Gluing track recipe generation method, gluing track control method, device, and storage medium

Abstract

The application discloses a gluing track formula generation method, a gluing track control method, equipment and a storage medium. The method comprises the following steps: acquiring a gluing type corresponding to at least one gluing point, and determining a to-be-configured parameter item template corresponding to each gluing type. The gluing type comprises any one of the following: single-point gluing, straight-line gluing and reciprocating multi-row gluing. According to the to-be-configured parameter item template, user input information is received to determine a corresponding configured parameter list. A modular code component corresponding to the gluing type is called, and trajectory control data of the corresponding gluing point is generated in combination with the configured parameter list. The trajectory control data of each gluing point is used to generate a gluing track formula. Thus, various types of gluing tasks can be uniformly described and processed, and the quick integration of different gluing process types in the same track formula is supported, and the adaptability to complex workpiece gluing requirements is improved.

Description

Technical Field

[0001] This application relates to the field of industrial intelligent control technology, and in particular to a method for generating adhesive trajectory formula, an adhesive trajectory control method, equipment, and storage medium. Background Technology

[0002] Industrial automated adhesive application technology is widely used in electronic component packaging, automotive interior sealing, and mechanical parts dispensing. Its core function is to accurately and reliably apply adhesive to the workpiece surface to ensure the sealing performance, structural strength, and aesthetics of the assembly. With the continuous improvement of automation, adhesive application systems based on PLC control and three-axis motion platforms have become mainstream. Their basic process typically includes trajectory pre-programming, parameter setting, and motion execution.

[0003] Existing adhesive application systems are mostly optimized for continuous contours or single paths, such as edge-sealing ring adhesive application or simple straight-line dispensing, which can well meet the needs of mass production of fixed workpiece shapes. However, in actual production, a workpiece surface may involve multiple different types of complex adhesives, and existing solutions often require writing or debugging PLC programs for each adhesive type, resulting in a large programming workload, long debugging cycle, and easy introduction of errors due to program modifications, making it difficult to support the production line's requirements for flexibility and rapid changeover.

[0004] Currently, the industry has not proposed a better technical solution to the above problems. Summary of the Invention

[0005] This application provides a method for generating adhesive trajectory formulas, a method for controlling adhesive trajectory, an apparatus, a system, and a storage medium, which at least solves the problem of programming and adaptation difficulties in complex adhesive path scenarios with multiple adhesive types in current traditional adhesive coating systems.

[0006] In a first aspect, embodiments of this application provide a method for generating an adhesive trajectory formula, comprising: obtaining an adhesive type corresponding to at least one adhesive point, and determining a template for a parameter item to be configured corresponding to each adhesive type; the adhesive type includes any one of the following: single-point adhesive application, linear adhesive application, and reciprocating multi-line adhesive application; receiving user input information according to the template for the parameter item to be configured to determine a corresponding list of configured parameters; calling a modular code component corresponding to the adhesive type, and combining it with the list of configured parameters to generate trajectory control data for the corresponding adhesive point; and generating an adhesive trajectory formula based on the trajectory control data for each adhesive point.

[0007] Secondly, embodiments of this application provide a method for controlling a gluing trajectory, comprising: upon receiving a work order formula download request for a target gluing equipment, parsing the work order gluing workpiece information in the work order formula download request; querying a workpiece formula mapping relationship based on the work order gluing workpiece information to feed back a matching work order gluing trajectory formula to the target gluing equipment; the workpiece formula mapping relationship is used to maintain the association between the gluing workpiece information and the gluing trajectory formula, wherein the gluing trajectory formula is generated by the gluing trajectory formula generation method described in any one of the above claims of this application.

[0008] Thirdly, embodiments of this application provide a glue application trajectory control system, including a host computer and a glue application equipment; the glue application equipment is used to perform the following operations: obtaining the glue application type corresponding to at least one glue application point, and determining the template of the parameter item to be configured corresponding to each glue application type; the glue application type includes any one of the following: single-point glue application, linear glue application, and reciprocating multi-line glue application; receiving user input information according to the template of the parameter item to be configured to determine the corresponding configured parameter list; calling the modular code component corresponding to the glue application type, and combining it with the configured parameter list to generate trajectory control data for the corresponding glue application point; generating a glue application trajectory formula based on the trajectory control data of each glue application point; the host computer is used to share the glue application trajectory formula in a group of glue application equipment.

[0009] Fourthly, embodiments of this application provide a storage medium storing one or more programs including execution instructions, which can be read and executed by electronic devices (including but not limited to computers, servers, or network devices) to perform any of the above-described methods for generating adhesive trajectory formulas or controlling adhesive trajectory.

[0010] Fifthly, an electronic device is provided, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the above-described adhesive trajectory formulation generation method or adhesive trajectory control method of this application.

[0011] Sixthly, embodiments of this application also provide a computer program product, the computer program product including a computer program stored on a storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute any of the above-described methods for generating adhesive trajectory formulas or controlling adhesive trajectory.

[0012] The beneficial effects of the embodiments of this application are as follows: By abstracting and modeling common coating types, and combining parameter template configuration mechanisms, modular code component calls, and integrated trajectory recipe generation, structured, parameterized, and automated processing of various coating tasks is achieved. This enables the unified description and processing of multiple types of coating tasks, and supports rapid integration of different coating process types within the same trajectory recipe, improving adaptability to the coating needs of complex workpieces. Parameter templates guide users through configuration operations, reducing the barrier and cost of manual programming and simplifying the system's workflow. Modular control components generate trajectory control data, improving the efficiency and stability of trajectory generation, and providing good code reusability and maintainability. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A flowchart illustrating an example of a method for generating an adhesive trajectory formula according to an embodiment of this application is shown; Figure 2A This diagram illustrates the effect of applying adhesive to a single point on a workpiece. Figure 2B This diagram illustrates the effect of applying adhesive in a straight line to a workpiece. Figure 2C This diagram illustrates the effect of applying adhesive to an example of a bow-shaped workpiece. Figure 2D This diagram illustrates the effect of applying adhesive in a Z-shape to a workpiece. Figure 3 A flowchart illustrating an example of constructing a configured parameter list for reciprocating multi-row adhesive application according to an embodiment of this application is shown. Figure 4 This document illustrates an example of constructing a configured parameter list based on user input information according to an embodiment of this application. Figure 5 A schematic diagram showing an example of the interface effect of a parameter configuration interface according to an embodiment of this application is provided. Figure 6 A schematic diagram illustrating the effect of an example of a workpiece adhesive application path with multiple types of trajectory combinations according to an embodiment of this application is shown. Figure 7 A flowchart illustrating an example of an adhesive application trajectory control method according to an embodiment of this application is shown; Figure 8A system structure block diagram of an example of an adhesive application trajectory control system according to an embodiment of this application is shown; Figure 9 A schematic diagram of an example system architecture of a glue application trajectory control system according to an embodiment of this application is shown; Figure 10 This diagram illustrates an example data display interface for adhesive application point information according to an embodiment of this application. Figure 11 This is a schematic diagram of the structure of an embodiment of the electronic device of this application. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0016] It should also be noted that, in this document, the terms "comprising" or "including" include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0017] The technical solutions in this application, including the collection, storage, use, processing, transmission, provision, and disclosure of users' personal information, comply with relevant laws and regulations and do not violate public order and good morals.

[0018] It should be noted that most of the industrial coating solutions in the current related technologies focus on continuous contour coating. However, in actual production, there are many scenarios that require single-point coating, straight-line coating, and complex trajectory combinations such as Z-shaped and bow-shaped trajectories. This makes it difficult for traditional coating technologies to meet such diverse and personalized coating needs, and there are obvious deficiencies in terms of trajectory accuracy control and flexible switching.

[0019] Furthermore, traditional methods for managing adhesive formulations often lack efficient and convenient storage and download functions, leading to inconvenient formulation management, an inability to quickly respond to diverse formulation needs during production, and significant limitations on formulation capacity. Simultaneously, traditional adhesive application programming lacks standardization; adding an adhesive application path for each new product requires extensive rewriting and modification of code, consuming substantial manpower and time costs, and is prone to programming errors, thus reducing production efficiency.

[0020] In view of this, Figure 1 A flowchart illustrating an example of a method for generating an adhesive trajectory formulation according to an embodiment of this application is shown.

[0021] Regarding the execution subject of the method in this application, it can be any controller or processor with computing or processing capabilities, such as a glue coating equipment. Addressing the problems of high programming complexity, low process switching efficiency, and susceptibility to errors in existing industrial glue coating systems when dealing with complex and varied glue coating tasks, a structured, parameterized, and modular technical solution is proposed. By abstracting the glue coating trajectory process into multiple glue coating types and combining user-end parameter input, template configuration, and automatic generation mechanisms, efficient and stable trajectory control data generation and formula output are achieved. This not only reduces the programming threshold and cost of glue coating trajectory formulas and improves the efficiency and reliability of glue coating trajectory design, but also enhances the system's adaptability to complex and diverse workpiece glue coating.

[0022] In some examples, the methods of this application embodiment may be integrated into an electronic device or terminal in a software, hardware or a combination of software and hardware, and the type of terminal or electronic device may be diverse, such as mobile phone, tablet computer, desktop computer or vehicle terminal, etc.

[0023] like Figure 1 As shown, in step S110, the adhesive type corresponding to at least one adhesive application point is obtained, and the template of the parameter item to be configured corresponding to each adhesive type is determined. The adhesive type includes any one of the following: single-point adhesive application, straight-line adhesive application, and reciprocating multi-line adhesive application.

[0024] Here, the system first identifies and models the adhesive application requirements of the target workpiece. The adhesive application task on the workpiece is decomposed into several adhesive application points, each corresponding to a specific adhesive application type, to meet the needs of performing diverse adhesive application operations on the same workpiece.

[0025] It should be understood that the single-point gluing, straight-line gluing, and reciprocating multi-row gluing types are only used as examples of gluing types, and the gluing types can be configured or adjusted according to the actual gluing business needs.

[0026] Specifically, single-point application is suitable for scenarios where adhesive is applied only at a fixed location, such as solder joint protection for electronic devices and sealing points for button-type components; linear application can be used for linear sealing or bonding at structural edges and joints, such as automotive interior trim strips and box edge banding; reciprocating multi-line application is used for large-area, continuous, and uniform adhesive application, such as thermal conductive adhesive layer coverage and panel reinforcement.

[0027] Regarding the implementation details of the acquisition operation, it can be achieved through manual annotation and classification based on a graphical interface or structured recognition based on CAD import. In the example of graphical interface interaction, the operator annotates the glue application points on the workpiece model in the graphical interface and manually selects the glue application type for each point. The system can then automatically load the corresponding parameter template based on the selection results, such as path length, point spacing, and glue application speed. In the example of CAD structure recognition, the system reads the workpiece's structural file (such as DXF, STEP, etc.) to automatically identify the glue application area and its corresponding type (e.g., through naming rules or layer identifiers), quickly completing type determination and template matching. Thus, based on inputs such as glue application process drawings, CAD data, or user graphical interface, the glue application points on the workpiece surface and their corresponding glue application types are identified.

[0028] In step S120, user input information is received based on the template of the parameter items to be configured in order to determine the corresponding list of configured parameters.

[0029] In some implementations, after completing the glue application type identification and template loading, the user can be guided to input specific parameter values ​​for each glue application point based on the parameter items defined in the template. This enables the transformation from the abstract definition of the glue application type to executable control data.

[0030] It should be noted that, due to the significant differences in the parameters required for different glue application types (e.g., single-point glue application does not require a path length parameter, while reciprocating glue application requires at least a specified number of rows), the system dynamically generates the parameter input interface through a template-driven mechanism, presenting only the fields required for the current type. Furthermore, to ensure the engineering rationality and control consistency of parameter input, the system also performs constraint verification on the input values, such as ensuring that the glue application speed does not exceed the range supported by the operating equipment. Subsequently, the system records the configured parameters for each glue application point, organized in a list structure, forming the input for subsequent module calls. This achieves standardized and structured definition of glue application task parameters, reduces the intensity of manual intervention in the glue application parameter configuration process, and improves configuration accuracy.

[0031] In step S130, the modular code component corresponding to the adhesive application type is called, and the trajectory control data of the corresponding adhesive application point is generated in combination with the configured parameter list.

[0032] Here, modular code components are pre-written control logic blocks that are mapped one-to-one with the glue application type. Each component is instantiated with code based on parameter values, and trajectory control instructions are dynamically synthesized using a "code template + parameter filling" method. For example, a single-point glue application component can generate a fixed-point instruction by combining the dwell time with the glue valve opening command. In some implementations, the glue application equipment can be a device controlled by a PLC controller, and the modular code components are correspondingly PLC program code. Therefore, generating trajectory control instructions through modular control components reduces the threshold and burden of manual coding, standardizes and reusables the generation process, and avoids the logical inconsistencies and safety hazards caused by manually writing or copying and pasting PLC code.

[0033] In step S140, an adhesive application trajectory formula is generated based on the trajectory control data of each adhesive application point.

[0034] In some implementations, after obtaining the trajectory control data corresponding to each glue application point, the system needs to integrate all the data according to the actual glue application sequence and form the final trajectory formula, which can record the complete glue application strategy of a workpiece.

[0035] For example, each trajectory recipe includes multiple application segments, each segment describing the control parameters and execution instructions for an application point or path. Specifically, the system can combine the segments into an ordered trajectory sequence according to the application order set by the user (e.g., manually specified or automatically combined paths), forming a structured recipe data file, which can meet the system's low-threshold and efficient configuration requirements for workpiece application recipes with multiple trajectory combinations.

[0036] In some examples of embodiments of this application, the configurable parameter template corresponding to single-point glue application includes the glue application point coordinates and single-point delay; and / or, the configurable parameter template corresponding to straight-line glue application includes the straight line start coordinates, the straight line end coordinates and the glue application speed; and / or, the configurable parameter template corresponding to reciprocating multi-line glue application includes the multi-line start coordinates, the multi-line end coordinates, the glue application speed and the number of glue application lines.

[0037] Figure 2A A schematic diagram illustrating the effect of applying adhesive to a single point on a workpiece is shown.

[0038] The explanation of single-point glue application is applicable to scenarios where glue is applied only at a fixed location. The process does not involve path interpolation; it only requires controlling the point location and single-point delay (or glue valve opening time). The single-point delay can effectively control the amount of glue or the glue area output at a single point to meet the needs of more refined single-point glue application.

[0039] Figure 2B A schematic diagram illustrating the effect of applying adhesive in a straight line to a workpiece is shown.

[0040] Instructions for linear adhesive application typically require the adhesive to be applied evenly along a straight path. Therefore, while defining the movement path between the start and end points, it is also necessary to maintain a stable speed while keeping the adhesive valve open. The start and end points can be automatically extracted via graphical clicks, coordinate import, or selection of path segments. The application speed can be directly specified by the user or automatically recommended by the system based on the characteristics of the currently selected adhesive (such as viscosity and flowability) and the nozzle model.

[0041] It should be noted that reciprocating multi-row coating is mainly used for large-area coating scenarios. Its path is no longer a simple line segment, but contains multiple continuous lines arranged in opposite directions and at equal intervals, forming a dense coating area. In addition, reciprocating multi-row coating can be further subdivided into various coating types, such as bow-shaped coating, Z-shaped coating, spiral filling coating, wave scanning coating, etc., which should not be limited here.

[0042] In the following description, we will only use bow-shaped and zig-shaped adhesive application as examples to elaborate on the specific implementation details of reciprocating multi-row adhesive application.

[0043] Figure 2C A schematic diagram showing the effect of applying adhesive to an example of a bow-shaped workpiece.

[0044] like Figure 2C This demonstrates the effect of applying adhesive in a bow-shaped pattern on the workpiece surface, creating a unidirectional, multi-row adhesive application trajectory and showcasing the structural features of unidirectional adhesive application and intermittent return strokes. For example, the adhesive application path begins with a straight line application in a preset direction (e.g., along the X-axis). After completing the first row, the adhesive head returns to the starting point in a retracting manner, and after offsetting by a fixed row distance, repeats the application of the next straight line. The adhesive application direction remains consistent for each row, meaning the adhesive is always applied from the same direction. The return path either does not apply adhesive or only performs a blank stroke. The parameter configuration can specify the coordinates of the start and end points of multiple rows, the adhesive application speed, and the number of rows. Based on these parameters, the system automatically generates a complete trajectory control command including the working rows and return strokes.

[0045] Figure 2D A schematic diagram showing the effect of applying adhesive in a Z-shape to a workpiece is provided.

[0046] like Figure 2D This demonstrates the effect of a continuous, reciprocating adhesive application trajectory on the workpiece surface after applying adhesive using a zigzag pattern. The resulting serpentine adhesive application structure has no gaps between rows. For example, after completing the first straight row of adhesive application, the applicator immediately reverses direction to apply adhesive to the next row while maintaining the same row spacing offset, forming an alternating, continuous, and uninterrupted adhesive application trajectory. For instance, based on input parameters such as the start and end points, the number of rows, and the adhesive application speed, a zigzag path structure can be dynamically constructed, ensuring smooth transitions at row turns and preventing adhesive line breakage or excessive buildup.

[0047] Figure 3 A flowchart illustrating an example of constructing a configured parameter list for reciprocating multi-row adhesive application according to an embodiment of this application is shown.

[0048] like Figure 3 As shown, in step S310, when the glue application type is reciprocating multi-line glue application, the corresponding multi-line start coordinates, multi-line end coordinates, glue application speed and number of glue application lines are determined according to the user input information. Reciprocating multi-line glue application includes bow-shaped glue application and / or Z-shaped glue application.

[0049] Here, the spatial range and direction of the reciprocating multi-row adhesive application are defined by multiple starting coordinates and multiple ending coordinates (e.g., the upper left and lower right corners), and the adhesive application path density is defined according to the number of adhesive application rows, thereby completing the definition of the spatial boundary of the entire reciprocating area.

[0050] In step S320, based on the coordinates of the starting point of multiple rows, the coordinates of the ending point of multiple rows, and the number of rows to be coated, a preset reciprocating multi-row coating positioning algorithm is invoked to calculate the coordinates of the reference points for each row of reciprocating coating.

[0051] In some implementations, after configuring the area boundaries, speed, and number of rows, the system divides the adhesive application area into specific multi-row paths by invoking the corresponding trajectory row positioning algorithm, thereby generating corresponding reference coordinates for each row. Here, the reference coordinates can be the coordinates of a typical row start and end point, or they can be the position of the row midpoint or other important reference features; these are not limited here.

[0052] Specifically, if the user selects a Z-shaped gluing pattern, the system alternates between reverse directions for each row when generating the path, forming a serpentine path. If a bow-shaped gluing pattern is selected, all gluing rows maintain the same direction, with a return segment inserted in the middle. The control logic consists of "working row + return segment". In addition, if some rows exceed the workpiece boundary or equipment travel limit, the system automatically adjusts or provides an error message.

[0053] In some examples of embodiments of this application, in order to achieve more refined multi-row reciprocating adhesive application, it is also possible to adjust the adhesive application parameters for each row or a specific row.

[0054] More specifically, when coordinate adjustment information for the reference point coordinates of each row of reciprocating adhesive application is detected, the reference point coordinates of each row of reciprocating adhesive application are corrected based on the coordinate adjustment information. Then, based on the user input information and the corrected reference point coordinates of each row of reciprocating adhesive application, a list of configured parameters is generated.

[0055] Therefore, when coordinate adjustment information is detected (such as from a visual recognition system, workpiece displacement compensation data, or user-inputted correction values), the system will automatically call the coordinate correction module to correct the original reference point coordinates, for example, by performing differential offset based on row number index, thereby ensuring that each row of the adhesive application path more closely matches the actual surface morphology of the workpiece or local process design. This significantly enhances the system's responsiveness to flexible and personalized path requirements, avoiding adhesive misalignment, missed areas, or adhesive buildup caused by deviations between the standard path and the actual fit.

[0056] In step S330, a list of configured parameters is generated based on the user input information and the coordinates of the reference points for each row of reciprocating adhesive application.

[0057] In some implementations, various input parameters (such as region boundaries, speed, number of rows, and glue application mode) are combined with the path coordinate data output by the positioning algorithm to generate a structured list of configured parameters, which is used to drive the trajectory control module to generate and execute paths.

[0058] The embodiments of this application effectively ensure the trajectory accuracy and consistency of multiple adhesive application paths, providing conditions for the system to match complex or large-area coating scenarios, and can achieve excellent results in various business application scenarios, such as encapsulation of new energy vehicle battery modules, filling of server chip heat dissipation modules, potting of LED boards, etc.

[0059] Figure 4 A flowchart illustrating an example of constructing a configured parameter list based on user input information according to an embodiment of this application is shown.

[0060] like Figure 4 As shown, in step S410, a parameter configuration interface for the corresponding adhesive application type is displayed. The parameter configuration interface contains multiple interactive controls rendered based on the template of the parameter item to be configured.

[0061] Here, based on the identified glue application type, the system dynamically loads the corresponding parameter template and renders a set of matching, interactive controls in the user interface, enabling users to view, input, and adjust parameters in a graphical environment. The system generates a structured UI based on the predefined parameter template content for each glue application type (e.g., single-point glue application, linear glue application, reciprocating multi-line glue application, etc.) and binds the controls to the underlying data model in real time. Therefore, users can complete parameter configuration through control input and selection without understanding the underlying motion control logic or manually entering program code, significantly reducing the operational threshold and improving configuration efficiency and accuracy.

[0062] In step S420, user input information is received based on each interactive control to obtain the corresponding list of configured parameters.

[0063] After the control is rendered, the user can input parameter values ​​or make operation selections through the interface. The system collects the input status of the control in real time and automatically binds all input values ​​to the parameter structure model in the backend. The structure model organizes the parameter content according to the template definition and automatically summarizes them into a complete list of configured parameters when the user confirms or saves the configuration.

[0064] Through the embodiments of this application, operators can efficiently configure various coating tasks through industrial automated coating systems without programming knowledge, and transform user input into executable parameter structures, providing key data support for trajectory control, coating formula generation and process simulation.

[0065] In a preferred embodiment of this application, the parameter configuration interface further includes a glue applicator position synchronization control, which tracks and synchronously displays the position coordinates of the glue applicator, thereby improving the accuracy of trajectory configuration and the intuitiveness of user operation. Specifically, when the glue applicator is located at the starting point of the trajectory, the starting point reference coordinates are displayed based on the glue applicator position synchronization control; when the glue applicator is located at the ending point of the trajectory, the ending point reference coordinates are displayed based on the glue applicator position synchronization control.

[0066] In some implementations, when the operator performs positioning operations such as "move to the start of the trajectory" or "move to the end of the trajectory," the system can simultaneously read the actual position of the dispensing head and display the coordinate information of that position in real time in the control panel. This automatically generates reference coordinates for the start or end of the trajectory, eliminating the need for manual measurement or coordinate input. This significantly enhances the visual operation experience and spatial positioning accuracy during path configuration, while also improving the system's feedback capability to actual working conditions. It allows operators to quickly set key points on the path based on the actual physical pose, further enhancing the flexibility and adaptability of the dispensing system and the efficiency of deployment in industrial settings.

[0067] Figure 5 A schematic diagram showing an example of the parameter configuration interface according to an embodiment of this application is provided.

[0068] like Figure 5 This interface is used by users to configure the glue application path parameters and the position of the glue application head. On the left side of the interface is the glue application point number and type selection area. Users can select the glue application type (such as single-point glue application, straight line glue application, bow-shaped glue application, Z-shaped glue application, etc.) through the drop-down menu and set the corresponding point number. Clicking the "Read" button will retrieve the parameter information corresponding to the current number.

[0069] The central area of ​​the interface provides manual motion control for the dispensing head, including buttons for "X Right," "X Left," "Y Forward," "Y Backward," "Z Up," and "Z Down," which control the head's movement along the X, Y, and Z axes, respectively. Below these buttons are a Jog speed setting box and a current position display box for user reference during parameter configuration or point calibration. For example, when the operator moves the dispensing head to the trajectory start point, the corresponding dispensing position coordinates are displayed in real-time in the current position display box. The user can use these coordinates as a reference and input them into the left side of the interface as the trajectory start point coordinates until all dispensing points have been parameter-set. This allows users to record the current position as the trajectory start or end point, achieving efficient binding of coordinate values ​​to the dispensing logic and enabling precise dispensing path configuration without code input.

[0070] Figure 6 A schematic diagram illustrating the effect of an example of a workpiece adhesive application path with multiple types of trajectory combinations according to an embodiment of this application is shown.

[0071] like Figure 6 As shown, the workpiece adhesive application area comprises a path structure composed of various adhesive application types, including multiple single-point adhesive application positions (such as single point 1, single point 2, single point 3, etc.), three straight adhesive application paths (straight line 1, straight line 2, straight line 3), and two independent "multi-row reciprocating adhesive application areas," which are filled with adhesive using bow-shaped and Z-shaped trajectory patterns, respectively. Through the embodiments of this application, unified modeling and trajectory control of different adhesive application types on the same workpiece are achieved, meeting the diverse requirements for adhesive application accuracy, method, and sequence in complex process areas.

[0072] In some examples of embodiments of this application, the adhesive application trajectory formula is sent to a host computer, so that the adhesive application trajectory formula can be shared among the adhesive application equipment group via the host computer.

[0073] Specifically, after generating the adhesive application trajectory formula, the formula can be sent to a host computer (e.g., a computer, server, or cloud platform) via a communication interface for centralized management. The host computer, acting as the coordination and control center of the production line, receives the formula, stores and categorizes it, and distributes it to multiple adhesive application devices according to production scheduling needs. This achieves unified formula distribution and reuse across multiple devices, avoiding repeated configuration and debugging on each device, greatly improving configuration efficiency and management consistency. It also enhances the operational efficiency and quality consistency of the entire adhesive application system under conditions of mass production and product diversification.

[0074] Figure 7 A flowchart illustrating an example of an adhesive application trajectory control method according to an embodiment of this application is shown.

[0075] Regarding the execution subject of the method in the embodiments of this application, it can be any controller or processor with computing or processing capabilities, such as a host computer, so as to effectively support the needs of multi-station collaboration, flexible switching and rapid response in modern glue coating production lines, and improve the level of intelligent production line scheduling and path control management efficiency.

[0076] In step S710, when a work order formula download request for the target gluing equipment is received, the work order gluing workpiece information in the work order formula download request is parsed.

[0077] Here, the host computer is deployed in the central control system of the production line, responsible for coordinating the work order scheduling and path formula distribution of multiple glue-applying equipment. When the host computer receives a work order formula download request from any target glue-applying equipment, the system first parses the message using the set communication protocol to extract the unique identification information of the workpiece contained in the request, such as workpiece code, model number, workstation number, and batch number. Thus, the host computer centrally executes standardized processing and efficient forwarding of work order requests in the production line, avoiding the need for edge devices (i.e., glue-applying equipment) to handle complex business logic themselves, reducing their operational burden, and also lowering the resource processing pressure on the glue-applying equipment.

[0078] In step S720, the workpiece formula mapping relationship is queried based on the workpiece information of the work order to feed back the matching work order glue trajectory formula to the target glue application equipment. The workpiece formula mapping relationship is used to maintain the association between the glue application workpiece information and the glue trajectory formula.

[0079] Here, the adhesive trajectory formula is generated by the adhesive trajectory formula generation method as described in any of the above embodiments of this application.

[0080] In some implementations, the host computer accesses and queries a pre-established workpiece formula mapping table based on the extracted workpiece information. This mapping table, centrally maintained by the system, records the unique or multi-dimensional associations between various workpieces and their corresponding adhesive application trajectory formulas. For example, it maps the workpiece number and process version to a specific trajectory formula file path or formula ID. Thus, the host computer quickly retrieves the matching adhesive application trajectory formulas using key field matching and feeds back the formula content (structured path data) to the requesting device. This enables unified distribution and version control of trajectory formulas, ensuring that all devices on the production line use the same path formula when processing the same workpiece, improving consistency and process quality control capabilities.

[0081] Figure 8 A system structure block diagram of an example of an adhesive application trajectory control system according to an embodiment of this application is shown.

[0082] like Figure 8As shown, the adhesive application trajectory control system 800 includes a host computer 810 and an adhesive application device 820. The adhesive application device 810 is used to perform the following operations: Obtain the adhesive type corresponding to at least one adhesive application point, and determine the template of the parameter item to be configured for each adhesive type; the adhesive type includes any one of the following: single-point adhesive application, straight-line adhesive application, and reciprocating multi-row adhesive application; Receive user input information according to the template of the parameter items to be configured, so as to determine the corresponding list of configured parameters; The modular code component corresponding to the adhesive application type is invoked, and combined with the configured parameter list, trajectory control data for the corresponding adhesive application point is generated. Based on the trajectory control data of each of the adhesive application points, an adhesive application trajectory formula is generated; The host computer 820 is used to share the adhesive application trajectory formula in the group of adhesive application equipment.

[0083] Figure 9 A schematic diagram of an example system architecture of a glue application trajectory control system according to an embodiment of this application is shown.

[0084] like Figure 9 As shown, the adhesive application trajectory control system includes a host computer, a PLC controller, and an adhesive application actuator. These components work together through a communication link to generate, share, schedule, and execute the adhesive application trajectory. It is suitable for flexible industrial production environments that support various adhesive application path types (such as single point, straight line, Z-shaped, bow-shaped, etc.).

[0085] The PLC controller, as the core control unit of the system, is responsible for executing the logic of trajectory configuration and adhesive application path formulation. The controller has multiple pre-built adhesive application trajectory generation modules. When it receives user instructions or task requests, it can dynamically combine single-point, straight-line, Z-shaped, and bow-shaped path modules according to workpiece requirements to generate a complete adhesive application trajectory formulation. It also controls the XYZ three-axis mechanism in real time to drive the adhesive application head to move along the specified trajectory, while simultaneously collecting position feedback information during execution to achieve closed-loop precision control.

[0086] The adhesive application actuator comprises a three-axis motion platform and an adhesive application head assembly, which performs three-dimensional path movement and adhesive application under real-time control of a PLC controller. The actuator feeds back its position information during operation to the PLC, assisting the controller in adjusting the output logic to ensure the smoothness of the adhesive application path and the accuracy of positioning.

[0087] The host computer is equipped with a C#-developed visual program, primarily used for data management and sharing of adhesive formulations. Once the formulation is constructed by the PLC, it is sent to the host computer via a communication protocol (such as S7.NET), where it is stored, managed, and synchronized to other target control devices as needed, enabling formulation sharing across multiple workstations or equipment groups. The host computer also provides auxiliary functions such as formulation browsing, selection, version switching, and task assignment, supporting efficient production line scheduling and process switching.

[0088] In terms of system deployment, the PC (or industrial computer), PLC controller and glue application actuator are connected via Ethernet cable or other industrial communication bus. The PLC and the three-axis servo control unit achieve high-precision motion control data interaction through a dedicated fieldbus (such as Profinet), which can be widely adapted to the glue application operation needs of multiple paths, multiple batches and multiple devices.

[0089] In this system, the uploading and downloading of formulas is handled by a host computer program, forming a crucial link in formula sharing and equipment distribution within the trajectory control system. Once the PLC controller has completed formula entry for all application points, the user can access the formula management interface through the host computer program, select the corresponding formula, and click the "Upload" button. The host computer program reads the formula data from the PLC controller via the S7.NET communication protocol, generates a corresponding CSV file using the formula name as the filename, and saves it in a designated directory on the PC's hard drive, achieving localized persistent storage of the formula.

[0090] During the formula distribution process, the host computer program can automatically match the corresponding formula based on the current order information obtained from the MES system. Alternatively, the user can manually select the target formula in the formula management interface and click the "Download" button. After parsing the selected formula file, the system writes its contents item by item to the target PLC controller through the communication interface. Upon receiving the data, the controller updates its internal data structure and prepares the trajectory for subsequent gluing operations. This supports a flexible process scheduling mode, adapting to order-driven work order execution in automated production lines, as well as manual selection for process switching and multi-machine synchronous deployment.

[0091] The adhesive application trajectory control system provided in this application embodiment supports the construction of adhesive application formulas and the adhesive application execution process based on preset trajectories. Specifically, operators can access the trajectory setting interface through an HMI (Human-Machine Interface), select preset path types such as single point, straight line, Z-shaped, and bow-shaped paths according to the adhesive application requirements of the workpiece, and complete the configuration of corresponding points and parameters. After the path setting is completed, the configured trajectory data is written to the PLC controller for storage. Subsequently, users can select the target formula in the formula management interface through a C# host computer program, click the "Upload" button, extract the trajectory data currently saved in the PLC, and save it as a CSV format file, which is then uniformly saved in the PC directory for subsequent formula sharing and retrieval.

[0092] During the glue application stage, the PLC controller reads the trajectory parameters of the selected formula and sends instructions to the glue application actuator according to the path type and control logic. The XYZ three-axis servo drivers in the actuator drive the glue application head to move along the configured path according to the instructions, while simultaneously controlling the glue valve to open and close at a predetermined rhythm, achieving precise glue application to the workpiece surface. Throughout the process, the actuator continuously collects the glue application head position information and feeds it back to the PLC in real time, allowing the controller to dynamically correct the motion path and construct a closed-loop control mechanism to ensure the accuracy and stability of the trajectory execution.

[0093] When the system needs to add a product's gluing process, the user can create a corresponding formula entry in the host computer program and complete the path configuration and parameter input through the HMI. After completing the path setting, the trajectory data in the PLC is saved as a new CSV formula file through the upload function. After receiving the work order assigned by the MES system, the host computer can automatically load the corresponding formula file and write the data to the PLC through the communication protocol. The PLC drives the actuator to complete the gluing task according to the formula content, realizing rapid switching and process expansion between different products without modifying the control program or reprogramming.

[0094] Figure 10 This diagram illustrates an example data display interface for adhesive application point information according to an embodiment of this application.

[0095] like Figure 10 As shown, it displays detailed parameter data for each point in the adhesive application trajectory formula. The adhesive application formula can store data for multiple (e.g., 100) combinations of adhesive application points with different functions, and present them in tabular form. Each group of "adhesive data[n]" represents a data structure unit for an adhesive application point or path segment. Each structure unit contains fields such as point number, trajectory type (model), start and end coordinates (X1pos, Y1pos, Z1pos, X2pos, Y2pos, Z2pos), movement speed (Speed), number of path rows (row number), and delay parameter (dealy).

[0096] In practical use, operators or debugging personnel can view the trajectory configuration parameters of each glue application point through this interface, including the spatial coordinates of the XYZ axes and the corresponding process control parameters, to ensure that the path logic and sequence of each point are correct. In addition, the table also displays the storage offset address and data type of each parameter in the PLC data block, which helps to perform underlying address mapping verification and debugging tracing.

[0097] In this embodiment, by constructing a glue application control system that supports multiple path combinations (such as single-point, straight-line, zigzag, and bow-shaped) and their flexible configuration, the system's adaptability to complex process scenarios is significantly enhanced, covering diverse application needs from precision electronic component fixing to large-area structural sealing. Simultaneously, formula data is centrally managed on the host computer using a standard format (CSV) and achieves efficient synchronization with the PLC through a communication mechanism, supporting rapid uploading, downloading, and sharing. This further improves formula retrieval efficiency and production line switching response speed, making it particularly suitable for manufacturing environments with multi-product parallel operations and rapid process iteration.

[0098] Furthermore, the system adopts a standardized control architecture, allowing new products to be deployed simply by setting trajectory parameters, eliminating the complexity of frequent code rewriting in traditional solutions and effectively reducing programming and debugging costs. Combined with a position feedback closed-loop control mechanism, it enables high-precision reproduction and dynamic correction of the adhesive application path, ensuring consistent adhesive application and quality stability. The system also supports visualized monitoring and analysis of trajectory and execution data, facilitating real-time management and process optimization, further enhancing the intelligence level and operational efficiency of the production system.

[0099] This application's embodiments integrate multi-track combined coating control, efficient formula data management, and a standardized program architecture into the coating trajectory control system. This overcomes the path limitations of traditional coating systems, which primarily rely on continuous contours, enabling precise control and flexible switching of single-point, straight-line, zigzag, bow-shaped, and combined trajectories, significantly improving the system's adaptability to complex processes. Simultaneously, relying on the efficient communication mechanism between the PC and PLC, a formula management system based on CSV format is constructed, enabling centralized storage, rapid retrieval, and automated distribution of formulas, greatly improving process changeover efficiency. Through the introduction of a standardized programming model, the system supports "zero-code" deployment of new product paths, reducing maintenance costs and error risks, and providing strong support for the flexibility, modularity, and engineering practicality of coating operations.

[0100] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of combined actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Secondly, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application. In the above embodiments, the descriptions of each embodiment have their own emphasis; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0101] In some embodiments, this application also provides a computer program product, the computer program product including a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to perform any of the above-described methods for generating adhesive trajectory formulas or controlling adhesive trajectory.

[0102] In some embodiments, this application also provides an electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a glue trajectory formulation generation method or a glue trajectory control method.

[0103] The apparatus described in the embodiments of this application can be used to execute the adhesive trajectory formula generation method or adhesive trajectory control method of the embodiments of this application, and correspondingly achieve the technical effects achieved by the adhesive trajectory formula generation method or adhesive trajectory control method of the embodiments of this application, which will not be elaborated here. In the embodiments of this application, the relevant functional modules can be implemented by a hardware processor.

[0104] Figure 11 This is a schematic diagram of the hardware structure of an electronic device for executing a glue application trajectory formulation generation method or a glue application trajectory control method according to another embodiment of this application, as shown below. Figure 11 As shown, the device includes: One or more processors 1110 and memory 1120, Figure 11 Take the 1110 processor as an example.

[0105] The apparatus for performing the glue application trajectory formula generation method or the glue application trajectory control method may further include: an input device 1130 and an output device 1140.

[0106] The processor 1110, memory 1120, input device 1130, and output device 1140 can be connected via a bus or other means. Figure 11 Taking the example of a connection between China and Israel via a bus.

[0107] The memory 1120, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the adhesive trajectory formulation generation method or adhesive trajectory control method in the embodiments of this application. The processor 1110 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions, and modules stored in the memory 1120, thereby implementing the adhesive trajectory formulation generation method or adhesive trajectory control method in the above-described method embodiments.

[0108] The memory 1120 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 1120 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1120 may optionally include memory remotely located relative to the processor 1110, and these remote memories may be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0109] Input device 1130 can receive input digital or character information and generate signals related to user settings and function control of the device. Output device 1140 may include display devices such as a display screen.

[0110] The one or more modules are stored in the memory 1120, and when executed by the one or more processors 1110, they execute the glue trajectory formula generation method or glue trajectory control method in any of the above method embodiments.

[0111] The above-described product can perform the methods provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects for performing the methods. Technical details not described in detail in this embodiment can be found in the methods provided in the embodiments of this application.

[0112] The electronic devices in this application embodiments exist in various forms, including but not limited to: (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and primarily aim to provide voice and data communication. These terminals include: smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones, etc.

[0113] (2) Ultra-mobile personal computer devices: These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0114] (3) Portable entertainment devices: These devices can display and play multimedia content. This category includes audio and video players (such as iPods), handheld game consoles, e-book readers, as well as smart toys and portable car navigation devices.

[0115] (4) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0116] (5) Other electronic devices with data interaction functions.

[0117] In some embodiments, this application also provides a mobile platform on which the computer device described in any embodiment of this application is installed. The mobile platform includes, but is not limited to, vehicles, tracked robots, bipedal robots, quadrupedal robots, etc., wherein the vehicle can be a passenger car, pickup truck, truck, etc. It should be noted that the above are merely examples, and this application does not limit the specific form of the mobile platform.

[0118] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for generating an adhesive application trajectory formulation, comprising: Obtain the adhesive type corresponding to at least one adhesive application point, and determine the template of the parameter item to be configured for each adhesive type; the adhesive type includes any one of the following: single-point adhesive application, straight-line adhesive application, and reciprocating multi-row adhesive application; the adhesive type corresponding to at least one of the at least one adhesive application points is reciprocating multi-row adhesive application; the reciprocating multi-row adhesive application includes bow-shaped adhesive application and / or Z-shaped adhesive application; The template for the configurable parameters corresponding to the reciprocating multi-row glue application includes the starting coordinates of multiple rows, the ending coordinates of multiple rows, the glue application speed, and the number of glue application rows. The system receives user input information from the parameter item template to be configured to determine the corresponding list of configured parameters. Specifically, when the adhesive application type is reciprocating multi-row adhesive application, the system receives user input information from the parameter item template corresponding to the reciprocating multi-row adhesive application to determine the corresponding multi-row start coordinates, multi-row end coordinates, adhesive application speed, and number of adhesive application rows. Based on the multi-row start coordinates, multi-row end coordinates, and number of adhesive application rows, a preset reciprocating multi-row adhesive application positioning algorithm is invoked to calculate the reference point coordinates for each row of reciprocating adhesive application. Finally, based on the user input information and the reference point coordinates for each row of reciprocating adhesive application, the system generates the list of configured parameters. The modular code component corresponding to the adhesive application type is invoked. The modular code component is a pre-written control logic block that is mapped one-to-one with the adhesive application type. The modular code component instantiates the code according to the parameter values ​​in the configured parameter list to dynamically synthesize the trajectory control instructions for the corresponding adhesive application point and obtain the trajectory control data for the corresponding adhesive application point. Based on the trajectory control data of each of the adhesive application points, an adhesive application trajectory formula is generated.

2. The method according to claim 1, wherein, The template for the parameters to be configured corresponding to the single-point glue application includes the coordinates of the glue application point and the single-point delay; And / or, the template of the parameters to be configured for the straight line gluing includes the coordinates of the starting point of the line, the coordinates of the ending point of the line, and the gluing speed.

3. The method according to claim 1 or 2, wherein, The step of receiving user input information based on the template of the parameter items to be configured, and determining the corresponding list of configured parameters, includes: The parameter configuration interface for the corresponding glue application type is displayed; the parameter configuration interface includes multiple interactive controls rendered based on the template of the parameter item to be configured. Based on the user input information received by each of the interactive controls, a corresponding list of configured parameters is obtained.

4. The method according to claim 3, wherein the parameter configuration interface further includes a glue applicator position synchronization control, wherein, Before receiving user input information based on each of the interactive controls to obtain the corresponding configured parameter list, the method further includes: Obtain the current position coordinates of the glue applicator head, and display the position coordinates through the glue applicator head position synchronization control.

5. The method according to claim 1, wherein, After generating the adhesive application trajectory formula based on the trajectory control data of each of the adhesive application points, the method further includes: The adhesive application trajectory formula is sent to the host computer, so that the adhesive application trajectory formula can be shared among the adhesive application equipment group via the host computer.

6. A method for controlling the adhesive application trajectory, comprising: When a work order formula download request for the target gluing equipment is received, the work order gluing workpiece information in the work order formula download request is parsed. The workpiece formula mapping relationship is queried based on the workpiece information of the work order to feed back the matching work order glue trajectory formula to the target glue application equipment; The workpiece formula mapping relationship is used to maintain the association between the glue-coating workpiece information and the glue-coating trajectory formula, wherein the glue-coating trajectory formula is generated by the glue-coating trajectory formula generation method as described in any one of claims 1-5.

7. A glue application trajectory control system, comprising a host computer and glue application equipment; The adhesive application equipment is used to perform the following operations: Obtain the adhesive type corresponding to at least one adhesive application point, and determine the template of the parameter item to be configured for each adhesive type; the adhesive type includes any one of the following: single-point adhesive application, straight-line adhesive application, and reciprocating multi-row adhesive application; the adhesive type corresponding to at least one of the at least one adhesive application points is reciprocating multi-row adhesive application; the reciprocating multi-row adhesive application includes bow-shaped adhesive application and / or Z-shaped adhesive application; The template for the configurable parameters corresponding to the reciprocating multi-row glue application includes the starting coordinates of multiple rows, the ending coordinates of multiple rows, the glue application speed, and the number of glue application rows. The system receives user input information from the parameter item template to be configured to determine the corresponding list of configured parameters. Specifically, when the adhesive application type is reciprocating multi-row adhesive application, the system receives user input information from the parameter item template corresponding to the reciprocating multi-row adhesive application to determine the corresponding multi-row start coordinates, multi-row end coordinates, adhesive application speed, and number of adhesive application rows. Based on the multi-row start coordinates, multi-row end coordinates, and number of adhesive application rows, a preset reciprocating multi-row adhesive application positioning algorithm is invoked to calculate the reference point coordinates for each row of reciprocating adhesive application. Finally, based on the user input information and the reference point coordinates for each row of reciprocating adhesive application, the system generates the list of configured parameters. The modular code component corresponding to the adhesive application type is invoked. The modular code component is a pre-written control logic block that is mapped one-to-one with the adhesive application type. The modular code component instantiates the code according to the parameter values ​​in the configured parameter list to dynamically synthesize the trajectory control instructions for the corresponding adhesive application point and obtain the trajectory control data for the corresponding adhesive application point. Based on the trajectory control data of each of the adhesive application points, an adhesive application trajectory formula is generated; The host computer is used to share the adhesive application trajectory formula among the group of adhesive application equipment.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory, wherein, The processor executes the computer program to implement the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program / instructions stored thereon, wherein, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-6.

Images