Package supply method and system and sorting equipment

Abstract

The invention discloses a bag supply method and system and sorting equipment. The package supplying method comprises the following steps that the mass, measured by a weighing visual detection conveying section, of a package located on the weighing visual detection conveying section is obtained, size parameters, materials and surface textures of the package are determined according to an image collected by a 3D visual camera, and a package surface friction coefficient, a package adhesion coefficient and a forward pressure coefficient are calculated; and according to the package surface friction coefficient, the package adhesive force coefficient and the forward pressure coefficient, the acceleration of the acceleration output section of the package supply table increased from the initial speed to the preset package feeding speed is determined. According to the invention, the 3D visual camera is arranged at the parcel supply platform, the size parameter, the surface texture and the material of each parcel can be analyzed through the 3D image, the influence factor influencing the acceleration of the last section is calculated according to the size parameter, the surface texture and the material, and the acceleration of the last section is calculated according to the determined influence factor. The acceleration of the last section can be effectively matched with the actual conditions of different parcels, and the parcel feeding precision can be improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics sorting, in particular to a package supply method, system and sorting equipment. Background Art

[0002] In various sorting systems, such as cross-belt sorting systems, a package supply table is a device used to supply packages to the sorting trolley of the cross-belt sorter.

[0003] Like the invention patent application with application publication number CN111468414A, conventional package supply tables adopt a multi-segment structure and often integrate weighing, volume measurement and code reading functions.

[0004] When the package is conveyed to the last section of the package supply platform, the last section will be accelerated to a predetermined speed at a fixed acceleration to match the speed of the package with the speed of the trolley loop.

[0005] However, in actual sorting, there are differences in the material, weight, and surface texture of the packages. When accelerating with a fixed acceleration in the last section, it cannot adapt to the actual packaging needs of different packages, affecting the packaging accuracy. Summary of the Invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a package supply method, system and sorting equipment.

[0007] The purpose of the present invention is achieved through the following technical solutions: The packaging method includes the following steps: S1, after receiving a falling edge signal from a trigger sensor at an input end of a weighing and visual inspection conveying section of a package supply station, obtaining the weight of a package located thereon as measured by the weighing and visual inspection conveying section, obtaining an image of the package captured by a 3D vision camera at the weighing and visual inspection conveying section, and determining the dimensional parameters, material, and surface texture of the package; S2, calculating the parcel surface friction coefficient, parcel adhesion coefficient, and positive pressure coefficient based on the parcel mass, parcel size, parcel material, and surface texture; S3, determining the acceleration of the acceleration output section of the package supply platform from the initial speed to the predetermined package loading speed according to the package surface friction coefficient, the package adhesion coefficient and the positive pressure coefficient.

[0008] Preferably, in the package supply method, the weighing and visual inspection conveying section is connected upstream to a static code scanning conveying section, and when it is determined that a package is located on the static code scanning conveying section, the code reader of the static code scanning conveying section reads the code; Determine whether the barcode information is obtained. If so, the static barcode scanning conveying section starts to convey the package to the downstream weighing and visual inspection conveying section when the start conditions are met; If not, an alarm is issued to remind manual code supplement; after confirming that the barcode information is obtained, the static code scanning conveying section starts to convey the package to the downstream weighing and visual inspection conveying section when the starting conditions are met.

[0009] Preferably, in S1, it is also determined whether the barcode information corresponding to the package is obtained based on the image captured by the 3D vision camera. If so, it is determined whether the barcode information is consistent with the barcode information obtained previously. When it is determined that the two are inconsistent, the sorting grid corresponding to the package is determined as an abnormal grid and the package is supplied normally, or the machine is shut down and a reminder is issued, or the package is returned to the input end of the package supply table and a reminder is issued.

[0010] Preferably, in S1, it is also determined whether there are overlapping parts and / or special-shaped parts based on the image captured by the 3D vision camera. If so, the weighing visual inspection conveying section is stopped and a reminder is issued, or the package is returned to the input end of the package supply table and a reminder is issued.

[0011] Preferably, the friction coefficient of the wrapped surface is determined according to the following formula: a1=f1×w+f2×(1-w); Among them, a1 is the friction coefficient of the package surface, f1 is the friction grade coefficient of the package material, f2 is the friction grade coefficient of the package surface texture, and w is the weight.

[0012] Preferably, the wrapping adhesion coefficient is calculated according to the following formula: a2=S 底 / S; Where a2 is the wrapping adhesion coefficient, S 底 is the bottom area of ​​the package; S is the maximum area of ​​the six surfaces of the package.

[0013] Preferably, the forward pressure coefficient is calculated according to the following formula: a3=M / Mr; Where a3 is the positive pressure coefficient, M is the measured package mass, and Mr is the set package mass.

[0014] Preferably, the acceleration of the accelerated output section from the initial speed to the predetermined package speed is calculated according to the following formula: a=a1×w1×a0+a2×w2×a0+a3×w3×a0; Where a is the acceleration of the acceleration output section from the initial velocity to the predetermined package velocity, a1, a2, and a3 are the package surface friction coefficient, package adhesion coefficient, and positive pressure coefficient, respectively, w1, w2, and w3 are the weights corresponding to each coefficient, and a0 is the set acceleration.

[0015] Package supply system, including: a parameter acquisition unit, configured to, upon determining receipt of a falling edge signal from a trigger sensor at an input end of the weighing and visual inspection conveying section, acquire the mass of a package located thereon as measured by the weighing and visual inspection conveying section, acquire an image of the package captured by a 3D vision camera at the weighing and visual inspection conveying section, and determine dimensional parameters, material, and surface texture of the package; a coefficient determination unit, configured to calculate a parcel surface friction coefficient, a parcel adhesion coefficient, and a normal pressure coefficient based on the parcel mass, parcel size, parcel material, and surface texture; The acceleration calculation unit is used to determine the acceleration of the acceleration output section from the initial speed to the predetermined wrapping speed according to the wrapping surface friction coefficient, the wrapping adhesion coefficient and the positive pressure coefficient.

[0016] The sorting device includes a processor and a memory, wherein the memory stores a program executable by the processor, and when the program is executed, any of the above-mentioned package supply methods is implemented.

[0017] The advantages of the technical solution of the present invention are mainly reflected in: The present invention sets a 3D vision camera at the package supply table, which can analyze the surface texture and material of each package based on the images captured by the 3D vision camera, and then calculate the influencing factors affecting the acceleration of the last section based on the weight, surface texture and material. The acceleration of the last section is calculated based on the determined influencing factors. This can make the acceleration of the last section effectively match the actual conditions of different packages, which is conducive to improving the packaging accuracy and changing the conventional method in existing control.

[0018] The present invention can also identify stacked parts and special-shaped parts based on images from a 3D vision camera, thereby avoiding the problem of these packages affecting sorting stability and accuracy after they are packaged.

[0019] The present invention can also verify the barcode information of the package based on the image of the 3D vision camera, thereby reducing the problem of misclassification caused by erroneous operation during manual packaging to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of a package supply station of the present invention; Figure 2 It is a schematic diagram of the packaging method process of the present invention; Figure 3 It is a schematic diagram of the packaging method of the present invention having a packaging code reading process; Figure 4 It is a schematic diagram of the packaging supply method of the present invention, which further determines whether there are overlapping parts, special-shaped parts, and the barcode information verification process after obtaining the image of the 3D vision camera. DETAILED DESCRIPTION

[0021] The objects, advantages, and features of the present invention are illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of the application of the technical solutions of the present invention, and any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by the present invention.

[0022] In the description of the scheme, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplification. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] Example 1 The following describes the packaging method disclosed by the present invention in conjunction with the accompanying drawings. The packaging method is based on a packaging station, as shown in the accompanying drawings. Figure 1 As shown, the package supply station includes a weighing and visual inspection conveying section 100, a buffer conveying section 200 and an acceleration output section 300 arranged in sequence. The weighing and visual inspection conveying section 100 includes a dynamic weighing conveyor line 110 and a 3D vision camera 120. The dynamic weighing conveyor line 110 is used to measure the quality of the packages passing through it. Its specific structure is a known technology and will not be described in detail here. The specific structure of the 3D vision camera 120 is a known technology and its installation position can be designed as needed. It will not be described in detail here. It also includes a lens, light source and other structures that match the 3D vision camera 120. The 3D vision camera 120 can capture a 3D image of the package on the dynamic weighing conveyor line 110, so that the length, width, height and other dimensional parameters of the package, the material of the package and the surface texture of the package can be determined through image processing. In specific implementation, the image can be pattern recognized by a known machine learning algorithm to determine the material, surface texture type, dimensional parameters, etc. of the package corresponding to the image. It will not be described in detail here.

[0024] As attached Figure 1As shown, a trigger sensor 400 is provided at the input end of the dynamic weighing conveyor line 110 for detecting whether a package enters the dynamic weighing conveyor line 110. The trigger sensor 400 can be a known through-beam photoelectric sensor or a self-reflective photoelectric sensor, etc. Preferably, the trigger sensor 400 can be a light curtain, and the detection light of the light curtain is perpendicular to the conveying surface of the dynamic weighing conveyor line 110. At this time, the light curtain can not only determine whether the package enters the dynamic weighing conveyor line 110, but also can be used to detect parameters such as the extension length of the package in the conveying direction of the dynamic weighing conveyor line 110 and the extension distance in the width direction of the dynamic weighing conveyor line 110.

[0025] Like the existing package supply method, when a package enters the package supply platform and there is no package on the accelerated conveying section, the accelerated conveying section will maintain an initial speed lower than the predetermined package loading speed. When it is necessary to accelerate to the predetermined package loading speed, the acceleration of the accelerated conveying section can be determined based on the acquired package data, and the accelerated conveying section can be accelerated to the predetermined package loading speed based on the determined acceleration. At this time, the package conveying speed matches the operating speed of the trolley loop of the cross-belt sorting trolley.

[0026] Specifically, as attached Figure 2 As shown, the packaging method includes the following steps: S1, when it is determined that the falling edge signal of the trigger sensor 400 is obtained, it is determined that a package has completely entered the dynamic weighing conveyor line 110. At this time, the package mass measured by the weighing component of the dynamic weighing conveyor line 110 can be directly obtained and the 3D vision camera 120 can be used to capture the image of the package on the dynamic weighing conveyor line 110, and the size parameters, material and surface texture of the package can be determined through image recognition; of course, in order to obtain the quality data of the package more accurately, it is also possible to determine the measured package mass when the package moves to the middle position of the dynamic weighing conveyor line 110 based on the determined extension distance of the package in the conveying direction.

[0027] S2, calculating the parcel surface friction coefficient, parcel adhesion coefficient, and positive pressure coefficient based on the parcel mass, parcel size, parcel material, and surface texture; S3, determining the acceleration of the accelerating output section 300 of the package supply station from the initial speed to the predetermined package loading speed according to the package surface friction coefficient, the package adhesion coefficient and the positive pressure coefficient.

[0028] Specifically, the friction coefficient of the package surface depends on two indicators: the friction coefficient corresponding to the package material and the friction coefficient corresponding to the surface texture of the package; The friction coefficients of different wrapping materials can be divided into the following levels: (1) Ultra-low friction material: friction coefficient ≤ 0.2, such as silicone oil coating material, Teflon coating material, etc.

[0029] (2) Low friction materials: 0.2<friction coefficient ≤ 0.3, such as paper products, plastic films, etc.

[0030] (3) Medium friction materials: 0.3<friction coefficient≤0.5, such as cellophane, fabric, etc.

[0031] (4) High friction materials: 0.5<friction coefficient≤0.8, such as foam, wood, etc.

[0032] For each package, after identifying the package's material through image recognition, the corresponding friction coefficient level is determined. The median or upper limit of the corresponding abrasive material coefficient level is used as the package material friction coefficient for calculation. For example, if a package is made of a low-friction material, 0.3 or 0.25 is substituted into the following formula.

[0033] The coefficient of friction of different surface textures can be divided into the following levels: (1) Low friction surface texture: 0.2<friction coefficient≤0.3, the wrapped surface is smooth without obvious concave and convex texture, the friction is small, and it is easy to slide and rotate.

[0034] (2) Medium friction surface texture: 0.3<friction coefficient≤0.5, the wrapped surface has a loose concave-convex texture, which can provide a certain friction force.

[0035] (3) High friction surface texture: 0.5<friction coefficient≤0.8, the wrapped surface has dense concave and convex texture, has greater friction, and is not easy to slide or rotate.

[0036] Similarly, for each package, the friction coefficient level corresponding to its surface texture is determined through image recognition, and the median or upper limit value corresponding to the abrasive coefficient level is taken as the friction level coefficient of the package surface texture for calculation.

[0037] Correspondingly, the friction coefficient of the package surface is determined according to the following formula: a1=f1×w+f2×(1-w); Among them, a1 is the friction coefficient of the package surface, f1 is the friction grade coefficient of the package material, f2 is the friction grade coefficient of the package surface texture, and w is the weight, which can be determined according to actual needs. For example, W can be 0.4, 0.5, 0.6, etc., which is not limited here.

[0038] When packaging, packages with a rectangular or approximately rectangular outer contour are packaged normally. Therefore, assuming that the package is an object with uniform mass distribution, the center of gravity of the package is at its geometric center, that is, the intersection of length (L), width (W), and height (H). Based on the length, width, and height parameters of the package identified by image recognition, the areas of the top, bottom, and four sides of the package can be calculated respectively: S 顶 =S 底 =L*W; S 侧1 =S 侧2 =W*H; S 侧3 =S 侧4 =L*H; Therefore, the wrap adhesion coefficient can be calculated according to the following formula: a2=S 底 / S; Where a2 is the wrapping adhesion coefficient, S 底 is the bottom area of ​​the package; S is the maximum area of ​​the six surfaces of the package.

[0039] Furthermore, friction is proportional to the pressure exerted by the object. Even if the surfaces of two objects are very smooth, as long as the pressure they are subjected to is large enough, the friction will be large. According to the gravity formula in Newtonian mechanics, it can be calculated that when the package is stationary, the positive pressure F=Mg generated between the contact surface of the package and the belt of the conveyor belt can be calculated, where M represents the mass of the package and g represents the gravitational acceleration of the earth; the greater the mass, the greater the positive pressure, and the greater the friction the package is subjected to when it moves. It can be inferred that the positive pressure coefficient is also proportional to the mass of the package. The greater the mass of the package, the greater the positive pressure coefficient, and vice versa. The smaller the positive pressure coefficient is, we can set a package mass Mr as a standard value, and the positive pressure coefficient is calculated according to the following formula: a3=M / Mr; Wherein, a3 is the positive pressure coefficient, M is the measured package mass, and Mr is the set package mass. The set package mass can be selected according to actual needs and is not limited here.

[0040] In S3, the acceleration of the acceleration output section 300 from the initial speed to the predetermined bag-up speed is calculated according to the following formula: a=a1×w1×a0+a2×w2×a0+a3×w3×a0; Where a is the acceleration of the accelerated output section 300 from its initial velocity to the predetermined package loading velocity; a1, a2, and a3 are the package surface friction coefficient, package adhesion coefficient, and positive pressure coefficient, respectively; w1, w2, and w3 are the weights corresponding to these coefficients, which can be set as needed, for example, w1 is 0.4, w2 is 0.3, and w3 is 0.4. Of course, they can also be analyzed and determined using mathematical models such as linear correlation models. a0 is the set acceleration, which is a fixed acceleration determined in existing package supply methods. Its specific value can be set according to actual needs and is not limited here.

[0041] Further, as attached Figure 1 As shown, the weighing and visual inspection conveying section 100 is connected upstream to a static code scanning conveying section 500. The static code scanning conveying section 500 includes a belt conveyor 510 and a code reader 520 disposed on the top and / or side of the belt conveyor 510 for reading codes on packages on the belt conveyor 510. Furthermore, a detection sensor (not shown) is disposed on the belt conveyor 510 for detecting whether a package is located thereon. The detection sensor may be a known proximity sensor or a through-beam photoelectric sensor, for example.

[0042] As attached Figure 3 As shown, when the detection sensor detects that a package is located on the belt conveyor 510, the code reader 520 reads the code.

[0043] After reading the code, it is determined whether the barcode information is obtained. If so, that is, the barcode information is obtained, the static code scanning conveying section 500 starts to convey the package to the downstream weighing and visual inspection conveying section 100 when the starting conditions are met; the starting condition is, for example, that the previous package has completely left the weighing and visual inspection conveying section 100, which can be set according to actual needs and is not limited here.

[0044] If not, meaning the barcode information has not been acquired, an alarm is issued, prompting manual recoding. This can be done by manually reading the barcode with a barcode reader 520, entering the barcode information into the system via an input device, or reprinting and attaching the barcode to the package and then reading it with a barcode reader 520. After confirming that the barcode information has been acquired, the static barcode scanning and conveying section 500, if the activation conditions are met, starts conveying the package to the downstream weighing and visual inspection conveying section 100. During actual packaging, the package can be manually placed onto the belt conveyor 510 of the static barcode scanning and conveying section 500, or robotic loading can also be performed.

[0045] As attached Figure 4As shown, in S1, after acquiring the image captured by the 3D vision camera, a determination is made based on the image captured by the 3D vision camera 120 to determine whether the barcode information corresponding to the package has been acquired. If so, i.e., the barcode information corresponding to the package has been acquired, a determination is made as to whether the barcode information is consistent with the previously acquired barcode information. If the two are determined to be inconsistent, the sorting slot corresponding to the package is determined to be an abnormal slot and the package is supplied normally, or the machine is shut down and a reminder is issued, or the package is recirculated to the input end of the package supply station and a reminder is issued. If the two are determined to be consistent, sorting is performed normally. If it is determined that the barcode information has not been acquired based on the image captured by the 3D vision camera 120, this result is ignored and sorting is performed normally.

[0046] As attached Figure 4 As shown, in S1, after acquiring the image captured by the 3D vision camera, it is also determined based on the image captured by the 3D vision camera 120 whether there are overlapping and / or irregular-shaped parts. If so, the weighing visual inspection conveying section 100 is stopped and a reminder is issued, or the package is returned to the input end of the package supply station and a reminder is issued. The overlapping parts refer to multiple packages stacked or stuck together, for example, when loading the package, two packages stuck together are accidentally loaded at the same time. The irregular-shaped parts include spherical parts that are easy to roll, ellipsoidal parts, cylindrical parts, and packages whose outer contours are obviously not or are not close to regular rectangular parallelepipeds. For stacked parts, the packages need to be separated manually and then repacked one by one; for special-shaped parts, the packages are removed from the packaging table manually without further packaging.

[0047] Example 2 This embodiment discloses a packaging supply system, including: a parameter acquisition unit, configured to, upon receiving a falling edge signal from the trigger sensor 400 at the input end of the weighing and visual inspection conveying section 100, acquire the mass of the package located thereon as measured by the weighing and visual inspection conveying section 100, acquire an image of the package captured by the 3D vision camera 120 at the weighing and visual inspection conveying section 100, and determine the dimensional parameters, material, and surface texture of the package; a coefficient determination unit, configured to calculate a parcel surface friction coefficient, a parcel adhesion coefficient, and a positive pressure coefficient based on the parcel mass, parcel size, parcel material, and surface texture; The acceleration calculation unit is used to determine the acceleration of the acceleration output section 300 from the initial speed to the predetermined wrapping speed according to the wrapping surface friction coefficient, the wrapping adhesion coefficient and the positive pressure coefficient.

[0048] Example 3 This embodiment discloses a sorting device, comprising a processor and a memory, wherein the memory stores a program executable by the processor, and when the program is executed, the program implements any of the above-described package supply methods. The sorting device is, for example, a cross-belt sorting device.

[0049] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A packaging method, characterized in that: The steps include: S1, after receiving a falling edge signal from a trigger sensor at an input end of a weighing and visual inspection conveying section of a package supply station, obtaining the weight of a package located thereon as measured by the weighing and visual inspection conveying section, obtaining an image of the package captured by a 3D vision camera at the weighing and visual inspection conveying section, and determining the dimensional parameters, material, and surface texture of the package; S2, calculating the parcel surface friction coefficient, parcel adhesion coefficient, and positive pressure coefficient based on the parcel mass, parcel size, parcel material, and surface texture; S3, determining the acceleration of the acceleration output section of the package supply platform from the initial speed to the predetermined package loading speed according to the package surface friction coefficient, the package adhesion coefficient and the positive pressure coefficient.

2. The packaging method according to claim 1, wherein: The weighing visual inspection conveying section is connected upstream to the static code scanning conveying section. When it is determined that a package is located on the static code scanning conveying section, the code reader of the static code scanning conveying section reads the code; Determine whether the barcode information is obtained. If so, the static barcode scanning conveying section starts to convey the package to the downstream weighing and visual inspection conveying section when the start conditions are met; If not, an alarm is issued to remind manual code supplement; after confirming that the barcode information is obtained, the static code scanning conveying section starts to convey the package to the downstream weighing and visual inspection conveying section when the starting conditions are met.

3. The packaging method according to claim 1, wherein: In S1, it is also determined whether the barcode information corresponding to the package is obtained based on the image captured by the 3D vision camera. If so, it is determined whether the barcode information is consistent with the barcode information obtained previously. When it is determined that the two are inconsistent, the sorting grid corresponding to the package is determined as an abnormal grid and the package is supplied normally, or the machine is shut down and a reminder is issued, or the package is returned to the input end of the package supply table and a reminder is issued; when it is determined that the two are consistent, the package is supplied normally.

4. The packaging method according to claim 1, wherein: In S1, it is also determined whether there are overlapping parts and / or special-shaped parts based on the image captured by the 3D vision camera. If so, the weighing visual inspection conveying section is stopped and a reminder is issued, or the package is returned to the input end of the package supply table and a reminder is issued.

5. The packaging method according to claim 1, wherein: The friction coefficient of the wrapped surface is determined according to the following formula: a1=f1×w+f2×(1-w); Among them, a1 is the friction coefficient of the package surface, f1 is the friction grade coefficient of the package material, f2 is the friction grade coefficient of the package surface texture, and w is the weight.

6. The packaging method according to claim 1, wherein: The wrap adhesion coefficient is calculated according to the following formula: a2=S 底 / S; Where a2 is the wrapping adhesion coefficient, S 底 is the bottom area of ​​the package; S is the maximum area of ​​the six surfaces of the package.

7. The packaging method according to claim 1, wherein: The positive pressure coefficient is calculated according to the following formula: a3=M / Mr; Where a3 is the positive pressure coefficient, M is the measured package mass, and Mr is the set package mass.

8. The packaging method according to any one of claims 1 to 7, characterized in that: The acceleration of the accelerated output section from the initial speed to the predetermined package speed is calculated according to the following formula: a=a1×w1×a0+a2×w2×a0+a3×w3×a0; Where a is the acceleration of the acceleration output section from the initial velocity to the predetermined package velocity, a1, a2, and a3 are the package surface friction coefficient, package adhesion coefficient, and positive pressure coefficient, respectively, w1, w2, and w3 are the weights corresponding to each coefficient, and a0 is the set acceleration.

9. The package supply system is characterized by: include: a parameter acquisition unit, configured to, upon determining receipt of a falling edge signal from a trigger sensor at an input end of the weighing and visual inspection conveying section, acquire the mass of a package located thereon as measured by the weighing and visual inspection conveying section, acquire an image of the package captured by a 3D vision camera at the weighing and visual inspection conveying section, and determine dimensional parameters, material, and surface texture of the package; a coefficient determination unit, configured to calculate a parcel surface friction coefficient, a parcel adhesion coefficient, and a normal pressure coefficient based on the parcel mass, parcel size, parcel material, and surface texture; The acceleration calculation unit is used to determine the acceleration of the acceleration output section from the initial speed to the predetermined wrapping speed according to the wrapping surface friction coefficient, the wrapping adhesion coefficient and the positive pressure coefficient.

10. A sorting device comprising a processor and a memory, wherein the memory stores a program executable by the processor, wherein: When the program is executed, the packaging method according to any one of claims 1 to 8 is implemented.

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