Mechanical arm online sorting and stacking control method, device, equipment and medium

Abstract

This application relates to a control method, apparatus, computer equipment, storage medium, and computer program product for online sorting and palletizing with a robotic arm. By acquiring the attribute information of the workpiece to be picked, and acquiring the information of the robotic arm and the material frame information of the corresponding material frame, the sorting priority of the workpiece to be picked is determined based on the attribute information and material frame information. Based on the information of the robotic arm, the material frame information, and the sorting priority, the corresponding gripping robotic arm for the workpiece to be picked is determined, and the gripping robotic arm is controlled to perform the palletizing operation of the workpiece to be picked. This enables automatic sorting and palletizing with the robotic arm, improving the efficiency of workpiece sorting and palletizing.

Description

Technical Field

[0001] This application relates to the field of robotic arm control technology, and in particular to a control method, apparatus, computer equipment, storage medium and computer program product for online sorting and palletizing of robotic arms. Background Technology

[0002] In the field of intelligent manufacturing, cutting and blanking is the first step in all production processes, and its efficiency directly affects the cycle time of the entire production process. The cutting and blanking process is as follows: The cutting process cuts the steel plate into multiple workpieces according to the nesting diagram, which are then transported to the primary sorting process. Here, the workpieces, steel plates, and scrap are separated. The workpieces are then sorted onto a conveyor line and transported to the secondary sorting process. Here, the workpieces are sorted into material boxes, and the Automated Guided Vehicle (AGV) transports the material boxes filled with workpieces to the subsequent workstations for the next process.

[0003] Traditionally, workpieces are sorted and palletized manually using devices such as cranes. This method is easily affected by external factors, resulting in low sorting and palletizing efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a control method, device, computer equipment, computer-readable storage medium, and computer program product for online sorting and palletizing of robotic arms that can improve the efficiency of sorting and palletizing, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a control method for online sorting and palletizing by a robotic arm, the method comprising:

[0006] Obtain the attribute information of the workpiece to be picked;

[0007] Obtain information about the robotic arm and the corresponding material box information;

[0008] Based on attribute information and material box information, determine the sorting priority of the workpieces to be picked;

[0009] Based on the information of the robotic arm, the material box, and the sorting priority, the corresponding gripping robotic arm for the workpiece to be picked is determined.

[0010] Control the gripping robotic arm to perform the palletizing operation of the workpieces to be picked.

[0011] In one embodiment, the attribute information includes model and process; the material frame information includes attribute information of workpieces already placed in the material frame; the step of determining the sorting priority of the workpieces to be picked based on the attribute information and the material frame information includes:

[0012] For each workpiece to be inspected, if the workpieces already placed in the material box have the same model as the workpiece to be picked and the process of the workpieces already placed in the material box are the same as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level five.

[0013] If the workpiece already placed in the material box has the same model as the workpiece to be picked, or if the workpiece already placed in the material box has the same process as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level four.

[0014] If the workpiece already placed in the material box is of the same model as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level three.

[0015] If the workpiece already placed in the material box has the same process as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level two.

[0016] If the workpieces already placed in the material box are of different models from the workpieces to be picked, and the processes of the workpieces already placed in the material box are different from those of the workpieces to be picked, the sorting priority of the workpiece to be picked is determined to be level one.

[0017] In one embodiment, the step of determining the gripping robot arm corresponding to the workpiece to be picked based on the robot arm information, the material box information, and the sorting priority includes:

[0018] Based on the information of the robotic arm and the material box, the candidate robotic arms for the current workpiece to be picked are determined;

[0019] Determine the sorting priority for each candidate robotic arm;

[0020] Sort the sorting priorities from highest to lowest.

[0021] The candidate robotic arm with the highest sorting priority is selected as the gripping robotic arm for the current workpiece to be picked.

[0022] In one embodiment, controlling the gripping robotic arm to perform a palletizing operation of the workpieces to be picked includes:

[0023] Based on the gripping robotic arm, the corresponding palletizing frame is determined;

[0024] If there is no workpiece of the same model as the workpiece to be inspected in the palletizing frame, calculate the empty space in the palletizing frame based on the attribute information of the workpieces already placed in the palletizing frame.

[0025] If the empty space meets the palletizing requirements, determine the coordinate information of the empty space.

[0026] Based on coordinate information, the robotic arm is controlled to perform the palletizing operation of the workpieces to be picked.

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

[0028] If the available space does not meet the palletizing requirements, the candidate robotic arm corresponding to the second-ranked sorting priority is selected as the gripping robotic arm corresponding to the current workpiece to be picked, and the control of the gripping robotic arm is returned to execute the palletizing operation of the workpiece to be picked, and the process continues.

[0029] In one embodiment, the method further includes:

[0030] If there is a workpiece already placed in the palletizing frame that has the same model as the workpiece to be inspected, determine the stacking height of the workpiece already placed in the palletizing frame;

[0031] If the palletizing height exceeds the palletizing threshold, return to the step of calculating the empty space in the palletizing frame based on the attribute information of the workpieces already placed in the palletizing frame, and continue execution;

[0032] If the stacking height does not exceed the stacking threshold, determine the stacking coordinates of the workpieces already placed in the stacking frame;

[0033] Based on the stacking coordinates, the gripping robotic arm is controlled to perform the stacking operation of the workpieces to be picked.

[0034] Secondly, this application also provides a control device for online sorting and palletizing of robotic arms, the device comprising:

[0035] The attribute information acquisition module is used to acquire the attribute information of the workpiece to be picked.

[0036] The material frame information acquisition module is used to acquire information about the robotic arm and the material frame information corresponding to the robotic arm.

[0037] The priority determination module is used to determine the sorting priority of the workpieces to be picked based on attribute information and material box information;

[0038] The robotic arm determination module is used to determine the corresponding gripping robotic arm for the workpiece to be picked based on the robotic arm information, the material box information, and the sorting priority.

[0039] The workpiece palletizing module is used to control the gripping robotic arm to perform the palletizing operation of the workpieces to be picked.

[0040] Thirdly, this application also provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method steps of any one of the first aspects.

[0041] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method steps of any one of the first aspects.

[0042] Fifthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the method steps of any one of the first aspects.

[0043] The aforementioned control method, device, computer equipment, storage medium, and computer program product for online sorting and palletizing of robotic arms acquire the attribute information of the workpiece to be picked, as well as the information of the robotic arm and the material frame information of the corresponding material frame. Based on the attribute information and material frame information, the sorting priority of the workpiece to be picked is determined. Based on the information of the robotic arm, the material frame information, and the sorting priority, the corresponding gripping robotic arm for the workpiece to be picked is determined, and the gripping robotic arm is controlled to perform the palletizing operation of the workpiece to be picked. This enables automatic sorting and palletizing of robotic arms, improving the efficiency of workpiece sorting and palletizing. Attached Figure Description

[0044] Figure 1 This is an application environment diagram of a control method for online sorting and palletizing with a robotic arm in one embodiment.

[0045] Figure 2 This is a flowchart illustrating the control method for online sorting and palletizing by a robotic arm in one embodiment;

[0046] Figure 3 This is a flowchart illustrating the steps of determining the gripping robotic arm corresponding to the workpiece to be picked in one embodiment.

[0047] Figure 4 This is a flowchart illustrating the steps of performing a palletizing operation on the workpiece to be picked in one embodiment;

[0048] Figure 5 This is a flowchart illustrating the control method for online sorting and palletizing by a robotic arm in one embodiment;

[0049] Figure 6 This is a flowchart illustrating the control method for online sorting and palletizing by a robotic arm in one embodiment;

[0050] Figure 7 This is a structural block diagram of a control device for online sorting and palletizing of a robotic arm in one embodiment;

[0051] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] The control method for online sorting and palletizing of robotic arms provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with robotic arm 104 via a network. Terminal 102 acquires attribute information of the workpiece to be picked, information about robotic arm 104, and information about the corresponding material frame of robotic arm 104. Based on the attribute information and material frame information, it determines the sorting priority of the workpiece to be picked. Based on the information of robotic arm 104, material frame information, and sorting priority, it determines the corresponding gripping robotic arm for the workpiece to be picked, controls the gripping robotic arm, and performs the palletizing operation of the workpiece to be picked. Terminal 102 can be, but is not limited to, various personal computers, laptops, etc.

[0054] In one embodiment, such as Figure 2 As shown, a control method for online sorting and palletizing of a robotic arm is provided, which is applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps:

[0055] S202: Obtain the attribute information of the workpiece to be picked.

[0056] In this context, "workpieces to be picked" refers to parts and goods that require sorting and palletizing. Sorting involves categorizing and stacking items according to type and order of entry / exit from the warehouse. Palletizing involves automatically stacking workpieces in a specific arrangement within a material crate. The attribute information includes the model and manufacturing process of the workpieces to be picked. Specifically, the terminal acquires the attribute information of the workpieces to be picked, which is used to determine the sorting priority of the workpieces to be inspected.

[0057] S204: Obtain information about the robotic arm and the corresponding material frame information.

[0058] Typically, each robotic arm is associated with several corresponding material frames. For example, robotic arm 1 corresponds to material frames 1, 2, 3, and 4, and robotic arm 2 corresponds to material frames 5, 6, 7, and 8. The robotic arm information includes the robotic arm number, and the material frame information includes the attribute information of the workpieces already placed in the frame. Specifically, the terminal obtains the robotic arm information and the material frame information of the corresponding material frames. The material frame information is used to determine the sorting priority of the workpieces to be picked.

[0059] S206: Determine the sorting priority of the workpieces to be picked based on the attribute information and the material box information.

[0060] The terminal determines the sorting priority of the workpiece to be picked based on attribute information and material box information. Specifically, when there is a workpiece in the material box that has the same model and process as the workpiece to be picked, it means that the workpiece in the current material box and the workpiece to be picked are of the same type, and the sorting priority of the workpiece to be picked is level five (the highest level is level five). When there is a workpiece in the material box that has the same model or process as the workpiece to be picked, it means that the workpiece in the current material box and the workpiece to be picked are not completely of the same type, and the sorting priority of the workpiece to be picked is level four, and so on, to determine the sorting priority of the workpiece to be picked.

[0061] S208: Based on the information of the robotic arm, the material box, and the sorting priority, determine the corresponding gripping robotic arm for the workpiece to be picked.

[0062] The terminal determines the gripping robot arm corresponding to the workpiece to be picked based on the information of the robotic arm, the material box information, and the sorting priority. Specifically, taking robotic arms including robotic arm 1 and robotic arm 2 as an example, assuming that the sorting priority of the workpiece to be picked is [1, 4], which respectively represent the priority of robotic arm 1 and robotic arm 2 in picking the workpiece to be picked. According to the sorting priority [1, 4], robotic arm 2 is first determined as the gripping robot arm to sort the workpiece to be picked. If robotic arm 2 cannot sort, then robotic arm 1 will sort.

[0063] S210: Controls the gripping robotic arm to perform the palletizing operation of the workpieces to be picked.

[0064] Once the terminal identifies the gripping robotic arm, the corresponding material frame of the gripping robotic arm becomes a candidate material frame for palletizing operations. The terminal controls the gripping robotic arm to perform the palletizing operation of the workpiece to be picked. Specifically, the terminal determines the palletizing priority of the workpiece to be picked in each candidate material frame based on the material frame information, and selects the candidate material frame with the highest palletizing priority as the palletizing material frame of the workpiece to be picked, so as to control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked.

[0065] In the above-mentioned control method for online sorting and palletizing of robotic arms, by acquiring the attribute information of the workpiece to be picked, the information of the robotic arm, and the material frame information of the corresponding material frame of the robotic arm, the sorting priority of the workpiece to be picked is determined based on the attribute information and material frame information. Based on the information of the robotic arm, the material frame information, and the sorting priority, the gripping robotic arm corresponding to the workpiece to be picked is determined, and the gripping robotic arm is controlled to perform the palletizing operation of the workpiece to be picked. This can realize automatic sorting and palletizing of robotic arms and improve the efficiency of workpiece sorting and palletizing.

[0066] In one embodiment, the attribute information includes model and process; the material frame information includes attribute information of the workpieces already placed in the material frame; the step of determining the sorting priority of the workpieces to be picked based on the attribute information and the material frame information includes: for each workpiece to be inspected, if the workpieces already placed in the material frame have the same model and process as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level five; if the workpieces already placed in the material frame have the same model or process as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level four; if the workpieces already placed in the material frame have the same model and process as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level three; if the workpieces already placed in the material frame have the same process as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level two; if the workpieces already placed in the material frame have different models and processes than the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level one.

[0067] For each workpiece to be inspected, the terminal determines whether the model and process of the workpiece already placed in the material box are the same as those of the workpiece to be picked. If the model and process of the workpieces already placed in the material box are the same as those of the workpiece to be picked, it means that the workpieces already placed in the material box and the workpiece to be picked are of the same type and shape, and the workpiece to be picked can be directly stacked on top of the workpieces in the material box. If the model and / or process of the workpieces already placed in the material box are different from those of the workpiece to be picked, it means that the workpieces already placed in the material box and the workpiece to be picked are not of the same type, and stacking cannot be performed directly. Specifically, for each workpiece to be inspected, when there is a workpiece in the material box that is identical in both model and process to the workpiece to be picked, the sorting priority of the workpiece to be picked is level five; when there are at least two workpieces already placed in the material box, and one of the placed workpieces is identical in only model to the workpiece to be picked, and the other placed workpiece is identical in only process to the workpiece to be picked, the sorting priority of the workpiece to be picked is level four; when the placed workpieces in the material box are identical in only model to the workpiece to be picked, the sorting priority of the workpiece to be picked is level three; when the placed workpieces in the material box are identical in only process to the workpiece to be picked, the sorting priority of the workpiece to be picked is level two; and when the placed workpieces in the material box are not identical in both model and process to the workpiece to be picked, the sorting priority of the workpiece to be picked is level one.

[0068] In this embodiment, by determining the sorting priority of the workpieces to be picked based on attribute information and material frame information, the corresponding palletizing material frames can be determined according to actual needs, thereby improving the utilization rate of material frames.

[0069] In one embodiment, such as Figure 3As shown, the steps for determining the corresponding gripping robot arm for a workpiece to be picked, based on information from the robotic arm, the material box, and the sorting priority, include:

[0070] S302: Based on the information of the robotic arm and the material box, determine the candidate robotic arm for the current workpiece to be picked.

[0071] The terminal determines the robotic arm capable of sorting the current workpiece based on the information of the robotic arm and the material box, and selects it as a candidate robotic arm.

[0072] S304: Determine the sorting priority for each candidate robotic arm.

[0073] The terminal determines the sorting priority of each candidate robotic arm based on the attribute information of the workpieces already placed in the material box corresponding to each candidate robotic arm.

[0074] S306: Sort the sorting priorities from highest to lowest.

[0075] The terminal sorts the sorting priorities of each candidate robotic arm from high to low, and determines the gripping robotic arm corresponding to the current workpiece to be picked based on the sorting results.

[0076] S308: Select the candidate robotic arm with the highest sorting priority as the gripping robotic arm for the current workpiece to be picked.

[0077] Assuming the sorting priority of the current workpiece to be picked is [1, 4, 2, 3], representing the sorting priority of robotic arms 1, 2, 3, and 4 respectively, and the sorting priority of the terminal after sorting from high to low is [4, 3, 2, 1], then the gripping robotic arm corresponding to the current workpiece to be picked should be robotic arm 2. When robotic arm 2 cannot perform sorting, robotic arm 4 is determined to be the gripping robotic arm according to the sorting priority, and so on.

[0078] In this embodiment, candidate robotic arms for the current workpiece to be picked are determined based on information from the robotic arm and the material box. The sorting priority of each candidate robotic arm is determined and sorted in descending order of sorting priority. The candidate robotic arm with the highest sorting priority is selected as the gripping robotic arm for the current workpiece to be picked. The optimal gripping robotic arm can be automatically assigned according to the sorting priority of the workpiece to be picked, thereby realizing automatic sorting and palletizing of the robotic arms and improving the efficiency of workpiece sorting and palletizing.

[0079] In one embodiment, such as Figure 4 As shown, the steps for controlling the gripping robotic arm to perform the palletizing operation of the workpieces to be picked include:

[0080] S402: Determine the corresponding palletizing frame based on the gripping robotic arm.

[0081] The terminal determines the stacking priority of each frame based on the attribute information of the workpieces already placed in the frame corresponding to the gripping robotic arm, and selects the frame with the highest stacking priority as the corresponding stacking frame.

[0082] S404: If there is no workpiece of the same model as the workpiece to be inspected in the palletizing frame, calculate the empty space in the palletizing frame based on the attribute information of the workpieces already placed in the palletizing frame.

[0083] After determining the appropriate palletizing frame, the terminal first checks if the frame is full. If it is full, it means the workpiece to be picked cannot be palletized into that frame, and a new palletizing frame is determined according to palletizing priority. If the frame is not full, the terminal checks if there is a workpiece with the same model number already in the frame as the workpiece to be picked. If there is no workpiece with the same model number already in the frame, the terminal calculates the available space in the frame based on the attribute information of the workpieces already in the frame, and then palletizes the workpiece to be picked into the available space.

[0084] S406: Determine the coordinate information of the empty space if the conditions for palletizing are met.

[0085] The terminal determines whether the workpiece to be picked can be palletized to an empty position. If the empty position meets the palletizing requirements, the terminal determines the coordinate information of the empty position and palletizes the workpiece to be picked based on the coordinate information.

[0086] S408: Based on coordinate information, control the gripping robotic arm to perform the palletizing operation of the workpieces to be picked.

[0087] The terminal controls the gripping robotic arm based on coordinate information to perform the palletizing operation of the workpieces to be picked, palletizing the workpieces to be picked to the position indicated by the coordinate information.

[0088] In this embodiment, by using a gripping robotic arm, a corresponding palletizing frame is determined. If there is no workpiece of the same model as the workpiece to be inspected in the palletizing frame, the empty positions in the palletizing frame are calculated based on the attribute information of the workpieces already placed in the palletizing frame. If the empty positions meet the palletizing requirements, the coordinate information of the empty positions is determined. Based on the coordinate information, the gripping robotic arm is controlled to perform the palletizing operation of the workpiece to be picked. This enables automatic sorting and palletizing by the robotic arm, improving the efficiency of workpiece sorting and palletizing.

[0089] In one embodiment, the method further includes: when the available position does not meet the palletizing requirements, according to the sorting priority ranking result, selecting the candidate robotic arm corresponding to the second sorting priority as the gripping robotic arm corresponding to the current workpiece to be picked, returning control of the gripping robotic arm to perform the palletizing operation of the workpiece to be picked, and continuing execution.

[0090] If the available space does not meet the palletizing requirements, it means that the current palletizing frame cannot palletize the workpiece to be picked. The terminal, according to the sorting priority, selects the candidate robotic arm corresponding to the second-highest sorting priority as the gripping robotic arm for the current workpiece, returns control to the gripping robotic arm, and executes the palletizing operation for the workpiece to be picked, continuing until the palletizing of the workpiece to be picked is completed. If all frames cannot palletize the workpiece to be picked, an alarm message is issued, prompting the operator that "workpiece cannot be sorted".

[0091] In this embodiment, when the available space does not meet the palletizing requirements, the candidate robotic arm corresponding to the second-ranked sorting priority is selected as the gripping robotic arm corresponding to the current workpiece to be picked, according to the sorting priority ranking result. The control of the gripping robotic arm is returned to execute the palletizing operation of the workpiece to be picked, and the process continues. This ensures that the workpiece to be picked is successfully palletized to the designated material frame, realizing automatic sorting and palletizing by the robotic arm and improving the efficiency of workpiece sorting and palletizing.

[0092] In one embodiment, such as Figure 5 As shown, the method also includes:

[0093] S502: When there is a workpiece already placed in the palletizing frame that has the same model as the workpiece to be inspected, determine the stacking height of the workpiece already placed in the palletizing frame.

[0094] In cases where there is a workpiece already placed in the palletizing frame that has the same model as the workpiece to be inspected, it indicates that the current frame can be directly palletized into the palletizing frame, and the terminal then determines the palletizing height of the workpiece already placed in the palletizing frame.

[0095] S504: If the palletizing height exceeds the palletizing threshold, return to the step of calculating the empty positions in the palletizing frame based on the attribute information of the workpieces already placed in the palletizing frame, and continue execution.

[0096] If the stacking height exceeds the stacking threshold, the current workpiece to be picked cannot be directly stacked on top of the workpiece already placed in the stacking frame. The process returns to the step of calculating the empty space in the stacking frame based on the attribute information of the workpiece already placed in the stacking frame, and continues to execute in order to stack the current workpiece to be picked onto the frame.

[0097] S506: If the stacking height does not exceed the stacking threshold, determine the stacking coordinates of the workpieces already placed in the stacking frame.

[0098] If the stacking height does not exceed the stacking threshold, it means that the workpiece to be picked can be directly stacked on top of the workpiece already placed in the stacking box. At this time, the terminal determines the stacking coordinates of the workpiece already placed in the stacking box, and stacks the workpiece to be picked based on the stacking coordinates.

[0099] S508: Based on the stacking coordinates, control the gripping robotic arm to perform the stacking operation of the workpieces to be picked.

[0100] The terminal controls the gripping robotic arm based on the stacking coordinates to perform the stacking operation of the workpieces to be picked, stacking the workpieces to be picked into the corresponding stacking baskets.

[0101] In this embodiment, when there is a workpiece with the same model as the workpiece to be inspected in the palletizing frame, the palletizing height of the workpiece already placed in the palletizing frame is determined. If the palletizing height exceeds the palletizing threshold, the step of calculating the empty space in the palletizing frame based on the attribute information of the workpiece already placed in the palletizing frame is returned, and execution continues. If the palletizing height does not exceed the palletizing threshold, the placement coordinates of the workpiece already placed in the palletizing frame are determined. Based on the placement coordinates, the gripping robotic arm is controlled to perform the palletizing operation of the workpiece to be picked. This enables automatic sorting and palletizing by the robotic arm, improving the efficiency of workpiece sorting and palletizing.

[0102] In one embodiment, such as Figure 6 As shown, a control method for online sorting and palletizing by a robotic arm is provided, which includes the following steps:

[0103] S602: Obtain the attribute information of the workpiece to be picked; obtain the information of the robotic arm and the material frame information of the corresponding material frame of the robotic arm.

[0104] S604: For each workpiece to be inspected, if the workpieces already in the material box have the same model and the same process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level five; if the workpieces already in the material box have the same model or the same process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level four; if the workpieces already in the material box have the same model, the sorting priority of the current workpiece to be picked is determined to be level three; if the workpieces already in the material box have the same process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level two; if the workpieces already in the material box have different models and different processes than the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level one.

[0105] S606: Based on the information of the robotic arm and the material box, determine the candidate robotic arms for the current workpiece to be picked; determine the sorting priority corresponding to each candidate robotic arm; sort the sorting priorities in descending order; and select the candidate robotic arm corresponding to the highest sorting priority as the gripping robotic arm for the current workpiece to be picked.

[0106] S608: Based on the gripping robotic arm, determine the corresponding palletizing frame; if there is no workpiece of the same model as the workpiece to be inspected in the palletizing frame, calculate the empty position in the palletizing frame based on the attribute information of the workpiece already placed in the palletizing frame; if the empty position meets the palletizing requirements, determine the coordinate information of the empty position; based on the coordinate information, control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked.

[0107] S610: If the available positions do not meet the palletizing requirements, according to the sorting priority, select the candidate robotic arm corresponding to the second sorting priority as the gripping robotic arm corresponding to the current workpiece to be picked, return to control the gripping robotic arm, execute the palletizing operation of the workpiece to be picked, and continue execution.

[0108] S612: If there is a workpiece already placed in the palletizing frame that has the same model as the workpiece to be inspected, determine the palletizing height of the workpiece already placed in the palletizing frame; if the palletizing height exceeds the palletizing threshold, return to the step of calculating the empty space in the palletizing frame based on the attribute information of the workpiece already placed in the palletizing frame, and continue execution; if the palletizing height does not exceed the palletizing threshold, determine the placement coordinates of the workpiece already placed in the palletizing frame; based on the placement coordinates, control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked.

[0109] In this embodiment, by acquiring the attribute information of the workpiece to be picked, as well as the information of the robotic arm and the material frame information of the corresponding material frame, the sorting priority of the workpiece to be picked is determined based on the attribute information and the material frame information. Based on the information of the robotic arm, the material frame information, and the sorting priority, the gripping robotic arm corresponding to the workpiece to be picked is determined, and the gripping robotic arm is controlled to perform the palletizing operation of the workpiece to be picked. This enables automatic sorting and palletizing by the robotic arm, improving the efficiency of workpiece sorting and palletizing.

[0110] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0111] Based on the same inventive concept, this application also provides a control device for implementing the control method for online sorting and palletizing of robotic arms as described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the control device for online sorting and palletizing of robotic arms provided below can be found in the limitations of the control method for online sorting and palletizing of robotic arms described above, and will not be repeated here.

[0112] In one embodiment, such as Figure 7 As shown, a control device for online sorting and palletizing with a robotic arm is provided, comprising: an attribute information acquisition module 10, a material frame information acquisition module 20, a priority determination module 30, a robotic arm determination module 40, and a workpiece palletizing processing module 50, wherein:

[0113] The attribute information acquisition module 10 is used to acquire the attribute information of the workpiece to be picked.

[0114] The material frame information acquisition module 20 is used to acquire information about the robotic arm and the material frame information corresponding to the robotic arm.

[0115] The priority determination module 30 is used to determine the sorting priority of the workpieces to be picked based on attribute information and material box information.

[0116] The robotic arm determination module 40 is used to determine the gripping robotic arm corresponding to the workpiece to be picked based on the robotic arm information, the material box information, and the sorting priority.

[0117] The workpiece palletizing module 50 is used to control the gripping robotic arm to perform the palletizing operation of the workpieces to be picked.

[0118] In one embodiment, the attribute information includes model and process; the material frame information includes the attribute information of the workpieces already placed in the material frame; the priority determination module 30 is further configured to, for each workpiece to be inspected, determine the sorting priority of the current workpiece to be picked as level five if the workpieces already placed in the material frame have the same model and process as the current workpiece to be picked; determine the sorting priority of the current workpiece to be picked as level four if the workpieces already placed in the material frame have the same model or process as the current workpiece to be picked; determine the sorting priority of the current workpiece to be picked as level three if the workpieces already placed in the material frame have the same model and process as the current workpiece to be picked; determine the sorting priority of the current workpiece to be picked as level two if the workpieces already placed in the material frame have the same process as the current workpiece to be picked; and determine the sorting priority of the current workpiece to be picked as level one if the workpieces already placed in the material frame have different models and processes than the current workpiece to be picked.

[0119] In one embodiment, the robotic arm determination module 40 includes: a candidate robotic arm determination unit, a priority determination unit, a priority sorting unit, and a grasping robotic arm determination unit, wherein:

[0120] The candidate robotic arm determination unit is used to determine the candidate robotic arms for the current workpiece to be picked based on the information of the robotic arm and the material box.

[0121] The priority determination unit is used to determine the sorting priority of each candidate robotic arm.

[0122] Priority sorting unit is used to sort the sorting priorities from highest to lowest.

[0123] The gripping robot arm determination unit is used to select the candidate robot arm with the highest sorting priority as the gripping robot arm for the current workpiece to be picked.

[0124] In one embodiment, the workpiece palletizing module 50 includes: a palletizing frame determination unit, a spare position calculation unit, a coordinate information determination unit, and a workpiece palletizing processing unit, wherein:

[0125] The palletizing frame determination unit is used to determine the corresponding palletizing frame based on the gripping robotic arm.

[0126] The empty position calculation unit is used to calculate the empty position in the palletizing frame based on the attribute information of the workpieces already placed in the palletizing frame when there is no workpiece of the same model as the workpiece to be inspected.

[0127] The coordinate information determination unit is used to determine the coordinate information of the empty position when the empty position meets the palletizing requirements.

[0128] The workpiece palletizing unit is used to control the gripping robotic arm based on coordinate information to perform the palletizing operation of the workpieces to be picked.

[0129] In one embodiment, the workpiece palletizing processing module 50 is further configured to, when the available positions do not meet the palletizing requirements, select the candidate robotic arm corresponding to the second-ranked sorting priority as the gripping robotic arm corresponding to the current workpiece to be picked, return to control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked, and continue execution when the sorting priority ranking result is obtained.

[0130] In one embodiment, the workpiece palletizing processing module 50 is further configured to: determine the palletizing height of the workpiece already placed in the palletizing frame if there is a workpiece in the palletizing frame with the same model as the workpiece to be inspected; if the palletizing height exceeds a palletizing threshold, return to the step of calculating the empty space in the palletizing frame based on the attribute information of the workpiece already placed in the palletizing frame, and continue execution; if the palletizing height does not exceed the palletizing threshold, determine the placement coordinates of the workpiece already placed in the palletizing frame; and based on the placement coordinates, control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked.

[0131] The various modules in the aforementioned control device for online sorting and palletizing of robotic arms can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0132] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a control method for online sorting and palletizing of a robotic arm. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0133] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0134] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: acquiring attribute information of the workpiece to be picked; acquiring information of the robotic arm and the material frame information of the corresponding material frame; determining the sorting priority of the workpiece to be picked based on the attribute information and the material frame information; determining the gripping robotic arm corresponding to the workpiece to be picked based on the robotic arm information, the material frame information, and the sorting priority; and controlling the gripping robotic arm to perform a palletizing operation of the workpiece to be picked.

[0135] In one embodiment, the attribute information includes model and process; the material frame information includes attribute information of the workpieces already placed in the material frame; the processor, when executing the computer program, determines the sorting priority of the workpiece to be picked based on the attribute information and the material frame information, including: for each workpiece to be inspected, if the workpieces already placed in the material frame have the same model and process as the current workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level five; if the workpieces already placed in the material frame have the same model or process as the current workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level four; if the workpieces already placed in the material frame have the same model and process as the current workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level three; if the workpieces already placed in the material frame have the same process as the current workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level two; if the workpieces already placed in the material frame have different models and processes than the current workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level one.

[0136] In one embodiment, when the processor executes a computer program, it determines the gripping robot arm corresponding to the workpiece to be picked based on robot arm information, material box information, and sorting priority. This includes: determining candidate robot arms for the current workpiece to be picked based on robot arm information and material box information; determining the sorting priority corresponding to each candidate robot arm; sorting the sorting priorities in descending order; and selecting the candidate robot arm corresponding to the highest sorting priority as the gripping robot arm corresponding to the current workpiece to be picked.

[0137] In one embodiment, when the processor executes a computer program, it controls a gripping robotic arm to perform a palletizing operation on the workpiece to be picked, including: determining a corresponding palletizing frame based on the gripping robotic arm; calculating the empty positions in the palletizing frame based on the attribute information of the workpieces already placed in the palletizing frame if there are no workpieces of the same model as the workpiece to be inspected; determining the coordinate information of the empty positions if the empty positions meet the palletizing requirements; and controlling the gripping robotic arm to perform the palletizing operation on the workpiece to be picked based on the coordinate information.

[0138] In one embodiment, when the processor executes the computer program, it further implements the following steps: if the available position does not meet the palletizing requirements, according to the sorting priority ranking result, the candidate robotic arm corresponding to the second sorting priority is selected as the gripping robotic arm corresponding to the current workpiece to be picked, the control of the gripping robotic arm is returned to execute the palletizing operation of the workpiece to be picked, and the process continues.

[0139] In one embodiment, when the processor executes the computer program, it further implements the following steps: if there is a workpiece already placed in the palletizing frame that has the same model as the workpiece to be inspected, determine the palletizing height of the workpiece already placed in the palletizing frame; if the palletizing height exceeds the palletizing threshold, return to the step of calculating the empty space in the palletizing frame based on the attribute information of the workpiece already placed in the palletizing frame, and continue execution; if the palletizing height does not exceed the palletizing threshold, determine the placement coordinates of the workpiece already placed in the palletizing frame; based on the placement coordinates, control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked.

[0140] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When executed by a processor, the computer program performs the following steps: acquiring attribute information of the workpiece to be picked; acquiring information of the robotic arm and the material frame information of the corresponding material frame; determining the sorting priority of the workpiece to be picked based on the attribute information and the material frame information; determining the gripping robotic arm corresponding to the workpiece to be picked based on the robotic arm information, the material frame information, and the sorting priority; and controlling the gripping robotic arm to perform a palletizing operation on the workpiece to be picked.

[0141] In one embodiment, the attribute information includes model and process; the material frame information includes attribute information of the workpieces already placed in the material frame; when the computer program is executed by the processor, the process of determining the sorting priority of the workpieces to be picked based on the attribute information and the material frame information includes: for each workpiece to be inspected, if the workpieces already placed in the material frame have the same model and process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level five; if the workpieces already placed in the material frame have the same model or process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level four; if the workpieces already placed in the material frame have the same model and process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level three; if the workpieces already placed in the material frame have the same process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level two; if the workpieces already placed in the material frame have different models and processes than the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level one.

[0142] In one embodiment, when a computer program is executed by a processor, it involves determining the gripping robot arm corresponding to the workpiece to be picked based on robot arm information, material box information, and sorting priority. This includes: determining candidate robot arms for the current workpiece to be picked based on robot arm information and material box information; determining the sorting priority corresponding to each candidate robot arm; sorting the sorting priorities in descending order; and selecting the candidate robot arm corresponding to the highest sorting priority as the gripping robot arm corresponding to the current workpiece to be picked.

[0143] In one embodiment, when the computer program is executed by a processor, it involves controlling a gripping robotic arm to perform a palletizing operation on the workpiece to be picked, including: determining a corresponding palletizing frame based on the gripping robotic arm; calculating the empty positions in the palletizing frame based on the attribute information of the workpieces already placed in the palletizing frame if there are no workpieces of the same model as the workpiece to be inspected; determining the coordinate information of the empty positions if the empty positions meet the palletizing requirements; and controlling the gripping robotic arm to perform the palletizing operation on the workpiece to be picked based on the coordinate information.

[0144] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the available position does not meet the palletizing requirements, according to the sorting priority ranking result, the candidate robotic arm corresponding to the second sorting priority is selected as the gripping robotic arm corresponding to the current workpiece to be picked, the control of the gripping robotic arm is returned to execute the palletizing operation of the workpiece to be picked, and the execution continues.

[0145] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if there is a workpiece already placed in the palletizing frame that has the same model as the workpiece to be inspected, determine the palletizing height of the workpiece already placed in the palletizing frame; if the palletizing height exceeds the palletizing threshold, return to the step of calculating the empty space in the palletizing frame based on the attribute information of the workpiece already placed in the palletizing frame, and continue execution; if the palletizing height does not exceed the palletizing threshold, determine the placement coordinates of the workpiece already placed in the palletizing frame; based on the placement coordinates, control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked.

[0146] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: acquiring attribute information of the workpiece to be picked; acquiring information of the robotic arm and the material frame information of the corresponding material frame; determining the sorting priority of the workpiece to be picked based on the attribute information and the material frame information; determining the gripping robotic arm corresponding to the workpiece to be picked based on the robotic arm information, the material frame information, and the sorting priority; and controlling the gripping robotic arm to perform a palletizing operation on the workpiece to be picked.

[0147] In one embodiment, the attribute information includes model and process; the material frame information includes attribute information of the workpieces already placed in the material frame; when the computer program is executed by the processor, the process of determining the sorting priority of the workpieces to be picked based on the attribute information and the material frame information includes: for each workpiece to be inspected, if the workpieces already placed in the material frame have the same model and process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level five; if the workpieces already placed in the material frame have the same model or process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level four; if the workpieces already placed in the material frame have the same model and process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level three; if the workpieces already placed in the material frame have the same process as the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level two; if the workpieces already placed in the material frame have different models and processes than the workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level one.

[0148] In one embodiment, when a computer program is executed by a processor, it involves determining the gripping robot arm corresponding to the workpiece to be picked based on robot arm information, material box information, and sorting priority. This includes: determining candidate robot arms for the current workpiece to be picked based on robot arm information and material box information; determining the sorting priority corresponding to each candidate robot arm; sorting the sorting priorities in descending order; and selecting the candidate robot arm corresponding to the highest sorting priority as the gripping robot arm corresponding to the current workpiece to be picked.

[0149] In one embodiment, when the computer program is executed by a processor, it involves controlling a gripping robotic arm to perform a palletizing operation on the workpiece to be picked, including: determining a corresponding palletizing frame based on the gripping robotic arm; calculating the empty positions in the palletizing frame based on the attribute information of the workpieces already placed in the palletizing frame if there are no workpieces of the same model as the workpiece to be inspected; determining the coordinate information of the empty positions if the empty positions meet the palletizing requirements; and controlling the gripping robotic arm to perform the palletizing operation on the workpiece to be picked based on the coordinate information.

[0150] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the available position does not meet the palletizing requirements, according to the sorting priority ranking result, the candidate robotic arm corresponding to the second sorting priority is selected as the gripping robotic arm corresponding to the current workpiece to be picked, the control of the gripping robotic arm is returned to execute the palletizing operation of the workpiece to be picked, and the execution continues.

[0151] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if there is a workpiece already placed in the palletizing frame that has the same model as the workpiece to be inspected, determine the palletizing height of the workpiece already placed in the palletizing frame; if the palletizing height exceeds the palletizing threshold, return to the step of calculating the empty space in the palletizing frame based on the attribute information of the workpiece already placed in the palletizing frame, and continue execution; if the palletizing height does not exceed the palletizing threshold, determine the placement coordinates of the workpiece already placed in the palletizing frame; based on the placement coordinates, control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked.

[0152] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0153] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The above embodiments merely illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application's patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for online sorting and palletizing by a robotic arm, characterized in that, The method includes: Obtain the attribute information of the workpiece to be picked; the attribute information includes the model and process of the workpiece to be picked; Obtain information about the robotic arm and the material frame information of the corresponding material frame; the material frame information includes attribute information of the workpiece already placed in the material frame; For each workpiece to be inspected, if there is a workpiece in the material box that has the same model and process as the current workpiece to be picked, the sorting priority of the current workpiece to be picked is determined to be level five. When there are at least two placed workpieces in the material box, and one of the placed workpieces is the same model as the workpiece to be picked, and the other placed workpiece is the same process as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level four. When the workpiece already placed in the material box is the same model as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level three; When the workpiece already placed in the material box has the same process as the workpiece to be picked, the sorting priority of the workpiece to be picked is determined to be level two; When the workpiece already placed in the material box is different from the workpiece to be picked in terms of model and process, the sorting priority of the workpiece to be picked is determined to be level one. Based on the information of the robotic arm, the information of the material box, and the sorting priority, the gripping robotic arm corresponding to the workpiece to be picked is determined; Control the gripping robotic arm to perform the palletizing operation of the workpiece to be picked.

2. The method according to claim 1, characterized in that, The step of determining the gripping robotic arm corresponding to the workpiece to be picked based on the information of the robotic arm, the material box information, and the sorting priority includes: Based on the information of the robotic arm and the information of the material box, a candidate robotic arm for the current workpiece to be picked is determined; Determine the sorting priority corresponding to each of the candidate robotic arms; The sorting priorities are sorted from highest to lowest. The candidate robotic arm corresponding to the highest sorting priority is selected as the gripping robotic arm corresponding to the current workpiece to be picked.

3. The method according to claim 2, characterized in that, The control of the gripping robotic arm to perform the palletizing operation of the workpiece to be picked includes: Based on the gripping robotic arm, the corresponding palletizing frame is determined; If there is no workpiece of the same model as the workpiece to be inspected in the palletizing frame, the empty space in the palletizing frame is calculated based on the attribute information of the workpieces already placed in the palletizing frame. If the empty space meets the palletizing requirements, determine the coordinate information of the empty space. Based on the coordinate information, the gripping robotic arm is controlled to perform the palletizing operation of the workpiece to be picked.

4. The method according to claim 3, characterized in that, The method further includes: If the available space does not meet the palletizing requirements, the candidate robotic arm corresponding to the second-ranked sorting priority is selected as the gripping robotic arm corresponding to the current workpiece to be picked, according to the sorting priority ranking result. The process is then returned to controlling the gripping robotic arm to perform the palletizing operation of the workpiece to be picked, and execution continues.

5. The method according to claim 3, characterized in that, The method further includes: If there is a workpiece already placed in the palletizing frame that has the same model as the workpiece to be inspected, determine the stacking height of the workpiece already placed in the palletizing frame; If the stacking height exceeds the stacking threshold, return to the step of calculating the empty space in the stacking frame based on the attribute information of the workpieces already placed in the stacking frame, and continue execution; If the stacking height does not exceed the stacking threshold, determine the stacking coordinates of the workpieces already placed in the stacking frame; Based on the stacking coordinates, the gripping robotic arm is controlled to perform the stacking operation of the workpiece to be picked.

6. A control device for online sorting and palletizing of a robotic arm, characterized in that, The apparatus comprises: (The method is described in any one of claims 1-5) The attribute information acquisition module is used to acquire the attribute information of the workpiece to be picked. The material frame information acquisition module is used to acquire information about the robotic arm and the material frame information corresponding to the robotic arm. The priority determination module is used to determine the sorting priority of the workpiece to be picked based on the attribute information and the material box information; The robotic arm determination module is used to determine the gripping robotic arm corresponding to the workpiece to be picked based on the information of the robotic arm, the information of the material box, and the sorting priority. The workpiece palletizing module is used to control the gripping robotic arm to perform the palletizing operation of the workpieces to be picked.

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

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

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

Images