CN107024913B - A kind of logic control method and control device of the feeding of annular conveyor line material - Google Patents
A kind of logic control method and control device of the feeding of annular conveyor line material Download PDFInfo
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- CN107024913B CN107024913B CN201710344257.2A CN201710344257A CN107024913B CN 107024913 B CN107024913 B CN 107024913B CN 201710344257 A CN201710344257 A CN 201710344257A CN 107024913 B CN107024913 B CN 107024913B
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- conveyor line
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000000463 material Substances 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 239000013589 supplement Substances 0.000 claims description 13
- 238000004140 cleaning Methods 0.000 claims description 2
- 230000011218 segmentation Effects 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims 1
- 230000018109 developmental process Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Conveyors (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the logic control methods and control device of a kind of feeding of annular conveyor line material, the control device includes at least four telescopic backstops, it is the piece uploading position and lower part position of annular conveyor line at the adjacent backstop of two of them, is equipped with corresponding robot, carrier detection statistics device, lockset detection statistics device at other backstops；Control device further includes logic controller；Logic controller is connected with each backstop, robot, carrier detection statistics device, lockset detection statistics device respectively.The present invention can satisfy container automatic and remove stage makeup and costume lock for supplying the demand of beat, can guarantee that each loading/unloading lock needs lockset/respectively taking when carrier/to put position to have lockset/carrier, can be applicable in automation loading/unloading lock both of which.
Description
Technical field
The present invention relates to a kind of logic control methods of annular conveyor line, and in particular to one kind is automatic for harbour container
Change lock system of removing stage makeup and costume, feeds logic control method for the material of transport carriage and the annular conveyor line of lockset.
Background technique
The world today, as the continuous development of trade is flourishing, and the development of trade is that can't do without transporting naturally, in water, land
In transport, for container all in occupation of great specific gravity, rotation lock plays important fixed function during Container Transport, with
The rapid development of industry is automated, lock system of removing stage makeup and costume is automated and has also gradually come into each Port, and consequent automates
Lockset and carrier the feeding problem for lock system of removing stage makeup and costume also just seem most important, a good material feeding logic control method and
Device is the guarantee for automating lock system of removing stage makeup and costume, and can greatly also improve working efficiency.
Summary of the invention
The purpose of the present invention is to solve defects existing in the prior art, and providing one kind can satisfy harbor automatic
Lock system of removing stage makeup and costume improves system working efficiency, and concise efficient logic control method for the feeding demand of lockset and carrier.
In order to achieve the above object, the present invention provides a kind of logic control methods of annular conveyor line material feeding, should
Annular conveyor line be used for container lock assembly or unloading, wherein annular conveyor line by four or more it is telescopic stop
Gear segmentation, is the piece uploading position and lower part position of annular conveyor line at the adjacent backstop of two of them, is respectively equipped at other backstops pair
The robot answered carries out assembly or the unloading operation of container lock；In addition to the backstop being located at piece uploading position and lower part position,
The active section of annular conveyor line is formed between its each adjacent backstop；
The logic control method of material of the present invention feeding the following steps are included:
(1) stage: standard carrier quantity needed for presetting the active section of each annular conveyor line is preset；When for lockset assembly manipulation
When, standard carrier is the carrier for being loaded with lockset；When for lockset unloading operation, standard carrier is vacant carrier；
(2) it is fed the stage: closing the backstop at the last one active section at lower part position, then opened by piece uploading position
Beginning piece uploading, the standard carrier quantity in the active section of each annular conveyor line of real-time statistics；When the standard in some active section carries
When tool quantity reaches the preset value of step (1), the backstop of the active section conveying direction rear end is closed, otherwise, opens the active section
The backstop of conveying direction rear end；Until the standard carrier quantity in all working section reaches the preset value of step (1), except being located at
At all backstops it is standard carrier outside backstop at piece uploading position and lower part position, and is turned off, the feed stage terminates；
(3) after each robot is according to requiring to carry out lockset assembly or unloading operation, it is corresponding feeding cycle: to open its
Backstop lets pass used carrier, opens simultaneously the adjacent backstop positioned at its conveying direction rear end, repeats step (2) and is marked
Quasi- carrier supplement feed, until the standard carrier quantity in all working section reaches the preset value of step (1)；Recycle carry out machine
Device people operation and supplement feed.
Wherein, the feeding cycle concrete mode of step (3) is as follows:
A, working stage: in a work pace, each robot according to require to carry out at most primary locksets assembly or
Person's unloading operation takes lock on the standard carrier at corresponding backstop or puts lock；Each robot is in operation, corresponding to stop
Gear is closed；
B, it supplements the feed stage: in the step a after the once-through operation of each robot, opening its corresponding backstop
Used carrier is let pass, and recalculates the standard carrier quantity in corresponding active section, is opened simultaneously positioned at its conveying side
The adjacent backstop of rear end carries out the conveying of standard carrier, and real-time statistics correspond to the standard carrier quantity in active section, when reaching
When the preset value of step (1), the backstop of the active section conveying direction rear end is closed, otherwise, after opening the active section conveying direction
The backstop at end；Until each work segment standard carrier supplement feed reaches preset value；
C, repeat the process of step a and step b, until all container lock assembly or unloading operation are completed.
When step a is in some work pace, and the robot close to lower part position is not operated, corresponding backstop
First one standard carrier of clearance, the supplement for then carrying out step b again are fed automatically.It avoids accumulating on annular conveyor line non-standard
Carrier.
When the supplement of the feed and step (3) that carry out step (2) feed, each backstop is let pass non-standard carrier automatically；
When for lockset assembly manipulation, non-standard carrier is vacant carrier；When for lockset unloading operation, non-standard carrier is to be loaded with lock
The carrier of tool.
When a failure occurs, need to restart carry out initial phase: it is all to be driven cleaning conveying by annular conveyor line
Carrier in the active section of annular conveyor line；Then step (1), (2) and (3) is carried out again.It avoids causing due to the system failure pair
There is mistake of statistics in the quantity of standard carrier.
When carrying out container lock unloading operation, it is equipped at lower part position and pushes away locking device.By pushing away locking device for unloading
Lockset is removed from pipeline, and vacant carrier can be recycled.
Except the backstop at the piece uploading position and lower part position for being located at annular conveyor line, high-low-position difference is equipped at other each backstops
Two photoelectric sensors, low level photoelectric sensor counts carrier, and high-order photoelectric sensor counts lockset, so that it is each to count calculating
Standard carrier quantity in active section.
The present invention also provides a kind of control device of annular conveyor line material feeding, which includes at least four
Telescopic backstop is the piece uploading position and lower part position of annular conveyor line at the adjacent backstop of two of them, is all provided at other backstops
There are corresponding robot, carrier detection statistics device, lockset detection statistics device；Control device further includes logic controller；It patrols
Controller is collected to be connected with each backstop, robot, carrier detection statistics device, lockset detection statistics device respectively.
Wherein, logic controller uses programmable logic controller (PLC) or industrial personal computer；Carrier detection statistics device uses low level
Photoelectric sensor；Lockset detection statistics device is using high-order photoelectric sensor.
Piece uploading robot is equipped at piece uploading position；It is equipped with when carrying out container lock unloading operation, at lower part position and pushes away lock dress
It sets and high-order photoelectric sensor；It pushes away locking device and high-order photoelectric sensor is connected with the logic controller respectively.
Further, backstop quantity is 8, is the piece uploading position and lower part position of annular conveyor line at two adjacent backstops,
6 backstops of remaininging are adjacent two-by-two to be divided into five active sections for annular conveyor line.
The present invention has the advantage that compared with prior art
(1) present invention uses the switching that can be completed dress lock on same strip transmission line and unload lock, can adapt to various differences
Container, i.e., still can satisfy the supply of lockset/carrier respectively taking/put position to be arranged in pairs or groups under working condition at random；
(2) present invention two photoelectric sensors different using high-low-position, respectively to the lockset and load on annular conveyor line
Tool statistics, according to feed Statistical Principles, the carrier that each active section is currently not belonging to feed statistics to stop position can let pass automatically, both
It can guarantee that effective numbers of fills statistics is accurate in active section, also ensured that the carrier of working position backstop or the carrier supply with lockset
Demand meets robot current operation needs.
(3) present invention is in a cycle beat that lockset was taken or unloaded to system automatically, if the last one work
Make section and correspond to robot not carry out any operation, the last one active section first bleeds off the carrier or load that a feed counts automatically
After the carrier of lockset, then system supplement feed is carried out, such logical design avoids material and may cause on certain active section
The problem of obstruction.
(4) for the present invention using logical construct from back to front, control is easy, and can be good at solving band in pipeline
It locks carrier and zero load has the indefinite situation that sorts.
Detailed description of the invention
Fig. 1 is one embodiment of the invention scheme arrangement figure；
Fig. 2 is the flow chart of Fig. 1 embodiment dress latching mode initialization；
Fig. 3 is the flow chart that Fig. 1 embodiment unloads latching mode initialization；
Fig. 4 is the flow chart that Fig. 1 embodiment dress latching mode works normally；
Fig. 5 is the flow chart that Fig. 1 embodiment unloads latching mode normal work.
In figure, 1-8- backstop, r1- robot 1, r2- robot 2, r3- robot 3, r4- robot 4, r5- robot 5,
R6- robot 6,1-1,2-1,3-1,4-1,5-1,6-1- low level photoelectric sensor, 1-2,2-2,3-2,4-2,5-2,6-2- high
Position photoelectric sensor.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples:
Fig. 1 is the layout drawing of annular conveyor line, amounts to 8 stations, comprising:
1 artificial locking position (it is automatic locking to may also set up the progress of locking robot for i.e. artificial piece uploading position): artificial toward unloaded
It locks on tool；
6 take/put position: the work station of robot, setting robot r1 to r6 the station complete automation loading/unloading
Lock；
1 is unloaded lock-bit (namely automatic piece unloading position, setting push away locking device) automatically: being unloaded under latching mode, which can be locking
Lockset on carrier shifts outside wire body (the outer settable recycling frame in corresponding position of wire body, collect lockset) onto, and carrier stays in wire body.
It is respectively arranged with a backstop at above-mentioned 8 stations, for blocking carrier, wherein it is high to take/put position 1 to 6 to be mounted on one
One low two photoelectric sensors (1-2 to 6-2 high position photoelectric sensor, 1-1 to 6-1 low level photoelectric sensor), are respectively used to examine
Lockset and carrier are surveyed, automatic piece unloading position is equipped with a high-order photoelectric sensor, for detecting lockset.In the course of work, pipeline
It operates always, carrier is placed on pipeline and circulates with pipeline, and lockset is placed on carrier, when backstop is closed, operates in pipeline
In the case where can also block the carrier of corresponding position.
The flow chart inside lower combination attached drawing is connect to introduce dress lock respectively and unload the workflow of lock:
Dress latching mode: dress latching mode, the process that wire body is initialized first, as shown in Fig. 2, artificial piece uploading position are switched to
It locks toward pipeline overhead carrier, as pipeline overhead carrier deficiency will also be manually toward the unloaded tool of increase on pipeline and past zero load
Lockset is placed on tool.6 high position photoelectric sensor 6-2 of pick-and-place/position is detected as lockset, and then backstop 6 is closed, each section of (section 1-2 to section 5-
6) the lockset number in difference record segment, and compared with the lockset number of setting, then controlling if it is less than setting number should
The previous backstop of section (if the corresponding previous backstop of section 1-2 is backstop 1) is unclamped, until this section of lockset number=section sets lockset number
Mesh and it is upper one take/position photoelectric sensor is detected as locking carrier, backstop closure.If lockset number is 2 in 4-5 sections of section, if
It is 3 that lock, which has number, then backstop 4 is unclamped, and when lockset=3 in section 4-5, and takes/put 4 photoelectric sensor of position to be detected as lockset, backstop
4 closures.Each section repeats the above process always, until it is lock that each section of lockset number, which reaches setting lockset number and respectively take/put position,
Tool, backstop 1 to 6 is closed at this time, sends wire body standby ready signal to automatic loading-unloading lock system.The signal is received, certainly such as Fig. 4
Dynamicization lock system of removing stage makeup and costume according to container type and dress lock mode (diagonal dress, full dress) determines which takes/put position to need to carry out
Dress lock operates and corresponding station robot carries out dress lock operation, during respectively taking/putting position and take lock, to prevent to collide, takes
It is corresponding during putting to pick and place position backstop closure, until be detached from the interference region backstop above-mentioned logic control (being detailed in Fig. 4) again, not into
The station of luggage lock is then without this process.Backstop 6 is also most important one inside entire logic due to being in least significant end, control
A link, backstop 6 act the circulation situation of entire pipeline of determining, lock in beat in a dress, if take/put position 6 not into
Luggage lock operation, then after backstop 6 unclamps one locking carrier of releasing after postponing two seconds after determining not needing to be operated, until
Locking carrier is detected again, backstop 6 is closed, and it such as takes/puts position 6 to carry out dress lock operation, then do not need to put a locking carrier,
Locking carrier is detected again, and backstop 6 is closed.Each section is continued for lockset detection, quantitative comparison, backstop control, until each section
It is lockset that lockset number, which reaches setting lockset number and respectively takes/put position, and backstop 1 to 6 is closed at this time, sends wire body and prepares just
To automatic loading-unloading lock system, a dress locks beat to be terminated thread signal.
It unloads latching mode: being switched to and unload latching mode, the process that wire body is initialized first, as shown in figure 3, automatic piece unloading position
It detects lockset, be then closed backstop 7 and lockset on the station carrier is removed.6 photoelectric sensor of pick-and-place/position is detected as unloaded tool
When, then backstop 6 is closed, the unloaded tool number in each section of difference record segment, and is compared with the unloaded tool number of setting, if
It then controls previous backstop less than setting number to unclamp, until the unloaded tool number of this section=unloaded tool number and upper one of section setting
It is a take/position photoelectric sensor is detected as unloaded tool, backstop closure, if unloaded tool number is 2 in 4-5 section of section, setting is unloaded to have number
It is 3, then backstop 4 is unclamped, and when section 4-5 internal control fixture=3, and takes/put 4 photoelectric sensor of position to be detected as unloaded tool, backstop 4 is closed
It closes.Each section repeats the above process always, until it is sky that each section of unloaded tool number, which reaches the unloaded tool number of setting and respectively take/put position,
Carrier, backstop 1 to 6 is closed at this time, sends wire body standby ready signal to automatic loading-unloading lock system.Receive the signal, such as Fig. 5
Automation remove stage makeup and costume lock system according to container type and unload lock mode (diagonally unload, unload entirely) determine which take/put position need into
Row unloads that lock operates and the access of corresponding station carries out unloading lock operation, during respectively taking/putting position and put lock, to prevent to collide, takes
It is corresponding during putting to take/put a backstop closure, until being detached from the interference region backstop above-mentioned logic control (being detailed in Fig. 5) again, not
The station of lock put then without this process.Backstop 6 is also most important inside entire logic due to being in least significant end, control
One link, backstop 6 act the circulation situation for determining entire pipeline, are unloaded in lock beat at one, if taking/putting position 6 not
It carries out unloading lock operation, then after backstop 6 unclamps releasing one unloaded tool after postponing two seconds after determining not needing to be operated, until
Unloaded tool is detected again, and backstop 6 is closed, and such as takes/put position 6 to carry out unloading lock operation, then does not need to put a unloaded tool, again
Detect unloaded tool, backstop 6 is closed.Each section is continued for unloaded tool detection, quantitative comparison, backstop control, until each section of zero load
It is unloaded tool that tool number, which reaches the unloaded tool number of setting and respectively takes/put position, and backstop 1 to 6 is closed at this time, is sent wire body and is prepared
To automatic loading-unloading lock system, one is unloaded lock beat and terminated ready signal.
Claims (8)
1. a kind of logic control method of annular conveyor line material feeding, the annular conveyor line are used for the assembly of container lock
Or unloading, it is characterised in that: for the annular conveyor line by four or more telescopic backstop segmentations, two of them are adjacent
It is the piece uploading position and lower part position of annular conveyor line at backstop, is respectively equipped with corresponding robot at other backstops and carries out container lock
The assembly of tool or unloading operation；In addition to the backstop being located at piece uploading position and lower part position, formed between other each adjacent backstops
The active section of annular conveyor line；
The logic control method of material feeding the following steps are included:
(1) stage: standard carrier quantity needed for presetting the active section of each annular conveyor line is preset；When for lockset assembly manipulation,
The standard carrier is the carrier for being loaded with lockset；When for lockset unloading operation, the standard carrier is vacant carrier；
(2) be fed the stage: closing the backstop at the last one active section at the lower part position, then by piece uploading position on
Part, the standard carrier quantity in the active section of each annular conveyor line of real-time statistics；When the standard carrier number in some active section
When amount reaches the preset value of step (1), the backstop that the active section first reaches along conveying direction is closed, otherwise, opens the work
The backstop that section first reaches along conveying direction；Until the standard carrier quantity in all working section reaches the default of step (1)
Value at all backstops is standard carrier in addition to the backstop being located at piece uploading position and lower part position, and is turned off, feed stage knot
Beam；
(3) feeding cycle: after each robot is according to requiring to carry out lockset assembly or unloading operation, opening corresponding backstop will
Used carrier is let pass, and the adjacent backstop of the backstop first reached positioned at the active section along conveying direction is opened simultaneously, and is repeated
Step (2) carries out standard carrier supplement feed, until the standard carrier quantity in all working section reaches the default of step (1)
Value；Circulation carries out robot manipulation and supplement feed；
The feeding cycle concrete mode of the step (3) is as follows:
A, working stage: in a work pace, each robot is assembled or is unloaded according to the locksets for requiring progress at most primary
Operation is carried, take lock on the standard carrier at corresponding backstop or puts lock；In operation, corresponding backstop is closed for each robot
It closes；
B, supplement the feed stage: in the step a after the once-through operation of each robot, opening corresponding backstop will make
Carrier is let pass, and recalculates the standard carrier quantity in corresponding active section, is opened simultaneously positioned at the active section along defeated
The adjacent backstop for the backstop for sending direction first to reach, carries out the conveying of standard carrier, and real-time statistics correspond to the load of the standard in active section
Tool quantity closes the backstop that the active section first reaches along conveying direction when reaching the preset value of step (1), otherwise, opens
The backstop that the active section first reaches along conveying direction；Until each work segment standard carrier supplement feed reaches preset value；
C, repeat the process of step a and step b, until all container lock assembly or unloading operation are completed；
When the step a is in some work pace, and the robot close to lower part position is not operated, corresponding backstop
First one standard carrier of clearance, the supplement for then carrying out step b again are fed automatically.
2. the logic control method of material feeding according to claim 1, it is characterised in that: when the confession for carrying out step (2)
When the supplement of material and step (3) feed, each backstop is let pass non-standard carrier automatically；It is described non-when for lockset assembly manipulation
Standard carrier is vacant carrier；When for lockset unloading operation, the non-standard carrier is the carrier for being loaded with lockset.
3. the logic control method of material feeding according to claim 2, it is characterised in that: when a failure occurs, need
Restart carry out initial phase: the load being driven in the active section of all annular conveyor lines of cleaning conveying by annular conveyor line
Tool；Then step (1), (2) and (3) is carried out again.
4. the logic control method of material feeding according to claim 3, it is characterised in that: unloaded when carrying out container lock
When carrying operation, it is equipped at lower part position and pushes away locking device.
5. the logic control method of material feeding according to claim 4, it is characterised in that: except positioned at annular conveyor line
Backstop at piece uploading position and lower part position is equipped with two different photoelectric sensors of high-low-position, low level photoelectricity at other each backstops
Sensor counts carrier, and high-order photoelectric sensor counts lockset, to count the standard carrier quantity calculated in each active section.
6. a kind of control device of the logic control method using any annular conveyor line material feeding of claim 1 to 5,
The annular conveyor line is used for the assembly or unloading of container lock, it is characterised in that: the control device includes at least four
A telescopic backstop, is the piece uploading position and lower part position of annular conveyor line at the adjacent backstop of two of them, equal at other backstops
Equipped with corresponding robot, carrier detection statistics device, lockset detection statistics device；The control device further includes logic control
Device；The logic controller is connected with each backstop, robot, carrier detection statistics device, lockset detection statistics device respectively.
7. control device according to claim 6, it is characterised in that: the logic controller uses Programmable logical controller
Device or industrial personal computer；The carrier detection statistics device uses low level photoelectric sensor；The lockset detection statistics device is using high
Position photoelectric sensor.
8. control device according to claim 7, it is characterised in that: be equipped with piece uploading robot at the piece uploading position；When into
It is equipped with when row container lock unloading operation, at lower part position and pushes away locking device and high-order photoelectric sensor；It is described to push away locking device and height
Position photoelectric sensor is connected with the logic controller respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710344257.2A CN107024913B (en) | 2017-05-16 | 2017-05-16 | A kind of logic control method and control device of the feeding of annular conveyor line material |
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| CN201710344257.2A CN107024913B (en) | 2017-05-16 | 2017-05-16 | A kind of logic control method and control device of the feeding of annular conveyor line material |
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| CN107024913A CN107024913A (en) | 2017-08-08 |
| CN107024913B true CN107024913B (en) | 2019-01-25 |
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| CN112278680A (en) * | 2020-10-19 | 2021-01-29 | 浙江瑞晟智能科技股份有限公司 | Warehouse location outbound stop control method and control system |
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| CN107024913A (en) | 2017-08-08 |
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