Workpiece stacking method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a workpiece stacking method and device, computer equipment, a readable storage medium and a program product. The method comprises the steps that according to a plurality of width value ranges corresponding to all workpieces to be stacked, a stacking area of a roller is divided, a plurality of workpiece stacking areas with the number the same as that of the width value ranges are obtained, the sequence of width values from large to small serves as the stacking sequence, and target workpieces stacked at the current time are stacked according to the stacking sequence. The method comprises the following steps: determining a target stacking area corresponding to a target workpiece on a roller, determining a stacking coordinate of the target workpiece in the target stacking area under the condition that the target stacking area meets a stacking condition, converting the stacking coordinate into a truss stacking coordinate, and stacking the target workpiece according to all the truss stacking coordinates. And the workpieces to be stacked are sequentially stacked to the rollers according to the stacking sequence, and the stacking information of the corresponding workpiece stacking areas is updated. By adopting the method, the stacking area on the roller can be fully utilized, so that the chamfering efficiency of the workpiece is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent manufacturing technology, and in particular to a workpiece stacking method, device, computer equipment, readable storage medium and program product. Background Art

[0002] In the field of intelligent manufacturing, workpiece chamfering is a key link in the production and manufacturing process, and its operating efficiency has a direct impact on the rhythm of the entire production and manufacturing process. First, the cutting machine accurately cuts the steel plate into workpieces of different specifications according to the preset size parameters. Then, these cut steel plates are accurately transported to the chamfering station. The truss robot accurately sorts the workpieces and places them on the rollers to prepare for the next chamfering operation. The electric cylinder device on the roller is responsible for lifting the workpiece to the appropriate processing position so that the chamfering device can accurately chamfer it.

[0003] However, in the actual production process, due to the diverse and constantly changing sizes of workpieces, the layout design of the electric cylinder and the stacking position of the workpieces have become key factors affecting the utilization rate of the roller. An unreasonable electric cylinder layout may cause uneven distribution of the workpieces on the roller, thereby affecting the operating efficiency and processing accuracy of the chamfering device. At the same time, improper stacking position of the workpiece will also increase the adjustment time and operation complexity during the chamfering process, further reducing the overall operating efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a workpiece stacking method, device, computer equipment, readable storage medium and program product that can improve the efficiency of workpiece chamfering in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a workpiece stacking method, comprising:

[0006] According to the multiple width value ranges corresponding to all the workpieces to be stacked, the stackable area of ​​the roller is divided to obtain multiple workpiece stacking areas with the same number as the width value ranges; the workpieces to be stacked corresponding to each width value range are stacked in the same workpiece stacking area;

[0007] The stacking order is from large to small in width value, and for the target workpiece currently being stacked, the target stacking area corresponding to the target workpiece on the roller is determined;

[0008] When it is determined that the target stacking area meets the stacking conditions, the stacking coordinates of the target workpiece in the target stacking area are determined, and the stacking coordinates are converted into truss stacking coordinates;

[0009] According to all the truss stacking coordinates, the workpieces to be stacked are stacked on the rollers in sequence, and the stacking information of the corresponding workpiece stacking area is updated.

[0010] In one embodiment, the step of dividing the stackable area of ​​the roller according to the multiple width value ranges corresponding to all the workpieces to be stacked to obtain multiple workpiece stacking areas with the same number as the width value ranges includes:

[0011] Get the electric cylinder layout on the roller;

[0012] According to multiple width value ranges corresponding to all the workpieces to be stacked and the electric cylinder distribution positions in the electric cylinder layout, the stackable area of ​​the roller is divided into multiple rectangular areas; each rectangular area serves as a workpiece stacking area, and there is overlap between different rectangular areas.

[0013] In one embodiment, the process of determining whether the target stacking area meets the stacking condition includes:

[0014] Determine the remaining stacking area of ​​the target stacking area according to the stacking information of all workpiece stacking areas;

[0015] Obtain a workpiece diagram of the target workpiece and determine a stacking requirement area corresponding to the workpiece diagram;

[0016] In the process of moving the workpiece diagram in the remaining stacking area in the order from left to right and from top to bottom, when the stacking requirement area does not exceed the remaining stacking area, it is determined that the target stacking area meets the stacking condition.

[0017] In one embodiment, the step of determining the stacking coordinates of the target workpiece in the target stacking area includes:

[0018] Obtain the workpiece center point coordinates of the target workpiece;

[0019] The coordinates corresponding to the coordinates of the center point of the workpiece in the remaining stacking area are used as the stacking coordinates of the target workpiece in the target stacking area.

[0020] In one embodiment, the first coordinate system where the stacking coordinates are located takes the lower left corner of the roller as the origin of the coordinate system; the step of converting the stacking coordinates into truss stacking coordinates includes:

[0021] Obtain the center point coordinates of the truss grabbing the workpiece; the second coordinate system where the center point coordinates are located takes the upper left corner of the workpiece image as the origin of the coordinate system;

[0022] When the workpiece image is rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the rotation angle and the stacking coordinates;

[0023] When the workpiece image is not rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the stacking coordinates.

[0024] In one embodiment, the step of stacking the workpieces to be stacked on the roller in sequence according to all the truss stacking coordinates includes:

[0025] The control truss stacks the workpieces to be stacked onto the roller according to the truss stacking coordinates; wherein all the workpieces to be stacked are laid flat on the roller.

[0026] In a second aspect, the present application also provides a workpiece stacking device, comprising:

[0027] The area division module is used to divide the stackable area of ​​the roller according to the multiple width value ranges corresponding to all the workpieces to be stacked, so as to obtain multiple workpiece stacking areas with the same number as the width value ranges; the workpieces to be stacked corresponding to each width value range are stacked in the same workpiece stacking area;

[0028] An area determination module is used to determine the target stacking area corresponding to the target workpiece on the roller for the current stacking, with the width value in descending order as the stacking order;

[0029] A coordinate determination module, for determining the stacking coordinates of the target workpiece in the target stacking area when it is determined that the target stacking area meets the stacking conditions, and converting the stacking coordinates into truss stacking coordinates;

[0030] The workpiece stacking module is used to stack the workpieces to be stacked on the rollers in sequence according to all the truss stacking coordinates and to update the stacking information of the corresponding workpiece stacking area.

[0031] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method steps of any one of the first aspects are implemented.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements any one of the method steps in the first aspect when the computer program is executed by a processor.

[0033] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which implements any one of the method steps in the first aspect when executed by a processor.

[0034] The above-mentioned workpiece stacking method, device, computer equipment, readable storage medium and program product can better utilize the stacking space of the roller by dividing the stacking area according to width and stacking in order of width from large to small. By determining the stacking coordinates and converting them into truss stacking coordinates, accurate placement of the workpieces can be achieved. Since the stacking information of the corresponding workpiece stacking area is updated after the workpiece stacking is completed, the space utilization can be better monitored and optimized, ensuring that each area of ​​the roller can be fully and effectively utilized, avoiding space waste, and enabling subsequent processes to accurately find the position of the required workpiece, thereby improving the efficiency of workpiece chamfering. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A diagram of an application environment of a workpiece stacking method in one embodiment;

[0037] Figure 2 A schematic diagram of a flow chart of a workpiece stacking method in one embodiment;

[0038] Figure 3 A schematic diagram of the layout of electric cylinders on a roller in one embodiment;

[0039] FIG4( a ) is a schematic diagram of a target workpiece in one embodiment;

[0040] FIG4( b ) is a schematic diagram of a target workpiece in one embodiment;

[0041] Figure 5 A stacking layout diagram of workpieces in one embodiment;

[0042] Figure 6 A schematic diagram of a flow chart of a workpiece stacking method in another embodiment;

[0043] Figure 7 is a structural block diagram of a workpiece stacking device in one embodiment;

[0044] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] The workpiece stacking method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 is used to obtain the size information of the workpiece to be stacked through the server 104, and divide the stackable area of ​​the roller according to the multiple width value ranges corresponding to all the workpieces to be stacked, and obtain a plurality of workpiece stacking areas with the same number as the width value range, and use the width value from large to small as the stacking order. For the target workpiece currently stacked, determine the target stacking area corresponding to the target workpiece on the roller, and when it is determined that the target stacking area meets the stacking conditions, determine the stacking coordinates of the target workpiece in the target stacking area, and convert the stacking coordinates into truss stacking coordinates. According to all the truss stacking coordinates, stack the workpieces to be stacked on the roller in the stacking order, and update the stacking information of the corresponding workpiece stacking area. The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. Head-mounted devices may be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. The server 104 may be an independent physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides cloud computing services.

[0047] In an exemplary embodiment, Figure 2 As shown, a workpiece stacking method is provided, which is applied to Figure 1 The terminal 102 in the example is used as an example to illustrate, including the following steps 202 to 208. Among them:

[0048] S202: Divide the stackable area of ​​the roller according to the multiple width value ranges corresponding to all the workpieces to be stacked, and obtain multiple workpiece stacking areas with the same number as the width value ranges; the workpieces to be stacked corresponding to each width value range are stacked in the same workpiece stacking area.

[0049] Optionally, all workpieces to be stacked are divided into multiple categories according to the range of their width values. Each category of workpieces to be stacked corresponds to a width value range. The stackable area of ​​the roller is divided into three corresponding parts according to the width value range. Each part is a workpiece stacking area, so that workpieces of the same width range can be placed in the same area later, which is convenient for management and operation.

[0050] S204: Taking the width values ​​from large to small as the stacking order, for the target workpiece currently being stacked, determining the target stacking area corresponding to the target workpiece on the roller.

[0051] Optionally, the workpieces to be stacked are sorted in order of width value from large to small, and the workpieces with larger width are stacked first, so as to better utilize the space in the workpiece stacking area. Afterwards, all the workpieces to be stacked are traversed, and for the target workpiece currently stacked, the workpiece stacking area corresponding to the width value range of the target workpiece is used as the target stacking area corresponding to the target workpiece on the roller.

[0052] S206: When it is determined that the target stacking area meets the stacking condition, the stacking coordinates of the target workpiece in the target stacking area are determined, and the stacking coordinates are converted into truss stacking coordinates.

[0053] Optionally, after determining the target stacking area corresponding to the target workpiece, first check whether this area meets the stacking conditions. Here, the stacking conditions refer to whether the target stacking area has enough space to place the target workpiece. Only when there is enough remaining space in the target stacking area can the target workpiece be stacked. After that, it is necessary to determine the specific stacking coordinates of the target workpiece in this area. The stacking coordinates are used to accurately locate the position of the workpiece in the target stacking area. Since the target stacking area is a planar rectangular area, a rectangular coordinate system is usually established with a corner of the area as the origin. Then the stacking coordinates are the position coordinates (x, y) of the target workpiece in this coordinate system, where x and y represent the position of the workpiece relative to the origin in the horizontal and vertical directions, respectively. Since the truss is based on the position of the center point of the truss when transporting and placing the workpiece, and the center point coordinates are located in the coordinate system where the workpiece diagram is located, in order to ensure that the truss can accurately place the workpiece to the stacking coordinates, when stacking, it is necessary to convert the center point coordinates into the actual coordinates of the truss in the coordinate system where the stacking coordinates are located, that is, the truss stacking coordinates.

[0054] S208: According to all the truss stacking coordinates, the workpieces to be stacked are stacked on the rollers in sequence according to the stacking order, and the stacking information of the corresponding workpiece stacking area is updated.

[0055] Optionally, according to the previously determined stacking order, the truss grabs the workpieces one by one according to the truss stacking coordinates corresponding to each workpiece, moves them accurately to the appropriate position, and then places the workpieces at the stacking coordinates on the roller. Whenever a workpiece is successfully placed in the target stacking area on the roller, the stacking information of the area needs to be updated. The stacking information includes but is not limited to the number of placed workpieces, the distribution of placed workpieces, etc. For example, if a workpiece is placed in a certain stacking area, the number of workpieces placed in the area will increase by 1, and the remaining space size needs to be recalculated the next time a workpiece needs to be stacked in the area.

[0056] In the above workpiece stacking method, by dividing the stacking area according to the width and stacking in order of width from large to small, the stacking space of the roller can be better utilized, and by determining the stacking coordinates and converting them into truss stacking coordinates, accurate placement of the workpiece can be achieved. Since the stacking information of the corresponding workpiece stacking area is updated after the workpiece stacking is completed, the space utilization can be better monitored and optimized, ensuring that each area of ​​the roller can be fully and effectively utilized, avoiding space waste, and enabling subsequent processes to accurately find the position of the required workpiece, thereby improving the efficiency of workpiece chamfering.

[0057] In an exemplary embodiment, the stackable area of ​​the roller is divided according to multiple width value ranges corresponding to all workpieces to be stacked, and the step of obtaining multiple workpiece stacking areas with the same number as the width value ranges includes: obtaining the electric cylinder layout on the roller; dividing the stackable area of ​​the roller into multiple rectangular areas according to the multiple width value ranges corresponding to all workpieces to be stacked and the electric cylinder distribution positions in the electric cylinder layout; each rectangular area serves as a workpiece stacking area, and there is overlap between different rectangular areas.

[0058] Optionally, when starting to divide the stackable area of ​​the roller, it is first necessary to obtain the layout of the electric cylinder on the roller. The electric cylinder is installed on the roller and is used to lift the workpiece so that the workpiece can be in a suitable position for chamfering. By obtaining the layout of the electric cylinder, including the number and position of the electric cylinder and other information, a basis is provided for the subsequent reasonable division of the stacking area. The stackable area of ​​the roller is divided based on the width value range of all the workpieces to be stacked that have been obtained and the distribution position of the electric cylinder in the electric cylinder layout. Considering the distribution position of the electric cylinder, the roller is divided into multiple rectangular areas according to the width value range corresponding to the workpiece to be stacked. For example, if the electric cylinders are evenly distributed on both sides of the roller, then when dividing the rectangular area for placing large-width workpieces, the wider space outside the electric cylinder may be used to ensure that the width of the area can accommodate the large-width workpiece, and the division in the length direction will also consider the position of the electric cylinder to avoid interference between the workpiece and the electric cylinder. The area division for medium-width and small-width workpieces is similar, except that the size of the area will be adjusted according to the corresponding width value range and the position of the electric cylinder. It should be noted that there are overlapping parts between the different divided rectangular areas. Since the number of workpieces of various sizes that need to be stacked in each batch is not necessarily the same, the overlapping setting can adapt to the workpiece stacking needs in various situations, thereby improving the utilization rate of the roller stacking area.

[0059] For example, Figure 3 As shown, Figure 3 The diagram shows the layout of the electric cylinders on the roller, where the black dots represent the electric cylinders and the rectangular areas enclosed by different lines correspond to workpiece stacking areas with different width ranges. When dividing the workpiece stacking areas, all electric cylinders should be covered as much as possible so that the electric cylinders can lift the workpieces and place them in a suitable position for chamfering.

[0060] In this embodiment, by considering the layout of the electric cylinder for area division, the space can be better utilized in combination with the actual structure of the roller and the equipment layout. By dividing the area according to different width value ranges, it can better adapt to the stacking of workpieces of various widths and improve the utilization rate of the stackable area on the roller.

[0061] In an exemplary embodiment, the process of determining whether a target stacking area satisfies a stacking condition includes: determining a remaining stacking area of ​​the target stacking area based on stacking information of all workpiece stacking areas; obtaining a workpiece image of the target workpiece, and determining a stacking requirement area corresponding to the workpiece image; and determining that the target stacking area satisfies the stacking condition when the workpiece image is moved in the remaining stacking area in a sequence from left to right and from top to bottom and when the stacking requirement area does not exceed the remaining stacking area.

[0062] Optionally, first, after each stacking is completed, the stacking information of all workpiece stacking areas will be recorded, including how many workpieces have been placed in each area, the size of the workpiece, the space occupied, etc. Through this information, the remaining stacking area of ​​the target stacking area can be calculated. Afterwards, by analyzing the workpiece diagram of the target workpiece, the stacking requirement area required for stacking the workpiece can be determined. Among them, the workpiece diagram can intuitively display the shape and size of the target workpiece. The workpiece diagram is virtually moved in the remaining stacking area from left to right and from top to bottom. During the movement, it is determined whether the stacking requirement area of ​​the workpiece will exceed the remaining stacking area. If the remaining stacking area is sufficient to stack the target workpiece, it is determined that the target stacking area meets the stacking conditions.

[0063] For example, as shown in FIG4 (a), FIG4 (a) is a workpiece diagram of a target workpiece, wherein the target workpiece is an irregular polygon, and the minimum rectangle that can completely cover the target workpiece is used as the stacking requirement area corresponding to the workpiece diagram, and the workpiece diagram is moved in the remaining stacking area in the order from left to right and from top to bottom to determine whether the remaining stacking space in the stacking area is sufficient to stack the target workpiece. Furthermore, during the movement process, according to the production design, the target workpiece is allowed to rotate 90° counterclockwise, as shown in FIG4 (b), if the remaining stacking space in the stacking area is sufficient to stack the rotated target workpiece, it is determined that the target stacking area meets the stacking conditions.

[0064] In this embodiment, the remaining stacking area of ​​the target stacking area is determined based on the stacking information of all workpiece stacking areas, the workpiece map of the target workpiece is obtained, and the stacking requirement area corresponding to the workpiece map is determined. In the process of moving the workpiece map in the remaining stacking area from left to right and from top to bottom, and when the stacking requirement area does not exceed the remaining stacking area, it is determined that the target stacking area meets the stacking conditions, so that it can more accurately judge whether the target stacking area can place the target workpiece, thereby improving the utilization rate of the stackable area on the roller.

[0065] In an exemplary embodiment, the step of determining the stacking coordinates of the target workpiece in the target stacking area includes: obtaining the coordinates of the center point of the target workpiece; and using the coordinates corresponding to the coordinates of the center point of the workpiece in the remaining stacking area as the stacking coordinates of the target workpiece in the target stacking area.

[0066] Optionally, for the target workpiece, it is necessary to first determine the coordinates of its center point, which are determined based on the geometric shape of the workpiece itself. After the coordinates of the center point of the target workpiece are obtained, the coordinates corresponding to these coordinates in the remaining stacking area are used as the stacking coordinates of the target workpiece in the target stacking area. The remaining stacking area here is the area that has been determined to be able to place the target workpiece. For example, as shown in Figure 4 (a), point A in Figure 4 (a) is the stacking coordinate of the target workpiece in the target stacking area.

[0067] In this embodiment, by obtaining the coordinates of the center point of the target workpiece and using the coordinates corresponding to the center point of the workpiece in the remaining stacking area as the stacking coordinates of the target workpiece in the target stacking area, it is possible to accurately position the target workpiece in the target stacking area, thereby stacking the workpieces more accurately.

[0068] In an exemplary embodiment, the first coordinate system where the stacking coordinates are located takes the lower left corner of the roller as the origin of the coordinate system; the stacking coordinates are converted into truss stacking coordinates, including: obtaining the center point coordinates of the truss grasping the workpiece; the second coordinate system where the center point coordinates are located takes the upper left corner of the workpiece drawing as the origin of the coordinate system; when the workpiece drawing is rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the rotation angle and the stacking coordinates; when the workpiece drawing is not rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the stacking coordinates.

[0069] Optionally, the coordinate system of the stacking coordinates is a first coordinate system with the lower left corner of the roller as the origin of the coordinate system, and the coordinate system of the center point coordinates of the truss grabbing the workpiece is a second coordinate system with the upper left corner of the workpiece diagram as the origin of the coordinate system. When the workpiece diagram is rotated, it is necessary to consider the rotation angle and the stacking coordinates to determine the corresponding position of the center point coordinates of the truss grabbing the workpiece in the first coordinate system. The rotation will change the direction and position relationship of the workpiece. The center point coordinates in the second coordinate system can be converted to the first coordinate system according to the rotation angle, the workpiece size and the stacking coordinates. If the workpiece diagram is not rotated, the position of the center point coordinates in the second coordinate system in the first coordinate system can be determined directly based on the stacking coordinates and the size information of the workpiece.

[0070] For example, as shown in FIG4 (a), point B in FIG4 (a) is the truss stacking coordinate corresponding to the center point coordinate of the truss grasping the workpiece in the first coordinate system, wherein the center point coordinate of the truss grasping the workpiece can be understood as the center coordinate of the grasping area in contact with the workpiece when the truss grasps the workpiece. Assuming that the length and width of the workpiece are l and w respectively, the stacking coordinate is (x0, y0), and the center point coordinate of the truss grasping the workpiece is (x1, y1), wherein the point (x0, y0) takes the lower left corner of the roller as the origin of the coordinate system, and the point (x1, y1) takes the upper left corner of the workpiece image as the origin of the coordinate system.

[0071] Taking the coordinate system of point (x0, y0) as the reference, the coordinates (x2, y2) of point (x1, y1) in the new coordinate system are:

[0072]

[0073] Assume that the workpiece rotates counterclockwise at an angle of , then the point (x2,y2) rotates The coordinates (x3, y3) after the angle are:

[0074]

[0075] when When , the point (x3, y3) degenerates to the point (x2, y2). When , the point (x3,y3) is:

[0076]

[0077] In this embodiment, by obtaining the center point coordinates of the truss grasping the workpiece, when the workpiece image is rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined based on the rotation angle and the stacking coordinates; when the workpiece image is not rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined based on the stacking coordinates, which can ensure that the truss can be accurately positioned at the target position when grasping and placing the workpiece.

[0078] In an exemplary embodiment, according to all truss stacking coordinates, the workpieces to be stacked are stacked on the roller in sequence according to the stacking order, including: controlling the truss to stack the workpieces to be stacked on the roller according to the truss stacking coordinates; wherein all the workpieces to be stacked are laid flat on the roller.

[0079] Optionally, the truss is controlled to grab the workpieces to be stacked according to the truss stacking coordinates corresponding to all the workpieces to be stacked. When a specific workpiece needs to be grabbed, the control system will adjust the position and posture of the truss according to the truss stacking coordinates corresponding to the workpiece, so that the truss can accurately reach the top of the workpiece and perform the grabbing operation. Afterwards, the truss is controlled to stack the workpiece on the roller using the stacking coordinates corresponding to the workpiece to be stacked. The stacking coordinates are determined with the lower left corner of the roller as the origin of the coordinate system, which clarifies the specific position of the workpiece on the roller. All the workpieces to be stacked are operated in sequence according to this process, and finally all the workpieces are laid flat on the roller, so that the placement of the workpieces on the roller is orderly and closely arranged without overlap or confusion.

[0080] For example, Figure 5 As shown, Figure 5 This is the layout diagram of the workpieces on the roller. Figure 5In the figure, the horizontal axis w represents the width of the workpiece, and the vertical axis l represents the length of the workpiece. The workpieces are stacked in the corresponding target area in descending order of width until all the workpieces are stacked.

[0081] In this embodiment, by controlling the truss to stack the workpieces to be stacked on the roller according to the truss stacking coordinates, it is possible to better monitor and optimize space utilization, ensure that each area of ​​the roller can be fully and effectively utilized, avoid space waste, and enable subsequent processes to accurately find the position of the required workpiece, thereby improving the efficiency of workpiece chamfering.

[0082] In an exemplary embodiment, Figure 6 As shown, a workpiece stacking method is provided, the method comprising the following steps:

[0083] The electric cylinder layout on the roller is obtained; the stackable area of ​​the roller is divided into multiple rectangular areas according to multiple width value ranges corresponding to all the workpieces to be stacked and the electric cylinder distribution positions in the electric cylinder layout; each rectangular area is used as a workpiece stacking area, and there is overlap between different rectangular areas; the workpieces to be stacked corresponding to each width value range are stacked in the same workpiece stacking area.

[0084] The width values ​​are stacked in descending order, and for the target workpiece currently being stacked, a target stacking area corresponding to the target workpiece on the roller is determined.

[0085] According to the stacking information of all workpiece stacking areas, the remaining stacking area of ​​the target stacking area is determined; the workpiece diagram of the target workpiece is obtained, and the stacking requirement area corresponding to the workpiece diagram is determined; in the process of moving the workpiece diagram in the remaining stacking area from left to right and from top to bottom, and when the stacking requirement area does not exceed the remaining stacking area, it is determined that the target stacking area meets the stacking conditions.

[0086] When it is determined that the target stacking area meets the stacking conditions, the workpiece center point coordinates of the target workpiece are obtained; and the coordinates corresponding to the workpiece center point coordinates in the remaining stacking areas are used as the stacking coordinates of the target workpiece in the target stacking area.

[0087] Get the center point coordinates of the truss grasping the workpiece; the second coordinate system where the center point coordinates are located takes the upper left corner of the workpiece drawing as the coordinate system origin; when the workpiece drawing is rotated, determine the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system according to the rotation angle and the stacking coordinates; when the workpiece drawing is not rotated, determine the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system according to the stacking coordinates.

[0088] The control truss stacks the workpieces to be stacked on the roller according to the truss stacking coordinates, and updates the stacking information of the corresponding workpiece stacking area; wherein all the workpieces to be stacked are laid flat on the roller.

[0089] In this embodiment, by dividing the stacking areas according to width and stacking in order of width from large to small, the stacking space of the roller can be better utilized, and by determining the stacking coordinates and converting them into truss stacking coordinates, accurate placement of the workpieces can be achieved. Since the stacking information of the corresponding workpiece stacking area is updated after the workpiece stacking is completed, the space utilization can be better monitored and optimized, ensuring that each area of ​​the roller can be fully and effectively utilized, avoiding space waste, and allowing subsequent processes to accurately find the position of the required workpiece, thereby improving the efficiency of workpiece chamfering.

[0090] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0091] Based on the same inventive concept, the embodiment of the present application also provides a workpiece stacking device for implementing the workpiece stacking method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more workpiece stacking device embodiments provided below can refer to the limitations on the workpiece stacking method above, and will not be repeated here.

[0092] In an exemplary embodiment, Figure 7 As shown, a workpiece stacking device is provided, comprising: an area division module 10, an area determination module 20, a coordinate determination module 30 and a workpiece stacking module 40, wherein:

[0093] The area division module 10 is used to divide the stackable area of ​​the roller according to multiple width value ranges corresponding to all the workpieces to be stacked, and obtain multiple workpiece stacking areas with the same number as the width value ranges; the workpieces to be stacked corresponding to each width value range are stacked in the same workpiece stacking area.

[0094] The area determination module 20 is used to determine the target stacking area corresponding to the target workpiece on the roller for the current stacking, based on the order of width values ​​from large to small as the stacking order.

[0095] The coordinate determination module 30 is used to determine the stacking coordinates of the target workpiece in the target stacking area when it is determined that the target stacking area meets the stacking conditions, and convert the stacking coordinates into truss stacking coordinates.

[0096] The workpiece stacking module 40 is used to stack the workpieces to be stacked on the rollers in sequence according to all the truss stacking coordinates and in a stacking order, and to update the stacking information of the corresponding workpiece stacking area.

[0097] In an exemplary embodiment, the area division module 10 is also used to obtain the electric cylinder layout on the roller; according to multiple width value ranges corresponding to all workpieces to be stacked and the electric cylinder distribution positions in the electric cylinder layout, the stackable area of ​​the roller is divided into multiple rectangular areas; each rectangular area serves as a workpiece stacking area, and there is overlap between different rectangular areas.

[0098] In an exemplary embodiment, the coordinate determination module 30 is also used to determine the remaining stacking area of ​​the target stacking area based on the stacking information of all workpiece stacking areas; obtain the workpiece image of the target workpiece, and determine the stacking requirement area corresponding to the workpiece image; in the process of moving the workpiece image in the remaining stacking area from left to right and from top to bottom, and when the stacking requirement area does not exceed the remaining stacking area, determine that the target stacking area meets the stacking conditions.

[0099] In an exemplary embodiment, the coordinate determination module 30 is further used to obtain the coordinates of the center point of the target workpiece; and use the coordinates of the center point of the workpiece in the remaining stacking area as the stacking coordinates of the target workpiece in the target stacking area.

[0100] In an exemplary embodiment, the first coordinate system where the stacking coordinates are located takes the lower left corner of the roller as the origin of the coordinate system; the coordinate determination module 30 is also used to obtain the center point coordinates of the truss grasping the workpiece; the second coordinate system where the center point coordinates are located takes the upper left corner of the workpiece diagram as the origin of the coordinate system; when the workpiece diagram is rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined based on the rotation angle and the stacking coordinates; when the workpiece diagram is not rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined based on the stacking coordinates.

[0101] In an exemplary embodiment, the workpiece stacking module 40 is further used to control the truss to stack the workpieces to be stacked onto the roller according to the truss stacking coordinates; wherein all the workpieces to be stacked are laid flat on the roller.

[0102] Each module in the above-mentioned workpiece stacking device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0103] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for stacking workpieces is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0104] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0105] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: dividing the stackable area of ​​the roller according to multiple width value ranges corresponding to all the workpieces to be stacked to obtain multiple workpiece stacking areas with the same number as the width value ranges; stacking the workpieces to be stacked corresponding to each width value range into the same workpiece stacking area; taking the width value sequence from large to small as the stacking sequence, determining the target stacking area on the roller corresponding to the target workpiece currently stacked; determining the stacking coordinates of the target workpiece in the target stacking area when it is determined that the target stacking area satisfies the stacking conditions, and converting the stacking coordinates into truss stacking coordinates; stacking the workpieces to be stacked onto the roller in sequence according to all the truss stacking coordinates, and updating the stacking information of the corresponding workpiece stacking area.

[0106] In one embodiment, when a processor executes a computer program, the stackable area of ​​the roller is divided according to multiple width value ranges corresponding to all workpieces to be stacked, so as to obtain multiple workpiece stacking areas with the same number as the width value ranges, including: obtaining the electric cylinder layout on the roller; dividing the stackable area of ​​the roller into multiple rectangular areas according to the multiple width value ranges corresponding to all workpieces to be stacked and the distribution positions of the electric cylinders in the electric cylinder layout; each rectangular area serves as a workpiece stacking area, and there is overlap between different rectangular areas.

[0107] In one embodiment, the process of determining that a target stacking area satisfies a stacking condition when a processor executes a computer program includes: determining a remaining stacking area of ​​the target stacking area based on stacking information of all workpiece stacking areas; obtaining a workpiece image of the target workpiece, and determining a stacking requirement area corresponding to the workpiece image; and determining that the target stacking area satisfies the stacking condition when the workpiece image is moved in the remaining stacking area in a sequence from left to right and from top to bottom and when the stacking requirement area does not exceed the remaining stacking area.

[0108] In one embodiment, the steps involved in determining the stacking coordinates of the target workpiece in the target stacking area when the processor executes the computer program include: obtaining the coordinates of the center point of the target workpiece; and using the coordinates corresponding to the coordinates of the center point of the workpiece in the remaining stacking area as the stacking coordinates of the target workpiece in the target stacking area.

[0109] In one embodiment, the first coordinate system where the stacking coordinates are located takes the lower left corner of the roller as the origin of the coordinate system; the conversion of the stacking coordinates into truss stacking coordinates involved in the processor executing the computer program includes: obtaining the center point coordinates of the truss grabbing the workpiece; the second coordinate system where the center point coordinates are located takes the upper left corner of the workpiece diagram as the origin of the coordinate system; when the workpiece diagram is rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the rotation angle and the stacking coordinates; when the workpiece diagram is not rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the stacking coordinates.

[0110] In one embodiment, when the processor executes the computer program, it involves stacking the workpieces to be stacked on the roller in sequence according to all the truss stacking coordinates, including: controlling the truss to stack the workpieces to be stacked on the roller according to the truss stacking coordinates; wherein all the workpieces to be stacked are laid flat on the roller.

[0111] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: according to multiple width value ranges corresponding to all workpieces to be stacked, the stackable area of ​​the roller is divided to obtain multiple workpiece stacking areas with the same number as the width value ranges; the workpieces to be stacked corresponding to each width value range are stacked in the same workpiece stacking area; the order of width values ​​from large to small is used as the stacking order, and for the target workpiece currently stacked, the target stacking area corresponding to the target workpiece on the roller is determined; when it is determined that the target stacking area meets the stacking conditions, the stacking coordinates of the target workpiece in the target stacking area are determined, and the stacking coordinates are converted into truss stacking coordinates; according to all truss stacking coordinates, the workpieces to be stacked are stacked on the roller in sequence according to the stacking order, and the stacking information of the corresponding workpiece stacking area is updated.

[0112] In one embodiment, when a computer program is executed by a processor, it involves dividing the stackable area of ​​the roller according to multiple width value ranges corresponding to all workpieces to be stacked, and obtaining multiple workpiece stacking areas with the same number as the width value ranges, including: obtaining the electric cylinder layout on the roller; dividing the stackable area of ​​the roller into multiple rectangular areas according to the multiple width value ranges corresponding to all workpieces to be stacked and the distribution positions of the electric cylinders in the electric cylinder layout; each rectangular area serves as a workpiece stacking area, and there is overlap between different rectangular areas.

[0113] In one embodiment, the process of determining that a target stacking area satisfies a stacking condition when a computer program is executed by a processor includes: determining a remaining stacking area of ​​the target stacking area based on stacking information of all workpiece stacking areas; obtaining a workpiece image of the target workpiece, and determining a stacking requirement area corresponding to the workpiece image; and determining that the target stacking area satisfies the stacking condition when the workpiece image is moved in the remaining stacking area in a sequence from left to right and from top to bottom and when the stacking requirement area does not exceed the remaining stacking area.

[0114] In one embodiment, when a computer program is executed by a processor, determining the stacking coordinates of a target workpiece in a target stacking area includes: obtaining the coordinates of a workpiece center point of the target workpiece; and using the coordinates corresponding to the coordinates of the workpiece center point in the remaining stacking area as the stacking coordinates of the target workpiece in the target stacking area.

[0115] In one embodiment, the first coordinate system where the stacking coordinates are located takes the lower left corner of the roller as the origin of the coordinate system; when the computer program is executed by the processor, the stacking coordinates are converted into truss stacking coordinates, including: obtaining the center point coordinates of the truss grabbing the workpiece; the second coordinate system where the center point coordinates are located takes the upper left corner of the workpiece drawing as the origin of the coordinate system; when the workpiece drawing is rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the rotation angle and the stacking coordinates; when the workpiece drawing is not rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the stacking coordinates.

[0116] In one embodiment, when the computer program is executed by the processor, it involves stacking the workpieces to be stacked on the roller in sequence according to all the truss stacking coordinates, including: controlling the truss to stack the workpieces to be stacked on the roller according to the truss stacking coordinates; wherein all the workpieces to be stacked are laid flat on the roller.

[0117] In one embodiment, a computer program product is provided, including a computer program, which implements the following steps when executed by a processor: dividing the stackable area of ​​the roller according to multiple width value ranges corresponding to all the workpieces to be stacked to obtain multiple workpiece stacking areas with the same number as the width value ranges; stacking the workpieces to be stacked corresponding to each width value range into the same workpiece stacking area; taking the width value sequence from large to small as the stacking order, determining the target stacking area on the roller corresponding to the target workpiece currently stacked; when it is determined that the target stacking area satisfies the stacking conditions, determining the stacking coordinates of the target workpiece in the target stacking area, and converting the stacking coordinates into truss stacking coordinates; according to all the truss stacking coordinates, stacking the workpieces to be stacked onto the roller in sequence according to the stacking order, and updating the stacking information of the corresponding workpiece stacking area.

[0118] In one embodiment, when a computer program is executed by a processor, it involves dividing the stackable area of ​​the roller according to multiple width value ranges corresponding to all workpieces to be stacked, and obtaining multiple workpiece stacking areas with the same number as the width value ranges, including: obtaining the electric cylinder layout on the roller; dividing the stackable area of ​​the roller into multiple rectangular areas according to the multiple width value ranges corresponding to all workpieces to be stacked and the distribution positions of the electric cylinders in the electric cylinder layout; each rectangular area serves as a workpiece stacking area, and there is overlap between different rectangular areas.

[0119] In one embodiment, the process of determining that a target stacking area satisfies a stacking condition when a computer program is executed by a processor includes: determining a remaining stacking area of ​​the target stacking area based on stacking information of all workpiece stacking areas; obtaining a workpiece image of the target workpiece, and determining a stacking requirement area corresponding to the workpiece image; and determining that the target stacking area satisfies the stacking condition when the workpiece image is moved in the remaining stacking area in a sequence from left to right and from top to bottom and when the stacking requirement area does not exceed the remaining stacking area.

[0120] In one embodiment, when a computer program is executed by a processor, determining the stacking coordinates of a target workpiece in a target stacking area includes: obtaining the coordinates of a workpiece center point of the target workpiece; and using the coordinates corresponding to the coordinates of the workpiece center point in the remaining stacking area as the stacking coordinates of the target workpiece in the target stacking area.

[0121] In one embodiment, the first coordinate system where the stacking coordinates are located takes the lower left corner of the roller as the origin of the coordinate system; when the computer program is executed by the processor, the stacking coordinates are converted into truss stacking coordinates, including: obtaining the center point coordinates of the truss grabbing the workpiece; the second coordinate system where the center point coordinates are located takes the upper left corner of the workpiece drawing as the origin of the coordinate system; when the workpiece drawing is rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the rotation angle and the stacking coordinates; when the workpiece drawing is not rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the stacking coordinates.

[0122] In one embodiment, when the computer program is executed by the processor, it involves stacking the workpieces to be stacked on the roller in sequence according to all the truss stacking coordinates, including: controlling the truss to stack the workpieces to be stacked on the roller according to the truss stacking coordinates; wherein all the workpieces to be stacked are laid flat on the roller.

[0123] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0124] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0125] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A workpiece stacking method, characterized in that: The method comprises: According to the multiple width value ranges corresponding to all the workpieces to be stacked, the stackable area of ​​the roller is divided to obtain multiple workpiece stacking areas with the same number as the width value ranges; the workpieces to be stacked corresponding to each width value range are stacked in the same workpiece stacking area; Taking the width values ​​from large to small as the stacking order, for the target workpiece currently being stacked, determining the target stacking area corresponding to the target workpiece on the roller; In the case where it is determined that the target stacking area meets the stacking conditions, determining the stacking coordinates of the target workpiece in the target stacking area, and converting the stacking coordinates into truss stacking coordinates; According to all the truss stacking coordinates, the workpieces to be stacked are stacked on the rollers in sequence according to the stacking order, and the stacking information of the corresponding workpiece stacking area is updated.

2. The method according to claim 1, characterized in that The method of dividing the stackable area of ​​the roller according to the multiple width value ranges corresponding to all the workpieces to be stacked to obtain multiple workpiece stacking areas with the same number as the width value ranges includes: Get the electric cylinder layout on the roller; According to multiple width value ranges corresponding to all workpieces to be stacked and the electric cylinder distribution positions in the electric cylinder layout, the stackable area of ​​the roller is divided into multiple rectangular areas; each rectangular area serves as a workpiece stacking area, and there is overlap between different rectangular areas.

3. The method according to claim 1, characterized in that The process of determining that the target stacking area meets the stacking condition includes: Determine the remaining stacking area of ​​the target stacking area according to the stacking information of all workpiece stacking areas; Acquire a workpiece image of the target workpiece, and determine a stacking requirement area corresponding to the workpiece image; In the process of moving the workpiece image in the remaining stacking area in a sequence from left to right and from top to bottom, and when the stacking requirement area does not exceed the remaining stacking area, it is determined that the target stacking area meets the stacking condition.

4. The method according to claim 3, characterized in that: The determining the stacking coordinates of the target workpiece in the target stacking area includes: Obtaining the workpiece center point coordinates of the target workpiece; The coordinates corresponding to the coordinates of the center point of the workpiece in the remaining stacking area are used as the stacking coordinates of the target workpiece in the target stacking area.

5. The method according to claim 3, characterized in that: The first coordinate system where the stacking coordinates are located takes the lower left corner of the roller as the origin of the coordinate system; and converting the stacking coordinates into truss stacking coordinates includes: Obtain the center point coordinates of the truss grabbing the workpiece; the second coordinate system where the center point coordinates are located takes the upper left corner of the workpiece image as the origin of the coordinate system; When the workpiece image is rotated, determining the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system according to the rotation angle and the stacking coordinates; In the case where the workpiece image is not rotated, the truss stacking coordinates corresponding to the center point coordinates in the first coordinate system are determined according to the stacking coordinates.

6. The method according to claim 1, characterized in that The method of stacking the workpieces to be stacked on the roller in sequence according to all the truss stacking coordinates includes: The truss is controlled to stack the workpieces to be stacked on the roller according to the truss stacking coordinates; wherein all the workpieces to be stacked are laid flat on the roller.

7. A workpiece stacking device, characterized in that: The device comprises: An area division module is used to divide the stackable area of ​​the roller according to multiple width value ranges corresponding to all the workpieces to be stacked, so as to obtain multiple workpiece stacking areas with the same number as the width value ranges; the workpieces to be stacked corresponding to each width value range are stacked in the same workpiece stacking area; An area determination module is used to determine a target stacking area corresponding to the target workpiece on the roller for the current stacking, based on the width values ​​in descending order as the stacking order; A coordinate determination module, for determining the stacking coordinates of the target workpiece in the target stacking area when it is determined that the target stacking area meets the stacking conditions, and converting the stacking coordinates into truss stacking coordinates; The workpiece stacking module is used to stack the workpieces to be stacked on the rollers in sequence according to all the truss stacking coordinates and in the stacking order, and to update the stacking information of the corresponding workpiece stacking area.

8. 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 method according to any one of claims 1 to 6 are implemented.

9. 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 method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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