CN106477125A - A kind of automatic labeling device and labeling method - Google Patents
A kind of automatic labeling device and labeling method Download PDFInfo
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- CN106477125A CN106477125A CN201610854717.1A CN201610854717A CN106477125A CN 106477125 A CN106477125 A CN 106477125A CN 201610854717 A CN201610854717 A CN 201610854717A CN 106477125 A CN106477125 A CN 106477125A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
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Abstract
The invention discloses a kind of automatic labeling device and labeling method, the device for labeling that the present invention provides, for labeling is carried out to target labeling point, described device for labeling includes control module, described control module controls device for labeling movement to target labeling pose, and control device for labeling labeling, described target labeling pose be device for labeling to during target labeling point labeling in working face residing for pose.The present invention utilizes transportable device for labeling to replace artificial labeling, efficiency high, is suitable for large-area label code and pastes；Equipment automatic labeling, reliability is high.By way of laser range finder is combined with camera vision, maximally effective reduction local error, eliminate cumulative error, compared with traditional labeling mode, precision greatly improves.
Description
Technical field
The present invention relates to a kind of device for labeling, more particularly, to a kind of automatic labeling device and the method applying this device.
Background technology
Increasing rapidly with ecommerce, the artificial and plant equipment that tradition storage adopts is being ordered in the face of growing
When singly requiring, sorting, encapsulation and the workload sending are increased sharply, and thus lead to logistics time to increase.Existing automated warehouse
Storage system typically adopts piler, shuttle etc., possesses the feature of automatization, efficiency high, but to piler, shuttle should be waited
The design of car, in warehouse, shelf need to be fixedly mounted in the middle of place, thus then can there is high cost, install complexity, open up
The low shortcoming of malleability.
In order to solve disadvantages mentioned above, domestic and international manufacturer all has been developed for being applied to efficient, inexpensive, the expansion of this kind of environment
The high Intelligent transfer robot of property and its corollary system.This system is related to a kind of label with position and directional information, machine
People determines current location and direct of travel by this mark, in order that robot can be true exactly in whole working environment
Determining self-position needs to lay substantial amounts of label in working face with direction of advance.
Referring now to the labeling position (labeling point) planned in working face mostly using manually pasting code, work
Amount is huge, and the error artificially causing is big, and mark concordance is poor, seriously hinders the use of this system.So the present invention provides one kind
Device for labeling, to replace manually pasting code, significantly to reduce labor workload, reduces personal error, mark concordance is high, and
And on this basis, a kind of supporting high accuracy labeling method is proposed.
Content of the invention
Present invention aims to the deficiencies in the prior art, provide a kind of automatic labeling device and labeling method.
The purpose of the present invention is achieved through the following technical solutions：A kind of device for labeling, for target labeling point
Carry out labeling, including control module, described control module is according to the path clustering device for labeling movement planned to target labeling position
Appearance, and control device for labeling labeling.
Further, described device for labeling also includes data obtaining module, message processing module, wherein, in described control
Before module controls device for labeling labeling,
Described information acquisition module, obtains the positional information in working face for the device for labeling；
According to described positional information, described information processing module, judges whether device for labeling is in target labeling pose；
Described control module, the judged result according to message processing module adjusts device for labeling pose.
Further, described information acquisition module includes range finder module, for measure described device for labeling and at least one
The distance of datum level；Described positional information includes the distance of device for labeling and datum level；
Whether described information processing module is in mesh according to the device for labeling described in Distance Judgment of device for labeling and datum level
Labeling mark appearance.
Further, described datum level includes the first datum level, the second datum level and the 3rd datum level, wherein, the first base
Quasi- face is vertical with the second datum level, the 3rd datum level respectively, and the second datum level is parallel with the 3rd datum level.
Further, described information processing module be additionally operable to choose positioning unit, described positioning unit by with target labeling
At least one adjacent labeled labeling point of point is formed；
Described information acquisition module also includes vision module, for obtaining the image information of positioning unit；
Described information processing module includes default anchor point, and be used for calculating in image information labelled position with pre-
Set the deviation in site, wherein, default anchor point is identical with number labelled in positioning unit, and be distributed consistent.
A kind of method carrying out labeling to target labeling point, applies above-mentioned device for labeling, described device for labeling is according to rule
Draw path movement to target labeling pose, to target labeling point labeling.
Further, before the method is additionally included in impact point labeling,
Obtain the positional information in working face for the device for labeling；
Judge whether device for labeling is in target labeling pose according to described positional information；
And device for labeling pose is adjusted according to judged result.
Further, the method also includes
Described positional information passes through to measure the distance acquisition of device for labeling and at least one datum level；
Whether target labeling pose is according to the device for labeling described in Distance Judgment of device for labeling and datum level.
Further, described datum level includes the first datum level, the second datum level and the 3rd datum level, wherein, the first base
Quasi- face is vertical with the second datum level, the 3rd datum level respectively, and the second datum level is parallel with the 3rd datum level.
Further, obtain device for labeling to include in the positional information of working face
Choose positioning unit, described positioning unit is by least one labeled labeling adjacent with target labeling point
Point is formed；
Obtain the image information of positioning unit, and calculate the inclined of labelled position and default anchor point in image information
Differ from, wherein, default anchor point and number identical of having labelled, distribution is consistent.
Beneficial effects of the present invention：Replace artificial labeling, efficiency high, suitable large area using transportable device for labeling
Label code paste；Equipment automatic labeling, reliability is high.By way of laser range finder is combined with camera vision, most effective
Reduction local error, eliminate cumulative error, compared with traditional labeling mode, precision greatly improves.
Brief description
Fig. 1 is device for labeling working face schematic diagram；
Fig. 2 improved device for labeling schematic diagram；
In Fig. 3, (a) is positioning unit schematic diagram, (b) and default anchor point schematic diagram；
The image schematic diagram that Fig. 4 vision module obtains；
The flow chart of Fig. 5 labeling method.
Specific embodiment
The present invention provides a kind of device for labeling and high-precision labeling method in order to complete to the target in working face
Labeling point carries out labeling, and wherein labeling point is the position needing labeling in whole working face, typically has planning, and it is in work
The position of plane is it is known that label is attached on labeling point.During labeling, the labeling point being currently needed for labeling is target labeling
Point, carries out device for labeling during labeling to target labeling point and should be at target labeling pose, mainly whether judge device for labeling
It is in target labeling pose, when target labeling pose carries out labeling, the conformance with standard labeled.
The device for labeling that the present invention provides, for carrying out labeling to target labeling point, described device for labeling includes controlling mould
Block, described control module controls device for labeling movement to target labeling pose, and controls device for labeling labeling, described target labeling
Pose be device for labeling to during target labeling point labeling in working face residing for pose.Due in working face, each
The position of labeling point uniquely determines, when labeling point is as target labeling point, device for labeling has corresponding target labeling pose,
Have directive label in particular for pasting, only when device for labeling is in target labeling pose, labeled
Pose ability conformance with standard.As Fig. 1, in the present embodiment, working face inner poster point OyxSpacing is d two-by-two, and wherein, x represents in X-axis
X-th of direction labeling point, y represents in y-th labeling point of Y direction, works as O11During for target labeling point, control module controls labeling
Device moves to target labeling point O11After corresponding target labeling pose during labeling carries out labeling, target labeling point is O21,
To Y-axis positive direction displacement d, device for labeling is made to be in target labeling point O21Carry out labeling after corresponding target labeling pose,
Complete the labeling of Y-axis first row.
In this embodiment, device for labeling can be by the speedometer meter within device for labeling to Y-axis positive direction displacement d
Calculate and obtain, because in moving process it is possible that direction deviation etc. produces error, present invention simultaneously provides a kind of improve patch
Device for mark, Fig. 2 is the structural representation of improved device for labeling.
Described improved device for labeling includes data obtaining module, message processing module and motion-control module, wherein：
Data obtaining module, for obtaining the positional information in working face for the device for labeling；
Message processing module, for judging whether to be in target labeling pose according to described positional information；
Control module, the judged result according to message processing module adjusts device for labeling pose, and controls device for labeling to paste
Mark.
During labeling is carried out to target labeling point, when message processing module judges the position that data obtaining module obtains
When confidence breath is in target labeling pose, control module does not need to adjust the position of device for labeling, the now current institute of device for labeling
The position at place is correct labeling position, and control module controls device for labeling to carry out labeling to target labeling point, if at information
Reason module judges that the positional information that data obtaining module obtains is not the target labeling pose of device for labeling, then control module control
Device for labeling adjustment pose processed is so as to carry out labeling to target labeling point after being in target labeling pose.
Specifically, data obtaining module includes range finder module (such as laser ranging module), and described information acquisition module obtains
The device for labeling taking passes through, for range finder module, device for labeling and at least one base that measurement obtains in the positional information of working face
The range information in quasi- face.Wherein, as Fig. 1, described first datum level m1 is located at working face side, obtains when range finder module measures
Device for labeling equal with the distance of target labeling pose distance the first datum level m1 with the distance of the first datum level m1 when, then believe
Breath processing module judges that range finder module obtains device for labeling and meets target labeling pose in the positional information of working face.Further
, described datum level can be one, two or three, and datum level described in Fig. 1 includes the first datum level m1, the second benchmark
Face m2, the 3rd datum level m3, each datum level is fixed in the position of working face, and in specific embodiment, the first datum level m1 divides
Not vertical with the second datum level m2, the 3rd datum level m3, the second datum level m2 is parallel with the 3rd datum level m3, i.e. target labeling position
Appearance is certain with the distance of each datum level, can improve the precision of measurement by the position of multiple benchmark planar survey device for labeling.
Work as O11During for target labeling point, data obtaining module obtains device for labeling and the distance of the first datum level m1 is equal to mesh
Labeling mark appearance and datum level apart from nd when, message processing module judges that device for labeling is in target labeling pose, control mould
Block does not need the pose adjusting device for labeling to target labeling point O11Carry out labeling, otherwise, message processing module judges that labeling fills
Put and do not reach target labeling pose or device for labeling oblique attitude (device for labeling is not just to the first datum level m1).Target labeling
Point is O21, device for labeling, to Y-axis positive direction displacement d, makes device for labeling be in target labeling point O21Corresponding target labeling
Carry out labeling, vertical with Y-direction benchmark metope all the time for ensureing it, data obtaining module needs to obtain labeling dress in real time after pose
Put current pose.The numerical value that can be fed back to by laser range finder, judges current pose.For completing the labeling of Y-axis first row.?
Direction of advance is often spaced d through one, and the distance of device for labeling to the first datum level m1 is reduced by d, for ensureing device for labeling towards Y
Axle positive direction moves, during device for labeling advances, data obtaining module obtain device for labeling and the second datum level m2 away from
From message processing module judges whether device for labeling and the distance of the second datum level m2 keep nd constant, you can ensure labeling dress
Put and move towards Y-axis positive direction.In the same manner, the present invention can also measure the distance of device for labeling and the 3rd datum level m3, information simultaneously
With this, processing module judges whether device for labeling is in correct pose.
Further, message processing module also includes vision module, by the position acquisition of positioning unit in vision module
In the position of working face, device for labeling to judge whether device for labeling is in target labeling pose.Specifically, information processing mould
Block chooses positioning unit, and described positioning unit is by one or two adjacent with target labeling point or multiple labeled patch
Punctuate is formed, and labeled labeling point is The more the better.If as shown in figure 1, O22For target labeling point, choose O11、O12、O21
Three labeling points form positioning unit a, and O11、O12、O21Label a1, a2, a3；If O24For target labeling point, choose
O23、O13Two labeling points form positioning unit b, and O23、O13Label b1, b2；If O25For target labeling point, choose O15
The positioning unit c that labeling point is formed, and O15Label c1, c2, in Fig. 1, Fig. 3, labels and is represented with dash area.
Specifically, data obtaining module also includes vision module, and described vision module obtains the image information of positioning unit,
Message processing module calculates the deviation of labelled position and default anchor point in image information, wherein, message processing module
It is preset with anchor point, and default anchor point is identical with number of having labelled in positioning unit, distribution is consistent.When labelled
Within the specific limits, information process unit judges that device for labeling is in target labeling pose to the deviation of position and default anchor point,
Control module does not need to adjust the position of device for labeling, and the position that now device for labeling is presently in is correct labeling position
Appearance, control module carries out labeling, otherwise, after control module control device for labeling adjustment position is so as to be in target labeling pose
Carry out labeling.
As Fig. 3, when being embodied as, described vision module is the camera being arranged on device for labeling drift angle, the visual field of camera
Center is default anchor point (P1, P2, P3), described default anchor point (P1, P2, P3) labeling corresponding with positioning unit a
Sign (a1, a2, a3) number the same, and be distributed consistent, that is, label a1 and a2 spacing are d for d, a1 and a3 spacing, and a1
The line of a1 vertical with the line of a2 and a3, meanwhile, anchor point P1 and P2 spacing are d, P1 and P3 spacing is d, and P1 and P2
The line of the vertical P1 of line and P3, therefore when default anchor point (P1, P2, P3) is labelled with positioning unit image respectively
The position of (a1, a2, a3) overlaps or in certain deviation range, then device for labeling is in target labeling pose.
As Fig. 4, the method calculating deviation is in image coordinate system, and the deviation of the a1 and default anchor point P1 that labelled is (Δ
x1,Δy1,Δθ1), the deviation of the a2 and default anchor point P2 that labelled is (Δ x2,Δy2,Δθ2), label a3 and preset
The deviation of anchor point P3 is (Δ x3,Δy3,Δθ3), if average deviation
In acceptable deviation range, message processing module judges that device for labeling is in target labeling pose, and control module controls patch
Device for mark carries out labeling, and otherwise, control module controls device for labeling adjustment position, typically will be deviation adjustment minimum to weighted average
Value is so as to carry out labeling after being in acceptable deviation range.In the embodiment of the present invention, label and all met mark
Accurate.
A kind of method applying above-mentioned device for labeling to carry out labeling to target labeling point, described device for labeling is according to planning
To target labeling pose, to target labeling point labeling, described target labeling pose is device for labeling to target labeling for path movement
Pose residing in working face during point labeling.As Fig. 1, in the present embodiment, working face inner poster point OyxSpacing is d two-by-two,
Wherein, x represents that, in x-th labeling point of X-direction, y represents in y-th labeling point of Y direction, works as O11During for target labeling point,
Device for labeling moves to target labeling point O11After corresponding target labeling pose during labeling carries out labeling, target labeling point is
O21, to Y-axis positive direction displacement d, make device for labeling be in target labeling point O21Pasted after corresponding target labeling pose
Mark, completes the labeling of Y-axis first row.
Device for labeling can be calculated by the speedometer within device for labeling to Y-axis positive direction displacement d and obtain, due to moving
During dynamic it is possible that direction deviation etc. produces error, and the labeling method of the present invention, before to impact point labeling, first obtains
Device for labeling is in the positional information of working face；Judge whether device for labeling is in target labeling position according to described positional information
Appearance；And device for labeling pose is adjusted according to judged result.
During to target labeling point, when device for labeling judges that its pose is in target labeling pose, then it is not required to
The position of device for labeling to be adjusted, now device for labeling be currently at correct labeling pose, device for labeling can paste to target
Punctuate carries out labeling, if the positional information obtaining is not the target labeling pose of device for labeling, adjusts device for labeling pose, makes
It carries out labeling to target labeling point after being in target labeling pose.
Specifically, obtain device for labeling in working face by measuring device for labeling with the distance of at least one datum level
Positional information.Wherein, as Fig. 1, described first datum level m1 is located at working face side, such as with laser ranging measurement acquisition
The distance of device for labeling and the first datum level m1 and target labeling pose apart from the distance of this datum level equal when, then judge labeling
The positional information of device busy plane meets target labeling pose.Further, described datum level can for one, two or
Person three, datum level described in Fig. 1 includes the first datum level m1, the second datum level m2, the 3rd datum level m3, and each datum level exists
The position of working face is fixed, and in specific embodiment, the first datum level m1 is hung down with the second datum level m2, the 3rd datum level m3 respectively
Directly, the second datum level m2 is parallel with the 3rd datum level m3, and that is, target labeling pose is certain with the distance of each datum level, by many
The precision of measurement can be improved in the position of individual benchmark planar survey device for labeling.
Work as O11During for target labeling point, when the distance measuring device for labeling and the first datum level m1 is equal to target labeling position
Appearance and datum level apart from nd when, then judge that device for labeling is in target labeling pose it is not necessary to adjust the pose of device for labeling
Can be to target labeling point O11Carry out labeling, otherwise, then judge that device for labeling does not reach target labeling pose or device for labeling
Oblique attitude (device for labeling is not just to the first datum level m1), carries out labeling after the pose of adjustment device for labeling.When target labeling
Point is O21, device for labeling, to Y-axis positive direction displacement d, makes device for labeling be in target labeling point O21Corresponding target labeling
Carry out labeling after pose, vertical with Y-direction benchmark metope all the time for ensureing it, need to obtain in real time the current pose of device for labeling.
The numerical value that can be fed back to by laser range finder, judges current pose.For completing the labeling of Y-axis first row.Every in direction of advance
It is spaced d through one, the distance of device for labeling to the first datum level m1 is reduced by d, for ensureing device for labeling towards the shifting of Y-axis positive direction
Dynamic, during device for labeling advances, judge whether the position of device for labeling keeps nd constant in the distance of the second datum level m2,
Can ensure that device for labeling moves towards Y-axis positive direction.In the same manner, the present invention can also measure device for labeling and the 3rd datum level simultaneously
With this, the distance of m3, judges whether device for labeling is in correct pose.
Further, the positional information obtaining device for labeling in working face includes choosing positioning unit, described positioning list
Unit is formed by one or two adjacent with target labeling point or multiple labeled labeling point；Obtain the figure of positioning unit
As information, and calculate the deviation of labelled position and default anchor point in image information, wherein, default anchor point with
Number of labelling identical, distribution is consistent.
Specifically, described positioning unit is by one or two adjacent with target labeling point or multiple labeled patch
Punctuate is formed, and labeled labeling point is The more the better.If as shown in figure 3, O22For target labeling point, choose O11、O12、O21
Three labeling points form positioning unit a, and O11、O12、O21Label a1, a2, a3；If O24For target labeling point, choose
O23、O13Two labeling points form positioning unit b, and O23、O13Label b1, b2；If O25For target labeling point, choose O15
The positioning unit c that labeling point is formed, and O15Label c1, c2, in Fig. 1, Fig. 3, labels and is represented with dash area.
Specifically, obtain the image information of positioning unit, calculate labelled position and default positioning in image information
The deviation of point, wherein, number identical of having labelled in default anchor point and positioning unit, distribution is consistent.When labelled
The deviation of position and default anchor point within the specific limits, then judges that device for labeling is in target labeling pose, does not at this moment need
The position of adjustment device for labeling, the position that now device for labeling is presently in is correct labeling pose and can carry out labeling,
Otherwise, adjustment device for labeling position is so as to carry out labeling after being in target labeling pose.
As Fig. 3, when being embodied as, device for labeling is provided with default anchor point (P1, P2, P3), described default anchor point
(P1, P2, P3) is as (a1, a2, a3) number of labelling in positioning unit a, and is distributed consistent, that is, label a1 with
A2 spacing is d, a1 and a3 spacing is d, and the line of a1 a1 vertical with the line of a2 and a3, then anchor point P1 and P2 spacing is
D, P1 and P3 spacing is d, and the line of P1 P1 vertical with the line of P2 and P3, therefore when default anchor point (P1, P2, P3) difference
The position of (a1, a2, a3) overlaps or in certain deviation range, then device for labeling is in labelling in positioning unit image
Target labeling pose.
As Fig. 4, calculating deviation approach is in image coordinate system, and the a1 that labelled is (Δ x with default anchor point P1 deviation1,
Δy1,Δθ1), the a2 that labelled is (Δ x with default anchor point P2 deviation2,Δy2,Δθ2), labelled a3 and default positioning
Point P3 deviation is (Δ x3,Δy3,Δθ3), if average deviationCan
In the deviation range accepting, message processing module judges that device for labeling is in target labeling pose, and control module controls labeling dress
Put and carry out labeling, otherwise, control module controls device for labeling adjustment position, typically by deviation adjustment to weighted average minima,
Carry out labeling after being in acceptable deviation range.In the embodiment of the present invention, label and all met conformance with standard.
Claims (10)
1. a kind of device for labeling, for carrying out labeling to target labeling point it is characterised in that including control module, described control
Module and controls device for labeling labeling according to the path clustering device for labeling movement of planning to target labeling pose.
2. device for labeling according to claim 1 it is characterised in that described device for labeling also include data obtaining module,
Message processing module, wherein, before described control module controls device for labeling labeling,
Described information acquisition module, obtains the positional information in working face for the device for labeling；
According to described positional information, described information processing module, judges whether device for labeling is in target labeling pose；
Described control module, the judged result according to message processing module adjusts device for labeling pose.
3. device for labeling according to claim 2 it is characterised in that
Described information acquisition module includes range finder module, for measuring the distance of described device for labeling and at least one datum level；
Described positional information includes the distance of device for labeling and datum level；
Whether described information processing module is in target patch according to the device for labeling described in Distance Judgment of device for labeling and datum level
Mark appearance.
4. device for labeling according to claim 3 is it is characterised in that described datum level includes the first datum level, the second base
Quasi- face and the 3rd datum level, wherein, the first datum level is vertical with the second datum level, the 3rd datum level respectively, the second datum level with
3rd datum level is parallel.
5. the device for labeling according to Claims 2 or 3 or 4 is it is characterised in that described information processing module is additionally operable to choose
Positioning unit, described positioning unit is formed by least one labeled labeling point adjacent with target labeling point；
Described information acquisition module also includes vision module, for obtaining the image information of positioning unit；
Described information processing module includes default anchor point, and be used for calculating in image information labelled position with presetting
The deviation in site, wherein, default anchor point is identical with number labelled in positioning unit, and is distributed consistent.
6. a kind of method that target labeling point is carried out with labeling it is characterised in that application claim 1 described in device for labeling,
Described device for labeling according to planning path movement to target labeling pose, to target labeling point labeling.
7. before labeling method according to claim 6 is it is characterised in that be additionally included in impact point labeling,
Obtain the positional information in working face for the device for labeling；
Judge whether device for labeling is in target labeling pose according to described positional information；
And device for labeling pose is adjusted according to judged result.
8. labeling method according to claim 7 is it is characterised in that also include
Described positional information passes through to measure the distance acquisition of device for labeling and at least one datum level；
Whether target labeling pose is according to the device for labeling described in Distance Judgment of device for labeling and datum level.
9. labeling method according to claim 8 is it is characterised in that described datum level includes the first datum level, the second base
Quasi- face and the 3rd datum level, wherein, the first datum level is vertical with the second datum level, the 3rd datum level respectively, the second datum level with
3rd datum level is parallel.
10. the labeling method according to claim 7 or 8 or 9 is it is characterised in that obtain device for labeling in working face
Positional information includes
Choose positioning unit, described positioning unit is by least one labeled labeling point shape adjacent with target labeling point
Become；
The image information of acquisition positioning unit, and calculate the deviation of labelled position and default anchor point in image information,
Wherein, default anchor point and number identical of labelling, distribution is consistent.
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| CN108804968A (en) * | 2018-05-28 | 2018-11-13 | 重庆瑞耕达网络科技有限公司 | A kind of AGV Quick Response Codes laying apparatus |
| CN108974533A (en) * | 2018-05-31 | 2018-12-11 | 苏州双金实业有限公司 | Device for mark on a kind of adaptive type commodity |
| CN112607162A (en) * | 2020-12-22 | 2021-04-06 | 珠海格力智能装备有限公司 | Control method and device of labeling equipment |
| CN112631290A (en) * | 2020-12-14 | 2021-04-09 | 云南昆船智能装备有限公司 | Mobile robot and method for automatically calibrating and setting navigation marker |
| CN114906437A (en) * | 2022-04-25 | 2022-08-16 | 衢州鲟龙水产食品科技开发有限公司 | Secondary labeller of visual detection |
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| CN112631290A (en) * | 2020-12-14 | 2021-04-09 | 云南昆船智能装备有限公司 | Mobile robot and method for automatically calibrating and setting navigation marker |
| CN112607162A (en) * | 2020-12-22 | 2021-04-06 | 珠海格力智能装备有限公司 | Control method and device of labeling equipment |
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