CN109909164A - Parcel attribute detection method, parcel rough sorting equipment and automatic sorting system - Google Patents
Parcel attribute detection method, parcel rough sorting equipment and automatic sorting system Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of package attribute detection method, package rough segmentation equipment and Automated Sorting Systems.The package rough segmentation equipment includes: pipeline, wraps up height detecting device, image detection device and movement device；One end of the pipeline is package entrance, and the end of the pipeline forms case dress package outlet and the outlet of packed package.The package height detecting device, image detection device and movement device are successively arranged on the pipeline along the package conveying direction of the pipeline；Whether the height that the package height detecting device is used to detect package meets height threshold；Described image detection device is used to obtain the image of package and detects the shape attribute of package；The movement device is used to for the package to be pushed into the case dress package outlet or the packed package exports.Its mode for combining sensor and ccd image collaboration judgement, can effectively promote the Detection accuracy of description of parcels attribute and reduce the ccd image quantity of shooting.
Description
Technical field
The present invention relates to logistics sorting device technical field more particularly to a kind of package attribute detection methods, package rough segmentation
Equipment and Automated Sorting System.
Background technique
With the rapid development of delivery industry, the processing speed of logistics electric business is required higher and higher.Along with manpower at
This rising and courier packages high speed, the requirement accurately sorted, Automated Sorting System can efficiently save manpower as one kind
Equipment start to have obtained energetically universal.
In the sorting link of logistics package, usually there is packed packages and case dress to wrap up two kinds of different shape attributes
Package.Wherein, packed package, which refers to, packs commodity using PE bags, for the commodity of less demanding to environment, transport etc..
And case dress package refers to the package packed to commodity using carton, bubble chamber etc..
Using the advantage of case dress package first is that case dress can form more closed environment, reduction external environment variation is in case
The interference and influence of commodity.Second is that the corner angle of case dress can play good defencive function, avoid commodity in carrying, handling, fortune
Defeated equal breakage of colliding on the way.Above two package can be contaminated after being packaged and be sorted together.
In order to avoid interfering with each other between different packages, before entering Automated Sorting System, it usually needs to wrap up into
The rough segmentation of row shape attribute separates two kinds of packages.Existing Automated Sorting System is typically employed in package and imports on pipeline
Installation CCD sweeps the mode of equipment in top to complete the process of above-mentioned rough segmentation.
When detecting package by CCD equipment, triggering CCD equipment is taken pictures, and then uses Ethernet by the figure of bat
Piece is sent to software systems, and the shape attribute that package is exported after the analysis such as contrast is that packed or case fills.It then will package
Shape attribute parameter is sent to gantry scraper plate, carries out rough segmentation according to package attribute by gantry scraper plate.
But when the top use above-mentioned CCD is swept equipment and detected, when packed package is more flat package, hold
These flat packed packages are judged as case dress package by the problem of easily judging incorrectly.
In addition, each package requires shooting ccd image, cause the data volume of system larger, for the transmission speed of network
The memory requirement of degree and server is higher, is unfavorable for the cost of implementation of reduction system.
Therefore, there are also to be developed for the prior art.
Summary of the invention
In view of the above technical problems, the embodiment of the invention provides a kind of package attribute detection methods, package rough segmentation equipment
And Automated Sorting System, equipment, which is swept, to solve the top existing CCD is easy error, more demanding for network and storage server
Problem.
The first aspect of the embodiment of the present invention provides a kind of package rough segmentation equipment.
The package rough segmentation equipment includes: pipeline, wraps up height detecting device, image detection device and movement dress
It sets；
One end of the pipeline is package entrance, and the end of the pipeline forms case dress package outlet and packed package
Outlet.The package height detecting device, image detection device and movement device are successively conveyed along the package of the pipeline
Direction is arranged on the pipeline；
Whether the height that the package height detecting device is used to detect package meets height threshold；Described image detection dress
It sets the image for obtaining package and detects the shape attribute of package；The movement device is used to the package being pushed into the case
The outlet of dress package or the packed package outlet.
Optionally, the package height detecting device includes: first sensor and second sensor；The first sensor
It is arranged in the first height of the top of the pipeline；The second sensor is arranged in above the pipeline second high
On degree；Second height is greater than the first height, less than the height of case dress package.
Optionally, the first sensor is for detecting whether have object process in first height；Described second
Sensor is for detecting whether have object process in second height；The second sensor setting is in first sensing
The surface of device.
Optionally, described image detection device includes CCD unit and rack；The rack is arranged in the conveyer belt
On；The rack has the adjutage being arranged in right above conveyer belt；The CCD unit is arranged on the adjutage, face
The conveyer belt setting, for acquiring the overhead view image for passing through the package of shooting area.
Optionally, the movement device includes: gantry scraper plate and driving unit；Gantry scraper plate is along the pipeline
The setting of package conveying direction, the driving unit connect with gantry scraper plate, drives gantry scraper plate perpendicular to described
Pipeline movement.
Optionally, the case dress package outlet is the conveyer belt output end at gantry scraper plate rear；The packed package
Outlet is the sliding slot that the conveyer belt side is arranged in；The sliding slot is arranged in gantry scraper plate direction of motion, for connecing
It receives from the conveyer belt and is pushed away the packed package fallen.
The second aspect of the embodiment of the present invention provides a kind of Automated Sorting System.
The Automated Sorting System includes package rough segmentation equipment, manual sorting's input line and automatic sorting as described above
Equipment；The packed package outlet of the package rough segmentation equipment is connect with manual sorting's input line, the package rough segmentation equipment
Case dress package outlet connect with the input port of the automatic sorting apparatus.
The third aspect of the embodiment of the present invention provides a kind of package attribute inspection of application package rough segmentation equipment as described above
Survey method.
The described method includes: judging whether the package inputted from conveyer belt meets preset height threshold；If so, determining institute
Stating package is the unknown package of attribute；If it is not, determining that the package is packed package；Acquire the top graph of the unknown package of the attribute
Picture simultaneously judges whether the top image meets preset testing requirements；If so, determining that the unknown package of the attribute is case dress packet
It wraps up in；If it is not, determining that the unknown package of the attribute is packed package；Case dress package is defeated from case dress package delivery outlet
Out, and by the packed package from the packed package delivery outlet it exports.
Optionally, described to judge whether the package inputted from conveyer belt meets preset height threshold, it specifically includes: defeated
It send and first sensor and second sensor is respectively set in the first height and the second height of band；Second height is higher than first
Highly, less than the height of case dress package；When the detection signal that the first sensor and the second sensor receive
When, determine that package currently entered meets preset height threshold；When the second sensor is not received by detection signal,
Determine that package currently entered is unsatisfactory for preset height threshold.
Optionally, described that case dress package is filled into package delivery outlet output from the case, and by the packed package
It exports, specifically includes from the packed package delivery outlet:
In the conveyer belt, gantry scraper plate is set；
When the package is case dress package, keep gantry scraper plate static in the side of the conveyer belt；
When the package is packed package, gantry scraper plate is driven to move along the width direction of the conveyer belt, it will
The packed package is pushed into sliding slot.
In technical solution provided in an embodiment of the present invention, the mode of sensor and ccd image collaboration judgement is combined, it can
The effective Detection accuracy for promoting description of parcels attribute avoids for flat packed package being judged as case dress package.Moreover, passing
Sensor judges first mode, a part of packed package can tentatively be screened out, the ccd image quantity of shooting be reduced, to drop
The requirement of low network transfer speeds and storage server for system, avoids network congestion, saves system construction cost.
Detailed description of the invention
Fig. 1 is one embodiment schematic diagram of the package rough segmentation equipment of the embodiment of the present invention；
Fig. 2 is one embodiment schematic diagram of the stereochemical structure of the package rough segmentation method of the embodiment of the present invention；
Fig. 3 is one embodiment schematic diagram of the package determined property method of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those skilled in the art's every other implementation obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element,
Or there may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it can be with
It is directly to another element or there may be one or more elements placed in the middle therebetween.Used in this specification
The orientation or position of the instructions such as term "vertical", "horizontal", "left" and "right", "upper", "lower", "inner", "outside", " bottom "
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot manage
Solution is limitation of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.Term "and/or" used in this specification includes
Any and all combinations of one or more related listed items.In addition, invention described below difference is implemented
Technical characteristic involved in mode can be combined with each other as long as they do not conflict with each other.
Fig. 1 is the schematic diagram of package rough segmentation equipment provided in an embodiment of the present invention.Package rough segmentation refers to will be mixed in together
Packed package and case dress package screened, the packages process of classification.
In the present embodiment, as shown in Figure 1, the package rough segmentation equipment may include: pipeline 10, package height detection dress
Set 11, image detection device 12 and movement device 13.
Wherein, one end of the pipeline 10 is package entrance IN, and the end of the pipeline forms the outlet of case dress package
OUT1 and packed package export OUT2.
The pipeline 10 specifically can be any kind of package transmitting device, e.g. belt conveyor line.Package 14
From package entrance input, the conveying direction along pipeline 10 is conveyed.On pipeline 10, between each package 14 between be separated with it is certain
Distance.In further embodiments, the pipeline 10 can also be set as corresponding shape according to actual workshop situation,
And it is not limited to the pipeline of linear shown in Fig. 1.
Package height detecting device 11, image detection device 12 and the movement device 13 are successively along the pipeline
Conveying direction is wrapped up to be arranged on the pipeline.
Wherein, whether the height that the package height detecting device is used to detect package meets height threshold；Described image
Detection device is used to obtain the image of package and detects the shape attribute of package；The movement device is used to for the package being pushed into
The case dress package outlet or the packed package outlet.
In the present embodiment, the image detection device 12, movement device 13 and conveyer belt 10 can use existing skill
The corresponding Implement of Function Module of equipment is swept on the common top CCD in art.The package height detecting device 11 is a newly-increased function
Module can be specifically arranged to after suitable height and position, according to the signal of sensor come real by any suitable sensor
Referring now to the qualitative judgement of package height.
In further embodiments, in order to further complete the orderly function for entirely wrapping up rough segmentation equipment, such as Fig. 1 institute
Show, which can be coated with for analyzing data and output phase answers the controller 15 of control instruction.
The data that the controller 15 is obtained according to image detection device 12 and the package acquisition of height detecting device 11, into
After the corresponding analytical calculation of row, the movement of control mode equipment 13.The controller 15 can by any suitable means with
Functional module in package rough segmentation equipment carries out data exchange, and perhaps communication connection for example passes through cable network or wireless network
The mode of connection.
The controller 15 specifically can be any suitable, has logical operation capability, is able to carry out one or more
The platform of a functional steps or individual equipment.For example, controller 15 can be made of host computer and image processing server.
After the image information of acquisition carries out analytical calculation by image processing server, feedback result is into host computer, by host computer to phase
The functional module answered is controlled.
Specifically, the package rough segmentation equipment can also further include being convenient for system for storing acquisition data
The storage server 16 of the functions such as package judgement backtracking is realized in data management and maintenance.Storage server 16 can use existing
Any suitable data base organization's form, store one or more image data or description of parcels attributive analysis as a result, with
Support corresponding analysis or system backtracking.
The package rough segmentation equipment provided through the embodiment of the present invention, by combining package height detecting device 11 and image
The mode of detection device 12, does not need to acquire that some height are lower, and the image of short package can be completed for whole packages
Rough segmentation process.The picture number needed when rough segmentation is less, advantageously reduces requirement and storage for grid transmission
The performance requirement of server, while the Detection accuracy of package rough segmentation equipment can also be improved, it avoids for flat packed packet
The erroneous judgement wrapped up in.
Fig. 2 be another embodiment of the present invention provides package rough segmentation equipment schematic perspective view.It, should as described in Fig. 2
Package rough segmentation equipment includes: package 21, the first sensor 22, second sensor 23, CCD unit that several are inputted from conveyer belt
24, gantry scraper plate 25 and sliding slot 26.
Wherein, the first sensor 22 and the composition package height detecting device of second sensor 23.
The first sensor 22 is arranged in the first height of the top of the pipeline.The second sensor 23 is set
It sets in the second height above the pipeline；Second height is greater than the first height, less than the height of case dress package.Institute
State first sensor 22 for detect whether have object process in first height.The second sensor 23 is for detecting
Whether there is object process in second height.
Specifically, the side of conveyer belt 10 is provided with corresponding fixed frame, the second sensor 23 is arranged described
The surface of first sensor 22.
In this way, when first sensor 22 has detection signal, show there is package to pass through at this time.And second passes
When sensor 23 has detection signal, the height for showing package meets the requirements, and is not belonging to flat packed package, can enter
To next detecting step, the shape attribute of package is further determined that.
Optionally, the first sensor 22 and second sensor 23 can using based on any kind of testing principle or
The sensor unit of person's test format, including but not limited to photosensitive sensor and heat-sensitive sensor.
Please continue to refer to Fig. 2, CCD unit 24 and corresponding rack 241 constitute described image detection device.In this implementation
In example, which is arranged on the conveyer belt, is fixed on the two sides of the conveyer belt, and have conveyer belt just on
The adjutage 242 of side.The CCD unit 24 on the adjutage 242, pass through for acquiring by the setting of conveyer belt described in face
The overhead view image of the package of shooting area.
Certainly, which can also adjust according to actual needs and be set as different shape, it is only necessary to CCD unit can be consolidated,
It obtains its shooting and wraps up corresponding image.The CCD unit 24, which can also be replaced, is adjusted to other suitable images acquisitions
Device, to realize corresponding image-acquisition functions.
In the present embodiment, which is gantry scraper plate 25.Corresponding, the case dress package outlet is the dragon
The conveyer belt output end 27 at door scraper plate rear.The packed package outlet is the sliding slot 26 that the conveyer belt side is arranged in.
Gantry scraper plate 25 is made of corresponding portal frame 251 and scraper plate 252, and scraper plate 252 is connect with driving unit, is being driven
Under unit driving, moved perpendicular to the pipeline.The sliding slot 27 is then arranged in gantry scraper plate direction of motion, is used for
It receives from the conveyer belt and is pushed away the packed package fallen.
The driving unit specifically can be it is any can to scraper plate 252 apply strength, make it along the corresponding direction of motion
The actuating mechanism of movement, such as cylinder or motor.
In actual moving process, when scraper plate 252 rests on conveyer belt side, can allow for package pass through, directly from
Conveyer belt output end 27 exports.Package can then be released conveyer belt, make it by sliding slot 26 by scraper plate 252 under driving unit driving
It is received.
Fig. 3 is the method flow diagram of the shape attribute judgment method of package provided in an embodiment of the present invention.Below in conjunction with Fig. 2
Shown in package rough segmentation equipment, be described in detail for package shape attribute detection process.
As shown in figure 3, described method includes following steps:
301, several packages are sequentially input.In the present embodiment, in order to make a thorough statement on, as shown in Fig. 2, there are three types of inputs
Different types of package: packed package A, case dress package B and flat package C with certain altitude.
302, judge whether the package inputted from conveyer belt meets preset height threshold.If it is not, executing step 303；If
It is to execute step 304.
Specifically, as shown in Fig. 2, step 303 can be by two sensors being arranged in the first height and the second height
Testing result realize detection.
When detection signal (or being triggered) that the first sensor and the second sensor receive, really
Fixed package currently entered meets preset height threshold.And when the second sensor be not received by detection signal (not by
Triggering) when, determine that package currently entered is unsatisfactory for preset height threshold.
303, determine that the package is packed package.
As shown in Fig. 2, for flat package C, due to its limited height, when by the first and second sensors,
Second sensor will not be triggered, and can be determined that it is packed package.
In the present embodiment, first sensor can be set in the height of slightly above conveyer belt.And second sensor can
To be arranged on the height and position of slightly below normal case dress package height.
304, determine that the package is the unknown package of attribute.
The unknown package of attribute is can not to determine the package of judgement according to height, need further by ccd image detection come
Complete the detection of description of parcels attribute.
305, the top image of the unknown package of attribute is acquired.
Top image, which refers to, carries out the mode that top is taken pictures to the unknown package of these attributes, obtains the image information of package.
For it is determined that be packed package package, then do not trigger step 305, directly pass through on the conveyor belt, without top graph
The acquisition of picture.
306, judge whether the top image meets preset testing requirements.If so, executing step 307；If it is not, executing
Step 303.
The testing requirements refer to whether the image information of package belongs to the image detection requirement of regular case dress package.Tool
Body, it can be judged using modes such as Contrast Detections.It is of course also possible to use the existing top CCD is swept in equipment often
Image recognition judges algorithm to complete.
307, determine that the package is case dress package.
As shown in Fig. 2, when the detection of image information show, when the top image for wrapping up B belongs to regular case dress and wraps up, just
Case dress package can be determined that it is.And regular contrast structure is not presented in the top image for wrapping up A, has corresponding concave-convex
Uneven recess, can be determined as packed package.
308, case dress package is filled into package delivery outlet output from the case, and described packed will wrapped up from the bag
Dress package delivery outlet output.According to the shape attribute testing result of package, can classify accordingly to package, make its into
Enter into different sorting lines.
Specifically, as shown in Fig. 2, in the present embodiment, the automatic sort operation of the package can be completed by gantry scraper plate, root
According to testing result, package is pushed into different outlets respectively and is exported.Also that is, being protected when detecting the package is case dress package
It is static in the side of the conveyer belt to hold gantry scraper plate.And when detecting the package is packed package, described in driving
Gantry scraper plate is moved along the width direction of the conveyer belt, and the packed package is pushed into sliding slot.
The embodiment of the present invention also further provides a kind of Automated Sorting System.The Automated Sorting System uses as above real
It applies the disclosed package rough segmentation equipment of example to classify to the shape attribute of package, and enters in corresponding sorting line.Wherein, automatically
The connection of the back outlet of sorting line and conveyer belt, strap surface height having the same accept the package exported from conveyer belt.
The side-lower of conveyer belt is arranged in manual sorting's line, connect with the bottom end of sliding slot, for accepting from sliding slot output
Packed package.
Through the above description of the embodiments, those of ordinary skill in the art can be understood that each embodiment
The mode of general hardware platform can be added to realize by software, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can
With understand all or part of the process realized in above-described embodiment method be can be instructed by computer program it is relevant hard
Part is completed, and the program can be stored in a computer-readable storage medium, the program is when being executed, it may include as above
State the process of the embodiment of each method.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-
Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Package rough segmentation equipment provided in an embodiment of the present invention can be applied to a variety of different scenes, such as refrigerating chamber, cold
Library, food storage, constant heat storage, transshipment center, sortation hubs or medicine dispatching etc..It will be appreciated by persons skilled in the art that
According to the difference of actual application scenarios, the spirit of sensor and ccd image detection is used in combination based on the present invention, may be used also
Classified so that the package rough segmentation equipment to be suitable for the shape attribute of a variety of objects such as commodity, package or components, reaches identical
Technical effect.
It, can according to the technique and scheme of the present invention and this hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (10)
1. a kind of package rough segmentation equipment characterized by comprising pipeline, wrap up height detecting device, image detection device with
And movement device；
One end of the pipeline is to wrap up entrance, and the end of the pipeline forms the outlet of case dress package and wraps up out with packed
Mouthful；
Package height detecting device, image detection device and the movement device are successively along the package conveying side of the pipeline
To setting on the pipeline；
Whether the height that the package height detecting device is used to detect package meets height threshold；Described image detection device is used
In the image for obtaining package and detect the shape attribute of package；The movement device is used to for the package to be pushed into the case dress packet
Wrap up in outlet or the packed package outlet.
2. package rough segmentation equipment according to claim 1, which is characterized in that the package height detecting device includes:
One sensor and second sensor；
The first sensor is arranged in the first height of the top of the pipeline；The second sensor is arranged described
In the second height above pipeline；
Second height is greater than the first height, less than the height of case dress package.
3. package rough segmentation equipment according to claim 2, which is characterized in that the first sensor is for detecting described
Whether object process is had in first height；The second sensor is for detecting whether have object warp in second height
It crosses；
The surface of the first sensor is arranged in the second sensor.
4. package rough segmentation equipment according to claim 1, which is characterized in that described image detection device includes CCD unit
And rack；
The rack is arranged on the conveyer belt；The rack has the adjutage being arranged in right above conveyer belt；The CCD
Unit is arranged on the adjutage, the setting of conveyer belt described in face, for acquiring the top view for passing through the package of shooting area
Picture.
5. package rough segmentation equipment according to claim 1, which is characterized in that the movement device include: gantry scraper plate with
And driving unit；
Gantry scraper plate is arranged along the package conveying direction of the pipeline, and the driving unit and gantry scraper plate connect
It connects, gantry scraper plate is driven to move perpendicular to the pipeline direction.
6. package rough segmentation equipment according to claim 4, which is characterized in that the case dress package outlet is that described gantry is scraped
The conveyer belt output end at plate rear；
The packed package outlet is the sliding slot that the conveyer belt side is arranged in；The sliding slot setting is transported in gantry scraper plate
On dynamic direction, the packed package fallen is pushed away for receiving from the conveyer belt.
7. a kind of Automated Sorting System, which is characterized in that including the package rough segmentation equipment as described in claim 1-6 is any, people
Work point picks input line and automatic sorting apparatus；
The packed package outlet of the package rough segmentation equipment is connect with manual sorting's input line, the package rough segmentation equipment
The outlet of case dress package is connect with the input port of the automatic sorting apparatus.
8. a kind of package attribute detection method of application package rough segmentation equipment as described in claim 1, which is characterized in that described
Method includes:
Judge whether the package inputted from conveyer belt meets preset height threshold；
If so, determining that the package is the unknown package of attribute；If it is not, determining that the package is packed package；
It acquires the top image of the unknown package of the attribute and judges whether the top image meets preset testing requirements；
If so, determining that the unknown package of the attribute is case dress package；If it is not, determining that the unknown package of the attribute is packed package；
Case dress package is filled into package delivery outlet output from the case, and the packed package is defeated from the packed package
Outlet output.
9. according to the method described in claim 8, it is characterized in that, described to judge whether the package that inputs from conveyer belt meets pre-
If height threshold, specifically include:
First sensor and second sensor is respectively set in the first height and the second height of conveyer belt；Second height
Higher than the first height, less than the height of case dress package；
When the detection signal that the first sensor and the second sensor receive, determine that package currently entered meets
Preset height threshold；
When the second sensor is not received by detection signal, determine that package currently entered is unsatisfactory for preset height threshold
Value.
10. according to the method described in claim 8, it is characterized in that, described that case dress package is defeated from case dress package
Outlet output, and the packed package is exported from the packed package delivery outlet, it specifically includes:
In the conveyer belt, gantry scraper plate is set；
When the package is case dress package, keep gantry scraper plate static in the side of the conveyer belt；
When the package is packed package, gantry scraper plate is driven to move along the width direction of the conveyer belt, it will be described
Packed package is pushed into sliding slot.
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| CN110560390A (en) * | 2019-09-11 | 2019-12-13 | 河北工程大学 | Portable automatic separation equipment is used in commodity circulation |
| CN111330853A (en) * | 2020-03-06 | 2020-06-26 | 苏州金峰物流设备有限公司 | Separation method of single piece separation device |
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| CN204009953U (en) * | 2014-07-21 | 2014-12-10 | 北京兆维电子(集团)有限责任公司 | Wrap up online Data Enter device and packages system |
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