CN112918978A - Automatic detection device for ex-warehouse of tobacco materials - Google Patents
Automatic detection device for ex-warehouse of tobacco materials Download PDFInfo
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- CN112918978A CN112918978A CN202110144545.XA CN202110144545A CN112918978A CN 112918978 A CN112918978 A CN 112918978A CN 202110144545 A CN202110144545 A CN 202110144545A CN 112918978 A CN112918978 A CN 112918978A
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- tray
- warehouse
- tobacco material
- chain conveyor
- tobacco
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods 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
- G06K17/0022—Methods 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
- G06K17/0025—Methods 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 consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Providing an automatic detection device for ex-warehouse of tobacco materials, wherein a tray bar scanner scans a tray two-dimensional bar code on a tobacco material tray passing through an ex-warehouse chain conveyor and transmits two-dimensional bar code information to a monitoring computer, the monitoring computer interacts with information of an elevated warehouse system of the tobacco materials, and the monitoring computer acquires tray matching information of the type, the specification and the quantity of the tobacco materials on the tobacco material tray through the two-dimensional bar code information; identifying the type, specification and quantity of the tobacco materials on the tobacco material tray on the delivery chain conveyor by an industrial automatic zoom camera and an intelligent camera and sending the information to a monitoring computer; the monitoring computer compares and analyzes the obtained information to judge whether the tobacco material on the tobacco material tray is the tobacco material required by the tobacco material ex-warehouse station or not, the scheme can ensure the distribution accuracy of the tobacco material to be 100 percent, thoroughly eliminate the hidden trouble that the wrong tobacco material is distributed to the rolling machine set, and ensure the quality of the finished cigarette products.
Description
Technical Field
The invention belongs to the technical field of cigarette manufacturing, and particularly relates to an automatic detection device for cigarette material ex-warehouse.
Background
Modern cigarette production equipment is increasingly automated, and manual participation is not needed in many factory logistics links. The factory tobacco material distribution is mainly carried out by equipment such as a tobacco material elevated warehouse system, a shuttle car, an automatic guide transport vehicle and the like, after the cigarette material is called by the cigarette making machine group, the tobacco material is conveyed from the tobacco material elevated warehouse to a tobacco material delivery platform through a chain conveyor, and the automatic guide transport vehicle automatically conveys the tobacco material on the tobacco material delivery platform to the cigarette making machine group material platform for the use of the cigarette making machine group. In the existing cigarette material conveying process, when deviation occurs in the cigarette material tray matching process or manual handling errors occur in the cigarette material elevated warehouse equipment faults, the cigarette material conveyed to the rolling unit by the automatic guide transport vehicle is inconsistent with the production requirements, and due to the lack of corresponding detection equipment, serious cigarette quality accidents are finally generated. In order to solve the problem, the patent with the patent number of CN 111654666A discloses a system which can identify the residual situation of the tobacco materials on a tray beside a wrapping machine set in a wrapping workshop, but still cannot detect whether the tobacco materials sent to a material platform of the wrapping machine set by an automatic guided transport vehicle are correct or not and are the tobacco materials required by the wrapping machine set. There is therefore still a need for improvements.
Disclosure of Invention
The technical problems solved by the invention are as follows: the invention provides an automatic detection device for delivery of tobacco materials from a warehouse, which can detect and alarm problems in time due to the fact that the tobacco materials conveyed to a material platform of a cigarette making machine set by an automatic guide transport vehicle are inconsistent with the tobacco materials required by the cigarette making machine set due to deviation or failure manual handling of tobacco material elevated warehouse equipment in the process of matching the tobacco materials, so that the problem that the types, specifications and quantities of the tobacco materials actually conveyed by the automatic guide transport vehicle are inconsistent with those of the cigarette making machine set is solved, the delivery accuracy of the tobacco materials is ensured to be 100%, the hidden danger of delivering wrong tobacco materials to the cigarette making machine set is thoroughly eliminated, and the quality of finished cigarette products is ensured.
The technical scheme adopted by the invention is as follows: the automatic detection device for the ex-warehouse of the tobacco materials comprises a tobacco material elevated warehouse and a tobacco material ex-warehouse platform, wherein a tobacco material tray in the tobacco material elevated warehouse is conveyed to the tobacco material ex-warehouse platform through an ex-warehouse chain conveyor and then conveyed to a cigarette packing workshop by an automatic guide transport vehicle for being used by a cigarette packing unit, the automatic detection device also comprises a monitoring computer, a tray two-dimensional bar code is arranged on the tobacco material tray, a tray code scanner is arranged on the ex-warehouse chain conveyor, the tray code scanner is opposite to the tray two-dimensional bar code on the tobacco material tray on the ex-warehouse chain conveyor, the tray code scanner is connected with the monitoring computer, the tray code scanner is used for scanning the tray two-dimensional bar code on the tobacco material tray on the ex-warehouse chain conveyor to acquire the two-dimensional bar code information of the tobacco material tray and transmit the two-dimensional bar code information to the monitoring computer, and the monitoring computer is connected with the tobacco material elevated, the monitoring computer obtains the distribution information of the types, specifications and quantities of the tobacco materials on the tray by combining and comparing the two-dimensional bar code information on the tobacco material tray with the information of the elevated library system of the tobacco materials;
the upper part of the delivery chain conveyor is provided with an industrial automatic zooming camera and an intelligent camera, both the industrial automatic zooming camera and the intelligent camera are connected with a monitoring computer, and the industrial automatic zooming camera and the intelligent camera are used for identifying the kind, specification and quantity of the tobacco materials on the tobacco material tray on the delivery chain conveyor and sending the real object information to the monitoring computer;
the monitoring computer compares and analyzes the physical information of the type, specification and quantity of the tobacco materials on the tobacco material tray with the information content of the distribution table acquired from the tobacco material elevated warehouse system, thereby judging whether the tobacco material tray which is being conveyed is the tobacco material required by the tobacco material delivery station.
The technical scheme is further limited, wherein the delivery chain conveyor comprises a delivery chain conveyor I and a delivery chain conveyor II; the tray code scanner is arranged on the delivery chain conveyor I; an industrial automatic zooming camera is arranged at the position on the periphery above the delivery chain conveyor I and is connected with a monitoring computer, and the industrial automatic zooming camera is used for identifying the type and specification of the tobacco material on the tobacco material tray on the delivery chain conveyor I and sending the type and specification of the tobacco material to the monitoring computer; and an intelligent camera is arranged above the delivery chain conveyor II and is connected with the monitoring computer, and the intelligent camera is used for acquiring the physical information of the quantity of the tobacco materials on the tobacco material tray on the delivery chain conveyor II and sending the physical information to the monitoring computer.
In order to further limit the technical scheme, the industrial automatic zooming cameras are provided with a plurality of cameras and are arranged at the positions around the position 1.4 meters above the delivery chain conveyor I.
In order to further limit the technical scheme, the industrial automatic zoom camera is provided with 4 cameras.
To the further restriction of above-mentioned technical scheme, intelligent camera is equipped with 1 and installs in II oblique top 1.4 meters departments of delivery chain conveyor.
In the further limitation of the technical scheme, the intelligent camera adopts a 3D intelligent camera.
In a further limitation of the above technical solution, the monitoring computer is further connected with a field control screen.
Compared with the prior art, the invention has the advantages that:
according to the scheme, tray two-dimensional bar codes on the tobacco material trays on the delivery chain conveyor are scanned by the tray bar scanner and combined with tobacco material elevated warehouse system information to obtain the distribution information of the types, specifications and quantity of the tobacco materials on the tobacco material trays; identifying the type, specification and quantity of the tobacco materials on the tobacco material tray on the delivery chain conveyor by an industrial automatic zoom camera and an intelligent camera and sending the information to a monitoring computer; and the monitoring computer compares and analyzes the information to judge whether the tobacco material tray being conveyed is the tobacco material required by the tobacco material delivery platform. When deviation occurs in the cigarette material tray distribution process or manual handling errors occur in the cigarette material elevated warehouse equipment faults, the problem can be detected and found in time and an alarm is given, workers are reminded to handle in time, the problem that the types, specifications and quantity of the cigarette materials actually conveyed by the automatic guide transport vehicle are inconsistent with those of the cigarette rolling machine set is solved, the distribution accuracy rate of the cigarette materials is guaranteed to be 100%, the hidden danger that the wrong cigarette materials are distributed to the cigarette rolling machine set is thoroughly eliminated, and the quality of finished cigarette products is guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements" does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.
Referring to fig. 1, an embodiment of the present invention is described in detail.
The automatic detection device for the ex-warehouse of the tobacco materials comprises a tobacco material elevated warehouse 10 and a tobacco material ex-warehouse platform 11, wherein a tobacco material tray 12 in the tobacco material elevated warehouse 10 is conveyed to the tobacco material ex-warehouse platform 11 through an ex-warehouse chain conveyor 13 consisting of an ex-warehouse chain conveyor I6 and an ex-warehouse chain conveyor II 7 in sequence, and then is conveyed to a cigarette packing workshop by an automatic guide transport vehicle for use of a cigarette packing unit.
Still include supervisory control computer 5, be equipped with tray two-dimensional bar code 9 on the tobacco material tray 12, be equipped with tray bar code scanner 1 on the chain conveyor I6 of leaving warehouse, tray bar code scanner 1 just right with the tray two-dimensional bar code 9 on the tobacco material tray 12 through on the chain conveyor I6 of leaving warehouse, distance 5CM, tray bar code scanner 1 is connected with supervisory control computer 5. When the cigarette material out of the warehouse passes through the warehouse-out chain conveyor I6, the tray scanner 1 scans the tray two-dimensional bar code 9 on the cigarette material tray 12 on the warehouse-out chain conveyor I6 to obtain the two-dimensional code information on the cigarette material tray 12 and transmits the two-dimensional code information to the monitoring computer 5, the monitoring computer 5 is connected with the cigarette material elevated warehouse system 8, and the monitoring computer 5 combines and compares the two-dimensional code information on the cigarette material tray 12 with the information of the cigarette material elevated warehouse system 8 to obtain the distribution information of the type, the specification and the quantity of the cigarette material.
The automatic zooming system is characterized in that an industrial automatic zooming camera 2 is arranged above the delivery chain conveyor I6 from the periphery, the industrial automatic zooming cameras 2 are provided with a plurality of cameras and are arranged at the periphery of the position 1.4 meters above the delivery chain conveyor I6, and preferably, the industrial automatic zooming camera 2 is provided with 4 cameras. The industrial automatic zoom camera 2 is connected with a monitoring computer 5. The industrial automatic zoom camera 2 is used for identifying the type and the specification of the tobacco materials on the tobacco material tray 12 passing through the delivery chain conveyor I6, acquiring the type and specification physical information of the tobacco materials on the material tray 12, and sending the information to the monitoring computer 5.
And an intelligent camera 3 is arranged above the II 7 warehouse-out chain conveyor, the intelligent camera 3 is provided with 1 and is installed at a position 1.4 meters above the II 7 warehouse-out chain conveyor in an inclined manner, preferably, the intelligent camera 3 adopts a 3D intelligent camera. The intelligent camera 3 is connected with a monitoring computer 5. The intelligent camera 3 is used for measuring and calculating physical information of the quantity of the tobacco materials on the tobacco material tray 12 passing through the delivery chain conveyor II 7 and sending the physical information to the monitoring computer 5.
The industrial automatic zooming camera 2 and the intelligent camera 3 are used for acquiring the physical information of the type, specification and quantity of the tobacco material tray 12 in transportation and sending the physical information to the monitoring computer 5 for processing.
The monitoring computer 5 analyzes and compares the physical information of the types, specifications and quantities of the tobacco materials on the tobacco material trays 12 with the distribution information acquired from the tobacco material elevated warehouse system 8, and judges whether the tobacco material trays 12 being conveyed are the tobacco materials required by the tobacco material delivery platform 11. As shown in fig. 1, if the physical information of the tobacco material matches the matching information, the tobacco material is automatically transported to the wrapping machine group by the automatic guided vehicle from the tobacco material delivery platform 11; if the real object information of the tobacco materials does not accord with the matching disc information, the monitoring computer 5 sends alarm information to the elevated warehouse system 8 of the tobacco materials, the chain conveyor 7 for delivery stops running, and an operator goes to the site to manually check and arrange.
And the monitoring computer 5 is also connected with a field control screen 4, when the problem is processed and confirmed, the normal operation of the ex-warehouse chain conveyor II 7 is manually recovered on the field control screen 4, and the correct tobacco materials are conveyed to the ex-warehouse platform 11 of the tobacco materials and conveyed to the wrapping unit by an automatic guide transport vehicle.
In the embodiment, the tray scanner 1 scans the tray two-dimensional bar code 9 on the tobacco material tray 12 on the delivery chain conveyor 13 to obtain the tray matching information of the type, specification and quantity of the tobacco materials on the tobacco material tray 12 and send the information to the monitoring computer 5; identifying the physical information of the types, specifications and quantities of the tobacco materials on the tobacco material trays 12 on the delivery chain conveyor 13 through the industrial automatic zoom camera 2 and the intelligent camera 3 and sending the physical information to the monitoring computer 5; the monitoring computer 5 compares and analyzes the information to judge whether the tobacco material tray being conveyed is the tobacco material required by the tobacco material delivery platform. When deviation occurs in the cigarette material tray distribution process or manual handling errors occur in the cigarette material elevated warehouse equipment faults, the problem can be detected and found in time and an alarm is given, workers are reminded to handle in time, the problem that the types, specifications and quantity of the cigarette materials actually conveyed by the automatic guide transport vehicle are inconsistent with those of the cigarette rolling machine set is solved, the distribution accuracy rate of the cigarette materials is guaranteed to be 100%, the hidden danger that the wrong cigarette materials are distributed to the cigarette rolling machine set is thoroughly eliminated, and the quality of finished cigarette products is guaranteed.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. Cigarette material automatic checkout device that leaves warehouse, including cigarette material elevated warehouse (10) and cigarette material platform (11) that leaves warehouse, on cigarette material platform (11) that leaves warehouse (11) are carried through ex warehouse chain conveyor (13) to cigarette material tray (12) in cigarette material elevated warehouse (10), then carry the package workshop by the automated guidance transport vechicle and supply the use of package group, its characterized in that: the cigarette material monitoring system is characterized by further comprising a monitoring computer (5), a tray two-dimensional bar code (9) is arranged on the cigarette material tray (12), a tray code scanner (1) is arranged on the ex-warehouse chain conveyor (13), the tray code scanner (1) is just opposite to the tray two-dimensional bar code (9) on the cigarette material tray (12) passing through the ex-warehouse chain conveyor (13), the tray code scanner (1) is connected with the monitoring computer (5), the tray code scanner (1) is used for scanning the tray two-dimensional bar code (9) on the cigarette material tray (12) passing through the ex-warehouse chain conveyor (13) to acquire the two-dimensional bar code information of the cigarette material tray (12) and transmit the two-dimensional bar code information to the monitoring computer (5), the monitoring computer (5) is connected with the cigarette material elevated library system (8), and the monitoring computer (5) combines and compares the two-dimensional bar code information on the cigarette material tray (12) with the cigarette material elevated library system (8) to obtain the two-dimensional bar code information on the tray The type, specification and quantity of the tobacco material are matched with the information;
an industrial automatic zooming camera (2) and an intelligent camera (3) are arranged at the upper part of the delivery chain conveyor (13), the industrial automatic zooming camera (2) and the intelligent camera (3) are both connected with a monitoring computer (5), and the industrial automatic zooming camera (2) and the intelligent camera (3) are used for identifying the kind, specification and quantity of the tobacco materials on the tobacco material tray (12) on the delivery chain conveyor (13) and sending the material information to the monitoring computer (5);
the monitoring computer (5) compares and analyzes the physical information of the types, specifications and quantities of the tobacco materials on the tobacco material tray (12) with the distribution information content acquired from the tobacco material elevated library system (8), thereby judging whether the tobacco material tray (12) which is being conveyed is the tobacco material required by the tobacco material delivery platform (11).
2. The automatic checkout device for ex-warehouse of tobacco material as claimed in claim 1, wherein: the delivery chain conveyor (13) comprises a delivery chain conveyor I (6) and a delivery chain conveyor II (7); the tray code scanner (1) is arranged on the delivery chain conveyor I (6); the automatic cigarette delivery system is characterized in that industrial automatic zooming cameras (2) are arranged at the positions on the periphery above the delivery chain conveyor I (6), the industrial automatic zooming cameras (2) are connected with a monitoring computer (5), and the industrial automatic zooming cameras (2) are used for identifying the type and specification of the cigarette materials on the cigarette material trays (12) on the delivery chain conveyor I (6) and sending the real object information to the monitoring computer (5); and an intelligent camera (3) is arranged above the delivery chain conveyor II (7), the intelligent camera (3) is connected with the monitoring computer (5), and the intelligent camera (3) is used for acquiring physical information of the quantity of the tobacco materials on the tobacco material tray (12) on the delivery chain conveyor II (7) and sending the physical information to the monitoring computer (5).
3. The automatic checkout device for ex-warehouse of tobacco material as claimed in claim 2, wherein: the industrial automatic zooming cameras (2) are arranged in multiple numbers and are arranged at the positions around the position 1.4 meters above the delivery chain conveyor I (6).
4. The automatic checkout device for ex-warehouse of tobacco material as claimed in claim 3, wherein: the industrial automatic zooming camera (2) is provided with 4 cameras.
5. The automatic checkout device for ex-warehouse of tobacco material as claimed in claim 2, wherein: the intelligent camera (3) is provided with 1 camera and is installed at a position 1.4 meters above the delivery chain conveyor II (7) in an inclined mode.
6. The automatic checkout device for ex-warehouse of tobacco material as claimed in claim 5, wherein: the intelligent camera (3) adopts a 3D intelligent camera.
7. The automatic checkout device for tobacco material ex-warehouse of any one of claims 1 to 6, characterized in that: and the monitoring computer (5) is also connected with a field control screen (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110144545.XA CN112918978A (en) | 2021-02-02 | 2021-02-02 | Automatic detection device for ex-warehouse of tobacco materials |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110144545.XA CN112918978A (en) | 2021-02-02 | 2021-02-02 | Automatic detection device for ex-warehouse of tobacco materials |
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| CN112918978A true CN112918978A (en) | 2021-06-08 |
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| CN202110144545.XA Pending CN112918978A (en) | 2021-02-02 | 2021-02-02 | Automatic detection device for ex-warehouse of tobacco materials |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978987A (en) * | 2021-11-10 | 2022-01-28 | 英业达(重庆)有限公司 | Pallet object packaging and picking method, device, equipment and medium |
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2021
- 2021-02-02 CN CN202110144545.XA patent/CN112918978A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978987A (en) * | 2021-11-10 | 2022-01-28 | 英业达(重庆)有限公司 | Pallet object packaging and picking method, device, equipment and medium |
| CN113978987B (en) * | 2021-11-10 | 2023-04-07 | 英业达(重庆)有限公司 | Pallet object packaging and picking method, device, equipment and medium |
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