KR20210075302A - Smart post office system using automatic packing technology - Google Patents

Smart post office system using automatic packing technology Download PDF

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KR20210075302A
KR20210075302A KR1020190166206A KR20190166206A KR20210075302A KR 20210075302 A KR20210075302 A KR 20210075302A KR 1020190166206 A KR1020190166206 A KR 1020190166206A KR 20190166206 A KR20190166206 A KR 20190166206A KR 20210075302 A KR20210075302 A KR 20210075302A
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box
post office
time
sensor
office system
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한종욱
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한종욱
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/003—Packaging lines, e.g. general layout
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/12—Apparatus characterised by the means used for detection ofthe destination using electric or electronic detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/24—Feeding, e.g. conveying, single articles by endless belts or chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/265—Opening, erecting or setting-up boxes, cartons or carton blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
    • B65B51/04—Applying separate sealing or securing members, e.g. clips
    • B65B51/06—Applying adhesive tape
    • B65B51/067—Applying adhesive tape to the closure flaps of boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/02—Driving gear
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G11/00—Apparatus for weighing a continuous stream of material during flow; Conveyor belt weighers
    • G01G11/04—Apparatus for weighing a continuous stream of material during flow; Conveyor belt weighers having electrical weight-sensitive devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computational Linguistics (AREA)
  • Evolutionary Computation (AREA)
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  • Biomedical Technology (AREA)
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  • General Health & Medical Sciences (AREA)
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  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Automation & Control Theory (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Abstract

The present invention uses a new post office delivery system for a purpose of reducing the time required in the post office delivery system and customer convenience as a method to establish a system to solve a problem, wherein the anxiety and time required in selecting a delivery box are considered to be a major problem. Accordingly, the convenience of customers has been further enhanced by automatically selecting the delivery box and expanding the same to include the need to know the size of an item for selection and automatic packaging as an extension of the measurement. In order to save time, the packaging described above is done automatically to reduce packaging time, and it is possible to do two tasks at the same time without wasting measurement time. Thus, the method can reduce time to obtain both convenience and time reduction for customers. The present invention includes a first sensor and a first control unit.

Description

자동포장기술을 이용한 스마트 우체국 시스템 {Smart post office system using automatic packing technology}{Smart post office system using automatic packing technology}

본 발명은 우체국에서 택배 포장과 접수 그리고 분류 등 전체적인 우체국 택배 시스템 방법에 관한 것으로, 보다 상세하게는 물건의 무게, 크기, 부피, 종류 등의 인식을 통한 박스 선정과 포장 순서를 결정해 안전하게 포장해주는 포장기술을 통한 업무시간, 인건비를 줄이는 것과 고객의 편리성을 목표로 하는 새로운 방법에 관한 것이다.The present invention relates to an overall post office delivery system method such as packing, receiving, and sorting a parcel at the post office, and more specifically, it determines the box selection and packing order through recognition of the weight, size, volume, type, etc. It is about a new way to reduce work hours and labor costs through packaging technology and to target customer convenience.

최근 은행, 음식점 등에서 키오스크라는 무인으로 이용할 수 있게 만든 설치한 무인 단말기로 최근 사용추세가 늘어나고 있다. 인건비와 시간을 절약할 수 있는 키오스크는 지자체를 중심으로도 시스템 구축과 설치를 권장하고 있어 성장세는 꾸준히 지속될 것이다.Recently, a kiosk is an unmanned terminal installed so that it can be used unattended at banks and restaurants. As kiosks that can save labor costs and time are recommended to be established and installed by local governments, the growth will continue.

물건을 자동으로 포장하기 위해서는 물건의 크기, 무게, 부피, 종류를 측정할 필요가 있고 이는 정면과 측면의 경계를 통해 가로, 세로, 높이를 측정하여 사면체로 가정하고 크기, 부피를 측정할 수 있고 전자 저울을 통해 무게를 측정할 수 있다.In order to automatically package an object, it is necessary to measure the size, weight, volume, and type of the object, and it is possible to measure the size and volume assuming a tetrahedron by measuring the width, length, and height through the boundary between the front and the side. You can measure the weight with an electronic scale.

측정이 완료 된 물건을 카메라 인식을 통해 물건의 종류를 파악할 수 있다. 이는 빅데이터를 이용한 학습을 통해 인식의 범위를 넓힐 수 있다.The type of object can be identified through camera recognition of the object that has been measured. This can broaden the scope of recognition through learning using big data.

박스의 포장은 공장에서와 같이 동일한 물건을 동일한 박스에 넣는 반복적인 작업은 할 수 있다.The packaging of the box can be repeated as in the factory by putting the same items in the same box.

우체국 택배를 보내기 위해서는 우체국에서 박스를 구매하여 포장을 직접하고 주소를 적는 모든 것을 고객이 직접 손으로 하게된다. 우체국에는 매우 다양한 크기의 박스가 존재하여 물건이 여러개 있을 때 내 물건이 어떤 크기의 박스에 맞는지 한눈에 보고는 알기 힘들다.In order to send a parcel from the post office, the customer purchases a box at the post office, packs it, and writes the address by hand. There are boxes of various sizes at the post office, so when there are several items, it is difficult to tell at a glance which size box fits my item.

그 뒤 대기표를 뽑아 차례가 되면 물건을 보내는 순서로 진행된다. 박스의 포장부터 대기시간까지 합하면 꽤 많은 시간이 소요된다.After that, a waiting list is drawn, and when it is your turn, the order is to send the goods. It takes quite a bit of time from packing the box to the waiting time.

따라서 본 발명은 박스의 크기선정부터 포장까지 자동으로 해주고 그 시간에 키오스크를 통한 접수를 하여 두가지를 동시에 진행해 시간을 단축하는 것을 목적으로 한다.Therefore, an object of the present invention is to reduce the time by automatically performing both box size selection and packaging, and by accepting through a kiosk at that time.

상기한 바의 목적을 달성하기 위한 본 발명은, 물건을 올려놓으면 무게, 부피, 크기를 측정하여 모든 물건의 전체 부피와 크기를 통해 알맞은 박스를 선정하고 부피와 종류에 따라 순서를 정해서 넣어준다. 그동안 고객은 키오스크를 통해 받는 사람 인적사항, 주소, 본인의 인적사항, 주소, 물건의 중요도, 안전성 등의 기타사항을 체크하면 물건의 무게, 박스의 크기, 기타사항에 의한 추가요금을 포함한 전체요금을 결제하게 되는 시스템으로 이루어져 있다.The present invention for achieving the above object, when an object is placed, the weight, volume, and size are measured, and an appropriate box is selected through the total volume and size of all objects, and the order is placed according to the volume and type. In the meantime, if the customer checks other items such as the recipient's personal information, address, personal information, address, importance of the item, safety, etc. through the kiosk, the total charge including the weight of the item, the size of the box, and additional charges due to other matters It consists of a system for payment.

이러한 구조로 이루어진 본 발명은 물건을 컨베이어 벨트에 올려놓으면 컨베이어 벨트가 진행하고 컨베이어 벨트 중간에 연결되지 않은 벨트부분을 만들어 따로 스텝모터를 장치해 멈췄을 때 물건을 전자저울을 통해 무게를 측정하고 다시 움직여 진행해 각각의 물건의 무게를 측정할 수 있다. In the present invention with this structure, when an object is placed on a conveyor belt, the conveyor belt proceeds, and a separate belt part is made in the middle of the conveyor belt, a step motor is installed separately, and when the object is stopped, the weight is measured through an electronic scale and then again You can move and measure the weight of each object.

무게를 측정한 뒤 벨트를 따라 진행하고 카메라 센서를 정면의 제 1 카메라센서와 측면의 제 2 카메라센서로 제 1 카메라센서는 너비를 측정하고 제 2 카메라센서는 높이와 길이를 측정해 사면체로써의 부피와 크기를 측정해 여유공간을 선정하고 각각의 카메라센서를 통해 도출한 물건의 종류가 동일한 종류일 때 물건의 종류를 결정할 수 있다.After measuring the weight, proceed along the belt, and use the camera sensor as the first camera sensor on the front and the second camera sensor on the side. The first camera sensor measures the width and the second camera sensor measures the height and length to form a tetrahedron. The free space is selected by measuring the volume and size, and the type of object can be determined when the type of object derived through each camera sensor is the same.

모든 물건의 전체 부피와 크기를 통해 최적의 박스를 선택할 수 있다.The overall volume and size of all objects allows you to choose the optimal box.

각 박스마다 포장공간이 나눠져있으며 부피를 측정한 뒤 컨베이어 벨트가 나눠져 각각의 포장장소로 이동할 수 있다.Each box has a separate packaging space, and after measuring the volume, the conveyor belt is divided and moved to each packaging location.

물건의 종류에 따라 제어방식을 크게 몇가지로 선정하고 그에 맞는 방식으로 로봇이 잡는 방식을 결정해 포장 할 수 있다.Depending on the type of object, several control methods can be selected, and the robot can decide how to hold it in a suitable way and package it.

포장 한 뒤 다시 컨베이어 벨트를 따라 움직이고 나눠졌던 컨베이어 벨트가 합쳐졌다가 입력된 주소지에 따라 다시 나눠질 수 있다.After packing, it moves along the conveyor belt again, and the divided conveyor belts are merged and can be divided again according to the entered address.

컨베이어 벨트가 최적의 박스 선택까지 진행하는 동안 고객은 키오스크를 통 해 받는 사람 인적사항, 주소와 본인의 인적사항, 주소, 물건의 중요도, 안전성 등의 기타사항을 체크하면 물건의 무게, 박스의 크기, 기타사항에 의한 추가요금을 포함한 전체요금을 결제할 수 있다.Customers go through the kiosk while the conveyor belt goes through the optimal box selection. If you check other items such as personal information of the person being harmed, address, personal information, address, importance of the object, safety, etc., you can pay the entire fee including additional charges due to the weight of the object, the size of the box, and other matters. .

그러므로, 본 발명은 고객이 접수를 하는 동안 포장이 이루어져 두가지를 같은 시간에 진행하기 때문에 시간이 반으로 단축되고 접수에 필요한 인건비를 절약할 수 있어 시간과 비용을 줄일 수 있다.Therefore, according to the present invention, since the packaging is made while the customer receives the application and the two are processed at the same time, the time can be cut in half and the labor cost required for the application can be saved, thereby reducing the time and cost.

도면 1은 본 발명의 물건의 무게를 측정하는 부분의 도면,
도면 2는 본 발명의 물건의 부피와 종류를 측정하는 부분의 도면,
도면 3은 본 발명의 물건을 박스에 넣는 로봇팔 부분의 도면,1 is a view of a part for measuring the weight of an object of the present invention;
Figure 2 is a view of a part for measuring the volume and type of the object of the present invention;
Figure 3 is a view of the robot arm to put the object of the present invention in a box,

이하, 첨부된 도면을 참조하여 본 발명을 자세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

본 발명에 따른 스마트 우체국 시스템의 도면은 도면 1에 바와 같이, 물건이 컨베이어어 벨트(3)를 따라 진행하게 되면 컨베이어 벨트(3)에서 독립적인 부분으로 이루어져 있어 스텝모터(2)에 의해 회전하는 정지막대(4)가 뒤에서 물건을 밀어줘서 전자저울(1)에 도착하게 되고 무게를 측정한 뒤 스텝모터(2)이 다시 회전하여 정지막대(4)에 의해 물건들이 움직여 다시 컨베이어 벨트로 올라가 움직이게 된다.As shown in FIG. 1, the drawing of the smart post office system according to the present invention is composed of an independent part from the conveyor belt 3 when the goods proceed along the conveyor belt 3, and is rotated by the step motor 2 The stop bar (4) pushes the object from behind to arrive at the electronic scale (1), and after measuring the weight, the step motor (2) rotates again so that the objects are moved by the stop bar (4) and climbed up to the conveyor belt again to move. do.

도면 2는 제 2 카메라센서(5)에서 길이와 높이, 옆모습을 통한 종류를 측정하고, 제 1 카메라센서(6)에 의해 너비와 정면 모습을 통한 종류를 측정해 물건의 사면체로써의 물건의 부피와 크기를 결정해 그에 해당하는 박스의 크기를 결정하고, 옆모습과 앞모습을 통해 물건의 종류를 파악해 물건의 포장순서와 도면 3의 로봇팔(7)이 물건을 잡을 때의 강도 또는 안전성을 고려하여 포장 시 파손과 같은 불만사항이 생기지 않도록 한다.2 is a second camera sensor (5) to measure the type through the length, height, and side view, and measure the type through the width and front view by the first camera sensor (6) to measure the volume of the object as a tetrahedron Determine the size of the box and determine the size of the box corresponding to it, identify the type of object through the side and front views, and consider the packing order of the object and the strength or safety when the robot arm 7 in Figure 3 grabs the object. Avoid complaints such as damage during packaging.

도면 3은 위의 내용을 통해 측정한 박스로 각각 컨베이어 벨트가 나눠져 오게되고 자동으로 박스를 펼쳐주고 밑을 테이핑해서 세팅한 박스(8)에 로봇팔(7)이 결정한 순서와 강도로 물건을 박스(8)에 옮겨담고 위를 테이핑하여 다시 컨베이어 벨트로 보낸다.Figure 3 is a box measured through the above contents, each conveyor belt is divided, automatically unfolds the box, taps the bottom, and sets the box (8) in the order and strength determined by the robot arm (7). Transfer to (8), tap the top, and send it back to the conveyor belt.

포장의 순서는 상기 방법을 실용화 하기 전 고객들이 자신이 포장한 모습을 사진으로 찍어서 보여주면 그에 해당하는 혜택을 주어 고객들이 가장 안전하다고 생각하는 포장을 전국적으로 모아 빅데이터를 만들고 그에 따라 가장 알맞다고 생각하는 포장순서를 자율적으로 결정한다.As for the order of packaging, if customers take a picture of their packaging and show it to them before putting the above method into practice, they give corresponding benefits, so that they collect the packaging they think is the safest nationwide to create big data and say that it is the most appropriate. It autonomously decides the packaging order to think about.

이후에도 고객이 물건을 받았을 때의 불만사항과 만족도 등을 설문조사를 통해 조사하여 계속해서 학습해나간다.After that, the customer continues to learn by conducting a survey on their complaints and satisfaction when they receive the product.

완료된 박스(8)는 고객이 입력한 정보가 프린트 된 종이를 박스위에 자동으로 부착되고 바코드를 인식하여 해당 주소에 맞는 분류를 통해 배달에도 용이하도록 한다.In the completed box 8, the paper on which the information entered by the customer is printed is automatically attached to the box, and the barcode is recognized to facilitate delivery through classification suitable for the address.

고객은 물건을 올려놓고 도면 1 과 도면 2에 도착하기 전에 키오스크를 통해 주소지와 받는사람의 정보, 본인의 정보를 입력하고 충격완화재, 박스의 크기를 보다 크게 선정, 퀵배송 등 기타 추가사항을 입력한다.Before arriving at Drawings 1 and 2, the customer enters the address, recipient's information, and personal information through the kiosk, selects a larger size of shock absorber, selects a larger box, and asks for other additional items such as quick delivery, etc. Enter

측정된 무게, 박스의 크기, 기타 추가사항에 따라 금액이 결정되고 이를 카드로 지불하고 현금결제는 현금결제 버튼을 누르면 표를 가지고 직원에게 납부한다.The amount is determined according to the measured weight, the size of the box, and other additional items, and it is paid with a card.

물건이 측정되고 포장되기위해 움직이는 동안 고객은 접수를 하기 때문에 두가지 일을 동시에 진행하여 시간이 반으로 단축되는 효과를 보이고 그에 따라 고객 접수에 필요한 직원이 줄어들었기 때문에 인건비 또한 절약할 수 있다.Because the customer registers while the goods are being measured and moved to be packed, the time is cut in half by performing two tasks at the same time, and labor costs can also be saved because the number of staff required to receive the customer is reduced accordingly.

1. 전자저울
2. 스텝모터
3. 컨베이어 벨트
4. 정지막대
5. 제 2 카메라센서
6. 제 1 카메라센서
7. 로봇팔
8. 아래가 포장된 박스1. Electronic scale
2. Step motor
3. Conveyor Belt
4. Stop bar
5. Second camera sensor
6. First camera sensor
7. Robot arm
8. Box wrapped underneath

Claims (3)

상기 컨베이어 벨트위의 물건의 움직임을 잠시 막아주는 정지막대를 구동하는 제 1 구동모터와 정지된 물건의 무게를 측정하는 제 1 센서와
상기 컨베이어 벨트위를 지나가는 물건의 크기와 부피 종류를 측정하는 제 1 카메라센서와 제 2 카메라센서와
포장 순서와 힘을 결정하는 제 1 제어부와
박스를 자동으로 펴주는 제 2 구동부와 박스의 밑을 테이핑 해주는 제 3 구동부와
물건을 집어서 박스에 넣어주는 로봇팔 제 2 제어부와
바코드를 읽어주는 제 2 센서와 바코드의 정보를 읽어 주소별로 나눠주는 제 1 통신부로 이루어져 있는 스마트 우체국 시스템.A first driving motor for driving a stop bar that temporarily blocks the movement of the object on the conveyor belt, and a first sensor for measuring the weight of the stopped object;
A first camera sensor and a second camera sensor for measuring the size and volume type of an object passing on the conveyor belt;
a first control for determining the packing sequence and force; and
A second driving unit that automatically unfolds the box and a third driving unit that taps the bottom of the box,
A second control unit of a robot arm that picks up objects and puts them in a box;
A smart post office system consisting of a second sensor that reads barcodes and a first communication unit that reads barcode information and distributes it by address. 제 1 항에 있어서,
상기 제 1 구동모터는 스테핑모터로 구비되고,
상기 제 1 센서는 무게를 측정하는 전자저울로 구비되는 스마트 우체국 시스템.The method of claim 1,
The first driving motor is provided as a stepping motor,
The first sensor is a smart post office system provided with an electronic scale for measuring weight. 제 1 항에 있어서
상기 제 1 제어부는 스스로 학습해나아가는 인공지능 프로그램으로 구비되고,
상기 제 2 제어부는 제 1 제어부의 순서와 힘의 초기 설정 조건에 따라 제어상수를 결정하는 PID 제어기를 통해 제어되는 스마트 우체국 시스템

2. The method of claim 1
The first control unit is provided with an artificial intelligence program that learns by itself,
The second control unit is a smart post office system controlled through a PID controller that determines a control constant according to the order of the first control unit and the initial setting condition of the force
KR1020190166206A 2019-12-13 2019-12-13 Smart post office system using automatic packing technology KR20210075302A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023113194A1 (en) * 2021-12-15 2023-06-22 한국전자기술연구원 Packaging system and packaging method for filling and packaging kimchi

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023113194A1 (en) * 2021-12-15 2023-06-22 한국전자기술연구원 Packaging system and packaging method for filling and packaging kimchi

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