Variable frequency drive multi-point control method and device, computer device and storage medium

Abstract

The application relates to a variable frequency converter multi-point control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a position value of the motor and marking the position value to generate a marked position value; judging a working mode of the motor, and acquiring an actual position value of the motor according to different working modes; when the working mode is an automatic mode or a position mode, judging whether the actual position value is located in a preset position value range, and if yes, generating a position-to-point signal; and if not, adjusting the output of the variable frequency converter until the actual position value of the motor is located in the preset position value range. The method can realize accurate and rapid multi-point customized control of the variable frequency converter under a logically complex automatic production line.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and in particular to a method, apparatus, computer equipment, and storage medium for multi-point control of a frequency converter. Background Technology

[0002] To meet the diverse needs of domestic users, the cabs and frames of medium and heavy-duty commercial vehicles in China have undergone extensive adaptive development based on platform development, with production capacity increasing year by year in response to market demand. During this increase in production capacity, commercial vehicle manufacturers have implemented numerous automation upgrades, achieving the development and design of intelligent and automated equipment that saves manpower and time.

[0003] In actual production processes, frequency converters, as intelligent and automated motor drive devices, drive motors to perform corresponding actions according to electrical control commands and logical timing sequences. The accuracy of their control and the number of control points are key factors in improving the efficiency of automated production lines. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment, and storage medium for multi-point control of frequency converters to address the above-mentioned technical problems, so as to realize accurate and fast multi-point customized control of frequency converters in logically complex automated production lines.

[0005] To achieve the above and other objectives, the first aspect of this application provides a multi-point control method for a frequency converter, used for customized multi-point control of motor operation, the method comprising:

[0006] Obtain the position value of the motor and mark it to generate a marked position value;

[0007] Determine the operating mode of the motor, and obtain the actual position value of the motor according to the different operating modes;

[0008] When the working mode is automatic mode or position mode, it is determined whether the actual position value is within the preset position value range. If it is, a position arrival signal is generated.

[0009] If not, adjust the output of the frequency converter until the actual position value of the motor is within the preset position value range.

[0010] In the aforementioned multi-point control method for frequency converters, position values ​​are marked to facilitate position memory, allowing for direct selection of previously marked positions during subsequent operations. After determining the operating mode, the method checks whether the actual position of the motor is within a preset position range to determine if the motor has reached the designated operating position, thereby achieving accurate and rapid customized multi-point control of the frequency converter.

[0011] In one embodiment, determining the operating mode of the motor and obtaining the actual position value of the motor according to different operating modes includes:

[0012] When the working mode is reference mode, the actual position is set as the origin of the motor operation based on the obtained button signal;

[0013] When the operating mode is in jog mode, the motor is controlled to reach a preset position range based on the received button signal. This allows operators to customize the motor's operating position.

[0014] In one embodiment, determining whether the actual position value is within a preset position value range includes:

[0015] Determine whether the actual position of the motor is greater than or equal to the difference between the set value and the window value, or less than or equal to the sum of the set value and the window value;

[0016] If the actual position is greater than or equal to the difference between the set value and the window value, and less than or equal to the sum of the set value and the window value, then a position arrival signal is generated;

[0017] Conversely, adjust the output of the frequency converter until the actual position value of the motor is between the difference between the set value and the window value and the sum of the set value and the window value;

[0018] Wherein, the window value is greater than or equal to a first preset value.

[0019] In one embodiment, determining whether the actual position value is within the preset position value range further includes:

[0020] Determine whether the actual position value is the marked position value; if it is not the marked position value, skip the position.

[0021] If the actual position value is the marked position value, then it is determined whether the reference signal of the actual position value is equal to the reference signal of the preset position. The reference signal includes at least one of a position signal, a chain signal, and a safety signal.

[0022] If the reference signal of the actual position value is equal to the reference signal of the preset position, a position arrival signal is generated. If the position in the current loop is not marked, it is skipped to save loop time.

[0023] In one embodiment, the method further includes:

[0024] Obtain the speed value of the frequency converter;

[0025] The speed value is greater than 0 and less than or equal to the second preset value;

[0026] When the speed value is equal to 0 or greater than the second preset value, an alarm signal is generated, and the alarm module is controlled to execute a preset alarm action based on the alarm signal. After the inverter parameter values ​​are manually entered initially, the data fed back from the inverter and motor's motion status are compared with the set values ​​to confirm whether the motor is operating according to the set data.

[0027] In one embodiment, the method further includes:

[0028] When the safety module and communication module detect an abnormal state, they terminate all signal outputs, generate an alarm signal, and control the alarm module to perform preset alarm actions according to the alarm signal.

[0029] The preset alarm actions include at least one of alarm sound, alarm light, and fault alarm information, and the fault alarm information includes fault alarm SMS and fault display reminder.

[0030] A second aspect of this application provides a multi-point control device for a frequency converter, the device comprising:

[0031] The parameter setting module is used to obtain the motor's position value and mark it to generate a marked position value;

[0032] A position acquisition module is used to acquire the actual position of the motor;

[0033] The control module is used to determine whether the actual position value is within the preset position value range. If it is, a position signal is generated and the frequency converter stops outputting. If it is not, the output of the frequency converter is adjusted until the actual position value of the motor is within the preset position value range.

[0034] A third aspect of this application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described in the embodiments of this application.

[0035] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described in the embodiments of this application.

[0036] The fifth aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the methods described in the embodiments of this application.

[0037] In the aforementioned inverter multi-point control device, computer equipment, storage medium, and computer program products, by determining whether the actual position value is within the preset position value range, if it is, a position signal is generated; if it is not, the inverter output is adjusted until the actual position value is within the preset position value range, so as to realize accurate and fast multi-point customized control of the inverter. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is an application environment diagram of the inverter multi-point control method provided in one embodiment of this application;

[0040] Figure 2 This is a flowchart illustrating a multi-point control method for a frequency converter provided in one embodiment of this application.

[0041] Figure 3 This is a flowchart illustrating a multi-point control method for a frequency converter provided in another embodiment of this application.

[0042] Figure 4 This is a flowchart illustrating a multi-point control method for a frequency converter provided in another embodiment of this application.

[0043] Figure 5 This is a flowchart illustrating a multi-point control method for a frequency converter provided in another embodiment of this application.

[0044] Figure 6 This is a schematic diagram of the structure of a frequency converter multi-point control device provided in one embodiment of this application;

[0045] Figure 7 This is an internal structural diagram of a computer device provided in one embodiment of this application. Detailed Implementation

[0046] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0048] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0049] The inverter multi-point control method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0050] In one embodiment, such as Figure 2 As shown, a multi-point control method for a frequency converter is provided for customized multi-point control of motor operation. The method includes:

[0051] Step S100: Obtain the position value of the motor and mark it to generate a marked position value.

[0052] Specifically, the markings include numerical markings, letter markings, and symbol markings. Before the inverter starts, the PLC determines whether the inverter is in an abnormal state based on the signal interaction between the PLC and the inverter. If it is in an abnormal state, an alarm signal is generated, and the alarm module is controlled to execute a preset alarm action based on the alarm signal. If it is not in an abnormal state, the inverter's speed, ramp, position, and other parameters are set on the automatically generated human-machine interface in the PLC, and the relevant parameters are automatically loaded into the inverter. This avoids the use of proprietary inverter parameter setting software and eliminates the need to change parameters in the inverter itself, thus achieving precise control of the inverter.

[0053] The speed value settings include:

[0054] Obtain the speed value of the frequency converter;

[0055] The speed value is greater than 0 and less than or equal to the second preset value;

[0056] When the speed value is equal to 0 or greater than the second preset value, an alarm signal is generated and the alarm module is controlled to perform a preset alarm action according to the alarm signal.

[0057] Specifically, in some embodiments, the second preset value can be 3000. When the set speed value is greater than 0 and less than or equal to 3000, the set speed value is input; when the set speed value is less than 0, 0 is input to the frequency converter, and an alarm signal is generated. The alarm module is then controlled to execute a preset alarm action based on the alarm signal. The preset alarm action includes outputting a speed limit alarm. When the set speed value is greater than 3000, 3000 is input to the frequency converter, and an alarm signal is generated. The alarm module is then controlled to execute a preset alarm action based on the alarm signal. The preset alarm action includes outputting a speed limit alarm.

[0058] The slope value settings include:

[0059] Obtain the ramp value of the frequency converter;

[0060] The slope value is less than or equal to the third preset value.

[0061] Specifically, in some embodiments, the third preset value can be 255. When the set ramp value is greater than 255, 255 is input to the frequency converter; when the set ramp value is less than or equal to 255, the set ramp value is input.

[0062] Furthermore, after manually inputting the values ​​in the early stages, the parameter values ​​of the frequency converter are compared with the set values ​​based on the data fed back from the frequency converter and the motor's motion status to confirm whether the motor is operating according to the set data.

[0063] Step S200: Determine the working mode of the motor, and obtain the actual position value of the motor according to different working modes.

[0064] Specifically, the motor's operating modes include automatic and manual modes. Manual modes include reference mode, jog mode, and position mode. In manual mode, the motor's rotational speed must first be obtained, and then the appropriate mode can be selected from the three options.

[0065] Step S210: When the working mode is automatic mode or position mode, determine whether the actual position value is within the preset position value range. If it is, generate a position arrival signal.

[0066] Step S211: If not located, adjust the output of the frequency converter until the actual position value of the motor is within the preset position value range.

[0067] In the aforementioned multi-point control method for frequency converters, position values ​​are marked to facilitate position memory, allowing for direct selection of previously marked positions during subsequent operations. After determining the operating mode, the method checks whether the actual position of the motor is within a preset position range to determine if the motor has reached the designated operating position, thereby achieving accurate and rapid customized multi-point control of the frequency converter.

[0068] Please refer to Figure 3 In one embodiment, determining the operating mode of the motor and obtaining the actual position value of the motor according to different operating modes includes:

[0069] Step S220: When the working mode is reference mode, set the actual position as the origin of the motor operation based on the obtained button signal.

[0070] Specifically, in reference mode, the travel position can be set as the reference point, which is the motor origin, and all parameter settings must be based on the reference point.

[0071] Step S230: When the working mode is jog mode, control the motor to reach the preset position value range according to the obtained button signal.

[0072] Specifically, the jog mode means that the operator presses a button once to reach a preset position.

[0073] For example, please refer to Figure 4 In one embodiment, determining whether the actual position value is within a preset position value range includes:

[0074] Step S2101: Determine whether the actual position of the motor is greater than or equal to the difference between the set value and the window value, or less than or equal to the sum of the set value and the window value;

[0075] Step S21011: If the actual position is greater than or equal to the difference between the set value and the window value and less than or equal to the sum of the set value and the window value, then generate a position arrival signal;

[0076] Step S21012: Conversely, adjust the output of the frequency converter until the actual position value of the motor is between the difference between the set value and the window value and the sum of the set value and the window value;

[0077] Wherein, the window value is greater than or equal to a first preset value.

[0078] Specifically, in some embodiments, the first preset value can be 50. When the set window value is less than or equal to 50, the window value 50 is input; when the set window value is greater than 50, the set window value is input.

[0079] like Figure 5As shown, in one embodiment, determining whether the actual position value is within the preset position value range further includes:

[0080] Step S2102: Determine whether the actual position value is the marked position value. If it is not the marked position value, skip the position.

[0081] Step S21021: If the actual position value is the marked position value, then determine whether the reference signal of the actual position value is equal to the reference signal of the preset position. The reference signal includes at least one of a position signal, a chain signal, and a safety signal.

[0082] Step S21022: If the reference signal of the actual position value is equal to the reference signal of the preset position, then a position arrival signal is generated. If the position of the current cycle is not marked, it is skipped to save cycle time.

[0083] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0084] For example, please refer to Figure 6 In one embodiment of this application, a multi-point control device for a frequency converter is provided, the device comprising:

[0085] Parameter setting module 10 is used to obtain the position value of the motor and mark it to generate a marked position value;

[0086] Position acquisition module 20 is used to acquire the actual position of the motor;

[0087] Control module 30 is used to determine whether the actual position value is within the preset position value range. If it is, a position arrival signal is generated and the frequency converter stops outputting. If it is not, the output of the frequency converter is adjusted until the actual position value of the motor is within the preset position value range.

[0088] Specifically, for example, in some embodiments, all statements and algorithms controlling the frequency converter are encapsulated and integrated into a PLC logic control block. The purpose of controlling the frequency converter can be achieved by simply changing the external pin parameters of the control block. The frequency converter parameters are input through the parameter setting module 10, selecting four positions and digitally marking them as position 1, position 2, position 3, and position 4. If position 3 is selected as the preset position value, and the position mode is selected in manual mode, the position acquisition module 20 monitors the actual position value in real time. First, it determines whether the actual position value is the marked position value; if not, the position is skipped. If it is the marked position value, it determines whether the reference signal of that position is equal to the reference signal of position 3. If they are equal, the control module 30 generates a position signal; if they are not equal, the control module 30 adjusts the frequency converter output until the reference signal of the actual position value equals the reference signal of position 3. In automatic mode, the motor moves according to a set sequence as needed by the operator. It might move to position 1, then check if the reference signal at position 1 equals the reference signal at the preset position. If not, it moves to position 2 and checks if the reference signal at position 2 equals the reference signal at the preset position. If not, it moves to position 3 and checks if the reference signal at position 3 equals the reference signal at the preset position. If they equal, the control module 30 generates a position signal and sends the corresponding position information to the frequency converter. The frequency converter's enable signal is activated, and after a 0.5s delay, it controls the motor to run. The set sequence can also be position 1, position 4, position 2, and position 3, and can be customized. The motor's movement time is monitored before startup and during operation. Exceeding the movement time is considered a fault, indicating that the motor is not ready to perform actions. During operation, the encoder monitors the motor's process status, including stop, start, forward rotation, reverse rotation, high speed, low speed, and current actual position. The system modules, safety modules, and communication modules are monitored. Any abnormal state triggers a termination command and generates an alarm fault message.

[0089] Specific limitations regarding the multi-point control device for frequency converters can be found in the limitations of the multi-point control method for frequency converters mentioned above, and will not be repeated here. Each module in the aforementioned multi-point control device for frequency converters can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module. It should be noted that the module division in this embodiment is illustrative and only represents a logical functional division; other division methods may be used in actual implementation.

[0090] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a multi-point control method for a frequency converter. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0091] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0092] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0093] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 specification.

[0095] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A multi-point control method for a frequency converter, characterized in that, The method for controlling motor operation at multiple points in a customized manner includes: Obtain multiple position values ​​of the motor, and mark the multiple position values ​​to generate multiple marked position values; Determine the operating mode of the motor, and obtain the actual position value of the motor according to the different operating modes; When the operating mode is automatic mode or position mode, it is determined whether the actual position value is within the preset position value range. If it is, a position arrival signal is generated; if it is not, the output of the frequency converter is adjusted until the actual position value of the motor is within the preset position value range. The step of determining whether the actual position value is within the preset position value range includes: when the working mode is the position mode, determining whether the actual position value is a marked position value; if it is not the marked position value, skipping the corresponding position of the actual position value; if the actual position value is the marked position value, determining whether the reference signal of the actual position value is equal to the reference signal of the preset position value, wherein the reference signal includes at least one of a position signal, a chain signal, and a safety signal, and the preset position value is any one of the plurality of marked position values; if the reference signal of the actual position value is equal to the reference signal of the preset position value, generating a position arrival signal. The step of determining whether the actual position value is within the preset position value range further includes: when the working mode is the automatic mode, obtaining a set order for the multiple marker position values; controlling the motor to move according to the set order, and determining whether the reference signal of the current marker position value is equal to the reference signal of the preset position value for the current marker position value where the motor is located; if equal, generating a position arrival signal; if not equal, controlling the motor to move to the next marker position value of the current marker position value according to the set order.

2. The method according to claim 1, characterized in that, The step of determining the operating mode of the motor and obtaining the actual position value of the motor according to different operating modes includes: When the working mode is reference mode, the actual position is set as the origin of the motor based on the obtained button signal; When the working mode is in jog mode, the motor is controlled to reach the preset position value range according to the obtained button signal.

3. The method according to claim 2, characterized in that, The step of determining whether the actual position value is within the preset position value range includes: Determine whether the actual position value of the motor is greater than or equal to the difference between the set value and the window value, and less than or equal to the sum of the set value and the window value; If the actual position value is greater than or equal to the difference between the set value and the window value, and less than or equal to the sum of the set value and the window value, then a position arrival signal is generated; Conversely, adjust the output of the frequency converter until the actual position value of the motor is between the difference between the set value and the window value and the sum of the set value and the window value; Wherein, the window value is greater than or equal to a first preset value.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Obtain the speed value of the frequency converter; The speed value is greater than 0 and less than or equal to the second preset value; When the speed value is equal to 0 or greater than the second preset value, an alarm signal is generated and the alarm module is controlled to perform a preset alarm action according to the alarm signal.

5. The method according to claim 4, characterized in that, The method further includes: When the safety module and communication module detect an abnormal state, they terminate all signal outputs, generate an alarm signal, and control the alarm module to perform preset alarm actions according to the alarm signal. The preset alarm actions include at least one of alarm sound, alarm light, and fault alarm information, and the fault alarm information includes fault alarm SMS and fault display reminder.

6. A multi-point control device for a frequency converter, characterized in that, The apparatus is used in the method according to any one of claims 1 to 5; the apparatus comprises: The parameter setting module is used to acquire multiple position values ​​of the motor and mark the multiple position values ​​to generate multiple marked position values; The position acquisition module is used to determine the working mode of the motor and acquire the actual position value of the motor according to different working modes. The control module is used to determine whether the actual position value is within the preset position value range when the working mode is automatic mode or position mode. If it is, a position signal is generated; if it is not, the output of the frequency converter is adjusted until the actual position value of the motor is within the preset position value range. The control module is further configured to, when the working mode is the position mode, determine whether the actual position value is a marked position value; if it is not the marked position value, skip the position corresponding to the actual position value; if the actual position value is the marked position value, determine whether the reference signal of the actual position value is equal to the reference signal of a preset position value, wherein the reference signal includes at least one of a position signal, a chain signal, and a safety signal, and the preset position value is any one of the plurality of marked position values; if the reference signal of the actual position value is equal to the reference signal of the preset position value, generate a position arrival signal. The control module is further configured to, when the working mode is the automatic mode, acquire a set order for the plurality of marker position values; control the motor to move according to the set order; and determine whether the reference signal of the current marker position value is equal to the reference signal of the preset position value for the current marker position value where the motor is located; if equal, generate a position arrival signal; if not equal, control the motor to move to the next marker position value of the current marker position value according to the set order.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

Images