A control method, device and system for battery energy output and recovery

Abstract

The application provides a control method for battery energy output and recovery, which comprises the following steps: collecting the motion state and stress state of a box body carrying a direct-current power supply; processing the motion state information and stress state information of the box body to obtain the power obtained by the wheels at the bottom of the box body; and determining the energy output state of the battery pack according to the power obtained by the wheels at the bottom of the box body. The application has the ability of automatically outputting and recovering energy of the battery, and can automatically adjust the size of energy output and recovery according to the pitch angle of the ground, the force exertion state of the carrier and the like. In addition, the preset battery reserved capacity threshold can be set, and when the battery reaches the discharge threshold, the battery no longer outputs energy to the driving device of the wheels, so that the remaining capacity of the battery can meet the discharge time requirement of the working site.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile power supplies, and in particular to a control method, device and system for battery energy output and recovery. Background Art

[0002] DC power is the lifeblood of a substation. It powers the opening and closing mechanisms of various switches, protects critical equipment, and even the station's communications equipment. The DC power system within a substation primarily consists of a rectifier, responsible for converting AC power into DC, and one or more batteries, which serve as a backup power source in the event of an AC power outage. While the DC power supply within a substation is generally designed to withstand power outages, equipment can inevitably age or malfunction, especially batteries. After prolonged operation, the plates sulfide, reducing their activity and requiring replacement when the backup time falls short of the designed value.

[0003] Currently, a large number of substations at 110 kV and below are equipped with only one DC power supply system, typically consisting of 12V, 18 cells, or 2V, 108 cells. In the past, when replacing batteries, a temporary backup battery pack was often used. This backup power supply was inconvenient to install, requiring a large number of cells, was time-consuming and labor-intensive, and required significant floor space. Therefore, various portable DC power supplies are now available on the market, combining the rectifier, battery, and monitoring system within one or more cabinets. These are much easier to transport and carry than fixed cabinet-type DC power supplies.

[0004] However, to achieve the technical goal of small size and high capacity, lithium battery packs are often used. Consequently, a single unit is still relatively heavy. For example, a 48V, 50AH mobile DC power supply weighs nearly 50kg, making it inconvenient for a single person to carry and transport. Furthermore, due to factors such as the site environment, transport distances are often considerable. Currently, most transport solutions rely on handles or trolley cases. Regardless of the method, the long hours and long distances of transport place a significant burden on construction workers.

[0005] Therefore, this invention considers distributing part of the energy of the battery pack inside the portable DC power supply to the motor drive wheel at the bottom of the box, so that when the box is pulled or pushed by human power, energy is output at the same time to share part of the burden of the person. Summary of the Invention

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a method for controlling battery energy output and recovery, characterized in that the method includes:

[0007] Collect the motion and force status of the box carrying the DC power supply;

[0008] Processing the motion state information and force state information of the box to obtain the power obtained by the wheels at the bottom of the box;

[0009] Determine the energy output state of the battery pack based on the power obtained by the wheels at the bottom of the box;

[0010] The motion and force states of the box carrying the DC power supply are collected, including:

[0011] By detecting the angle between the center of gravity of the box and the initial position, the pitch angle of the external environment in which the detection system is located is collected, and the inclination coefficient is recorded as α;

[0012] By detecting the force magnitude and direction at the box pull rod, the force state of the carrier at this time is collected and the tension coefficient is recorded as β;

[0013] By detecting the changes in the rotation speed and acceleration of the wheel, the motion resistance state is collected and the speed coefficient is recorded as γ;

[0014] By detecting the temperature of the wheel motor and / or battery pack, the safe operating status of the box is collected and the temperature coefficient is recorded as δ;

[0015] By detecting the internal voltage and current of the battery pack and confirming the remaining capacity of the battery pack, the energy output status of the battery pack is collected and the battery capacity coefficient is recorded as ε;

[0016] By detecting the wheel motion state and battery capacity state, the working state of the energy recovery system is confirmed, and the energy recovery coefficient is recorded as ζ;

[0017] The battery health is confirmed by detecting the voltage and temperature of the battery pack, judging whether the battery pack should continue to charge or discharge, and recording the battery health coefficient as η;

[0018] The processing of the motion state information and the force state information of the box to obtain the power obtained by the wheels at the bottom of the box includes:

[0019] According to the formula X=K1*α+K2*β+K3*γ+K4*δ, X is calculated as the total weight coefficient, K1, K2, K3 and K4 are weight coefficients, where K1+K2+K3+K4=1,

[0020] If X≥0, the motor output power is: P OUT =ε*P1*X*E,

[0021] If X<0, the motor recovery power is: P IN =ζ*P2*X*E,

[0022] Where ε represents the battery capacity coefficient, ζ represents the energy recovery coefficient, P1 represents the rated output power, P2 represents the rated recovery power, X represents the total weight coefficient, and E represents the emergency shutdown factor.

[0023] Furthermore, under any of the following specific conditions, E takes the value of 0;

[0024] (1), α = 1 and γ = 0;

[0025] (2), β = 0;

[0026] (3), δ = 0;

[0027] (4), η = 0;

[0028] Under other conditions, E takes the value of 1.

[0029] A control device for battery energy output and recovery, comprising:

[0030] The acquisition module is used to collect the motion state and force state of the box;

[0031] a processing module, configured to process the motion state information and the force state information of the box, obtain the power obtained by the wheels at the bottom of the box, and determine the energy output state of the battery pack;

[0032] A control module is used to determine the energy output state of the battery pack according to the power obtained by the wheels at the bottom of the box;

[0033] The acquisition module includes:

[0034] The tilt angle acquisition unit is used to collect the pitch angle of the external environment where the detection system is located by detecting the angle between the center of gravity of the box and the initial position, and record the tilt angle coefficient as α;

[0035] The tension collection unit is used to collect the force applied by the carrier at this time by detecting the force magnitude and direction at the box pull rod, and record the tension coefficient as β;

[0036] The resistance acquisition unit is used to collect the motion resistance state by detecting the rotation speed and acceleration changes of the wheel, and record the speed coefficient as γ;

[0037] The temperature acquisition unit is used to collect the safe operating status of the box by detecting the temperature of the wheel motor and / or battery pack, and record the temperature coefficient as δ;

[0038] The volt-ampere acquisition unit is used to detect the internal voltage and current of the battery pack and confirm the remaining capacity of the battery pack to collect the energy output status of the battery pack and record the battery capacity coefficient as ε;

[0039] An energy recovery unit is used to confirm the working state of the energy recovery system by detecting the wheel motion state and the battery capacity state, and record the energy recovery coefficient as ζ.

[0040] A battery health acquisition unit is used to confirm the health of the battery pack by detecting the voltage and temperature of the battery pack, determine whether the battery pack continues to charge or discharge, and record the battery health coefficient as η.

[0041] A battery energy output and recovery control system, comprising a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the steps of the method of claim 1.

[0042] The beneficial effects of the present application are:

[0043] The present application has the ability to automatically output and automatically recover energy of the battery, and automatically adjusts the size of energy output and recovery according to the pitch angle of the ground, the force state of the carrier, etc.

[0044] In addition, a battery reserved capacity threshold can also be preset, when the battery reaches the discharge threshold, the battery no longer outputs energy to the drive device of the wheel, so as to ensure that the remaining capacity of the battery can meet the discharge time requirement of the work site.

[0045] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0046] The accompanying drawings are used to provide further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with the following specific embodiments, but do not constitute a limitation to the present application. In the drawings:

[0047] Figure 1 is a control block diagram of a battery energy output and recovery control device in the present application.

[0048] Figure 2 is a structural schematic diagram of the acquisition module in the present application.

[0049] Reference signs: DETAILED DESCRIPTION

[0050] The embodiments of the present application will be described in detail below, and the examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation to the present application.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0053] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0054] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0055] Please refer to Figure 1-Figure 2 , Figure 1 This is a control block diagram of a battery energy output and recovery control device in the present invention. The battery energy output and recovery control method includes:

[0056] Collect the motion and force status of the box carrying the DC power supply;

[0057] Processing the motion state information and force state information of the box to obtain the power obtained by the wheels at the bottom of the box;

[0058] Determine the energy output state of the battery pack based on the power obtained by the wheels at the bottom of the box;

[0059] The motion and force states of the box carrying the DC power supply are collected, including:

[0060] By measuring the angle between the box's center of gravity and its initial position, the system collects the pitch angle of the external environment in which the detection system is located, recording the inclination coefficient as α. The system then determines whether the box is currently on an uphill slope, downhill slope, or flat road. If the box is on an uphill slope, the system determines that the battery pack needs to output more energy to reduce the effort required to pull the box. If the box is on a downhill slope, the system reduces the battery pack output or recycles energy.

[0061] By detecting the magnitude and direction of the force applied to the box's pull rod, the system collects the wearer's current force application and records the pull coefficient as β. If the forward force increases, the system determines that the wearer is exerting effort and needs to increase power output. If the forward force decreases, or even if the wearer is exerting force backward, the system determines that the wearer needs to stop moving forward or slow the box's forward movement. The system then reduces the output power or activates energy recovery.

[0062] By detecting the changes in the rotational speed and acceleration of the wheels, the motion resistance state is collected and recorded as the speed coefficient γ. The changes in wheel speed are detected to determine whether the mover wants to stop or slows down due to effort. This determines whether the battery pack stops or increases energy output.

[0063] The safe operation state of the box is collected by detecting the temperature of the wheel motor and / or the battery pack, and a temperature coefficient δ is recorded; the temperature state of the battery pack and the wheel motor is detected to ensure that the device is in a safe operation state. If the battery pack overheats or the wheel overheats, the energy output of the battery pack is stopped.

[0064] The energy output state of the battery pack is collected by detecting the internal voltage and current of the battery pack to confirm the remaining capacity of the battery pack, and a battery capacity coefficient ε is recorded; because the electric energy used is the capacity of the battery pack inside the box, and this capacity needs to consider the remaining capacity to meet the standby time requirement for power supply when used on site. Therefore, it cannot be discharged unlimitedly, and if it is detected that the battery capacity is lower than the threshold Cmin, the battery pack will no longer output energy to meet the requirements of subsequent work.

[0065] The working state of the energy recovery system is confirmed by detecting the wheel motion state and battery capacity state, and an energy recovery coefficient ζ is recorded; the energy recovery state of the battery pack, the energy recovery strength, and the recoverable capacity are determined.

[0066] The health degree of the battery pack is confirmed by detecting the voltage and temperature of the battery pack, and the battery health degree coefficient η is recorded to determine whether the battery pack continues to charge or discharge.

[0067] The motion state information and the force state information of the box are processed to obtain the power obtained by the wheels at the bottom of the box, including:

[0068] According to the formula X=K1*α+K2*β+K3*γ+K4*δ, X is calculated as the total weight coefficient, K1, K2, K3, and K4 are weight coefficients, and K1+K2+K3+K4=1,

[0069] If X≥0, the motor output power is: P OUT =ε*P1*X*E,

[0070] If X<0, the motor recovery power is: P IN =ζ*P2*X*E,

[0071] Wherein, ε represents the battery capacity coefficient, ζ represents the energy recovery coefficient, P1 represents the rated output power, P2 represents the rated recovery power, X represents the total weight coefficient, and E represents the emergency stop factor.

[0072] E is 0 under any of the following specific conditions:

[0073] (1) α=1 and γ=0;

[0074] (2) β=0;

[0075] (3), δ = 0;

[0076] (4), η = 0;

[0077] Under other conditions, E takes the value of 1.

[0078] Appendix: Pitch angle coefficient description:

[0079] ① The initial state is when the angle between the cabinet pull rod and the ground is θ0, and the inclination coefficient at this time is recorded as 0.

[0080] ② When the ground is uphill, the angle between the cabinet pull rod and the ground is less than θ0. min is the limit, and the angle coefficient is recorded as 1. min Divide equally in proportion.

[0081] ③ When the ground is downhill, the angle between the cabinet pull rod and the ground is greater than θ0. max is the upper limit, and the angle coefficient at this time is recorded as -1. max Divide equally in proportion.

[0082] Tensile coefficient description:

[0083] ① The initial state is when the pull rod is not under stress, and the tension coefficient at this time is recorded as 0.

[0084] ② When the force direction at the pull rod is the same as the movement direction of the box, the tension coefficient at this time is recorded as 1.

[0085] ③ When the force direction at the pull rod is opposite to the movement direction of the box, the tension coefficient at this time is recorded as -1.

[0086] Speed ​​coefficient description:

[0087] ① When the box stops moving, the state is initial, and the speed coefficient at this time is recorded as 1.

[0088] ②When the box moves at a speed of V max When the upper limit is reached, the speed coefficient is recorded as 0. max Divide equally in proportion.

[0089] Temperature coefficient description:

[0090] ① The wheel motor ≤ T0 is the initial state, and the temperature coefficient at this time is recorded as 1.

[0091] ②The wheel motor temperature reaches T max is the upper limit, and the temperature coefficient at this time is recorded as 0. T0—T max Divide equally in proportion.

[0092] Battery capacity factor description:

[0093] ① The initial state is when the battery preset capacity is 100%, and the battery factor at this time is recorded as 1.

[0094] ② The preset remaining capacity of the battery is SOC1, which is the warning state. The battery coefficient at this time is recorded as C1.

[0095] ③ When the remaining capacity of the battery is preset to 0, it is the limit state, and the battery coefficient at this time is recorded as 0.

[0096] Energy recovery factor explanation:

[0097] ① The initial state is when the battery preset capacity remaining is 0, and the recovery coefficient at this time is recorded as 1.

[0098] ② The battery preset capacity remaining is SOC2, which is the warning state. The recovery coefficient at this time is recorded as C2.

[0099] ③ The battery preset capacity remaining is 100%, which is the limit state, and the recovery coefficient at this time is recorded as 0.

[0100] Battery health factor description:

[0101] ①The single cell voltage is at U min -U max When the battery is between 1 and 2, the battery health coefficient is recorded as 1.

[0102] ②The single cell voltage is lower than U min or higher than U max When the battery is fully charged, the battery health coefficient is recorded as 0.

[0103] ③The battery temperature is at t min -t max When the battery is between 1 and 2, the battery health coefficient is recorded as 1.

[0104] ④The battery temperature is lower than t min or higher than t max When the battery health coefficient is 0

[0105] The present invention also discloses a control device for battery energy output and recovery, comprising:

[0106] The acquisition module is used to collect the motion state and force state of the box;

[0107] a processing module, configured to process the motion state information and the force state information of the box, obtain the power obtained by the wheels at the bottom of the box, and determine the energy output state of the battery pack;

[0108] A control module is used to determine the energy output state of the battery pack according to the power obtained by the wheels at the bottom of the box;

[0109] The collection module comprises:

[0110] An inclination collection unit is configured to collect the pitch angle of the external environment of the detection system by detecting the angle between the center of gravity of the box and the initial position, and record the inclination coefficient as alpha;

[0111] A pulling force collection unit is configured to collect the force state of the carrier at this time by detecting the force size and force direction at the pulling rod of the box, and record the pulling force coefficient as beta;

[0112] A speed collection unit is configured to collect the motion resistance state by detecting the rotation speed and acceleration change of the wheel, and record the speed coefficient as gamma;

[0113] A temperature collection unit is configured to collect the safe operation state of the box by detecting the temperature of the wheel motor and / or the battery pack, and record the temperature coefficient as delta;

[0114] A voltage and current collection unit is configured to collect the energy output state of the battery pack by detecting the voltage and current inside the battery pack, and confirm the remaining capacity of the battery pack, and record the battery capacity coefficient as epsilon;

[0115] An energy recovery unit is configured to confirm the working state of the energy recovery system by detecting the wheel motion state and the battery capacity state, and record the energy recovery coefficient as zeta;

[0116] A battery health collection unit is configured to confirm the health of the battery pack by detecting the voltage and temperature of the battery pack, and determine whether the battery pack continues to charge or discharge, and record the battery health coefficient as eta.

[0117] In addition, the application also discloses a battery energy output and recovery control system, comprising a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the foregoing method.

[0118] In the description of the present specification, the description of the terms "one embodiment", "certain embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0119] In addition, it should be noted that various technical features described in the above embodiments can be combined in any suitable manner, without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the embodiments of the present application.

[0120] Those skilled in the art can understand that all or part of the steps of the methods in the above embodiments can be completed by a program instructing related hardware. The program is stored in a storage medium, and includes a plurality of instructions for enabling a single-chip microcomputer, a chip or a processor to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.

[0121] To sum up, although the present application has been disclosed as above with preferred embodiments, the above preferred embodiments are not used to limit the present application. Those skilled in the art can make various modifications and decorations without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application is defined by the scope of the claims.

Claims

1. A method for controlling battery energy output and recovery, characterized in that: The method comprises: Collect the motion and force status of the box carrying the DC power supply; Processing the motion state information and force state information of the box to obtain the power obtained by the wheels at the bottom of the box; Determine the energy output state of the battery pack based on the power obtained by the wheels at the bottom of the box; The motion and force states of the box carrying the DC power supply are collected, including: By detecting the angle between the center of gravity of the box and the initial position, the pitch angle of the external environment in which the detection system is located is collected, and the inclination coefficient is recorded as α; By detecting the force magnitude and direction at the box pull rod, the force state of the carrier at this time is collected and the tension coefficient is recorded as β; By detecting the changes in the rotation speed and acceleration of the wheel, the motion resistance state is collected and the speed coefficient is recorded as γ; By detecting the temperature of the wheel motor and / or battery pack, the safe operating status of the box is collected and the temperature coefficient is recorded as δ; By detecting the internal voltage and current of the battery pack and confirming the remaining capacity of the battery pack, the energy output status of the battery pack is collected and the battery capacity coefficient is recorded as ε; By detecting the wheel motion state and battery capacity state, the working state of the energy recovery system is confirmed, and the energy recovery coefficient is recorded as ζ; The battery health is confirmed by detecting the voltage and temperature of the battery pack, judging whether the battery pack should continue to charge or discharge, and recording the battery health coefficient as η; The processing of the motion state information and the force state information of the box to obtain the power obtained by the wheels at the bottom of the box includes: According to the formula X=K1*α+K2*β+K3*γ+K4*δ, X is calculated as the total weight coefficient, K 1、 K 2、 K3 and K4 are weight coefficients, where K1+K2+K3+K4=1. If X≥0, the motor output power is: P OUT =ε*P1*X*E, If X<0, the motor recovery power is: P IN =ζ*P2*X*E, Where ε represents the battery capacity coefficient, ζ represents the energy recovery coefficient, P1 represents the rated output power, P2 represents the rated recovery power, X represents the total weight coefficient, and E represents the emergency shutdown factor.

2. The method for controlling battery energy output and recovery according to claim 1, characterized in that: Under any of the following specific conditions, E takes the value of 0; (1), α = 1 and γ = 0; （2）、β=0； (3),δ=0; (4), η = 0; Under other conditions, E takes the value of 1.

3. A control device for battery energy output and recovery, characterized by: include: The acquisition module is used to collect the motion state and force state of the box; a processing module, configured to process the motion state information and the force state information of the box, obtain the power obtained by the wheels at the bottom of the box, and determine the energy output state of the battery pack; A control module is used to determine the energy output state of the battery pack according to the power obtained by the wheels at the bottom of the box; The acquisition module includes: The tilt angle acquisition unit is used to collect the pitch angle of the external environment where the detection system is located by detecting the angle between the center of gravity of the box and the initial position, and record the tilt angle coefficient as α; The tension collection unit is used to collect the force applied by the carrier at this time by detecting the force magnitude and direction at the box pull rod, and record the tension coefficient as β; The speed acquisition unit is used to collect the motion resistance state by detecting the rotation speed and acceleration changes of the wheel, and record the speed coefficient as γ; The temperature acquisition unit is used to collect the safe operating status of the box by detecting the temperature of the wheel motor and / or battery pack, and record the temperature coefficient as δ; The volt-ampere acquisition unit is used to detect the internal voltage and current of the battery pack and confirm the remaining capacity of the battery pack to collect the energy output status of the battery pack and record the battery capacity coefficient as ε; The energy recovery unit is used to confirm the working status of the energy recovery system by detecting the wheel movement status and battery capacity status, and record the energy recovery coefficient as ζ; The battery health acquisition unit is used to confirm the health of the battery pack by detecting the voltage and temperature of the battery pack, determine whether the battery pack continues to charge or discharge, and record the battery health coefficient as η; The processing of the motion state information and the force state information of the box to obtain the power obtained by the wheels at the bottom of the box includes: According to the formula X=K1*α+K2*β+K3*γ+K4*δ, X is calculated as the total weight coefficient, K 1、 K 2、 K3 and K4 are weight coefficients, where K1+K2+K3+K4=1. If X≥0, the motor output power is: P OUT =ε*P1*X*E, If X<0, the motor recovery power is: P IN =ζ*P2*X*E, Where ε represents the battery capacity coefficient, ζ represents the energy recovery coefficient, P1 represents the rated output power, P2 represents the rated recovery power, X represents the total weight coefficient, and E represents the emergency shutdown factor.

4. A battery energy output and recovery control system, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 2 are implemented.

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