Web laying control method, device and computer readable medium for a web laying machine

Abstract

The application provides a laying control method, device and computer readable medium of a laying machine, the laying machine comprising: a laying device and a storage device, the storage device being used for conveying a fiber web to be laid to the laying device; the laying device and the storage device having the same uniform speed running stage when performing a laying operation; the control method comprising: obtaining a first time point representing that the laying device enters a variable speed running stage from the uniform speed running stage; obtaining a first running speed of the laying device and the storage device in the uniform speed running stage; controlling the storage device to convey the fiber web to be laid to the laying device in a first deceleration motion; and controlling the laying device to lay the fiber web conveyed by the storage device in a second deceleration motion; wherein the time length used by the first deceleration motion for reducing the first running speed to a first preset speed is greater than the time length used by the second deceleration motion for reducing the first running speed to the first preset speed. The scheme can improve the quality of a laid product.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of industrial and electrical control technology, in particular to a laying control method, device and computer readable medium of a laying machine. BACKGROUND

[0002] The laying machine is used to evenly lay the fiber web from the carding machine to the required width and thickness, and then send it to the next process after being pressed. It is the core equipment of the non-woven fabric production line, and is of great significance to improve the production efficiency of non-woven fabric.

[0003] When the laying machine performs the laying operation, the laying trolley needs to make a reciprocating motion at both ends of the laying width. That is, the laying trolley starts to decelerate at a certain distance from both ends of the laying width, and the speed is reduced to 0 when it reaches both ends, and then the reversing is completed. However, since the fiber web output by the carding machine is transported at a constant speed from the output curtain of the laying machine, this will cause the accumulation of the fiber web at the reversing position, thereby causing the laying product to wrinkle, and the laying product with such wrinkles often cannot meet the product requirements. SUMMARY

[0004] The present application provides a laying control method, device and computer readable medium of a laying machine, which can improve the quality of the laying product.

[0005] In a first aspect, an embodiment of the present application provides a laying control method of a laying machine, the laying machine comprising: a laying device and a web storage device, the web storage device being used to transport the fiber web to be laid to the laying device; the laying device and the web storage device have the same uniform speed running phase when performing the laying operation, and the running speed of the uniform speed running phase is the same;

[0006] The control method comprises:

[0007] obtaining a first time point; wherein the first time point is used to represent the time point when the laying device enters the variable speed running phase from the uniform speed running phase;

[0008] obtaining a first running speed of the laying device and the web storage device in the uniform speed running phase;

[0009] starting from the first time point, controlling the web storage device to transport the fiber web to be laid to the laying device at a first deceleration motion;

[0010] starting from the first time point, controlling the laying device to lay the fiber web transported by the web storage device at a second deceleration motion; wherein the time length used by the first deceleration motion to reduce the first running speed to the first preset speed is greater than the time length used by the second deceleration motion to reduce the first running speed to the first preset speed.

[0011] In a possible implementation, the step of controlling the web storage device to deliver the fibrous web to be laid to the web laying device with a first deceleration motion from the first time point comprises:

[0012] controlling the web storage device to deliver the fibrous web to be laid to the web laying device with a first acceleration in a first deceleration phase; wherein the first deceleration phase is used to represent a time period from the start of deceleration to the speed of the web laying device being reduced to 0, and the first acceleration can make the speed of the web storage device not be 0 when the speed of the web laying device is reduced to 0; and

[0013] controlling the web storage device to deliver the fibrous web to be laid to the web laying device with a second acceleration in a second deceleration phase; wherein the absolute value of the second acceleration is greater than the absolute value of the first acceleration.

[0014] In a possible implementation, the first deceleration phase is a time period between the first time point and a second time point, and the second time point is a time point at which the speed of the web laying device is reduced to 0.

[0015] The step of controlling the web storage device to deliver the fibrous web to be laid to the web laying device with a first acceleration in a first deceleration phase comprises:

[0016] obtaining a lag ratio of the web storage device delivering the fibrous web to the web laying device;

[0017] determining a second running speed of the web storage device at a second time point according to the lag ratio and the first running speed; wherein the second running speed is not 0;

[0018] determining a first acceleration of the web storage device running in the first deceleration phase according to the second running speed and the first running speed;

[0019] controlling the web storage device to run with the first acceleration in the first deceleration phase to deliver the fibrous web to be laid to the web laying device.

[0020] In a possible implementation, the step of determining the first acceleration of the web storage device running in the first deceleration phase according to the second running speed and the first running speed comprises:

[0021] calculating the first acceleration at each time point in the first deceleration phase by using the following calculation formula:

[0022]

[0023] wherein, is used to represent the first acceleration at the i th time point in the first deceleration phase, for characterizing the first running speed, ; for characterizing the second running speed, for characterizing the second running speed, for characterizing the length of time from the first time to the i-th time in the first deceleration phase.

[0024] In a possible implementation, the second deceleration phase is a time period between a second time and a third time, the second time being a time at which the speed of the fiber web laying device is reduced to 0, and the third time being a time at which the speed of the fiber web storage device is reduced to 0;

[0025] The step of controlling the fiber web storage device to move at the second acceleration to deliver the fiber web to be laid to the fiber web laying device in the second deceleration phase comprises:

[0026] determining a second acceleration at which the fiber web storage device runs in the second deceleration phase according to the second running speed, the second time and the third time;

[0027] controlling the fiber web storage device to move at the second acceleration in the second deceleration phase to deliver the fiber web to be laid to the fiber web laying device.

[0028] In a possible implementation, the step of determining the second acceleration at which the fiber web storage device runs in the second deceleration phase according to the second running speed, the second time and the third time comprises:

[0029] determining the second acceleration at each time in the second deceleration phase by using a calculation formula as follows:

[0030]

[0031] wherein, for characterizing the second acceleration at the j-th time in the second deceleration phase, for characterizing the hysteresis ratio of the fiber web storage device to deliver the fiber web to the fiber web laying device, and ; for characterizing the first running speed, for characterizing the second running speed, for characterizing the length of time from the second time to the j-th time in the second deceleration phase.

[0032] In a possible implementation, the step of controlling the fiber web laying device to lay the fiber web delivered by the fiber web storage device at the second deceleration from the first time comprises:

[0033] controlling the laying device to reduce the speed of the laying device from the first running speed to 0 with a third acceleration in a first deceleration stage; wherein the first deceleration stage is used to represent a time period from the start of deceleration to the speed being reduced to 0.

[0034] In a possible implementation, the method further comprises:

[0035] controlling the laying device to accelerate in a direction opposite to the stage of the second deceleration movement and accelerate the speed of the laying device to the size of the first running speed after the laying device reduces the speed to 0 with the second deceleration movement; and

[0036] controlling the laying device to accelerate in a direction opposite to the stage of the second deceleration movement and accelerate the speed of the laying device to the size of the first running speed after the laying device reduces the speed to 0 with the second deceleration movement; and

[0037] wherein the laying device and the laying device accelerate the respective speeds to the size of the first running speed at the same time.

[0038] In a second aspect, an embodiment of the present application provides a laying control device of a laying machine, the laying machine comprising: a laying device and a laying device, the laying device being used to deliver a fiber web to be laid to the laying device; the laying device and the laying device have the same uniform running stage when performing the laying operation, and the running speed of the uniform running stage is the same;

[0039] The control device comprises a first acquisition module, a second acquisition module, a first control module and a second control module.

[0040] The first acquisition module is configured to acquire a first time; wherein the first time is used to represent the time when the laying device enters the variable speed running stage from the uniform running stage;

[0041] The second acquisition module is configured to acquire the first running speed of the laying device and the laying device in the uniform running stage.

[0042] The first control module is configured to control the laying device to deliver the fiber web to be laid to the laying device with a first deceleration movement from the first time acquired by the first acquisition module.

[0043] a second control module configured to control the web laying device to lay the fibrous web delivered by the web storage device at a second deceleration motion starting from the first time point obtained by the first acquisition module; wherein a time length used for decreasing the first running speed obtained by the second acquisition module to the first pre-speed by the second deceleration motion is greater than a time length used for decreasing the first running speed obtained by the second acquisition module to the first pre-speed by the first deceleration motion.

[0044] In a possible implementation, when the first control module controls the web storage device to deliver the fibrous web to be laid to the web laying device at the first deceleration motion starting from the first time point, the first control module is configured to perform the following operations:

[0045] control the web storage device to deliver the fibrous web to be laid to the web laying device at a first acceleration in a first deceleration phase; wherein the first deceleration phase is used to represent a time period from the start of deceleration to the speed of the web laying device being reduced to 0, and the first acceleration can make the speed of the web storage device not be 0 when the speed of the web laying device is reduced to 0; and

[0046] control the web storage device to deliver the fibrous web to be laid to the web laying device at a second acceleration in a second deceleration phase; wherein an absolute value of the second acceleration is greater than an absolute value of the first acceleration.

[0047] In a possible implementation, the first deceleration phase is a time period between the first time point and a second time point, and the second time point is a time point at which the speed of the web laying device is reduced to 0;

[0048] When the first control module controls the web storage device to deliver the fibrous web to be laid to the web laying device at the first acceleration in the first deceleration phase, the first control module is configured to perform the following operations:

[0049] acquire a hysteresis ratio of the web storage device delivering the fibrous web to the web laying device;

[0050] determine a second running speed of the web storage device at the second time point according to the hysteresis ratio and the first running speed; wherein the second running speed is not 0;

[0051] determine the first acceleration of the web storage device running in the first deceleration phase according to the second running speed and the first running speed;

[0052] control the web storage device to move at the first acceleration in the first deceleration phase to deliver the fibrous web to be laid to the web laying device.

[0053] In a possible implementation, the first control module, when determining the first acceleration of the storage net device in the first deceleration stage according to the second running speed and the first running speed, is configured to calculate the first acceleration at each moment in the first deceleration stage by using the following calculation formula:

[0054]

[0055] wherein, is used to represent the first acceleration at the i th moment in the first deceleration stage, is used to represent the hysteresis ratio, and ; is used to represent the first running speed, is used to represent the second running speed, is used to represent the time length from the i th moment to the first moment in the first deceleration stage.

[0056] In a possible implementation, the second deceleration stage is a time period between a second moment and a third moment, the second moment is a moment when the speed of the laying net device is reduced to 0, and the third moment is a moment when the speed of the storage net device is reduced to 0;

[0057] The first control module, when controlling the storage net device to move at the second acceleration in the second deceleration stage to deliver the fiber web to be laid to the laying net device, is configured to perform the following operations:

[0058] determine the second acceleration of the storage net device in the second deceleration stage according to the second running speed, the second moment and the third moment;

[0059] control the storage net device to move at the second acceleration in the second deceleration stage to deliver the fiber web to be laid to the laying net device.

[0060] In a possible implementation, the first control module, when determining the second acceleration of the storage net device in the second deceleration stage according to the second running speed, the second moment and the third moment, is configured to determine the second acceleration at each moment in the second deceleration stage by using the following calculation formula:

[0061]

[0062] wherein, is used to represent the second acceleration at the j th moment in the second deceleration stage, is used to represent the hysteresis ratio of the storage net device to deliver the fiber web to the laying net device, and ; is used to represent the first running speed, for characterizing a time length from the second time instant to the jth time instant in the second deceleration phase. for characterizing a time length from the second time instant to the jth time instant in the second deceleration phase.

[0063] In a possible implementation, the second control module is configured to perform the following operation when controlling the laying device to lay the fibrous web delivered by the storage device with a second deceleration motion starting from the first time instant:

[0064] controlling the laying device to decelerate the speed of the laying device from the first running speed to 0 with a third acceleration in a first deceleration phase; wherein the first deceleration phase is used to characterize a time period from the start of deceleration to the speed being reduced to 0.

[0065] In a possible implementation, the device further comprises an acceleration control module; the acceleration control module is configured to perform the following operation:

[0066] controlling the storage device to accelerate in a direction opposite to the stage of the first deceleration motion and accelerate the speed of the storage device to the size of the first running speed after the storage device reduces its speed to 0 with the first deceleration motion; and,

[0067] controlling the laying device to accelerate in a direction opposite to the stage of the second deceleration motion and accelerate the speed of the laying device to the size of the first running speed after the laying device reduces its speed to 0 with the second deceleration motion.

[0068] wherein the storage device and the laying device accelerate the respective speeds to the size of the first running speed at the same time instant.

[0069] In a third aspect, an embodiment of the present application further provides a computing device, comprising: at least one memory and at least one processor;

[0070] the at least one memory is used to store a machine readable program;

[0071] the at least one processor is used to invoke the machine readable program and execute the method in any of the first aspect.

[0072] In a fourth aspect, an embodiment of the present application further provides a computer readable medium, wherein the computer readable medium stores computer instructions, and the computer instructions make the processor execute the method in any of the first aspect when executed by the processor.

[0073] In a fifth aspect, an embodiment of the present application further provides a computer program product, comprising a computer program, and the computer program is executed by the processor to implement the method in any of the first aspect.

[0074] From the above technical solution, during the laying operation of the laying machine, the first time when the laying device enters the variable speed running stage from the uniform speed running stage can be obtained, and the first running speed of the laying device and the storage device in the uniform speed running stage can be obtained. In this way, from the first time, the storage device can be controlled to deliver the fiber web to be laid to the laying device at a first deceleration motion. And from the first time, the laying device can be controlled to lay the fiber web delivered by the storage device at a second deceleration motion. In the present solution, the time length used by the first deceleration motion to reduce the first running speed to the first preset speed is greater than the time length used by the second deceleration motion to reduce the first running speed to the first preset speed. That is to say, the deceleration process of the storage device lags behind the laying device. Therefore, during the reversing process of the laying device, the amount of the fiber web supplied by the storage device to the laying device decreases, so as to avoid the edge fold of the laying product, and thus the quality of the laying product can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0075] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings described below are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor based on these drawings.

[0076] Figure 1 is a structural schematic diagram of a laying machine provided by an embodiment of the present application;

[0077] Figure 2 is a flow chart of a laying control method of a laying machine provided by an embodiment of the present application;

[0078] Figure 3 is a flow chart of a control method of a storage device provided by an embodiment of the present application;

[0079] Figure 4 is a flow chart of another control method of a storage device provided by an embodiment of the present application;

[0080] Figure 5 is a flow chart of still another control method of a storage device provided by an embodiment of the present application;

[0081] Figure 6 is a structural schematic diagram of a laying control device of a laying machine provided by an embodiment of the present application;

[0082] Figure 7 is a schematic diagram of a computing device provided by an embodiment of the present application.

[0083] List of reference signs

[0084] 101: storage web device 102: web laying device 103: fiber web

[0085] 104: web laying product 105: storage web compensation device 106: web laying compensation device

[0086] 201: first time point

[0087] 202: first running speed of the web laying device and the storage web device in a uniform running stage

[0088] 203: from the first time point, control the storage web device to deliver the fiber web to be laid to the web laying device in a first deceleration motion

[0089] 204: from the first time point, control the web laying device to lay the fiber web delivered by the storage web device in a second deceleration motion

[0090] 301: control the storage web device to deliver the fiber web to be laid to the web laying device in a first acceleration in a first deceleration stage

[0091] 302: control the storage web device to deliver the fiber web to be laid to the web laying device in a second acceleration in a second deceleration stage

[0092] 401: obtain a lag ratio of the storage web device delivering the fiber web to the web laying device

[0093] 402: determine a second running speed of the storage web device at a second time point according to the lag ratio and the first running speed

[0094] 403: determine a first acceleration of the storage web device running in the first deceleration stage according to the second running speed and the first running speed

[0095] 404: control the storage web device to move in the first acceleration in the first deceleration stage to deliver the fiber web to be laid to the web laying device

[0096] 501: determine a second acceleration of the storage web device running in the second deceleration stage according to the second running speed, the second time point and a third time point

[0097] 502: control the storage web device to move in the second acceleration in the second deceleration stage to deliver the fiber web to be laid to the web laying device

[0098] 601: first obtaining module 602: second obtaining module

[0099] 603: first control module 604: second control module

[0100] 701: memory 702: processor DETAILED DESCRIPTION

[0101] As described above, the lapper is the core equipment of the non-woven fabric production line, and the lapper trolley realizes the laying of the fiber web into the lapper product with a certain width by reciprocating in the width. The fiber web output by the carding machine will first pass through the web storage trolley, and then be conveyed to the lapper trolley by the web storage trolley for lapping operation.

[0102] However, the conventional lapper lacks control of the fiber web, that is, the web storage trolley is only an overpass device for the fiber web, and cannot truly realize the operation of storing the fiber web. For example, in the conventional lapper, the speed of the lapper trolley will be reduced to 0 when reversing at both ends of the lapping width, and the speed of the web storage trolley must also be reduced to 0 at the same time, and then reversed and accelerated again. Since the fiber web output by the carding machine is conveyed at a constant speed from the web conveying curtain of the lapper, and the web storage trolley and the lapper trolley have the same acceleration and deceleration motion states. Therefore, the fiber web is easily accumulated when the lapper reverses, which in turn causes wrinkles at both ends of the lapping product. Especially after the lapping product is reinforced by needle punching or water jetting, the wrinkles at both sides of the lapping product often make the flatness of the lapping product not enough, and cannot meet the product standard.

[0103] Based on this, the present scheme considers that when the lapper is decelerating and reversing, the deceleration of the web storage device lags behind the deceleration of the lapping device, that is, the deceleration time of the web storage device is longer than that of the lapping device, so as to reduce the accumulation of the fiber web when the lapper reverses, and in turn improve the quality of the lapping product.

[0104] As Figure 1 The structure of the lapper can further include a web storage compensation device 105 and a lapping compensation device 106. The web storage compensation device 105 is used to compensate and correct the motion amount of the web storage device 101, and the lapping compensation device 106 is used to compensate and correct the motion amount of the lapping device 102.

[0105] The laying machine is working, the laying equipment needs to reciprocate to lay the net operation. And in the process of reciprocating, because the conveying device of the fiber web is constant speed movement, therefore, in the process of reversing of the laying equipment, due to the reason of deceleration and acceleration, it will inevitably lead to the accumulation of fiber web at both ends of the laying product, forming wrinkles on the laying product, and further causing the quality of the laying product to not meet the standard. Therefore, in the scheme, the deceleration process of the web storage device is delayed from the deceleration process of the laying equipment, so as to reduce the fiber web supply amount in the reversing process of the laying equipment, so as to improve the quality of the laying product. For example, as shown in the schematic diagram Figure 1 When the laying equipment lays to the left and starts to decelerate, the web storage equipment still moves to the left at a high speed, which increases the distance of the fiber web from the web storage equipment to the laying equipment, that is, the fiber web supply amount to the laying equipment is reduced.

[0106] The laying equipment and the web storage equipment have the same uniform speed stage when laying the net, and the running speed of the uniform speed stage is the same, so as to ensure the normal laying of the fiber web, and the fiber web laying discontinuity and accumulation will not occur in the uniform speed running stage. The scheme mainly considers controlling the variable speed stage, which is also the laying control of the reversing stage. Specifically, as shown in Figure 2 The laying control method of the laying machine can include the following steps:

[0107] Step 201: obtaining a first time; wherein the first time is used to represent the time when the laying equipment enters the variable speed running stage from the uniform speed running stage;

[0108] Step 202: obtaining the first running speed of the laying equipment and the web storage equipment in the uniform speed running stage;

[0109] Step 203: from the first time, control the web storage equipment to transport the fiber web to be laid to the laying equipment at a first deceleration;

[0110] Step 204: from the first time, control the laying equipment to lay the fiber web transported by the web storage equipment at a second deceleration; wherein the time length used by the first deceleration to reduce the first running speed to the first preset speed is greater than the time length used by the second deceleration to reduce the first running speed to the first preset speed.

[0111] In the embodiment, when the laying machine performs the laying operation, first, the first time when the laying device enters the variable speed running stage from the uniform speed running stage can be acquired, and then the first running speed of the laying device and the storage device in the uniform speed running stage is acquired. In this way, from the first time, the storage device can be controlled to deliver the fiber web to be laid to the laying device at a first deceleration motion. And from the first time, the laying device can be controlled to lay the fiber web delivered by the storage device at a second deceleration motion. In the scheme, the time length used by the first deceleration motion to reduce the first running speed to the first preset speed is greater than the time length used by the second deceleration motion to reduce the first running speed to the first preset speed. That is, the deceleration process of the storage device is lagging behind the laying device. Therefore, during the reversing process of the laying device, the amount of the fiber web supplied by the storage device to the laying device is reduced, so that the edge folding of the laying product can be avoided, and the quality of the laying product can be improved.

[0112] The various steps in the method of the present application will be described below in connection with specific embodiments. Figure 2

[0113] First, in step 201, the first time is acquired.

[0114] In this step, the first time is the time when the laying device enters the variable speed running stage from the uniform speed running stage. For example, the laying device is in the uniform speed running state before T time, and after T time, the laying device starts to decelerate to prepare to reduce the speed to 0 and then reverse. Then, the T time is the first time.

[0115] Then, in step 202, the first running speed of the laying device and the storage device in the uniform speed running stage is acquired.

[0116] The laying device and the storage device have the same uniform speed running stage. For example, the laying device uniformly runs to lay the fiber web between t1 time and t2 time, and then the storage device uniformly runs to deliver the fiber web to the laying device between t1 time and t2 time. Since the laying device and the storage device are uniformly running in this stage, there is no quality problem of the laying product folding due to the change of the speed. Moreover, the uniform speed running in this stage can ensure that the laying machine has a large laying speed.

[0117] ​It should be noted that the first running speed of the laying device and the storage device in the uniform running stage is the maximum running speed of the laying device and the storage device in the laying operation. That is, in the whole laying process, the overall motion state of the laying device and the storage device changes as follows (here, the laying device is taken as an example): the laying device starts to accelerate from one end of the laying product, controls the laying device to accelerate to the first running speed at a certain moment, and then runs at the first running speed for a period of time. Further, the laying device is controlled to start deceleration from the first running speed at a certain moment, so that the speed of the laying device is reduced to 0 when the laying device reaches the other end of the laying product. Therefore, the first running speed is the maximum running speed of the laying device and the storage device in the laying operation.

[0118] Further, in step 203, the storage device is controlled to deliver the fiber web to be laid to the laying device at the first deceleration motion from the first moment.

[0119] In this step, since the wrinkles of the laying product are mainly caused by the deceleration and reversal of the laying device and the storage device, the motion of the storage device is controlled in this stage.

[0120] In a possible implementation manner, as shown in Figure 3 the step 203 can be implemented by the following steps:

[0121] Step 301: controlling the storage device to deliver the fiber web to be laid to the laying device at a first acceleration in a first deceleration stage; wherein the first deceleration stage is used to represent the period of time from the start of the deceleration of the laying device to the speed being reduced to 0, and the first acceleration can make the speed of the storage device not be 0 when the speed of the laying device is reduced to 0; and,

[0122] Step 302: controlling the storage device to deliver the fiber web to be laid to the laying device at a second acceleration in a second deceleration stage; wherein the absolute value of the second acceleration is greater than the absolute value of the first acceleration.

[0123] In this embodiment, when the storage device is controlled to deliver the fiber web to be laid to the laying device at the first deceleration motion, first, in the first deceleration stage from the start of the deceleration of the laying device to the speed being reduced to 0, the laying device is controlled to deliver the fiber web to be laid to the laying device at the first acceleration, and the first acceleration ensures that the speed of the storage device is not 0 at the end of the first deceleration stage. Then, the fiber web to be laid is delivered to the laying device at a greater second acceleration in the second deceleration stage. Thus, since the speed of the storage device is not 0 when the speed of the laying device is reduced to 0 in the first deceleration stage, as Figure 1As shown in the structural schematic diagram, the storage net device continues to move forward, increases the running distance of the fiber web between the laying net device and the storage net device, and avoids the fiber web from being accumulated at the edge of the laying net product, thereby avoiding the folding of the laying net product.

[0124] Moreover, in the second deceleration stage, by making the absolute value of the second acceleration greater than the absolute value of the first acceleration, the laying net device can quickly reduce the speed of the storage net device to 0 after completing the reversing, so as to complete the reversing operation of the storage net device. Furthermore, the storage net device and the laying net device can accelerate to the first running speed at the same time after reversing, so as to enter the uniform speed running stage.

[0125] The step 301 is described below.

[0126] In a possible implementation, the first deceleration stage is a time period between a first time and a second time, the first time is the time when the laying net device enters the variable speed running stage from the uniform speed running stage, and the second time is the time when the speed of the laying net device is reduced to 0. In this way, as shown in the structural schematic diagram, the step 301 can be implemented by the following steps when the storage net device is controlled to deliver the fiber web to be laid to the laying net device at the first acceleration in the first deceleration stage: Figure 4

[0127] Step 401: Obtain a lag ratio of the storage net device delivering the fiber web to the laying net device;

[0128] Step 402: Determine a second running speed of the storage net device at the second time according to the lag ratio and the first running speed; wherein the second running speed is not 0;

[0129] Step 403: Determine a first acceleration of the storage net device running in the first deceleration stage according to the second running speed and the first running speed;

[0130] Step 404: Control the storage net device to move at the first acceleration in the first deceleration stage to deliver the fiber web to be laid to the laying net device.

[0131] In this embodiment, when the storage net device is controlled, first, the lag ratio of the storage net device delivering the fiber web to the laying net device can be obtained, and then according to the lag ratio and the first running speed, the second running speed of the storage net device at the second time can be determined. Further, according to the second running speed and the first running speed, the first acceleration of the storage net device running in the first deceleration stage can be determined, so that the movement of the storage net device in the first deceleration stage can be controlled according to the first acceleration.

[0132] ​The lag ratio obtained in step 401 is an adjustable quantity that can be adjusted according to needs or the quality of the netting product. It characterizes the amount of netting stored by the netting equipment during the deceleration phase of the netting equipment. For example, the lag ratio can be 80%, 85%, 90%, 100%, etc. The value of the lag ratio can be adjusted according to the quality of the netting product; it can be an empirical parameter or determined through experimental values.

[0133] In step 402, when determining the second operating speed of the storage network equipment at the second moment based on the lag ratio and the first operating speed, the second operating speed can be determined by calculating the product of the lag ratio and the first operating speed.

[0134] In one possible implementation, when determining the first acceleration based on the second running speed and the first running speed in step 403, the first acceleration at each moment in the first deceleration phase can be calculated using the following formula:

[0135]

[0136] in, Used to characterize the first acceleration at time i in the first deceleration phase. Used to characterize the hysteresis ratio, and ; Used to characterize the first operating speed, Used to characterize the second operating speed, Used to characterize the time length between the i-th moment and the first moment in the first deceleration phase.

[0137] As can be seen from the above, the first acceleration in the first deceleration stage is dynamically changing. Therefore, when step 404 controls the energy storage network equipment based on this first acceleration, the speed curve of the equipment can be smoother, thereby reducing the impact on the control process. At the same time, the response requirements of the motor are also lower, and the interpolation process is more flexible.

[0138] Step 302 will be explained below.

[0139] In one possible implementation, the second deceleration phase is the time period between a second moment and a third moment, where the second moment is the moment when the speed of the network laying equipment decreases to 0, and the third moment is the moment when the speed of the storage network equipment decreases to 0; thus, as... Figure 5 As shown, step 302, when controlling the web storage device to move with a second acceleration during the second deceleration phase to deliver the fiber web to be laid to the web laying device, can be achieved through the following steps:

[0140] Step 501: Determine the second acceleration of the storage network equipment during the second deceleration phase based on the second operating speed, the second time point, and the third time point;

[0141] Step 502: control the storage net device to move at the second acceleration in the second deceleration stage to deliver the fiber net to be laid to the laying net device.

[0142] In the embodiment, when the storage net device is controlled in the second deceleration stage, first, the second acceleration of the storage net device in the second deceleration stage can be determined according to the second running speed, the second time and the third time. Then, the storage net device is controlled to reduce the speed to 0 in the second deceleration stage according to the second acceleration, so as to realize the reversing operation of the storage net device.

[0143] In a possible implementation, when the second acceleration is determined, the second acceleration at each time in the second deceleration stage can be determined by using the following calculation formula:

[0144]

[0145] wherein, is used to represent the second acceleration at the jth time in the second deceleration stage, is used to represent the hysteresis ratio of the storage net device to deliver the fiber net to the laying net device, and ; is used to represent the first running speed, is used to represent the second running speed, is used to represent the time length of the jth time in the second deceleration stage from the second time.

[0146] The above calculation formula can accurately calculate the acceleration at each time in the second stage, so as to more accurately realize the control of the movement of the storage net device. In addition, the acceleration value at each time in the second deceleration stage can be calculated by using the above calculation formula, so that when the storage net device is controlled by using the calculated acceleration value at each time in step 502, the speed curve of the storage net device can be smoother, so as to reduce the impact on the control process. At the same time, the response requirement of the motor is also lower, and the interpolation process is more flexible.

[0147] Finally, in step 204, the laying net device is controlled to move at the second deceleration to lay the fiber net delivered by the storage net device from the first time.

[0148] As mentioned above, the time length used by the first deceleration to reduce the first running speed to the first pre-speed is greater than the time length used by the second deceleration to reduce the first running speed to the first pre-speed in this step. The first pre-speed can be 0, that is, when the speed of the laying net device and the storage net device is reduced from the first running speed to 0, the storage net device takes more time. In this way, when the laying net device is reversed, the fiber net will increase the running distance of the fiber net due to the continuous running of the storage net device, so as to avoid the accumulation of the fiber net.

[0149] In a possible implementation, when controlling the movement of the laying device, the step 204 can control the laying device to reduce the speed of the laying device from the first running speed to 0 with a third acceleration in a first deceleration stage. The first deceleration stage is a time period from the start of deceleration to the speed being reduced to 0. The third acceleration can be calculated by the first running speed, 0 and the time length of the first deceleration stage. Similarly, in order to improve the smoothness of the speed curve and reduce the impact on the control process, the acceleration in the first deceleration stage can also be a dynamically changing value. That is, the acceleration value at each time point in the first deceleration stage is calculated, and the movement of the laying device is controlled by using the acceleration value at each time point.

[0150] In addition, as mentioned before, when the laying machine performs the laying operation, the laying device and the storage device not only have a deceleration movement stage and a uniform speed running stage, but also have a stage of accelerating the speed to the first running speed after reversing. Therefore, in a possible implementation, after the storage device reduces its speed to zero with the first deceleration movement, the storage device is controlled to accelerate in the direction opposite to the stage of the first deceleration movement and accelerate its speed to the size of the first running speed; similarly, after the laying device reduces its speed to zero with the second deceleration movement, the laying device can be controlled to accelerate in the direction opposite to the stage of the second deceleration movement and accelerate its speed to the size of the first running speed.

[0151] It is easy to understand that, since the storage device and the laying device have the same uniform speed running stage, the storage device and the laying device accelerate their respective speeds to the size of the first running speed at the same time.

[0152] As shown in Figure 6 The embodiment of the application also provides a laying control device of a laying machine. The laying machine comprises a laying device and a storage device. The storage device is used to deliver a fiber web to be laid to the laying device. The laying device and the storage device have the same uniform speed running stage when performing a laying operation, and the running speed of the uniform speed running stage is the same.

[0153] The control device comprises a first acquisition module 601, a second acquisition module 602, a first control module 603 and a second control module 604.

[0154] The first acquisition module 601 is configured to acquire a first time point. The first time point is used to represent the time point when the laying device enters the variable speed running stage from the uniform speed running stage.

[0155] The second acquisition module 602 is configured to acquire the first running speed of the laying device and the storage device in the uniform speed running stage.

[0156] The first control module 603 is configured to control the storage net device to deliver the fiber net to be laid to the net laying device at the first deceleration motion starting from the first time obtained by the first acquisition module 601;

[0157] The second control module 604 is configured to control the net laying device to lay the fiber net delivered by the storage net device at the second deceleration motion starting from the first time obtained by the first acquisition module 601; wherein the time length used for the first deceleration motion to reduce the first running speed obtained by the second acquisition module 602 to the first pre-speed is greater than the time length used for the second deceleration motion to reduce the first running speed obtained by the second acquisition module 602 to the first pre-speed.

[0158] In a possible implementation, when the first control module 603 controls the storage net device to deliver the fiber net to be laid to the net laying device at the first deceleration motion starting from the first time, the first control module 603 is configured to perform the following operations:

[0159] control the storage net device to deliver the fiber net to be laid to the net laying device at the first acceleration motion in the first deceleration stage; wherein the first deceleration stage is used to represent the time period from the start of the deceleration to the speed of the net laying device being reduced to 0, and the first acceleration can make the speed of the storage net device not be 0 when the speed of the net laying device is reduced to 0; and

[0160] control the storage net device to deliver the fiber net to be laid to the net laying device at the second acceleration motion in the second deceleration stage; wherein the absolute value of the second acceleration is greater than the absolute value of the first acceleration.

[0161] In a possible implementation, the first deceleration stage is a time period between the first time and the second time, and the second time is the time when the speed of the net laying device is reduced to 0;

[0162] When the first control module 603 controls the storage net device to deliver the fiber net to be laid to the net laying device at the first acceleration motion in the first deceleration stage, the first control module 603 is configured to perform the following operations:

[0163] obtain the lag ratio of the storage net device to deliver the fiber net to the net laying device;

[0164] determine the second running speed of the storage net device at the second time according to the lag ratio and the first running speed; wherein the second running speed is not 0;

[0165] determine the first acceleration of the storage net device in the first deceleration stage according to the second running speed and the first running speed;

[0166] control the storage net device to deliver the fiber net to be laid to the net laying device at the first acceleration motion in the first deceleration stage.

[0167] In a possible implementation, the first control module 603 is configured to calculate the first acceleration at each moment in the first deceleration stage by using the following calculation formula when determining the first acceleration of the storage net device in the first deceleration stage according to the second running speed and the first running speed:

[0168]

[0169] wherein, is used to represent the first acceleration at the i th moment in the first deceleration stage, is used to represent the hysteresis ratio, and ; is used to represent the first running speed, is used to represent the second running speed, is used to represent the time length from the i th moment to the first moment in the first deceleration stage.

[0170] In a possible implementation, the second deceleration stage is a time period between the second moment and the third moment, the second moment is the moment when the speed of the laying net device is reduced to 0, and the third moment is the moment when the speed of the storage net device is reduced to 0;

[0171] The first control module 603 is configured to perform the following operations when controlling the storage net device to move at the second acceleration to deliver the fiber web to be laid to the laying net device in the second deceleration stage:

[0172] determining the second acceleration of the storage net device in the second deceleration stage according to the second running speed, the second moment and the third moment;

[0173] controlling the storage net device to move at the second acceleration in the second deceleration stage to deliver the fiber web to be laid to the laying net device.

[0174] In a possible implementation, the first control module 603 is configured to determine the second acceleration at each moment in the second deceleration stage by using the following calculation formula when determining the second acceleration of the storage net device in the second deceleration stage according to the second running speed, the second moment and the third moment:

[0175]

[0176] wherein, is used to represent the second acceleration at the j th moment in the second deceleration stage, is used to represent the hysteresis ratio of the storage net device to deliver the fiber web to the laying net device, and ; is used to represent the first running speed, is used to represent the second running speed, is used to represent the time length from the j th moment to the second moment in the second deceleration stage.

[0177] In one possible implementation, when the second control module 604 controls the web-laying device to lay the fiber web conveyed by the web-storage device with a second deceleration motion starting from the first moment, it is configured to perform the following operation:

[0178] In the first deceleration phase, the net-laying equipment is controlled to reduce its speed from the first operating speed to 0 with a third acceleration; wherein, the first deceleration phase is used to characterize the time period from the start of deceleration to when the speed of the net-laying equipment is reduced to 0.

[0179] In one possible implementation, it further includes: an acceleration control module; the acceleration control module is configured to perform the following operations:

[0180] After the storage network equipment reduces its speed to zero through a first deceleration movement, the equipment is controlled to accelerate in the opposite direction to the first deceleration phase, and its speed is accelerated to the magnitude of the first operating speed; and,

[0181] After the net-laying equipment reduces its speed to zero through the second deceleration movement, the net-laying equipment is controlled to accelerate in the opposite direction to the second deceleration movement phase, and its speed is accelerated to the magnitude of the first operating speed.

[0182] In this process, the storage network equipment and the network laying equipment accelerate their respective speeds to the first operating speed at the same time.

[0183] like Figure 7 As shown, one embodiment of the present invention also provides a computing device 700, including: at least one memory 701 and at least one processor 702;

[0184] At least one memory 701 is used to store a machine-readable program;

[0185] At least one processor 702, coupled to at least one memory 701, is used to call a machine-readable program to execute the web laying control method of the web laying machine provided in any of the above embodiments.

[0186] The present invention also provides a computer-readable medium storing computer instructions, which, when executed by a processor, cause the processor to perform the web-laying control method of the web-laying machine provided in any of the above embodiments. The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the web-laying control method of any of the above embodiments. Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the above embodiments is stored, and the computer (or CPU or MPU) of the system or apparatus reads and executes the program code stored in the storage medium.

[0187] In this case, the program code itself read out from the storage medium can realize the functions of any of the above-described embodiments, and therefore the program code and the storage medium storing the program code constitute a part of the present application.

[0188] Embodiments of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk such as a CD-ROM, a CD-R, a CD-RW, a DVD-ROM, a DVD-RAM, a DVD- RW, a DVD+RW, a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer through a communication network.

[0189] Furthermore, it will be apparent that, besides execution of the program code read out by the computer, the actual operations of part or all of the actual operations can be completed by an operating system or the like operating on the computer based on the instructions of the program code, and thereby the functions of any of the above-described embodiments can be realized.

[0190] Furthermore, it will be understood that the program code read out from the storage medium is written into a memory provided in an extension board inserted into the computer or a memory provided in an extension module connected to the computer, and then part or all of the actual operations are executed by a CPU or the like mounted on the extension board or the extension module based on the instructions of the program code, and thereby the functions of any of the above-described embodiments can be realized.

[0191] Note that not all of the steps and modules in the above-described flowcharts and device structure diagrams are essential, and some steps or modules can be omitted as necessary. The order of execution of the steps is not fixed, and can be adjusted as necessary. The system structures described in the above-described embodiments can be physical structures or logical structures, i.e., some modules can be implemented by the same physical entity, or some modules can be implemented by a plurality of physical entities, or some modules can be implemented by some components in a plurality of independent devices. Among them, the web laying control device of the web laying machine and the web laying control method of the web laying machine are based on the same inventive concept.

[0192] In the above-described embodiments, a hardware module can be implemented by a mechanical means or an electrical means. For example, a hardware module can include a permanent and dedicated circuit or logic (such as a dedicated processor, an FPGA, or an ASIC) to complete the corresponding operation. A hardware module can also include a programmable logic or circuit (such as a general-purpose processor or other programmable processor), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical means, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0193] The present application is illustrated and described in detail by the above drawings and preferred embodiments, however, the present application is not limited to these disclosed embodiments, and based on the above embodiments, those skilled in the art can know that the code review means in different embodiments can be combined to obtain more embodiments of the present application, and these embodiments are also within the protection scope of the present application.

Claims

1. A method of web laying control of a web laying machine, characterized in that The laying machine comprises a laying device and a web storage device for conveying the fiber web to be laid to the laying device; the laying device and the web storage device have the same uniform running phase when the laying operation is performed, and the web storage device and the laying device enter the uniform running phase at the same time, and the running speeds of the uniform running phases are the same; The control method comprises: acquiring a first time point; wherein the first time point is used to represent a time point when the laying device enters a variable speed running phase from the uniform running phase; acquiring a first running speed of the laying device and the web storage device in the uniform running phase; controlling the web storage device to convey the fiber web to be laid to the laying device at a first deceleration motion from the first time point; controlling the laying device to lay the fiber web conveyed by the web storage device at a second deceleration motion from the first time point; wherein the time length used by the first deceleration motion to reduce the first running speed to a first preset speed is greater than the time length used by the second deceleration motion to reduce the first running speed to the first preset speed; and the step of controlling the web storage device to convey the fiber web to be laid to the laying device at the first deceleration motion from the first time point comprises: controlling the web storage device to convey the fiber web to be laid to the laying device at a first acceleration in a first deceleration phase; wherein the first deceleration phase is used to represent a time period from the start of deceleration to the speed of the laying device being reduced to 0, and the first acceleration can make the speed of the web storage device not be 0 when the speed of the laying device is reduced to 0; and controlling the web storage device to convey the fiber web to be laid to the laying device at a second acceleration in a second deceleration phase; wherein the absolute value of the second acceleration is greater than the absolute value of the first acceleration, and the second deceleration phase is a time period between a second time point and a third time point, the second time point is a time point when the speed of the laying device is reduced to 0, and the third time point is a time point when the speed of the web storage device is reduced to 0.

2. The method of claim 1, wherein, The first deceleration phase is a time period between the first time point and the second time point; the step of controlling the web storage device to convey the fiber web to be laid to the laying device at the first acceleration in the first deceleration phase comprises: acquiring a lag ratio of the web storage device conveying the fiber web to the laying device; determining a second running speed of the web storage device at the second time point according to the lag ratio and the first running speed; wherein the second running speed is not 0; determining a first acceleration of the web storage device running in the first deceleration phase according to the second running speed and the first running speed; controlling the web storage device to move at the first acceleration in the first deceleration phase to convey the fiber web to be laid to the laying device.

3. The method of claim 2, wherein, the step of determining the first acceleration of the web storage device running in the first deceleration phase according to the second running speed and the first running speed comprises: calculating the first acceleration of each time point in the first deceleration phase by using the following calculation formula: wherein for characterizing a first acceleration at an i-th time instant in a first deceleration phase, for characterizing the hysteresis ratio, and ; for characterizing the first operating speed, for characterizing the second operating speed, for characterizing a length of time from a first time instant to an i-th time instant in the first deceleration phase.

4. The method of claim 1, wherein the step of controlling the storage device to deliver the fibrous web to be laid to the laying device at a second acceleration in a second deceleration phase comprises: determining a second acceleration of the storage device in the second deceleration phase according to the second running speed, the second time and the third time; controlling the storage device to move at the second acceleration in the second deceleration phase to deliver the fibrous web to be laid to the laying device. The step of determining the second acceleration of the storage device in the second deceleration phase according to the second running speed, the second time and the third time comprises:

5. The method of claim 4, wherein, determining the second acceleration at each time in the second deceleration phase by using the following calculation formula: The step of controlling the laying device to lay the fibrous web delivered by the storage device at a second deceleration from the first time comprises: wherein for characterizing a second acceleration at a jth time instant of the second deceleration phase, for characterizing a hysteresis ratio of the storage web device delivering the fibrous web to the laying device, and ; for characterizing the first operating speed, for characterizing the second operating speed, for characterizing a length of time from the second time instant to a jth time instant of the second deceleration phase.

6. The method of claim 1, wherein, controlling the laying device to reduce the speed of the laying device from the first running speed to 0 at a third acceleration in a first deceleration phase; wherein the first deceleration phase is used to represent the time period from the start of deceleration to the speed being reduced to 0. Further comprising:

7. The method according to any one of claims 1 to 6, characterized in that, controlling the storage device to accelerate in the direction opposite to the stage of the first deceleration and accelerate its speed to the size of the first running speed after the storage device reduces its speed to 0 at the first deceleration; and controlling the laying device to accelerate in the direction opposite to the stage of the second deceleration and accelerate its speed to the size of the first running speed after the laying device reduces its speed to 0 at the second deceleration; Wherein the storage device and the laying device accelerate their respective speeds to the size of the first running speed at the same time. The laying machine comprises a laying device and a storage device, the storage device is used to deliver the fibrous web to be laid to the laying device; the laying device and the storage device have the same uniform running phase when performing the laying operation, and the storage device and the laying device enter the uniform running phase at the same time, and the running speed of the uniform running phase is the same; 8. A web laying control device of a web laying machine, characterized by The control device comprises a first acquisition module, a second acquisition module, a first control module and a second control module; The first acquisition module is configured to acquire a first time; wherein the first time is used to represent the time when the laying device enters the variable speed running phase from the uniform running phase; The second acquisition module is configured to acquire the first running speed of the laying device and the storage device in the uniform running phase; The first control module is configured to control the storage device to deliver the fibrous web to be laid to the laying device at a first deceleration from the first time acquired by the first acquisition module; ​ a second control module configured to control the web laying device to lay the fibrous web delivered by the web storage device at a second deceleration motion starting from the first time point obtained by the first acquisition module; wherein a time length used for decreasing the first running speed obtained by the second acquisition module to the first preset speed by the second deceleration motion is greater than a time length used for decreasing the first running speed obtained by the second acquisition module to the first preset speed by the first deceleration motion; and the first control module is configured to perform the following operations when controlling the web storage device to deliver the fibrous web to be laid to the web laying device at the first deceleration motion starting from the first time point: controlling the web storage device to deliver the fibrous web to be laid to the web laying device at a first acceleration in a first deceleration stage; wherein the first deceleration stage is used to represent a time period from the start of deceleration to the speed of the web laying device being reduced to 0, and the first acceleration is not 0 when the speed of the web laying device is reduced to 0; and controlling the web storage device to deliver the fibrous web to be laid to the web laying device at a second acceleration in a second deceleration stage; wherein the absolute value of the second acceleration is greater than the absolute value of the first acceleration, and the second deceleration stage is a time period between a second time point and a third time point, the second time point is the time point when the speed of the web laying device is reduced to 0, and the third time point is the time point when the speed of the web storage device is reduced to 0.

9. The apparatus of claim 8, wherein, the first deceleration stage is a time period between the first time point and the second time point; the first control module is configured to perform the following operations when controlling the web storage device to deliver the fibrous web to be laid to the web laying device at the first acceleration in the first deceleration stage: obtaining a lag ratio of the web storage device delivering the fibrous web to the web laying device; determining a second running speed of the web storage device at the second time point according to the lag ratio and the first running speed; wherein the second running speed is not 0; determining a first acceleration of the web storage device running in the first deceleration stage according to the second running speed and the first running speed; controlling the web storage device to move at the first acceleration in the first deceleration stage to deliver the fibrous web to be laid to the web laying device.

10. The apparatus of claim 9, wherein, the first control module is configured to calculate the first acceleration of each time point in the first deceleration stage by using the following calculation formula when determining the first acceleration of the web storage device running in the first deceleration stage according to the second running speed and the first running speed: wherein for characterizing a first acceleration at an i-th time instant in a first deceleration phase, for characterizing the hysteresis ratio, and ; for characterizing the first operating speed, for characterizing the second operating speed, for characterizing a length of time from a first time instant to an i-th time instant in the first deceleration phase.

11. The apparatus of claim 8, wherein the first control module is configured to perform the following operations when controlling the web storage device to move at the second acceleration in the second deceleration stage to deliver the fibrous web to be laid to the web laying device: determining a second acceleration of the web storage device running in the second deceleration stage according to the second running speed, the second time point and the third time point; controlling the web storage device to move at the second acceleration in the second deceleration stage to deliver the fibrous web to be laid to the web laying device.

12. The apparatus of claim 11, wherein, The first control module, when determining the second acceleration of the storage web device in the second deceleration stage according to the second running speed, the second time and the third time, is configured to determine the second acceleration of each time in the second deceleration stage by using the following calculation formula: wherein for characterizing a second acceleration at a jth moment in time in the second deceleration phase, for characterizing a hysteresis ratio of the storage web device delivering the fibrous web to the laying device, and ; for characterizing the first operating speed, for characterizing the second operating speed, for characterizing a length of time from the second moment in time to a jth moment in time in the second deceleration phase.

13. The apparatus of claim 8, wherein, The second control module, when controlling the laying web device to lay the fibrous web delivered by the storage web device in the second deceleration motion from the first time, is configured to perform the following operations: controlling the laying web device to reduce the speed of the laying web device from the first running speed to 0 with a third acceleration; wherein the first deceleration stage is used to represent the time period from the start of deceleration to the speed being reduced to 0.

14. The apparatus of any one of claims 8 to 13, wherein, Further comprising: an acceleration control module; the acceleration control module is configured to perform the following operations: after the speed of the storage web device is reduced to 0 in the first deceleration motion, controlling the storage web device to accelerate in the direction opposite to the stage of the first deceleration motion and accelerate the speed to the size of the first running speed; and, after the speed of the laying web device is reduced to 0 in the second deceleration motion, controlling the laying web device to accelerate in the direction opposite to the stage of the second deceleration motion and accelerate the speed to the size of the first running speed; wherein the speed of the storage web device and the laying web device is accelerated to the size of the first running speed at the same time.

15. A computing device, characterized by comprising: at least one memory and at least one processor; the at least one memory is used to store machine readable programs; the at least one processor is used to call the machine readable programs and execute the method of any one of claims 1 to 7.

16. A computer readable medium characterized by The computer readable medium stores computer instructions, and the computer instructions make the processor execute the method of any one of claims 1 to 7 when executed by the processor.

17. Computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the method of any one of claims 1 to 7.

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