Goods spacing control method and system

Abstract

The invention discloses a cargo spacing control method, and relates to the technical field of logistics distribution management, and the method comprises the steps: determining the speed of a first conveyor and a second conveyor, and guaranteeing that the cargo is instantaneously accelerated when the cargo is transited to the second conveyor from the first conveyor, so as to generate a first spacing with the adjacent cargo on the first conveyor; determining a second interval between two adjacent cargoes at the moment according to a time difference when the two adjacent cargoes pass through the same position on the second conveyor in sequence, and presetting a detection threshold value of the second interval to ensure that the cargoes passing first can complete a scanning task before the cargoes passing later enter the scanning area; and starting and stopping of the first conveyor and the second conveyor are controlled according to a preset detection threshold value, so that it is ensured that the second distance between the two adjacent goods on the second conveyor meets the preset detection threshold value. The automatic sorting device has the beneficial effects that it is ensured that cargoes enter a scanning area at proper intervals, and an automatic sorting solution which is efficient, low in cost and easy to maintain is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics distribution management, and particularly to a method and system for controlling the spacing between goods. Background Art

[0002] With the rapid development of industrial division of labor and Internet technology, the logistics industry has entered a golden period of high-speed growth, which not only greatly facilitates people's daily lives but also significantly improves the quality of life. In China, especially the rapid expansion of the express delivery industry has led to a sharp increase in the volume of goods handled, thus driving a sharp rise in the demand for automatic sorting. In the scenario of automatic sorting, ensuring that goods enter the sorting equipment orderly and at a certain interval has become a key challenge. The traditional manual method of placing goods is not only inefficient but also difficult to precisely control the spacing between goods, which has become a bottleneck restricting the sorting efficiency.

[0003] Although there have emerged solutions in the industry such as "visual single-piece separation system equipment" that can achieve automatic queuing and spacing of goods, these systems improve the automation level of sorting by arranging goods one by one and conveying them to the scanning and recognition mechanism at a preset spacing. However, these systems generally have some defects: First, they require the configuration of complex visual recognition equipment, which not only increases the complexity of the equipment but also raises the difficulty of maintenance; Second, the overall equipment occupies a large area and has high investment costs, which is not economically practical for small sorting stations and scenarios with limited space. Summary of the Invention

[0004] In view of the problems existing in the above or prior art, the present invention is proposed.

[0005] Therefore, the object of the present invention is to provide a method for controlling the spacing between goods, which ensures that goods enter the scanning area at an appropriate spacing through setting conveyors with different speeds and real-time monitoring and adjustment, realizing an efficient, low-cost and easy-to-maintain automatic sorting solution.

[0006] To solve the above technical problems, the present invention provides the following technical solution: A method for controlling the spacing between goods, which includes determining the speeds of a first conveyor and a second conveyor, ensuring that the goods are instantaneously accelerated when transitioning from the first conveyor to the second conveyor, so as to generate a first spacing from the adjacent goods still on the first conveyor;

[0007] Determining the second spacing between adjacent two goods at this time based on the time difference when the adjacent two goods pass through the same position on the second conveyor successively, and presetting a detection threshold for the second spacing to ensure that the goods that pass first can complete the scanning task before the goods that pass later enter the scanning area;

[0008] Control the start and stop of the first conveyor and the second conveyor according to a preset detection threshold to ensure that the second spacing between two adjacent goods on the second conveyor meets the preset detection threshold.

[0009] As a preferred embodiment of the goods spacing control method of the present invention, wherein: the determining the speeds of the first conveyor and the second conveyor includes the following steps:

[0010] Set the speed of the first conveyor to a first speed (V1);

[0011] Set the speed of the second conveyor to a second speed (V2);

[0012] Make the first speed (V1) lower than the second speed (V2).

[0013] As a preferred embodiment of the goods spacing control method of the present invention, wherein: the determining the second spacing between two adjacent goods when the two adjacent goods pass through the same position on the second conveyor successively and presetting the detection threshold of the second spacing includes the following steps:

[0014] Set an induction unit at a fixed position on the second conveyor;

[0015] The second conveyor conveys two adjacent goods to the fixed position successively and triggers the induction unit successively;

[0016] Obtain the time interval from when the goods that pass first trigger the induction unit to when the goods that pass later trigger the induction unit;

[0017] Convert the second spacing according to the time interval and the second speed (V2) of the second conveyor, and compare the second spacing with the preset spacing.

[0018] As a preferred embodiment of the goods spacing control method of the present invention, wherein: the controlling the start and stop of the first conveyor and the second conveyor according to the preset detection threshold includes the following steps:

[0019] If the second spacing is greater than or equal to the preset spacing, then maintain the current conveying state of the first conveyor and the second conveyor;

[0020] If the second spacing is less than the preset spacing, then stop the first conveyor and the second conveyor;

[0021] If the first conveyor and the second conveyor stop until the second spacing is greater than or equal to the preset spacing, then restart the first conveyor and the second conveyor.

[0022] As a preferred embodiment of the goods spacing control method of the present invention, wherein: the preset spacing satisfies that the goods that trigger the induction unit first enter the scanning area alone, complete the scanning task, and leave the scanning area.

[0023] As a preferred solution of the cargo spacing control method of the present invention, wherein: the first speed (V1) is 40% to 60% of the second speed (V2).

[0024] As a preferred solution of the cargo spacing control method of the present invention, factors affecting the difference between the first speed (V1) and the second speed (V2) include different cargo placement angles, cargo lengths, and total scanning task duration.

[0025] To further solve the above technical problems, the present invention provides the following technical solutions: a cargo spacing control system, including a speed setting module, which is responsible for setting and adjusting the speeds of the two conveyors to achieve instantaneous acceleration of the cargo and generate the required spacing; a spacing detection module, which monitors and calculates the spacing between two adjacent cargoes on the conveyor to ensure that the spacing meets the scanning task requirements; a start-stop control module, which controls the start and stop of the conveyor according to the spacing detection results to maintain a safe spacing between the cargoes; a scanning task coordination module, which coordinates the cargo spacing and the scanning task to ensure a smooth and efficient scanning process.

[0026] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of the cargo spacing control method as described above when executing the computer program.

[0027] A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the cargo spacing control method as described above are implemented.

[0028] Beneficial effects of the present invention: The present invention sets different speeds for the first conveyor and the second conveyor, and utilizes the speed difference to accelerate the goods instantaneously during the transfer process, thereby naturally widening the distance between the goods and the following goods. The system uses photoelectric sensors to monitor the distance between goods in real time, and dynamically adjusts the start and stop status of the conveyor according to the preset threshold, ensuring that each piece of goods can enter the scanning area at an appropriate distance and complete an independent scanning task. This method is not only simple in structure, low in cost, and easy to maintain, but also improves sorting efficiency and accuracy, and is particularly suitable for small sorting stations or cramped application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1This is the overall flowchart of the goods spacing control method of the present invention.

[0031] Figure 2 This is the overall equipment operation flowchart of the goods spacing control method of the present invention. Specific embodiments

[0032] To make the above objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the specification.

[0033] Many specific details are set forth in the following description in order to provide a thorough understanding of the present invention. However, the present invention may be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0034] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or selectively exclusive embodiments from other embodiments.

[0035] Embodiment 1

[0036] Refer to Figure 1 and Figure 2 , which is the first embodiment of the present invention. This embodiment provides a goods spacing control method, including:

[0037] S1: Determine the speeds of the first conveyor and the second conveyor to ensure that the goods are instantaneously accelerated when transitioning from the first conveyor to the second conveyor, thereby creating a first spacing from the adjacent goods still on the first conveyor.

[0038] It should be noted that referring to Figure 2 , the first conveyor (EQ1-01) and the second conveyor (EQ1-02) are belt conveyors driven by servo motors, and their lengths and conveying speeds can be designed according to actual needs and adjusted according to the speed of the backend sorting line during normal conveying; it is set that the first conveyor (EQ1-01) and the second conveyor (EQ1-02) jointly form a supply section. Workers place the goods in sequence (avoiding the goods being placed side by side left and right) on the first conveyor (EQ1-01). The system automatically queues the goods, and when the goods transition to the second conveyor (EQ1-02), the distance is automatically pulled, and they enter the subsequent scanning area in an orderly manner.

[0039] It should also be noted that referring to Figure 2, set the equipment in the scanning area as the scanning and conveying equipment (EQ1-03). After the goods enter the scanning area, the scanning and conveying equipment (EQ1-03) weighs the goods, measures the volume, scans the barcodes, reads the goods information and starts to track the current goods in the scanning area. The scanning and conveying equipment (EQ1-03) can be called the weighing and scanning section.

[0040] It should also be noted that referring to Figure 2 , the conveying and sorting section is jointly composed of the third conveyor (EQ1-04), the fourth conveyor (EQ1-05) and the swing wheel sorter (EQ1-06). After the goods are conveyed to the swing wheel sorter (EQ1-06) through the third conveyor (EQ1-04) and the fourth conveyor (EQ1-05), the system sorts the goods according to the goods information.

[0041] Furthermore, determining the speeds of the first conveyor and the second conveyor includes the following steps:

[0042] S1.1: Set the speed of the first conveyor as the first speed (V1);

[0043] S1.2: Set the speed of the second conveyor as the second speed (V2);

[0044] S1.3: Make the first speed (V1) lower than the second speed (V2).

[0045] Preferably, in step S1.3, the first speed (V1) is 40% - 60% of the second speed (V2).

[0046] It should be noted that the influencing factors of the difference between the first speed (V1) and the second speed (V2) include different goods placement angles, goods lengths, and the total duration of the scanning task.

[0047] Preferably, the preferred speed difference can ensure that the goods maintain an appropriate spacing during the conveying process, which not only avoids the situation where the goods scanned later enter the scanning area before the goods scanned earlier have completed the scanning task due to too small a spacing, thus avoiding interfering with the ongoing scanning task and preventing the goods scanned later from piling up and blocking on the conveyor due to the inability to complete the scanning task individually one by one, but also prevents the spacing from being too large and reducing the conveying efficiency.

[0048] S2: Determine the second spacing between two adjacent goods at this time based on the time difference when two adjacent goods pass through the same position on the second conveyor successively, and preset the detection threshold of the second spacing to ensure that the goods that pass through earlier can complete the scanning task before the goods that pass through later enter the scanning area.

[0049] Furthermore, the second spacing between two adjacent goods at this time is determined by the time difference when the two adjacent goods pass through the same position on the second conveyor in sequence, and a detection threshold for the second spacing is preset, including the following steps:

[0050] S2.1: Set an induction unit at a fixed position on the second conveyor;

[0051] S2.2: The second conveyor conveys two adjacent goods to the fixed position in sequence and triggers the induction unit successively;

[0052] S2.3: Obtain the time interval from when the goods passing first trigger the induction unit to when the goods passing later trigger the induction unit;

[0053] S2.4: Calculate the second spacing based on the time interval and the second speed (V2) of the second conveyor, and compare the second spacing with the preset spacing.

[0054] It should be noted that the induction unit is actually a photoelectric sensor, which is installed at a fixed position on the second conveyor (EQ1-02). After the goods are passively transferred from the first conveyor (EQ1-01) to the second conveyor (EQ1-02), due to the speed difference between the two (the speed of the second conveyor (EQ1-02) is faster than that of the first conveyor (EQ1-01)), this will cause the initial spacing between the goods to widen, that is, the first spacing is generated. As the goods continue to move forward on the second conveyor (EQ1-02), the goods will successively pass through the photoelectric sensors installed on the second conveyor (EQ1-02).

[0055] S3: Control the start and stop of the first conveyor and the second conveyor according to the preset detection threshold to ensure that the second spacing between two adjacent goods on the second conveyor meets the preset detection threshold.

[0056] Furthermore, controlling the start and stop of the first conveyor and the second conveyor according to the preset detection threshold includes the following steps:

[0057] S3.1: If the second spacing is greater than or equal to the preset spacing, then maintain the current conveying state of the first conveyor and the second conveyor;

[0058] S3.2: If the second spacing is less than the preset spacing, then stop the first conveyor and the second conveyor;

[0059] S3.3: If the first conveyor and the second conveyor stop until the second spacing is greater than or equal to the preset spacing, then restart the first conveyor and the second conveyor.

[0060] It should be noted that when a cargo (such as "Cargo N") arrives and blocks the photoelectric sensor, it is considered that the cargo triggers the photoelectric sensor; at this time, the photoelectric sensor will send a signal to the system. For the first cargo, since there is no other cargo in front of it, it can directly pass through after triggering the photoelectric sensor and continue to move towards the subsequent equipment, such as a scanner;

[0061] For each subsequent cargo, when they trigger the photoelectric sensor, the system controller will calculate the time difference between the current cargo and the previous cargo "Cargo N-1" based on the time recorded when the previous and the current cargoes respectively trigger the photoelectric sensor, and convert it into the second spacing in combination with the speed of the second conveyor (EQ1-02). This is because the speed of the conveyor belt is constant, and the distance between two cargoes can be calculated according to the formula S = V×T (where S is the distance, V is the speed, and T is the time). If the calculated second spacing is less than the preset spacing, the second conveyor (EQ1-02) will stop to ensure that the second spacing between adjacent front and rear cargoes meets the preset requirements. Once the second spacing meets the conditions, the second conveyor (EQ1-02) will start again to make the cargo continue to move forward. This process is repeated continuously to ensure that all cargoes can enter the subsequent processing link orderly according to the set second spacing.

[0062] Preferably, by installing a photoelectric sensor at a fixed position on the second conveyor (EQ1-02), the present invention can achieve spacing control only through simple electrical signal processing. The whole scheme mainly relies on the speed difference of the conveyor belt and the time difference measurement of the photoelectric sensor, and does not require complex vision recognition components such as cameras and light sources and corresponding image processing computers or servers for analyzing the position and spacing of the cargoes like a vision single-piece separation system; in addition, the cost of the photoelectric sensor is much lower than that of high-precision cameras and related image processing equipment. Since the present invention does not require additional light sources and other auxiliary devices, the overall hardware cost is significantly reduced.

[0063] Embodiment 2

[0064] This is the second embodiment of the present invention, which provides a method for controlling the spacing of cargoes. In order to verify the preferred value range of the difference between the first speed (V1) and the second speed (V2) of the present invention, scientific demonstration is carried out in combination with experimental data.

[0065] Experimental background: The conveyor system consists of a first conveyor (EQ1-01) and a second conveyor (EQ1-02), and the speed setting affects the spacing between cargoes; the spacing between cargoes has a direct impact on the recognition and efficiency of subsequent equipment (such as scanners).

[0066] The influence of extreme speed settings outside the value range on the spacing of cargoes:

[0067] (1) When the speed difference is too small (less than 40%):

[0068] For example, the speed of the first conveyor (EQ1-01) is 0.8 m / s, and the speed of the second conveyor (EQ1-02) is 1.0 m / s.

[0069] When the goods run to the second conveyor (EQ1-02), the spacing from the goods on the first conveyor (EQ1-01) is very small, only about 200 mm. For the goods placed at a 45° angle, the gap cannot be opened, and the subsequent photoelectric sensor cannot sense two pieces of goods, thus affecting the function of separating the subsequent goods.

[0070] (2) When the speed difference is too large (greater than 60%):

[0071] For example, the speed of the first conveyor (EQ1-01) is 0.3 m / s, and the speed of the second conveyor (EQ1-02) is 1.0 m / s.

[0072] When the goods run to the second conveyor (EQ1-02), the spacing from the goods on the first conveyor (EQ1-01) is too large, and the rotation speed of the first conveyor (EQ1-01) is too low, affecting its loading efficiency.

[0073] (3) Comparing different speed differences according to the required spacing

[0074] When the required spacing is 600 mm, a speed difference of 50% can naturally open a 500-mm spacing, meeting or slightly lower than the requirement, with relatively high efficiency;

[0075] When the required spacing is 500 mm, a speed difference of 30% will naturally open a 700-mm spacing, far greater than the requirement, resulting in reduced efficiency. The wasted spacing for one piece of goods is 200 mm, and the wasted spacing for ten pieces of goods is 2000 mm;

[0076] Calculated under the conditions of an average package length of 500 mm and a conveyor running speed of 1 m / s, if calculated according to the normal required spacing, 3600 pieces of goods can pass through in one hour (the calculation method is the total running length of the conveyor in one hour / (goods length + goods spacing), that is, 1 * 1000 * 3600 ÷ (500 + 500)), but calculated according to the actual spacing of 700 mm, then only 3000 pieces of goods can pass through in one hour (the calculation method is the same as above). The difference in the number of goods conveyed in one hour is 600 pieces, so the overall goods conveying efficiency is greatly reduced.

[0077] In summary, it is advisable that the running speed of the first conveyor should be 40% - 60% of the running speed of the second conveyor.

[0078] Example 3

[0079] This is the third embodiment of the present invention. Different from the previous two embodiments, it provides a goods spacing control system, including a speed setting module, a spacing detection module, a start-stop control module, and a scanning task coordination module.

[0080] Among them, the speed setting module is responsible for setting and adjusting the speeds of the two conveyors to achieve instantaneous acceleration of the goods and generate the required spacing; the spacing detection module monitors and calculates the spacing between adjacent goods on the conveyor to ensure that the spacing meets the requirements of the scanning task; the start-stop control module controls the start and stop of the conveyor according to the spacing detection result to maintain a safe spacing between the goods; the scanning task coordination module coordinates the goods spacing and the scanning task to ensure a smooth and efficient scanning process.

[0081] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, etc., which can store program codes.

[0082] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0083] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable media can even be paper or other suitable media on which a program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0084] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc. It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

[0085] Importantly, the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A method for controlling the distance between goods, characterized in that: include, Determining the speeds of the first conveyor and the second conveyor to ensure that the cargo is instantaneously accelerated when it is transferred from the first conveyor to the second conveyor, thereby generating a first spacing with adjacent cargo still on the first conveyor; The second interval between the two adjacent goods is determined by the time difference when the two adjacent goods successively pass through the same position on the second conveyor, and a detection threshold of the second interval is preset to ensure that the goods that pass first can complete the scanning task before the goods that pass later enter the scanning area; The start and stop of the first conveyor and the second conveyor are controlled according to a preset detection threshold value to ensure that a second distance between two adjacent goods on the second conveyor meets the preset detection threshold value.

2. The method for controlling the distance between goods according to claim 1, characterized in that: Determining the speed of the first conveyor and the second conveyor comprises the following steps: Setting the speed of the first conveyor to a first speed (V1); Setting the speed of the second conveyor to a second speed (V2); The first speed (V1) is made lower than the second speed (V2).

3. The method for controlling the distance between goods according to claim 1 or 2, characterized in that: The method of determining the second distance between the two adjacent goods at this time by using the time difference when the two adjacent goods successively pass through the same position on the second conveyor, and presetting the detection threshold of the second distance, comprises the following steps: providing a sensing unit at a fixed position of the second conveyor; The second conveyor transports two adjacent goods to fixed positions one after another and triggers the sensing units one after another; Obtain the time interval between when the first passing goods trigger the sensing unit and when the next passing goods trigger the sensing unit; A second interval is calculated according to the time interval and the second speed (V2) of the second conveyor, and the second interval is compared with a preset interval.

4. The method for controlling the distance between goods according to claim 3, characterized in that: Also includes: The control of starting and stopping the first conveyor and the second conveyor according to the preset detection threshold comprises the following steps: If the second distance is greater than or equal to the preset distance, the conveying state of the first conveyor and the second conveyor is maintained at this time; If the second distance is smaller than the preset distance, the first conveyor and the second conveyor are stopped; If the first conveyor and the second conveyor are stopped until the second distance is greater than or equal to the preset distance, the first conveyor and the second conveyor are restarted.

5. The method for controlling the distance between goods according to claim 4, characterized in that: The preset distance is sufficient for the cargo that first triggers the sensing unit to enter the scanning area alone, complete the scanning task, and leave the scanning area.

6. The method for controlling the distance between goods according to claim 2, characterized in that: The first speed (V1) is 40% to 60% of the second speed (V2).

7. The method for controlling the distance between goods according to claim 2 or 6, characterized in that: Factors affecting the difference between the first speed (V1) and the second speed (V2) include different cargo placement angles, cargo lengths, and the total duration of the scanning task.

8. A system using the cargo spacing control method according to any one of claims 1, 2, 4, 5 and 6, characterized in that: include, The speed setting module is responsible for setting and adjusting the speed of the two conveyors to achieve instantaneous acceleration of the goods and produce the required spacing. The spacing detection module monitors and calculates the distance between two adjacent goods on the conveyor to ensure that the distance meets the scanning task requirements. The start-stop control module controls the start and stop of the conveyor according to the spacing detection results to maintain a safe distance between goods. The scanning task coordination module coordinates the distance between goods and scanning tasks to ensure a smooth and efficient scanning process.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the cargo spacing control method are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the cargo spacing control method are implemented.

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