocity of idle dolly；
Determine that idle dolly reaches the time of upper package location according to distance and movement velocity.
8. bag control method in logistics according to claim 7, it is characterised in that when idle dolly is with a constant speed
When operating in the dolly on loop wire and on loop wire and being set with equidistant D, to upper package location apart from S=D*N, N is idle dolly
The current position of idle dolly is to the dolly quantity between upper package location.
9. bag control system in a kind of logistics, it is characterised in that including：
Detection module, the position wrapped up on bag platform in detection；
Position computation module, the position according to parcel determines upper package location；
Time Calculation module, the time of upper package location is reached according to upper package location computation-free dolly；
Control module, controlling the movement velocity of parcel makes it reach package location while package location in the arrival of idle dolly,
Wrapped in completion.
10. bag control system in logistics according to claim 9, it is characterised in that control module by following steps come
Control parcel makes it reach package location while package location in the arrival of idle dolly, is wrapped in completion：
It is determined that distance of the position of parcel to upper package location；
The fortune that the time of upper package location and the position of parcel are wrapped up to the distance controlling from upper package location is reached according to idle dolly
Dynamic speed.
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| CN201611130280.3A CN106743340A (en) | 2016-12-09 | 2016-12-09 | Bag control method and control system in logistics |
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| CN108438777A (en) * | 2018-03-16 | 2018-08-24 | 中科微至智能制造科技江苏有限公司 | Package is for packet platform control method |
| CN109047002A (en) * | 2018-07-17 | 2018-12-21 | 常州工学院 | A kind of pre- fraction halved belt sorter system and its method for sorting |
| CN109720830A (en) * | 2017-10-30 | 2019-05-07 | 杭州海康机器人技术有限公司 | The piece uploading device and its control method of automatic steering carrying cart, piece uploading control system |
| CN109720347A (en) * | 2017-10-31 | 2019-05-07 | 杭州海康机器人技术有限公司 | The method for control speed and device of carrier, piece uploading control system |
| CN110834912A (en) * | 2019-11-27 | 2020-02-25 | 常州工学院 | Method for improving loop speed of cross belt sorting machine |
| CN110980173A (en) * | 2019-11-27 | 2020-04-10 | 常州工学院 | Method for determining working efficiency of intelligent cross-belt sorting machine in packaging mode |
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Application publication date: 20170531 |