Methods, apparatus, systems, equipment and media for driving movers in magnetic drive conveyor systems

Abstract

This application relates to a mover driving method, apparatus, system, computer equipment, storage medium, and computer program product in a magnetic drive conveyor system. The method is applied to at least two slave controllers; the method includes: when a mover moves to the control segment corresponding to the current slave controller, adding mover information to the slave controller and sending a first control command to the driver, the first control command instructing the driver to drive the mover; when the mover reaches a bridging segment, sending a segment bridging request to the master controller; receiving a second control command from the master controller corresponding to the segment bridging request, and sending a second control command to the driver, the second control command instructing the driver to drive the corresponding mover away from the bridging segment and to the control segment corresponding to the next slave controller. This method reduces the number of drivers controlled by the controller, resulting in faster system processing response, significantly improved mover control, and enhanced conveyor line safety.

Description

Technical Field

[0001] This application relates to the field of magnetic drive technology, and in particular to a method, apparatus, system, computer equipment, storage medium, and computer program product for driving a mover in a magnetic drive conveyor system. Background Technology

[0002] Magnetic drive conveyor lines are a new type of conveyor line. They employ a modular design, allowing for flexible configuration to meet diverse needs. Characterized by high precision, high reliability, and low maintenance, they have broad application prospects in industrial automation. In a magnetic levitation conveyor line, the gantry plate plays a supporting and guiding role. Located above the conveyor line, the gantry plate works in conjunction with the trolleys. Different trolleys are controlled at both ends, connected by the gantry plate. The gantry plate's function is to provide a flat transport platform, bearing and supporting materials, ensuring the stability and safety of the entire conveying process.

[0003] In traditional technology, because the gantry consists of two extremely long loop lines with a large number of drivers, the system controller has to control the data of many drivers, which inevitably leads to untimely system response and insufficient bandwidth, resulting in the trolleys twisting together and affecting the safety of the conveyor line. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, apparatus, system, computer equipment, computer-readable storage medium, and computer program product for driving a mover in a magnetic drive conveyor system that can improve the system's response speed, significantly improve mover control, and enhance the safety of the conveyor line, thereby addressing the aforementioned technical problems.

[0005] In a first aspect, this application provides a mover driving method in a magnetic drive conveyor system, applied to at least two slave controllers; the method includes:

[0006] When the mover moves to the control segment corresponding to the current slave controller, the mover information is added to the slave controller and a first control command is sent to the driver. The first control command is used to instruct the driver to drive the corresponding mover to move.

[0007] When the moving part reaches the cross-section, it sends a cross-section request to the main controller;

[0008] The system receives a second control instruction from the master controller for the mover corresponding to the road segment crossing request, and sends the second control instruction to the driver. The second control instruction is used to instruct the driver to drive the corresponding mover to leave the crossing road segment and reach the next control road segment corresponding to the slave controller.

[0009] In one embodiment, the movers have a master-slave relationship; sending a first control command to the driver, the first control command being used to instruct the driver to drive the corresponding mover to move, includes:

[0010] Obtain the master-slave information and synchronization information of each of the moving parts that have a master-slave relationship;

[0011] The active and passive components are determined based on the master-slave information;

[0012] Based on the synchronization information and the instruction position information of the active component, the instruction position information of the passive component is obtained;

[0013] Based on the instruction position information of the active element, an active element control instruction is sent to the driver corresponding to the active element; based on the instruction position information of the slave element, a slave element control instruction is sent to the driver corresponding to the slave element; the active element control instruction is used to instruct the corresponding driver to control the movement of the active element, and the slave element control instruction is used to instruct the corresponding driver to drive the movement of the slave element;

[0014] The coupling between the active and passive components is controlled based on the PID algorithm.

[0015] In one embodiment, the magnetic drive conveyor system includes multiple gantry plates, with the mover located at both ends of the gantry plates; the PID algorithm-based control of the coupling between the mover and the driven mover includes:

[0016] The positions of the moving parts at both ends of the gantry plate are obtained, and the position reference value and position difference are obtained based on the positions of the moving parts at both ends of the gantry plate;

[0017] The first reference information is obtained by performing PID calculation based on the position reference value, the instruction position information of the active component, and the instruction position information of the passive component;

[0018] The second reference information is obtained by performing PID calculation based on the position difference;

[0019] The current commands for the active and passive components are obtained based on the first reference information and the second reference information, respectively.

[0020] The coupling between the active and passive components is controlled based on the current command.

[0021] In one embodiment, before obtaining the master-slave information and synchronization information of each of the moving parts with a master-slave relationship, the method further includes:

[0022] Receive synchronization information setting instructions from each of the aforementioned actuators;

[0023] Based on the setting instructions, synchronization information for each of the moving parts is set. The synchronization information includes synchronization flag information and synchronization variable information. The synchronization flag information is used to indicate the synchronization state of each of the moving parts, and the synchronization variable information is used to determine the synchronization direction and synchronization ratio of the moving part and the driven part.

[0024] In one embodiment, the magnetic drive conveying system includes multiple gantry plates, with the mover located at both ends of the gantry plates, and the different gantry plates are magnetically attracted together; sending a first control command to the driver, the first control command being used to instruct the driver to drive the corresponding mover to move, includes:

[0025] Obtain the master-slave information of each of the aforementioned actuators that have a master-slave relationship;

[0026] The active and passive components are determined based on the master-slave information;

[0027] Send a third control command to the driver, the third control command being used to instruct the driver to drive the corresponding active sub-motion;

[0028] Determine the driving current of the active actuator and copy the driving current of the active actuator to the corresponding slave actuator to drive the slave actuator to move;

[0029] The coupling between the active and passive components is controlled based on the PID algorithm.

[0030] In one embodiment, the magnetic drive conveying system includes multiple gantry plates, with the mover located at both ends of the gantry plates, and the different gantry plates are held together by torque; sending a first control command to the driver, the first control command being used to instruct the driver to drive the corresponding mover to move, includes:

[0031] Obtain the master-slave information of each of the aforementioned actuators that have a master-slave relationship;

[0032] The active and passive components are determined based on the master-slave information;

[0033] Send a fourth control command to the driver, the fourth control command being used to instruct the driver to drive the corresponding active sub-motion;

[0034] Determine the velocity of the active component, and determine the velocity and position of the driven component based on the velocity of the active component;

[0035] Based on the speed and position of the slave, a fifth control command is sent to the driver corresponding to the slave, the fifth control command being used to instruct the driver to drive the corresponding slave to move.

[0036] In one embodiment, determining the velocity and position of the slave based on the velocity of the active element includes:

[0037] The error of the holding force of the slave is determined based on the command current value of the force relative to the active element during synchronization, the speed of the active element, the direction of the command holding force, the actual current of the slave element, and the PID algorithm.

[0038] The integral sum of the holding force control is updated based on the integral of the holding force control and the error of the holding force.

[0039] The differential of the actual holding force is calculated based on the error of the holding force.

[0040] The initial command position is determined using the PID algorithm based on the holding force error, the integral of the holding force control, and the derivative of the actual holding force.

[0041] The range of the instruction position is obtained based on the value of the initial instruction position;

[0042] Within the range of the command position, the value of the target command position is calculated again based on the velocity of the active element, the direction of the command holding force, and the PID algorithm;

[0043] Based on the value of the target command position, the velocity and position of the slave are determined.

[0044] Secondly, this application also provides a mover drive device in a magnetic drive conveyor system.

[0045] Applied to at least two slave controllers; the device includes:

[0046] The first drive module is used to add the mover information to the slave controller and send a first control command to the driver when the mover moves to the control segment corresponding to the current slave controller. The first control command is used to instruct the driver to drive the corresponding mover to move.

[0047] The road segment bridging request sending module is used to send a road segment bridging request to the main controller when the mover reaches the bridging road segment;

[0048] The second drive module is used to receive a second control instruction from the main control corresponding to the mover in the road segment crossing request, send the second control instruction to the driver, and instruct the driver to drive the corresponding mover to leave the crossing road segment and reach the next control road segment corresponding to the slave controller, and delete the mover that left the crossing road segment from the mover corresponding to the current slave controller.

[0049] Thirdly, this application also provides a magnetic drive conveying system, the magnetic drive conveying system comprising:

[0050] Movers;

[0051] Main controller;

[0052] At least two slave controllers, each of which communicates with the master controller. Each slave controller corresponds to a control segment, and adjacent control segments are connected by jumper segments.

[0053] A driver is installed in each of the control sections and the jumper sections, and at least one driver is installed in each of the control sections and the jumper sections, the driver being used to drive the movement of the mover;

[0054] Each of the aforementioned controllers is used to execute the mover driving method in the magnetic drive conveyor system described in any of the above embodiments, in order to control the driver to drive the mover to move.

[0055] Fourthly, 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 steps of the above-described method.

[0056] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0057] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0058] The aforementioned magnetic drive conveyor system includes a mover driving method, apparatus, system, computer equipment, storage medium, and computer program product. The magnetic drive conveyor system comprises at least two slave controllers. When a mover moves to the control segment corresponding to the current slave controller, the mover information is added to the slave controller, and a first control command is sent to the driver. The first control command instructs the driver to drive the corresponding mover. When the mover reaches a bridging segment, a segment bridging request is sent to the master controller. The master controller receives a second control command corresponding to the segment bridging request and sends a second control command to the driver. The second control command instructs the driver to drive the corresponding mover away from the bridging segment and to reach the control segment corresponding to the next slave controller. Thus, each slave controller controls a portion of the drivers. Communication exists between the master and slave controllers to enable mover movement across segments. Different slave controllers correspond to different control segments, thus eliminating the need for each slave controller to control all drivers in the conveyor system, reducing the number of drivers controlled by each slave controller. This results in faster system response, significantly improved mover control, and enhanced safety of the conveyor line. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a schematic diagram of a magnetic drive conveyor system in one embodiment;

[0061] Figure 2 This is a schematic diagram of the track of a magnetic drive conveyor system in one embodiment;

[0062] Figure 3 This is a flowchart of a mover driving method in a magnetic drive conveyor system in one embodiment;

[0063] Figure 4 This is a timing diagram of the mover driving method in a magnetic drive conveyor system in one embodiment;

[0064] Figure 5 This is a flowchart illustrating the master-slave synchronous dual-drive method in the mover drive method of a magnetic drive conveyor system in one embodiment.

[0065] Figure 6 This is a schematic diagram illustrating the coupling between the active and passive actuators based on a PID algorithm in one embodiment.

[0066] Figure 7 This is a flowchart illustrating the implementation of dual-drive via magnetic attraction in one embodiment;

[0067] Figure 8 This is a schematic diagram of a three-loop control system in one embodiment;

[0068] Figure 9 A flowchart illustrating the recursive method in one embodiment;

[0069] Figure 10 This is a schematic diagram of each gantry panel in one embodiment;

[0070] Figure 11 This is a block diagram of the mover drive device in a magnetic drive conveyor system in one embodiment;

[0071] Figure 12 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0072] 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.

[0073] The mover driving method in the magnetic drive conveyor system provided in this application embodiment can be applied to, for example... Figure 1 The magnetic drive conveyor system shown includes a driver, a mover, a master controller, and at least two slave controllers. Each slave controller communicates with the master controller and corresponds to a control segment. Each control segment contains at least one driver that drives the mover. The driver for each control segment is controlled by its corresponding slave controller. There are bridging segments between drive segments. When the mover reaches a bridging segment, the slave controller sends a bridging request to the master controller. In this bridging segment, the master controller controls the corresponding slave controller, which in turn controls the driver of the bridging segment to drive the mover away from the bridging segment and to the next control segment. Figure 2As shown, the magnetic drive conveyor system includes two gantry cranes forming an ultra-long loop. Each gantry is equipped with multiple drives, which are controlled by slave controllers and a master controller. To ensure conveying safety and improve system response speed, this application uses multiple slave controllers, for example, at least two. Each slave controller controls a drive in a control segment. The master controller controls drives drives in adjacent segments via the slave controllers. The drives are used to move the movers. Optionally, each drive can drive one mover, or at least two drives can drive one mover; no specific limitation is made here. Each mover is located on one of the two gantry cranes, and two movers on different gantry cranes are connected by a gantry plate. The gantry plate provides a flat conveying platform to bear and support materials, ensuring the stability and safety of the entire conveying process.

[0074] Previously, all drives were controlled by a single controller. In this application, at least two slave controllers are set. For convenience, we will use two slave controllers as an example. Assume that previously one controller controlled 2n drives. Now, with two slave controllers, one slave controller controls n drives. This reduces the number of drives controlled by the slave controller, resulting in faster system response, significantly improved actuator control, and enhanced safety of the conveyor line.

[0075] In one exemplary embodiment, combined with Figure 3 A method for driving a mover in a magnetic drive conveyor system is provided, which is then applied to... Figure 1 The following will be explained using at least two examples from the controller:

[0076] S302: When the mover moves to the control segment corresponding to the current slave controller, the mover information is added to the slave controller and a first control command is sent to the driver. The first control command is used to instruct the driver to drive the corresponding mover to move.

[0077] In this system, each slave controller controls the driver of its corresponding control segment, and there is communication between each slave controller and the master controller to form a complete control system. Based on the first control command from the host computer, the slave controller sends a corresponding first control command to the driver, so that the driver drives the corresponding mover to move.

[0078] The first control instruction from the host computer can include the target position of each mover, so that the controller controls the driver based on the target position, and the driver drives the movement of the mover. Since there are many drivers, the controller's resource consumption is high. Therefore, multiple slave controllers are introduced. Each slave controller controls the driver in a control segment. Each slave controller corresponds to a different control segment, thereby reducing the resource consumption of the slave controller and improving the response speed of the controller.

[0079] The following explanation uses a dual-slave controller as an example. Each slave controller controls the same number of drivers, and the drivers controlled by each slave controller are preset. Based on the control instructions from the host computer, the drive instructions for each driver are determined and sent to the corresponding driver.

[0080] In this system, multiple movers are present, each driven by a different driver. To achieve dual-drive control—that is, simultaneous dual-drive with all gantry plates in close contact—the master-slave information of each mover is first determined. Then, based on this information, the active and passive movers are identified. Next, the control commands for the passive movers are derived from the control commands of the active movers. The corresponding control commands for the active movers and the passive movers are then sent to their respective drivers. Thus, the active and passive movers are driven by their respective drivers, achieving dual-drive operation. The control commands for the passive movers can be derived from synchronization information, magnetic attraction methods, and the synchronous torque of the close contact between the gantry plates.

[0081] The implementation methods for dual-drive systems that ensure tight contact between the gantry plates can include master-slave synchronization, magnetic attraction, and recursive methods. In the master-slave synchronization method, the same position control command is given to both the driving and driven gantry plates, and then coupled using a PID algorithm. In the magnetic attraction method, magnets are used to hold all the gantry plates together, and the current from the driving gantry is copied to the driven gantry plate, then coupled using a PID algorithm to achieve dual-drive. In the recursive method, torque is used to hold the gantry plates together, and the speed and position of the driven gantry plate are obtained based on the speed of the driving gantry plate and the torque used to hold the plates together, thus controlling the driven gantry plate and achieving dual-drive.

[0082] S304: When the mover reaches the cross-section, it sends a cross-section cross-section request to the main controller.

[0083] S306: Receive the second control instruction of the mover corresponding to the road segment bridging request from the master control, and send the second control instruction to the driver. The second control instruction is used to instruct the driver to drive the corresponding mover to leave the bridging road segment and reach the next control road segment corresponding to the slave controller.

[0084] In the cross-section, the main controller controls the slave controller, which in turn controls the driver of the cross-section, thus realizing the movement of the mover across the cross-section.

[0085] Specifically, in combination Figure 4As shown, when a mover reaches a cross-section, the current slave controller corresponding to the current driver of the mover sends a cross-section crossing request to the master controller. This cross-section crossing request can carry the mover's path, so the master controller can obtain the movers currently located on the cross-section and the control sections connected to the cross-section. Then, it performs speed planning to avoid collisions between these movers, and feeds back a second control command to the slave controller based on the speed planning result. The slave controller then controls the driver on the cross-section to drive the mover to leave the cross-section and reach the control section corresponding to the next slave controller based on the second control command. When it reaches the control section of the next slave controller, the information of the departing mover is deleted from the current slave controller, and the corresponding mover information is added to the next slave controller so that the next slave controller can control these movers.

[0086] One point to note is that when the mover passes through the cross-section, it can also be controlled by dual drive. The specific method of dual drive control can be found above, and will not be repeated here.

[0087] In the aforementioned mover driving method of the magnetic drive conveyor system, the magnetic drive conveyor system includes at least two slave controllers. When the mover moves to the control segment corresponding to the current slave controller, the mover information is added to the slave controller, and a first control command is sent to the driver. The first control command is used to instruct the driver to drive the corresponding mover to move. When the mover reaches the bridging segment, a segment bridging request is sent to the master controller. The master controller receives a second control command for the mover corresponding to the segment bridging request and sends a second control command to the driver. The second control command is used to instruct the driver to drive the corresponding mover to leave the bridging segment and reach the control segment corresponding to the next slave controller. Thus, each slave controller controls a portion of the drivers, and there is communication between the master controller and the slave controllers to realize the mover's movement across segments. The slave controllers corresponding to different control segments are different, so the slave controllers do not need to control the drivers of the entire conveyor system, reducing the number of drivers controlled by the slave controllers. This makes the system's processing response faster, greatly improves the mover control, and enhances the safety of the conveyor line.

[0088] In one exemplary embodiment, such as Figure 5 As shown, to achieve the dual-drive objective, each mover has a master-slave relationship; the step of sending a first control command to the driver, which instructs the driver to drive the corresponding mover, includes steps S502 to S510. Wherein:

[0089] S502: Obtain the master-slave information and synchronization information of each mover that has a master-slave relationship.

[0090] In a normal magnetic drive conveyor system, each mover has an independent PID calculation. During synchronous operation, the same instructions are sent to both movers, meaning the instructions from the active mover are also sent to the passive mover, thus achieving dual-drive operation. When multiple gantry plates are synchronized, all gantry plates synchronize with one master gantry plate.

[0091] To achieve dual-drive, each actuator continues to combine within the master-slave relationship. Figure 2 As shown, the two ends of the same gantry plate, located on different gantry plates, have a master-slave relationship, with one being the active mover and the other the passive mover. Figure 2 In this system, mover number 1 is the driving mover, and mover number 10 is the driven mover. When multiple gantry panels exist and need to move in close contact, the driving mover of a subsequent gantry panel follows the driving mover of the first gantry panel, while the driven mover of a gantry panel follows the driving mover of the first gantry panel. Figure 1 In this diagram, for mover 1 and mover 2, mover 1 is the active mover and mover 2 is the passive mover, i.e., the arrow points to the passive mover. Thus, the master-slave information of each mover can be determined based on the position of each mover.

[0092] The synchronization information can be pre-set. In one optional embodiment, before acquiring the master-slave information and synchronization information of each mover with a master-slave relationship, the method further includes: a synchronization information setting step, which includes: receiving a synchronization information setting instruction for each mover; setting the synchronization information of each mover based on the setting instruction. The synchronization information includes synchronization flag information and synchronization variable information. The synchronization flag information is used to indicate the synchronization state of each mover, and the synchronization variable information is used to determine the synchronization direction and synchronization ratio of the master and slave movers.

[0093] To implement the synchronization information settings, at least two structures can be predefined. One structure stores synchronization flag information, including a synchronization setting completion flag, a synchronization release in progress flag, a synchronization release in progress flag (signal), and a gear ratio change flag. The other structure stores the synchronization variable information of the mover (the driver controls the mover's movement), including: synchronization setting request, synchronization release request, gear ratio change request, gear ratio numerator, gear ratio denominator, gear ratio numerator before change, gear ratio denominator before change, working gear ratio numerator, working gear ratio denominator, synchronization release time, gear ratio change time, synchronization stop time, synchronization parameter changeable, and gear ratio changeable.

[0094] The process involves setting the gear ratio and synchronization direction based on the request from the moving part. The synchronization direction is determined by whether the gear ratio is an integer or negative number. If it's positive, both moving parts move in the same direction; if it's negative, they move in opposite directions. The synchronization direction is immutable during movement; it only takes effect after stopping, resetting the gear ratio, and resynchronizing. The command position of the moving part is directly transmitted to the driven part. The gear ratio is particularly useful for controlling the synchronization ratio. For example, if the numerator of the gear ratio is set to 1 and the denominator to 2, the moving part will move 1 meter while the driven part only moves 0.5 meters, giving it absolute synchronization control. After completing the synchronization configuration, the synchronization control process begins.

[0095] S504: Determine the active and passive components based on master-slave information.

[0096] Among them, the master-slave information is determined based on the position of the mover. After determining the position of each mover, the master and slave can be determined. Thus, the control command of the slave can be determined based on the control command of the master.

[0097] The above steps are to determine the master-slave relationship. The subsequent steps are to obtain the control instructions of the slave based on the master-slave relationship and the control instructions of the active slave, so as to realize dual drive. In this embodiment, the control instructions of the slave are obtained based on the synchronization information and the control instructions of the active slave.

[0098] S506: Based on the synchronization information and the instruction position information of the active component, the instruction position information of the slave component is obtained.

[0099] S508: Send an active control command to the driver corresponding to the active based on the active position information; send a slave control command to the driver corresponding to the slave based on the slave position information; the first control command is used to instruct the corresponding driver to control the movement of the active, and the slave control command is used to instruct the corresponding driver to drive the movement of the slave.

[0100] During synchronous operation, the same instructions are sent to both actuators, meaning the instructions from the active actuator are also sent to the passive actuator, thus achieving dual-drive operation. Furthermore, combined with three-loop control, the instruction position information of the active actuator is directly copied to the passive actuator to obtain its instruction position information, thereby controlling each actuator separately based on its instruction position information.

[0101] Specifically, based on the instruction position information of the active element, an active element control command is sent to the driver corresponding to the active element; based on the instruction position information of the passive element, a passive element control command is sent to the driver corresponding to the passive element. In this way, the driver of the active element drives the active element to move, and the driver of the passive element controls the passive element to perform the same movement, thus realizing dual drive.

[0102] S510: Controls the coupling between the active and passive actuators based on the PID algorithm.

[0103] In this system, two actuators on the same gantry plate achieve dual drive by directly copying the command position information, while two master and slave actuators on different gantry plates are coupled through a PID algorithm, thereby making different gantry plates fit closely together.

[0104] Based on the master-slave synchronization of the movers, the average position of the two movers is taken, and the average value is used to perform PID calculation. The second layer of PID is used to superimpose the calculation on the torsion between the two gantry, thereby realizing the coupling between the master and slave movers.

[0105] In one optional embodiment, the magnetic drive conveyor system includes multiple gantry plates, with movers located at both ends of the gantry plates; the coupling between the drive mover and the driven mover is controlled based on a PID algorithm, including: acquiring the positions of the movers at both ends of the gantry plates; obtaining position reference values ​​and position differences based on the positions of the movers at both ends of the gantry plates; performing PID calculations based on the position reference values, the command position information of the drive mover, and the command position information of the driven mover to obtain first reference information; performing PID calculations based on the position differences to obtain second reference information; obtaining current commands for the drive mover and the driven mover based on the first reference information and the second reference information, respectively; and controlling the coupling between the drive mover and the driven mover based on the current commands.

[0106] Specifically, in combination Figure 6 As shown, Figure 6 This diagram illustrates a PID algorithm-based control of the coupling between the actuator and the slave in one embodiment. In this embodiment, the position command of the actuator is directly given to the slave, and then the output is calculated using PID. A layer is used to obtain the positions of the two actuators, and a reasonable average position value is calculated as a position reference value. This average position value is used to calculate the torsional deviation between the gantry plates, i.e., the position difference, using a PID algorithm, and the position deviation is corrected in a timely manner. Specifically, a first reference information is obtained by performing PID calculations based on the position reference value, the actuator's command position information, and the slave's command position information; a second reference information is obtained by performing PID calculations based on the position difference; current commands for the actuator and the slave are obtained based on the first and second reference information, respectively; and the coupling between the actuator and the slave is controlled based on the current commands.

[0107] The specific principle of this embodiment is based on two PID controllers. One controller controls the average position of the two movers to follow the commanded position, while the other controller eliminates positional deviations between the two trolleys. The commanded currents from the two controllers are superimposed and applied to the two trolleys respectively. The advantage of this control is that it allows the trolleys on both sides to automatically correct themselves, maintaining approximately equal forces on both sides. This achieves consistency in the position of the left and right trolleys on the gantry plate.

[0108] In the above embodiments, the same instruction position is assigned to both actuators, that is, the instruction position of the active actuator is also sent to the passive actuator, thereby achieving the purpose of dual-drive operation. During multi-gantry synchronization, all gantry actuators synchronize with one master gantry.

[0109] In one embodiment, combined with Figure 7 As shown, Figure 7 The flowchart illustrates a method for implementing dual-drive via magnetic attraction in one embodiment. In this embodiment, the magnetic drive conveyor system includes multiple gantry plates, with movers located at both ends of the gantry plates. Different gantry plates are magnetically attracted together. A first control command is sent to the driver, instructing the driver to drive the corresponding mover to move, including:

[0110] S702: Obtain the master-slave information of each mover that has a master-slave relationship.

[0111] S704: Determine the active and passive components based on master-slave information.

[0112] The master-slave information and determination method of the active and passive components can be found above and will not be repeated here. The above steps are to determine the master-slave relationship. The subsequent steps are to obtain the control instructions of the passive component based on the master-slave relationship and the control instructions of the active component, thereby realizing dual drive. In this embodiment, since the gantry plates are attached by physical magnetic attraction, the control instructions of the passive component are obtained based on the control instructions of the active component.

[0113] S706: Sends a third control command to the driver, which instructs the driver to drive the corresponding active sub-motion.

[0114] S708: Determine the driving current of the active motor and copy the driving current of the active motor to the corresponding slave motor to drive the slave motor to move;

[0115] S710: Controls the coupling between the active and passive actuators based on the PID algorithm.

[0116] In this embodiment, when all moving parts are in the relaxed state, the gantry plates that need to be tightly attached are magnetically attracted together. During subsequent control, the driving current of the moving parts is copied to the driven parts, and all moving parts are controlled using the same current.

[0117] Specifically, in combination Figure 8 ,in Figure 8 This is a schematic diagram of a three-loop control system in one embodiment. In this embodiment, the system is divided into three loops: a position loop, a speed loop, and a current loop. Master-slave control directly replicates the position loop value and then uses a PID algorithm to calculate the output. Current replication involves replicating the current loop value and then using a PID algorithm for output.

[0118] In this embodiment, the step of copying the instruction position information is removed, and the current of the active mover is copied to all other movers, so that all movers move with the same current, thus achieving synchronization.

[0119] In one embodiment, combined with Figure 9 As shown, Figure 9 This is a flowchart of a recursive method in one embodiment. In this embodiment, the magnetic drive conveyor system includes multiple gantry plates, with movers located at both ends of the gantry plates. Different gantry plates are held together by torque. A first control command is sent to the driver. The control command instructs the driver to drive the corresponding mover to move, including:

[0120] S902: Obtain the master-slave information of each mover that has a master-slave relationship.

[0121] S904: Determine the active and passive components based on master-slave information.

[0122] The master-slave information and determination method of the active and slave can be found above, and will not be repeated here.

[0123] The master-slave information and determination method of the active and passive actuators can be found above and will not be repeated here. The above steps are to determine the master-slave relationship. The subsequent steps are to obtain the control command of the passive actuator based on the master-slave relationship and the control command of the active actuator, thereby realizing dual drive. In this embodiment, since the gantry plate is attached by torque, the control command of the passive actuator is obtained based on the torque that makes the gantry plate attach and the control command of the active actuator.

[0124] S906: Send a fourth control command to the driver. The fourth control command is used to instruct the driver to drive the corresponding active sub-motion.

[0125] S908: Determine the velocity of the active component, and determine the velocity and position of the slave component based on the velocity of the active component.

[0126] The control of the driving element, specifically the position of the first moving element, is sent by the host computer. Based on this, the velocity of the driving element can be determined. Given a constant velocity of the driving element, the velocity and position of the driven element can be determined accordingly. A force of magnitude n is used to keep the second gantry plate tightly attached to the first gantry plate, a force of magnitude m is used to keep the third gantry plate tightly attached to the second gantry plate, and so on. To maintain these torques, the velocity of the driven element can be calculated given a constant velocity of the driving element.

[0127] In one optional embodiment, determining the velocity and position of the slave based on the velocity of the active element includes: determining the error of the slave's holding force based on the command current value of the force relative to the active element during synchronization, the velocity of the active element, the direction of the command holding force, the actual current of the slave, and a PID algorithm; updating the integral sum of the holding force control based on the integral of the holding force control and the holding force error; calculating the derivative of the actual holding force based on the holding force error; determining the value of the initial command position using the PID algorithm based on the holding force error, the integral sum of the holding force control, and the derivative of the actual holding force; obtaining the range of the command position based on the value of the initial command position; within the range of the command position, calculating the value of the target command position again based on the velocity of the active element, the direction of the command holding force, and the PID algorithm; and determining the velocity and position of the slave based on the value of the target command position.

[0128] Among them, combined Figure 10 As shown, Figure 10 This is a schematic diagram of the gantry panels in one embodiment, in which all the torques are applied in one direction to compress the gantry panels so that they fit together tightly.

[0129] To ensure the torque between the gantry plates, the speed and position of each driving and driven element need to be set. The speed and position of the first driving element are determined by the host computer, while the speed and position of the other moving elements are obtained based on the torque required to keep the gantry plates in close contact and the speed of the corresponding driving element.

[0130] To obtain the speed and position of the driven vehicle and achieve torque adjustment, this application introduces a parameter structure that synchronizes and maintains the force between adjacent vehicles. This structure includes: the direction of the command holding force, the actual current of the driven vehicle, the command current value of the force relative to the object in front (i.e., the corresponding driven vehicle) during synchronization, the actual current value of the force relative to the object in front (i.e., the corresponding driven vehicle) during synchronization, the derivative of the actual holding force, the error of the driven vehicle holding force, the previous error of the driven vehicle holding force, the compensation value generated by the driven vehicle force control, the maximum allowable movement in the driven vehicle force control mode, the proportional gain of the holding force control, the derivative of the holding force control, the integral of the holding force control, the integral sum of the holding force control, the low-pass filter value of the holding force control, and the coefficients for adjusting speed-related factors 1, 2, and 3. The coefficients for adjusting speed-related factors 1, 2, and 3 can be considered as the proportional, integral, and derivative coefficients in the PID algorithm.

[0131] Torque adjustment can be achieved through a function. The function takes the velocity of the driving element and the slave element as inputs, where the slave element's number can be a given value. The function then calculates the velocity and position of the slave element according to the following steps:

[0132] The error in the current slave holding force is calculated as follows: (Command current value of the force relative to the object in front (i.e., the driving element) at synchronization + (absolute value of the driving element velocity * adjustment speed correlation coefficient 1)) * direction of the command holding force - actual current of the slave.

[0133] The error value of the follower holding force is stored in the error variable of the follower holding force of the structure.

[0134] The integral sum of the holding force control is equal to the integral sum of the holding force control plus the calculated error of the follower holding force.

[0135] The error value of the slave holding force is filtered and its differential value is calculated. Simultaneously, the differential of the actual holding force in the structure is stored, allowing for PID calculation to obtain the slave's command position value. The absolute value of this command position value is taken to obtain the range of command position values. Then, the command position value is recalculated as: Adjust speed-related coefficient 2 * (absolute value of (active slave speed - corresponding speed-related coefficient 2)) * direction of the command holding force. The calculated variables are updated and stored in the corresponding structure variables for future calculations. The process iterates through all actuators requiring synchronous clamping force, calculates the output, and uses the output value to set the speed and position of the corresponding slave.

[0136] S910: Based on the speed and position of the slave, a fifth control command is sent to the driver corresponding to the slave. The fifth control command is used to instruct the driver to drive the corresponding slave to move.

[0137] After obtaining the velocity and position of the follower, the corresponding follower can be controlled based on the velocity and position, thus realizing dual drive.

[0138] In the above embodiment, the torque is calculated and adjusted using a PID algorithm. For example, a force of magnitude n is used to keep the second gate tightly attached to the first gate, a force of magnitude m is used to keep the third gate tightly attached to the second gate, and so on. Different torques are used to keep subsequent gates tightly attached.

[0139] 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.

[0140] Based on the same inventive concept, this application also provides a mover drive device for implementing the mover drive method in the magnetic drive conveyor system described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the mover drive device in the magnetic drive conveyor system provided below can be found in the limitations of the mover drive method in the magnetic drive conveyor system described above, and will not be repeated here.

[0141] In one exemplary embodiment, such as Figure 11 As shown, a mover drive device is provided in a magnetic drive conveyor system, applied to at least two slave controllers, the device comprising:

[0142] The first drive module 1101 is used to add mover information to the slave controller and send a first control command to the driver when the mover moves to the control segment corresponding to the current slave controller. The first control command is used to instruct the driver to drive the corresponding mover to move.

[0143] The road segment bridging request sending module 1102 is used to send a road segment bridging request to the main controller when the mover arrives at the bridging road segment;

[0144] The second drive module 1103 is used to receive a second control instruction from the main control for the mover corresponding to the road segment bridging request, and send the second control instruction to the driver. The second control instruction is used to instruct the driver to drive the corresponding mover to leave the bridging road segment and reach the next control road segment corresponding to the slave controller, and to delete the mover that left the bridging road segment from the mover corresponding to the current slave controller.

[0145] In one optional embodiment, the actuators have a master-slave relationship; the first driving module 1101 includes:

[0146] The master-slave information determination unit is used to determine the master-slave information of each actuator, and to determine the active actuator and the slave actuator based on the master-slave information;

[0147] The control command determination unit is used to obtain the control command of the slave based on the control command of the active slave.

[0148] The transmitting unit is used to send the corresponding active sub-control command to the corresponding driver and the passive sub-control command to the corresponding driver, so that the active sub-sub and the passive sub-sub are driven by the driver respectively, realizing dual driving.

[0149] In one optional embodiment, each mover has a master-slave relationship; the first driving module 1101 is further configured to acquire master-slave information and synchronization information of each mover with a master-slave relationship; determine the active mover and the passive mover based on the master-slave information; obtain the instruction position information of the passive mover based on the synchronization information and the instruction position information of the active mover; send a first control instruction to the driver corresponding to the active mover based on the instruction position information of the active mover; send a second control instruction to the driver corresponding to the passive mover based on the instruction position information of the passive mover; the first control instruction is used to instruct the corresponding driver to control the movement of the active mover, and the second control instruction is used to instruct the corresponding driver to drive the movement of the passive mover; control the coupling between the active mover and the passive mover based on a PID algorithm.

[0150] In one optional embodiment, the magnetic drive conveyor system includes multiple gantry plates, with movers located at both ends of the gantry plates; the first drive module 1101 is further configured to acquire the positions of the movers at both ends of the gantry plates, obtain position reference values ​​and position differences based on the positions of the movers at both ends of the gantry plates; perform PID calculations based on the position reference values, the command position information of the active mover, and the command position information of the passive mover to obtain first reference information; perform PID calculations based on the position differences to obtain second reference information; obtain current commands for the active mover and the passive mover based on the first reference information and the second reference information, respectively; and control the coupling between the active mover and the passive mover based on the current commands.

[0151] In one optional embodiment, the above-mentioned device further includes: a synchronization information setting module, configured to receive synchronization information setting instructions for each mover; and set synchronization information for each mover based on the setting instructions, wherein the synchronization information includes synchronization flag information and synchronization variable information, the synchronization flag information is used to indicate the synchronization state of each mover, and the synchronization variable information is used to determine the synchronization direction and synchronization ratio of the active and passive movers.

[0152] In one optional embodiment, the magnetic drive conveyor system includes multiple gantry plates, with movers located at both ends of the gantry plates, and different gantry plates are magnetically attracted together; the first drive module 1101 is further used to acquire master-slave information of each mover with a master-slave relationship; determine the active mover and the passive mover based on the master-slave information; send a third control command to the driver, the third control command being used to instruct the driver to drive the corresponding active mover to move; determine the drive current of the active mover, and copy the drive current of the active mover to the corresponding passive mover to drive the passive mover to move; and control the coupling between the active mover and the passive mover based on a PID algorithm.

[0153] In one optional embodiment, the magnetic drive conveying system includes multiple gantry plates, with movers located at both ends of the gantry plates, and the different gantry plates are held together by torque; the first drive module 1101 is further configured to acquire master-slave information of each mover having a master-slave relationship; determine the active mover and the passive mover based on the master-slave information; send a fourth control command to the driver, the fourth control command being used to instruct the driver to drive the corresponding active mover to move; determine the speed of the active mover, and determine the speed and position of the passive mover based on the speed of the active mover; and send a fifth control command to the driver corresponding to the passive mover based on the speed and position of the passive mover, the fifth control command being used to instruct the driver to drive the corresponding passive mover to move.

[0154] In one optional embodiment, the first driving module 1101 is further configured to: determine the error of the slave's holding force based on the command current value of the force relative to the driving element during synchronization, the speed of the driving element, the direction of the command holding force, the actual current of the slave, and a PID algorithm; update the integral sum of the holding force control based on the integral of the holding force control and the error of the holding force; calculate the differential of the actual holding force based on the error of the holding force; determine the value of the initial command position using a PID algorithm based on the holding force error, the integral sum of the holding force control, and the differential of the actual holding force; obtain the range of the command position based on the value of the initial command position; within the range of the command position, calculate the value of the target command position again based on the speed of the driving element, the direction of the command holding force, and the PID algorithm; and determine the speed and position of the slave based on the value of the target command position.

[0155] The various modules in the mover drive device of the aforementioned magnetic drive conveyor system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independent of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0156] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 12As 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 executed by the processor, the computer program implements a mover driving method in a magnetic drive conveyor system. 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.

[0157] Those skilled in the art will understand that Figure 12 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.

[0158] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0159] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0160] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0161] Those skilled in the art will understand that all or part of the processes in 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 described above. 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.

[0162] 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.

[0163] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for driving a mover in a magnetically driven conveyor system, characterized in that, Applied to at least two slave controllers; the method includes: When the mover moves to the control segment corresponding to the current slave controller, the mover information is added to the slave controller and a first control command is sent to the driver. The first control command is used to instruct the driver to drive the corresponding mover to move. When the moving part reaches the cross-section, it sends a cross-section request to the main controller; The system receives a second control command from the master controller for the mover corresponding to the road segment crossing request, and sends the second control command to the driver. The second control command is used to instruct the driver to drive the corresponding mover to leave the crossing road segment and reach the next control road segment corresponding to the slave controller.

2. The method according to claim 1, characterized in that, Each of the aforementioned movers has a master-slave relationship; the step of sending a first control command to the driver, the first control command being used to instruct the driver to drive the corresponding mover to move, includes: Obtain the master-slave information and synchronization information of each of the moving parts that have a master-slave relationship; The active and passive components are determined based on the master-slave information; Based on the synchronization information and the instruction position information of the active component, the instruction position information of the passive component is obtained; Based on the instruction position information of the active element, an active element control instruction is sent to the driver corresponding to the active element; based on the instruction position information of the slave element, a slave element control instruction is sent to the driver corresponding to the slave element; the active element control instruction is used to instruct the corresponding driver to control the movement of the active element, and the slave element control instruction is used to instruct the corresponding driver to drive the movement of the slave element; The coupling between the active and passive components is controlled based on the PID algorithm.

3. The method according to claim 2, characterized in that, The magnetic drive conveyor system includes multiple gantry plates, with the moving parts located at both ends of the gantry plates; the PID algorithm-based control of the coupling between the moving and driven parts includes: The positions of the moving parts at both ends of the gantry plate are obtained, and the position reference value and position difference are obtained based on the positions of the moving parts at both ends of the gantry plate; The first reference information is obtained by performing PID calculation based on the position reference value, the instruction position information of the active component, and the instruction position information of the passive component; The second reference information is obtained by performing PID calculation based on the position difference; The current commands for the active and passive components are obtained based on the first reference information and the second reference information, respectively. The coupling between the active and passive components is controlled based on the current command.

4. The method according to claim 2, characterized in that, Before obtaining the master-slave information and synchronization information of each of the moving parts with a master-slave relationship, the method further includes: Receive synchronization information setting instructions from each of the aforementioned actuators; Based on the setting instructions, synchronization information for each of the moving parts is set. The synchronization information includes synchronization flag information and synchronization variable information. The synchronization flag information is used to indicate the synchronization state of each of the moving parts, and the synchronization variable information is used to determine the synchronization direction and synchronization ratio of the moving part and the driven part.

5. The method according to claim 1, characterized in that, The magnetic drive conveying system includes multiple gantry plates, with the mover located at both ends of the gantry plates. Different gantry plates are magnetically attracted together. Sending a first control command to the driver, the first control command instructing the driver to drive the corresponding mover to move, includes: Obtain the master-slave information of each of the aforementioned actuators that have a master-slave relationship; The active and passive components are determined based on the master-slave information; Send a third control command to the driver, the third control command being used to instruct the driver to drive the corresponding active sub-motion; Determine the driving current of the active actuator and copy the driving current of the active actuator to the corresponding slave actuator to drive the slave actuator to move; The coupling between the active and passive components is controlled based on the PID algorithm.

6. The method according to claim 1, characterized in that, The magnetic drive conveying system includes multiple gantry plates, with the mover located at both ends of the gantry plates. Different gantry plates are held together by torque. Sending a first control command to the driver, the first control command instructing the driver to drive the corresponding mover, includes: Obtain the master-slave information of each of the aforementioned actuators that have a master-slave relationship; The active and passive components are determined based on the master-slave information; Send a fourth control command to the driver, the fourth control command being used to instruct the driver to drive the corresponding active sub-motion; Determine the velocity of the active component, and determine the velocity and position of the driven component based on the velocity of the active component; Based on the speed and position of the slave, a fifth control command is sent to the driver corresponding to the slave, the fifth control command being used to instruct the driver to drive the corresponding slave to move.

7. The method according to claim 6, characterized in that, Determining the velocity and position of the slave based on the velocity of the active element includes: The error of the holding force of the slave is determined based on the command current value of the force relative to the active element during synchronization, the speed of the active element, the direction of the command holding force, the actual current of the slave element, and the PID algorithm. The integral sum of the holding force control is updated based on the integral of the holding force control and the error of the holding force. The differential of the actual holding force is calculated based on the error of the holding force. The initial command position is determined using the PID algorithm based on the error of the holding force, the integral of the holding force control, and the derivative of the actual holding force. The range of the instruction position is obtained based on the value of the initial instruction position; Within the range of the command position, the value of the target command position is calculated again based on the velocity of the active element, the direction of the command holding force, and the PID algorithm; Based on the value of the target command position, the velocity and position of the slave are determined.

8. A mover drive device in a magnetic drive conveyor system, characterized in that, Applied to at least two slave controllers; the device includes: The first drive module is used to add the mover information to the slave controller and send a first control command to the driver when the mover moves to the control segment corresponding to the current slave controller. The first control command is used to instruct the driver to drive the corresponding mover to move. The road segment bridging request sending module is used to send a road segment bridging request to the main controller when the mover reaches the bridging road segment; The second drive module is used to receive a second control instruction from the main controller for the mover corresponding to the road segment bridging request, send the second control instruction to the driver, and instruct the driver to drive the corresponding mover to leave the bridging road segment and reach the next control road segment corresponding to the slave controller, and delete the mover that left the bridging road segment from the mover corresponding to the current slave controller.

9. A magnetic drive conveying system, characterized in that, The magnetic drive conveying system includes: Movers; Main controller; At least two slave controllers, each of which communicates with the master controller. Each slave controller corresponds to a control segment, and adjacent control segments are connected by jumper segments. A driver is installed in each of the control sections and the jumper sections, and at least one driver is installed in each of the control sections and the jumper sections, the driver being used to drive the movement of the mover; Each of the aforementioned controllers is used to execute the mover driving method in the magnetic drive conveyor system according to any one of claims 1 to 7, to control the driver to drive the mover to move.

10. 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 7.

11. 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 7.

12. 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 7.

Images