Function fitting analysis method, system, equipment and medium for machining lubrication temperature data

Abstract

The invention discloses a method, system, equipment and medium for fitting and analyzing a processing lubrication temperature data function, and relates to the technical field of lubrication temperature data analysis, comprising the following steps: setting a temperature control group and a rotation control group, analyzing the relationship between the rotation angle and the lowest temperature and the highest temperature based on rotation test data, and obtaining an operating temperature rise function; setting a detection cycle, recording the operating temperature of a rotating joint of a processing equipment according to time within the detection cycle, obtaining observation data points, and then calculating and analyzing the temperature change value of the rotating joint of the processing equipment based on the observation data points and the operating temperature rise function; the invention is used to solve the problem that in the prior art, there is a lack of effective analysis method for temperature data of the lubrication state of a machine device, and the analysis of temperature data during the operation of the machine device is not comprehensive and accurate enough, resulting in an incorrect assessment of the lubrication state of the machine.

Description

Technical Field

[0001] The present invention relates to the technical field of lubrication temperature data analysis, and in particular to a method, system, equipment and medium for processing lubrication temperature data function fitting analysis. Background Art

[0002] Function fitting analysis of temperature data mainly involves describing the change of temperature over time or other variables through mathematical models. This kind of analysis is of great significance in scientific research, engineering technology and practical applications. Commonly used methods include polynomial fitting, nonlinear fitting, etc. Application areas: Function fitting analysis of temperature data has a wide range of applications in meteorology, environmental monitoring, industrial control and other fields. For example, studying the change of temperature through fitting algorithms can help us better understand climate patterns and predict future climate changes, or optimize production processes by controlling temperature in industrial processes, or analyze the temperature status of equipment in the production process, such as the temperature change analysis of the lubrication joints of mechanical equipment during long-term operation, which can monitor and evaluate the lubrication status of machinery and equipment in real time, so as to detect and diagnose potential lubrication problems in time and take corresponding maintenance and maintenance measures.

[0003] When the existing function fitting analysis of temperature data is applied to the lubrication condition of machinery and equipment, there is a lack of effective combined analysis means. The existing temperature analysis of the lubrication condition of machinery and equipment usually sets upper and lower limit values, judges the current state by switch quantity, and uses analog sensor detection. The collected sensor parameters are generally analyzed by manual recording, and then the operating state of the machinery and equipment is judged based on experience. The analysis process of the above temperature data lacks an effective analysis method. At the same time, when the existing function fitting is used to analyze the temperature anomaly of the equipment, there is a lack of combined means for the temperature analysis of the lubrication state of the rotating joints of the machinery and equipment, and it cannot be applied to the application of the temperature analysis of the lubrication state of the rotating joints of the machinery and equipment. For example, in a patent application with authorization announcement number CN110414155B, a temperature anomaly detection and alarm method for a fan component with a single measuring point is disclosed. The method constructs a temperature fitting model; uses the fitting model to predict the temperature measurement points of the test set data, uses the difference between the actual temperature of the test data and the model predicted temperature as the prediction residual sequence, and uses the real-time temperature of the component to be tested and the model predicted temperature The temperature difference is used as a prediction residual sequence, and based on the statistical analysis of a set of online residual values ​​obtained, the component temperature warning program is entered. When fitting and analyzing the temperature data, this method only considers the temperature data of the fan operation, lacks the analysis means for combining the temperature data and the fan operation parameters, the analysis dimension is single, and the effectiveness of the temperature warning is insufficient; for another example, in the patent application with the authorization announcement number CN117909692B, a method for intelligent analysis of the operation data of a double-disc motor bearing is disclosed. This method establishes a first comparison straight line according to the temperature data and the corresponding speed data, obtains the fitting value of the temperature data, builds the corresponding vectors corresponding to the temperature data and the speed data, determines the deviation angle, and then obtains the credibility of the temperature data, and completes the intelligent analysis of the operation data of the double-disc motor bearing. When combining and analyzing the temperature data and the speed data, this method only fits the correlation between the two, the analysis means are single, and the accuracy and comprehensiveness of the analysis results are also low. In view of this, when analyzing the processing lubrication temperature data, an effective function fitting analysis method is needed to solve the above technical problems. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the prior art to at least a certain extent, by setting a temperature control group and a rotation control group, finding the temperature change critical value of the single-axis robot through the temperature control group, and then analyzing the operating heating function through the rotation control group, and then analyzing the operating temperature and rotation angle of the single-axis robot during operation, and calculating the influence of rotation on the operating temperature based on the rotation angle and the operating heating function, and eliminating this part of the influence, and then calculating the temperature change value, the temperature change value and the temperature change critical value reflect the temperature change rate of the single-axis robot, and lubricate the single-axis robot when the change rate is too fast, so as to solve the problem that the existing technology lacks an effective analysis method for the temperature data of the lubrication status of the machine equipment, and the analysis of the temperature data during the operation of the machine equipment is not comprehensive and accurate, resulting in an incorrect assessment of the lubrication status of the machine.

[0005] To achieve the above objectives, in a first aspect, the present application provides a method for fitting and analyzing a processing lubrication temperature data function, comprising the following steps:

[0006] A temperature control group and a rotation control group are set, wherein the temperature control group is used to experimentally obtain the lower limit of the normal working temperature and the upper limit of the normal working temperature of the rotating joint of the processing equipment; and the rotation control group is used to experimentally obtain the rotation test data;

[0007] Analyze the critical value of temperature change of the rotating joint of the processing equipment based on the lower limit and upper limit of the normal working temperature;

[0008] Based on the rotation test data, the relationship between the rotation angle and the minimum temperature and the maximum temperature is analyzed to obtain the operation temperature rise function;

[0009] During the operation of the rotating joint of the processing equipment, a detection cycle is set, and the operating temperature of the rotating joint of the processing equipment is recorded according to time during the detection cycle to obtain observation data points, and then the temperature change value of the rotating joint of the processing equipment is calculated and analyzed based on the observation data points and the operation temperature rise function;

[0010] By analyzing the temperature change value and the critical value of temperature change, it is determined whether the rotating joints of the processing equipment need to be lubricated.

[0011] Furthermore, setting the temperature control group and the rotation control group includes the following sub-steps:

[0012] Set up a temperature control group, set the test environment of the temperature control group and monitor and record the operating temperature of the rotating joint of the processing equipment to obtain the lower limit and upper limit of the normal working temperature;

[0013] A rotation control group is set up, the test environment of the rotation control group is set up, and the rotation angle, minimum temperature and maximum temperature of the rotation joint of the processing equipment per unit time are recorded and calculated to obtain rotation test data.

[0014] Further, setting a temperature control group, setting the test environment of the temperature control group and monitoring and recording the operating temperature of the rotating joint of the processing equipment include the following sub-steps:

[0015] For the temperature control group, the temperature test temperature is adjusted to the first test temperature, the temperature test duration is set to the first test duration, and the temperature test rotation rate is set to the first rotation rate, where the temperature test rotation rate is the average rotation angle per minute of the rotating joint of the processing equipment;

[0016] Selecting a first test number of processing equipment rotating joints for testing, turning on the processing equipment rotating joints, and recording the operating temperature of the processing equipment rotating joints in real time;

[0017] After the first test period has been run, several operating temperatures are recorded, and the minimum and maximum values ​​of the operating temperatures are found and marked as the lower limit of the normal operating temperature and the upper limit of the normal operating temperature, respectively.

[0018] Further, a rotation control group is set, a test environment of the rotation control group is set, and the rotation angle, minimum temperature, and maximum temperature of the rotation joint of the processing equipment in a unit time are recorded and calculated, including the following sub-steps:

[0019] For the rotation control group, the rotation test temperature is adjusted to the first test temperature, the rotation test duration is set to the first test duration, and the rotation test rotation rate is set to the first rotation rate to the second rotation rate;

[0020] The rotation control group includes a first control number of rotation groups, and the rotation group includes a first test number of processing equipment rotation joints. The rotation groups are numbered and represented by the symbol RG n It represents, where n is a non-zero natural number and n is the sequence number of RG;

[0021] For RG n , the test rotation rate of the rotation group is set to [(Rr2-Rr1) / m]×n+Rr1, where Rr2 is the second rotation rate, Rr1 is the first rotation rate, and m is the first control number;

[0022] The highest temperature of the rotary joint of the processing equipment in the first test period is subtracted from the lowest temperature to obtain the rotation temperature rise value; the rotation temperature rise value of each rotary joint of the processing equipment in the rotation group is monitored in real time, and the rotation temperature rise value of the rotary joint of the RG n , find RG nThe maximum value of the rotation temperature rise is marked as the test group temperature rise value. The test group temperature rise value and RG n The corresponding rotation test rotation rates are collectively referred to as rotation test data.

[0023] Further, analyzing the critical value of temperature change of the rotating joint of the processing equipment based on the lower limit of the normal working temperature and the upper limit of the normal working temperature includes the following sub-steps:

[0024] Get the time node corresponding to the lower limit of the normal working temperature, marked as the lower limit time point; get the time node corresponding to the upper limit of the normal working temperature, marked as the upper limit time point;

[0025] Substitute the lower limit time point and the lower limit of the normal operating temperature as well as the upper limit time point and the upper limit of the normal operating temperature into the formula , the critical value of temperature change is calculated, where Yt is the operating temperature, Xt is the time node, M is the critical value of temperature change, and b is an inherent constant.

[0026] Furthermore, based on the rotation test data, the relationship between the rotation angle and the minimum temperature and the maximum temperature is analyzed to obtain the running temperature rise function, which includes the following sub-steps:

[0027] Get the rotation test data, sort and number the rotation test data in the order of rotation test rotation rate from small to large, and use the symbol C j Indicates, where j is a non-zero natural number and j is the serial number of C, C j Including C1 j and C2 j , where C1 j C j The test group temperature rise value, C2 j C j The rotation test rotation rate;

[0028] Starting from j=2, calculate C1 j -C1 j-1 , mark the calculated result as rotation temperature difference, and the corresponding C2 j Labeled as rotation speed;

[0029] A rectangular coordinate system is established with the rotation test rotation rate as the X-axis and the test group temperature rise value as the Y-axis, and it is named the rotation temperature rise scatter plot;

[0030] The rotation test data is entered into a rotation temperature rise scatter plot, and a linear regression is performed on the rotation temperature rise scatter plot to obtain a running temperature rise function.

[0031] Furthermore, during the operation of the rotary joint of the processing equipment, a detection cycle is set, and the operating temperature of the rotary joint of the processing equipment is recorded according to time during the detection cycle to obtain observation data points, and then the temperature change value of the rotary joint of the processing equipment is calculated and analyzed based on the observation data points and the operation temperature rise function, including the following sub-steps:

[0032] The detection period is set to be a first detection period. During the detection period, the real-time operating temperature of the rotary joint of the processing equipment is recorded once every first detection time, and the real-time rotation rate of the rotary joint of the processing equipment is recorded once at the same time; the real-time operating temperature and the real-time rotation rate together constitute a detection data;

[0033] Substitute the real-time rotation rate into the running temperature rise function and mark the calculated result as the rotation-affected temperature;

[0034] Correct the real-time operating temperature based on the rotation-affected temperature and conduct further analysis;

[0035] The real-time operating temperature is reduced by the rotation-affected temperature to obtain the operating temperature to be analyzed; the same analysis is performed on all the detection data to obtain different operating temperatures to be analyzed;

[0036] Sort and number the operating temperatures to be analyzed in the order of their records, using the symbol W i Indicates, where i is a non-zero natural number and i is the serial number of W; for W i , W i The corresponding detection time point is T i , T i With W i Correspondingly, T i The value of is i multiplied by the first detection duration;

[0037] T i is the horizontal axis, W i Establish a rectangular coordinate system for the vertical axis, name it the scatter plot to be analyzed, and set T i and W i Enter the scatter plot to be analyzed, and name the coordinate points in the scatter plot to be analyzed as coordinates to be analyzed;

[0038] Calculate and analyze the coordinates to be analyzed to obtain the temperature change value;

[0039] By formula Calculate the residual of the coordinates to be analyzed, named data residual, where R i is the coordinate to be analyzed (T i , W i ), a is the temperature change value, b is the inherent constant;

[0040] Based on the formula Calculate the sum of the data residuals, named the residual sum of squares, where S is the residual sum of squares;

[0041] Solution , calculate the temperature change value a, where, is the partial derivative operator, and a is the temperature change.

[0042] Further, by analyzing the temperature change value and the temperature change critical value, judging whether the rotary joint of the processing equipment needs to be lubricated includes the following sub-steps:

[0043] Obtain temperature change value and temperature change critical value;

[0044] The temperature change value is compared with the temperature change critical value. If the temperature change value is less than or equal to the temperature change critical value, a normal temperature change signal is output; if the temperature change value is greater than the temperature change critical value, an abnormal temperature change signal is output;

[0045] If an abnormal temperature change signal is output, the rotating joints of the processing equipment are lubricated.

[0046] In a second aspect, the present application provides an electronic device, including a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the above method are performed.

[0047] In a third aspect, the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the above method are performed.

[0048] Beneficial effects of the present invention: The present invention analyzes the temperature change of the single-axis robot under normal working conditions after configuring the test environment by setting a temperature control group, and obtains the temperature change critical value of the single-axis robot. The advantage is that the temperature change critical value reflects the temperature change rate and amplitude of the single-axis robot under normal working conditions. If the temperature change critical value is exceeded, it means that the temperature of the rotating shaft of the single-axis robot rises abnormally, and insufficient lubrication of the rotating shaft will cause abnormal temperature rise, so it needs to be lubricated, thereby improving the accuracy and effectiveness of machine lubrication status monitoring;

[0049] The present invention sets a rotation control group, configures the test environment, and experiments on the influence of different rotation test rotation rates on the operating temperature of the single-axis robot when working under normal conditions, and obtains an operating temperature rise function. The advantage is that heat energy will be generated when the rotating axis of the single-axis robot rotates, and the heat energy generated by different rotation rates is different, and the generated heat energy will affect the change of the operating temperature. Therefore, it needs to be eliminated in the analysis process. By calculating the operating temperature rise function, the operating temperature in different cycles can be corrected in the subsequent analysis process, thereby improving the accuracy and rationality of the temperature data analysis of the rotating joints of the machine equipment.

[0050] The present invention periodically records the operating temperature of the single-axis robot, performs analysis based on multiple groups of real-time operating temperatures, and analyzes the optimal temperature change value through the least squares method. The advantage is that the least squares method can make the correlation between the function and the coordinate point stronger. At this time, the calculated temperature change value has a reference value, which improves the rationality and effectiveness of the temperature data analysis of the rotating joint of the machine equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a flow chart of the steps of the method of the present invention;

[0052] Figure 2 It is a rotational heating scatter diagram of the present invention;

[0053] Figure 3 A scatter plot to be analyzed of the present invention;

[0054] Figure 4 It is a system principle block diagram of the present invention;

[0055] Figure 5 A connection block diagram of the electronic device of the present invention;

[0056] In the figure: 60, electronic device; 601, processor; 602, memory. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Example 1, please refer to Figure 1As shown, in the first aspect, the present application provides a method for function fitting analysis of processing lubrication temperature data. In practical application, a single-axis robot is used as an example for the rotary joint of the processing equipment. When the single-axis robot is running, it is necessary to detect the lubrication state of its rotary joint to maintain the lubrication degree. When analyzing, a method for function fitting analysis of the temperature data during its operation is adopted, including the following steps:

[0059] Step S1, setting a temperature control group and a rotation control group, the temperature control group is used to experimentally obtain the lower limit of the normal working temperature and the upper limit of the normal working temperature of the single-axis robot; the rotation control group is used to experimentally obtain rotation test data; Step S1 includes the following sub-steps:

[0060] Step S101, setting a temperature control group, setting the test environment of the temperature control group and monitoring and recording the operating temperature of the single-axis robot to obtain a normal operating temperature lower limit and a normal operating temperature upper limit;

[0061] Step S101 includes the following sub-steps:

[0062] Step S101.1, for the temperature control group, adjusting the temperature test temperature to the first test temperature, setting the temperature test duration to the first test duration, setting the temperature test rotation rate to the first rotation rate, and the temperature test rotation rate being the average rotation angle per minute of the single-axis robot;

[0063] In specific implementation, the first test temperature is usually set to the optimal operating temperature of the single-axis robot, and the optimal operating temperature of the single-axis robot is usually 20°C to 35°C. Too low or too high a temperature will affect the operation of the single-axis robot, so it can be set to between 20°C and 35°C. In this embodiment, the first test temperature is set to 25°C; the first test duration is to provide the single-axis robot with sufficient time to warm up and have sufficient time to run to the upper limit of the normal operating temperature. The first test duration is usually not less than 2h. In this embodiment, the first test duration is set to 2h; since the rotation rate will affect the temperature between the rotating axes of the single-axis robot, in order to eliminate this part of the influence, the temperature test rotation rate in the temperature control group should be kept consistent, so it is uniformly set to the first rotation rate, and the setting of the first rotation rate can be set by the user according to the frequency actually used. In this embodiment, the first rotation rate is set to 7200° / min;

[0064] Step S101.2, selecting a first test number of single-axis robots for testing, turning on the single-axis robots, and recording the operating temperature of the single-axis robots in real time;

[0065] Step S101.3, after running for the first test time, several operating temperatures are recorded, and the minimum and maximum values ​​of the operating temperatures are found, which are marked as the lower limit of the normal operating temperature and the upper limit of the normal operating temperature respectively;

[0066] In the specific implementation, the first test number of single-axis robots is selected for testing to ensure that there is a sufficient data basis when analyzing the critical value of temperature change to prevent accidental events from affecting the test results. The first test number is usually not less than 10. In this embodiment, the first test number is set to 10. The single-axis robot is turned on. After the first test time is run, the operating temperature is recorded to be between 25°C and 48°C, wherein the minimum and maximum values ​​are 25°C and 48°C, respectively, that is, the lower limit of the normal working temperature is 25°C, and the upper limit of the normal working temperature is 48°C.

[0067] Step S102, setting a rotation control group, setting the test environment of the rotation control group and recording and calculating the rotation angle, minimum temperature and maximum temperature of the single-axis robot in unit time to obtain rotation test data;

[0068] Step S102 includes the following sub-steps:

[0069] Step S102.1, for the rotation control group, adjusting the rotation test temperature to the first test temperature, setting the rotation test duration to the first test duration, and setting the rotation test rotation rate to the first rotation rate to the second rotation rate;

[0070] In a specific implementation, the rotation control group is used to test the influence of the rotation axis of the single-axis robot on the operating temperature at different rotation rates under the same environment. Therefore, under the condition that the first test temperature and the first test duration are ensured to remain unchanged, the rotation control group is set to the first rotation rate to the second rotation rate. Different rotation groups correspond to different rotation test rotation rates. The first rotation rate and the second rotation rate are usually set to the minimum and maximum values ​​of the rotation rates required by the user, that is, the lower limit and upper limit of the rotation rate of the single-axis robot, which are usually 4320° / min and 10800° / min.

[0071] Step S102.2: The rotation control group includes the first control number of rotation groups, and the rotation group includes the first test number of single-axis robots. The rotation groups are numbered and represented by RG. n It represents, where n is a non-zero natural number and n is the sequence number of RG;

[0072] Step S102.3, for RG n , the test rotation rate of the rotation group is set to [(Rr2-Rr1) / m]×n+Rr1, where Rr2 is the second rotation rate, Rr1 is the first rotation rate, and m is the first control number;

[0073] Step S102.4, subtract the lowest temperature from the highest temperature of the single-axis robot during the first test period to obtain the rotation temperature rise value; monitor the rotation temperature rise value of each single-axis robot in the rotation group in real time, and n , find RG n The maximum value of the rotation temperature rise is marked as the test group temperature rise value. The test group temperature rise value and RG n The corresponding rotation test rotation rates are collectively referred to as rotation test data;

[0074] In a specific implementation, the first control number is set to 10. The higher the first control number is set, the more accurate the running temperature rise function obtained by subsequent analysis will be. The first control number is usually not less than 10. In this embodiment, the first control number is set to 10. In this embodiment, RG 1 As an example, the test rotation rate and rotation test data of the rotation group are explained, and the data of the other rotation groups are no longer specifically displayed; for RG 1 , the test rotation rate is [(10800-4320) / 10]×1+4320, and the calculated test rotation rate is 4968° / min; for RG 1 For a single-axis robot in the first test, the highest and lowest temperatures monitored during the first test were 25°C and 43°C respectively, and the calculated rotation temperature rise value was 18°C. 1 Calculate all the rotational heating values ​​in and find RG 1 The temperature rise value of the test group is 19°C, and 4968° / min and 19°C are collectively referred to as rotation test data.

[0075] Step S2, analyzing the temperature change critical value of the single-axis robot based on the normal working temperature lower limit and the normal working temperature upper limit; Step S2 includes the following sub-steps:

[0076] Step S201, obtaining a time node corresponding to the lower limit of the normal working temperature, marked as the lower limit time point; obtaining a time node corresponding to the upper limit of the normal working temperature, marked as the upper limit time point;

[0077] Step S202: Substitute the lower limit time point and the lower limit of the normal working temperature and the upper limit time point and the upper limit of the normal working temperature into the formula , calculate the critical value of temperature change, where Yt is the operating temperature, Xt is the time node, M is the critical value of temperature change, and b is an inherent constant;

[0078] In the specific implementation, the lower limit time point is obtained as 0min, the upper limit time point is obtained as 120min, 0 and 25 as well as 120 and 48 are substituted into the formula, and the critical value of temperature change is calculated to be 0.192, and the calculation result is rounded to three decimal places.

[0079] Step S3, analyzing the relationship between the rotation angle and the minimum temperature and the maximum temperature based on the rotation test data to obtain a running temperature rise function; Step S3 includes the following sub-steps:

[0080] Step S301, obtain rotation test data, sort and number the rotation test data in the order of rotation test rotation rate from small to large, and use symbol C j Indicates, where j is a non-zero natural number and j is the serial number of C, C j Including C1 j and C2 j , where C1 j C j The test group temperature rise value, C2 j C j The rotation test rotation rate;

[0081] Step S302, starting from j=2, calculate C1 j -C1 j-1 , mark the calculated result as rotation temperature difference, and the corresponding C2 j Labeled as rotation speed;

[0082] See also Figure 2 As shown, in step S303, a rectangular coordinate system is established with the rotation speed as the X-axis and the rotation temperature difference as the Y-axis, and the system is named a rotation temperature rise scatter plot;

[0083] Step S304, entering the rotation test data into a rotation temperature rise scatter plot, performing linear regression on the rotation temperature rise scatter plot, and obtaining an operation temperature rise function;

[0084] In the specific implementation, 10 groups of rotation test data are monitored and obtained according to C 1 To C 10 The rotation test data obtained by sorting include (19°C, 4968° / min), (19°C, 5616° / min), (20°C, 6264° / min), (21°C, 6912° / min), (23°C, 7560° / min), (24°C, 8208° / min), (26°C, 8856° / min), (27°C, 9504° / min), (29°C, 10152° / min) and (31°C, 10800° / min); according to C 2 To C 10The rotation temperature differences are calculated in sequence as 0°C, 1°C, 1°C, 2°C, 1°C, 2°C, 1°C, 2°C and 2°C, and the corresponding rotation speeds are 5616° / min, 6264° / min, 6912° / min, 7560° / min, 8208° / min, 8856° / min, 9504° / min, 10152° / min and 10800° / min. The rotation temperature rise scatter plot is constructed as shown in the figure Figure 2 As shown, the operating temperature rise function obtained by linear regression is Y=0.0003×X-0.9889, where Y is the rotation temperature difference and X is the rotation speed.

[0085] Step S4, during the operation of the single-axis robot, a detection cycle is set, and the operating temperature of the single-axis robot is recorded according to time during the detection cycle to obtain observation data points, and then the temperature change value of the single-axis robot is calculated and analyzed based on the observation data points and the operation temperature rise function; Step S4 includes the following sub-steps:

[0086] Step S401, setting the detection period to the first detection period, within the detection period, recording the real-time operating temperature of the single-axis robot once every first detection time, and recording the real-time rotation rate of the single-axis robot once; the real-time operating temperature and the real-time rotation rate together constitute a detection data;

[0087] Step S402, substituting the real-time rotation rate into the running temperature rise function, and marking the calculation result as the rotation-affected temperature;

[0088] In a specific implementation, the first detection cycle is used to evaluate the lubrication degree of the single-axis robot within a certain period of time. A cycle that is too short or too long will have a certain impact on the evaluation result. In this embodiment, the evaluation cycle of the critical value of temperature change is the first test duration. Therefore, setting the first detection cycle to the first test duration can be more in line with actual use. The first detection cycle is set to 2h. The first detection duration is set to obtain multiple real-time operating temperatures within the first detection cycle. The more real-time operating temperatures are obtained, the more accurate the lubrication evaluation result of the single-axis robot is, usually not less than 30 sets of data, that is, 2h / 30=4min. In this embodiment, The first detection duration is set to 4 minutes; the real-time operating temperature is the operating temperature of the single-axis robot when recording, and the real-time rotation rate is the ratio of the angle of rotation of the single-axis robot in every 4 minutes divided by 4 minutes. For example, in the first detection, the real-time operating temperature is detected to be 26°C, and in the first 4 minutes, the single-axis robot rotates a total of 16669°. The real-time rotation rate is calculated to be 16669 / °4min=4167° / min, and the calculation result is retained as an integer; Substitute X=4167° / min into Y=0.0003×X-0.9889, and the rotation-affected temperature is calculated to be 0.3°C, and the calculation result is retained to one decimal place;

[0089] Step S403, correcting the real-time operating temperature based on the rotation-affected temperature and performing further analysis;

[0090] Step S403 includes the following sub-steps:

[0091] Step S403.1, subtract the real-time operating temperature from the rotation-affected temperature to obtain the operating temperature to be analyzed; perform the same analysis on all the detection data to obtain different operating temperatures to be analyzed;

[0092] Step S403.2, sort and number the operating temperatures to be analyzed in the order of recording, and use the symbol W i Indicates, where i is a non-zero natural number and i is the serial number of W; for W i , W i The corresponding detection time point is T i , T i With W i Correspondingly, T i The value of is i multiplied by the first detection duration;

[0093] See also Figure 3 As shown, step S403.3, with T i is the horizontal axis, W i Establish a rectangular coordinate system for the vertical axis, name it the scatter plot to be analyzed, and set T i and W i Enter the scatter plot to be analyzed, and name the coordinate points in the scatter plot to be analyzed as coordinates to be analyzed;

[0094] In the specific implementation, the real-time operating temperature is 26°C, the rotation influence temperature is 0.3°C, and the operating temperature to be analyzed is calculated to be 25.7°C. A total of 30 test data are obtained. After all the analysis is completed, W is obtained. 1 To W 30 They are 25.7℃, 26.2℃, 26.5℃, 26.9℃, 27.3℃, 27.8℃, 28.1℃, 28.5℃, 28.9℃, 29.5℃, 29.9℃, 30.4℃, 31℃, 31.6℃, 32.2℃, 32.7℃, 33.3℃, ​​33.9℃, 34.5℃, 35.1℃, 35.8℃, 36.5℃, 37.4℃, 38.2℃, 39.2℃, 40.8℃, 41.7℃, 42.5℃, 43.2℃ and 44.1℃ respectively; the corresponding T 1 To T 30They are 4min, 8min, 12min, 16min, 20min, 24min, 28min, 32min, 36min, 40min, 44min, 48min, 52min, 56min, 60min, 64min, 68min, 72min, 76min, 80min, 84min, 88min, 92min, 96min, 100min, 104min, 108min, 112min, 116min and 120min respectively; the scatter plot to be analyzed is constructed as follows Figure 3 As shown;

[0095] Step S403.4, performing calculation and analysis on the coordinates to be analyzed to obtain a temperature change value;

[0096] Step S403.4 includes the following sub-steps:

[0097] Step S403.4.a, by formula Calculate the residual of the coordinates to be analyzed, named data residual, where R i is the coordinate to be analyzed (T i , W i ), a is the temperature change value, b is the inherent constant;

[0098] Step S403.4.b, based on the formula Calculate the sum of the data residuals, named the residual sum of squares, where S is the residual sum of squares;

[0099] Step S403.4.c, solve , calculate the temperature change value a, where, is the partial derivative operator, a is the temperature change value;

[0100] In the specific implementation, R is calculated based on the coordinates to be analyzed. 1 To R 30The order is 25.7-(a×4+b), 26.2-(a×8+b), 26.5-(a×12+b), 26.9-(a×16+b), 27.3-(a× 20+b), 27.8-(a×24+b), 28.1-(a×28+b), 28.5-(a×32+b), 28.9-(a×36+b), 29. 5-(a×40+b), 29.9-(a×44+b), 30.4-(a×48+b), 31-(a×52+b), 31.6-(a×56+b), 32.2-(a×60+b), 32.7-(a×64+b), 33.3-(a×68+b), 33.9-(a×72+b), 34.5-(a×7 6+b), 35.1-(a×80+b), 35.8-(a×84+b), 36.5-(a×88+b), 37.4-(a×92+b), 38.2-(a×96+b), 39.2-(a×100+b), 40.8-(a×104+b), 41.7-(a×108+b), 42.5-(a×112+b), 43.2-(a×116+b) and 44.1-(a×120+b); since the subsequent calculation steps are too complicated, it is difficult to specifically demonstrate them in this embodiment. Therefore, only specific calculation results are given in this embodiment. Please refer to the existing least squares calculation process for the calculation process; the temperature change value a is calculated to be 0.1558, and the calculation result is retained to four decimal places.

[0101] Step S5, by analyzing the temperature change value and the temperature change critical value, determining whether the single-axis robot needs lubrication; Step S5 includes the following sub-steps:

[0102] Step S501, obtaining a temperature change value and a temperature change critical value;

[0103] Step S502, comparing the temperature change value with the temperature change critical value, if the temperature change value is less than or equal to the temperature change critical value, outputting a temperature change normal signal; if the temperature change value is greater than the temperature change critical value, outputting a temperature change abnormal signal;

[0104] Step S503, if a temperature change abnormality signal is output, lubricate the single-axis robot;

[0105] In a specific implementation, the temperature change value is 0.1558, and the temperature change critical value is 0.192. By comparison, it is found that the temperature change value is less than the temperature change critical value, so a normal temperature change signal is output, and there is no need to lubricate the single-axis robot.

[0106] Example 2, please refer to Figure 4As shown, the present application also provides a machining lubrication temperature data function fitting analysis system, including a control module, a temperature analysis module, a correlation analysis module, a real-time analysis module and a comprehensive judgment module; the control module, the temperature analysis module, the correlation analysis module and the real-time analysis module are respectively connected to the comprehensive judgment module signal;

[0107] The control module is used to set a temperature control group and a rotation control group, wherein the temperature control group is used to experimentally obtain the lower limit of the normal working temperature and the upper limit of the normal working temperature of the rotating joint of the processing equipment; the rotation control group is used to experimentally obtain the rotation test data; the control module includes a temperature control unit and a rotation control unit, wherein the temperature control unit is used to set a temperature control group, set the test environment of the temperature control group, monitor and record the operating temperature of the rotating joint of the processing equipment, and obtain the lower limit of the normal working temperature and the upper limit of the normal working temperature;

[0108] The temperature control unit is configured with a temperature control strategy, which includes: for the temperature control group, adjusting the temperature test temperature to a first test temperature, setting the temperature test duration to a first test duration, and setting the temperature test rotation rate to a first rotation rate, wherein the temperature test rotation rate is an average rotation angle per minute of the rotating joint of the processing equipment;

[0109] Selecting a first test number of processing equipment rotating joints for testing, turning on the processing equipment rotating joints, and recording the operating temperature of the processing equipment rotating joints in real time;

[0110] After the first test period has been run, several operating temperatures are recorded, and the minimum and maximum values ​​of the operating temperatures are found and marked as the lower limit of the normal operating temperature and the upper limit of the normal operating temperature, respectively.

[0111] The rotation control unit is used to set up a rotation control group, set the test environment of the rotation control group and record and calculate the rotation angle, minimum temperature and maximum temperature of the rotation joint of the processing equipment in unit time to obtain rotation test data;

[0112] The rotation control unit is configured with a rotation control strategy, which includes: for the rotation control group, adjusting the rotation test temperature to the first test temperature, setting the rotation test duration to the first test duration, and setting the rotation test rotation rate to the first rotation rate to the second rotation rate;

[0113] The rotation control group includes a first control number of rotation groups, and the rotation group includes a first test number of processing equipment rotation joints. The rotation groups are numbered and represented by the symbol RG n It represents, where n is a non-zero natural number and n is the sequence number of RG;

[0114] For RG n, the test rotation rate of the rotation group is set to [(Rr2-Rr1) / m]×n+Rr1, where Rr2 is the second rotation rate, Rr1 is the first rotation rate, and m is the first control number;

[0115] The highest temperature of the rotary joint of the processing equipment in the first test period is subtracted from the lowest temperature to obtain the rotation temperature rise value; the rotation temperature rise value of each rotary joint of the processing equipment in the rotation group is monitored in real time, and the rotation temperature rise value of the rotary joint of the RG n , find RG n The maximum value of the rotation temperature rise is marked as the test group temperature rise value. The test group temperature rise value and RG n The corresponding rotation test rotation rates are collectively referred to as rotation test data.

[0116] The temperature analysis module is used to analyze the critical value of temperature change of the rotating joint of the processing equipment based on the lower limit of the normal working temperature and the upper limit of the normal working temperature; the temperature analysis module is configured with a temperature analysis strategy, and the temperature analysis strategy includes: obtaining the time node corresponding to the lower limit of the normal working temperature, marking it as the lower limit time point; obtaining the time node corresponding to the upper limit of the normal working temperature, marking it as the upper limit time point;

[0117] Substitute the lower limit time point and the lower limit of the normal operating temperature as well as the upper limit time point and the upper limit of the normal operating temperature into the formula , the critical value of temperature change is calculated, where Yt is the operating temperature, Xt is the time node, M is the critical value of temperature change, and b is an inherent constant.

[0118] The correlation analysis module analyzes the relationship between the rotation angle and the minimum temperature and the maximum temperature based on the rotation test data to obtain the running temperature rise function; the correlation analysis module is configured with a correlation analysis strategy, which includes: obtaining the rotation test data, sorting and numbering the rotation test data in the order of rotation test rotation rate from small to large, and using the symbol C j Indicates, where j is a non-zero natural number and j is the serial number of C, C j Including C1 j and C2 j , where C1 j C j The test group temperature rise value, C2 j C j The rotation test rotation rate;

[0119] Starting from j=2, calculate C1 j -C1 j-1 , mark the calculated result as rotation temperature difference, and the corresponding C2 j Labeled as rotation speed;

[0120] A rectangular coordinate system is established with the rotation test rotation rate as the X-axis and the test group temperature rise value as the Y-axis, and it is named the rotation temperature rise scatter plot;

[0121] The rotation test data is entered into a rotation temperature rise scatter plot, and a linear regression is performed on the rotation temperature rise scatter plot to obtain a running temperature rise function.

[0122] The real-time analysis module is used to set a detection cycle during the operation of the rotary joint of the processing equipment, record the operating temperature of the rotary joint of the processing equipment according to time during the detection cycle, obtain observation data points, and then calculate and analyze the temperature change value of the rotary joint of the processing equipment based on the observation data points and the operation temperature rise function; the real-time analysis module is configured with a real-time analysis strategy, and the real-time analysis strategy includes: setting the detection cycle to be a first detection cycle, within the detection cycle, recording the real-time operating temperature of the rotary joint of the processing equipment once every first detection time, and recording the real-time rotation rate of the rotary joint of the processing equipment once; the real-time operating temperature and the real-time rotation rate together constitute a detection data;

[0123] Substitute the real-time rotation rate into the running temperature rise function and mark the calculated result as the rotation-affected temperature;

[0124] Correct the real-time operating temperature based on the rotation-affected temperature and conduct further analysis;

[0125] The real-time operating temperature is reduced by the rotation-affected temperature to obtain the operating temperature to be analyzed; the same analysis is performed on all the detection data to obtain different operating temperatures to be analyzed;

[0126] Sort and number the operating temperatures to be analyzed in the order of their records, using the symbol W i Indicates, where i is a non-zero natural number and i is the serial number of W; for W i , W i The corresponding detection time point is T i , T i With W i Correspondingly, T i The value of is i multiplied by the first detection duration;

[0127] T i is the horizontal axis, W i Establish a rectangular coordinate system for the vertical axis, name it the scatter plot to be analyzed, and set T i and W i Enter the scatter plot to be analyzed, and name the coordinate points in the scatter plot to be analyzed as coordinates to be analyzed;

[0128] Calculate and analyze the coordinates to be analyzed to obtain the temperature change value;

[0129] By formula Calculate the residual of the coordinates to be analyzed, named data residual, where R i is the coordinate to be analyzed (T i , W i ), a is the temperature change value, b is the inherent constant;

[0130] Based on the formula Calculate the sum of the data residuals, named the residual sum of squares, where S is the residual sum of squares;

[0131] Solution , calculate the temperature change value a, where, is the partial derivative operator, and a is the temperature change.

[0132] The comprehensive judgment module is used to judge whether the rotating joint of the processing equipment needs to be lubricated by analyzing the temperature change value and the temperature change critical value; the comprehensive judgment module is configured with a comprehensive judgment strategy, which includes: obtaining the temperature change value and the temperature change critical value;

[0133] The temperature change value is compared with the temperature change critical value. If the temperature change value is less than or equal to the temperature change critical value, a normal temperature change signal is output; if the temperature change value is greater than the temperature change critical value, an abnormal temperature change signal is output;

[0134] If an abnormal temperature change signal is output, the rotating joints of the processing equipment are lubricated.

[0135] Example 3, please refer to Figure 5 In the second aspect, the present application provides an electronic device, including a processor 601 and a memory 602, wherein the memory 602 stores computer-readable instructions, and when the computer-readable instructions are executed by the processor 601, the steps in the above method are executed. Through the above technical solution, the processor 601 and the memory 602 are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanisms (not shown), and the memory 602 stores a computer program executable by the processor 601. When the electronic device 60 is running, the processor 601 executes the computer program to execute the method in any optional implementation of the above embodiment, to execute the method in any optional implementation of the above embodiment, to achieve the following functions: setting a temperature control group and a rotation control group; analyzing the temperature change critical value of the single-axis robot; analyzing the relationship between the rotation angle and the minimum temperature and the maximum temperature; setting a detection cycle during the operation of the single-axis robot; and judging whether the single-axis robot needs to be lubricated by analyzing the temperature change value and the temperature change critical value.

[0136] Embodiment 3, third aspect, the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in any of the above methods are executed. Through the above technical solution, when the computer program is executed by the processor, the method in any optional implementation of the above embodiment is executed to achieve the following functions: setting a temperature control group and a rotation control group; analyzing the temperature change critical value of the single-axis robot; analyzing the relationship between the rotation angle and the minimum temperature and the maximum temperature; setting a detection cycle during the operation of the single-axis robot; and judging whether the single-axis robot needs lubrication by analyzing the temperature change value and the temperature change critical value.

[0137] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0138] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes. Among them, the storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0139] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

Claims

1. Function fitting analysis method for processing lubrication temperature data, It is characterized in that The steps include: A temperature control group and a rotation control group are set, wherein the temperature control group is used to experimentally obtain the lower limit of the normal working temperature and the upper limit of the normal working temperature of the rotation joint of the processing equipment; The rotation control group is used to obtain rotation test data in the experiment; Analyze the critical value of temperature change of the rotating joint of the processing equipment based on the lower limit and upper limit of the normal working temperature; Based on the rotation test data, the relationship between the rotation angle and the minimum temperature and the maximum temperature is analyzed to obtain the operation temperature rise function; During the operation of the rotating joint of the processing equipment, a detection cycle is set, and the operating temperature of the rotating joint of the processing equipment is recorded according to time during the detection cycle to obtain observation data points, and then the temperature change value of the rotating joint of the processing equipment is calculated and analyzed based on the observation data points and the operation temperature rise function; By analyzing the temperature change value and the temperature change critical value, it is determined whether the rotating joints of the processing equipment need to be lubricated; Setting up the temperature control group and the rotation control group includes the following sub-steps: Set up a temperature control group, set the test environment of the temperature control group and monitor and record the operating temperature of the rotating joint of the processing equipment to obtain the lower limit and upper limit of the normal working temperature; Set up a rotation control group, set up the test environment of the rotation control group, and record and calculate the rotation angle, minimum temperature and maximum temperature of the rotation joint of the processing equipment in unit time to obtain rotation test data; Setting up a temperature control group, setting up the test environment of the temperature control group and monitoring and recording the operating temperature of the rotating joint of the processing equipment includes the following sub-steps: For the temperature control group, the temperature test temperature is adjusted to the first test temperature, the temperature test duration is set to the first test duration, and the temperature test rotation rate is set to the first rotation rate, where the temperature test rotation rate is the average rotation angle per minute of the rotating joint of the processing equipment; Selecting a first test number of processing equipment rotating joints for testing, turning on the processing equipment rotating joints, and recording the operating temperature of the processing equipment rotating joints in real time; After the first test period has been run, several operating temperatures are recorded, and the minimum and maximum values ​​of the operating temperatures are found and marked as the lower limit of the normal operating temperature and the upper limit of the normal operating temperature, respectively; Setting up a rotation control group, setting up the test environment of the rotation control group and recording and calculating the rotation angle, minimum temperature and maximum temperature of the rotation joint of the processing equipment per unit time includes the following sub-steps: For the rotation control group, the rotation test temperature is adjusted to the first test temperature, the rotation test duration is set to the first test duration, and the rotation test rotation rate is set to the first rotation rate to the second rotation rate; The rotation control group includes a first control number of rotation groups, and the rotation group includes a first test number of processing equipment rotation joints. The rotation groups are numbered and represented by the symbol RG n It represents, where n is a non-zero natural number and n is the sequence number of RG; For RG n , the test rotation rate of the rotation group is set to [(Rr2-Rr1) / m]×n+Rr1, where Rr2 is the second rotation rate, Rr1 is the first rotation rate, and m is the first control number; The highest temperature of the rotary joint of the processing equipment in the first test period is subtracted from the lowest temperature to obtain the rotation temperature rise value; the rotation temperature rise value of each rotary joint of the processing equipment in the rotation group is monitored in real time, and the rotation temperature rise value of the rotary joint of the RG n , find RG n The maximum value of the rotation temperature rise is marked as the test group temperature rise value. The test group temperature rise value and RG n The corresponding rotation test rotation rates are collectively referred to as rotation test data; Analyzing the critical value of temperature change of the rotating joint of the processing equipment based on the lower limit of the normal working temperature and the upper limit of the normal working temperature includes the following sub-steps: Get the time node corresponding to the lower limit of the normal working temperature, marked as the lower limit time point; get the time node corresponding to the upper limit of the normal working temperature, marked as the upper limit time point; Substitute the lower limit time point and the lower limit of the normal operating temperature as well as the upper limit time point and the upper limit of the normal operating temperature into the formula , calculate the critical value of temperature change, where Yt is the operating temperature, Xt is the time node, M is the critical value of temperature change, and b is an inherent constant; Based on the rotation test data, the relationship between the rotation angle and the minimum temperature and the maximum temperature is analyzed to obtain the running temperature rise function, which includes the following sub-steps: Get the rotation test data, sort and number the rotation test data in the order of rotation test rotation rate from small to large, and use the symbol C j Indicates, where j is a non-zero natural number and j is the serial number of C, C j Including C1 j and C2 j , where C1 j C j The test group temperature rise value, C2 j C j The rotation test rotation rate; Starting from j=2, calculate C1 j -C1 j-1 , mark the calculated result as rotation temperature difference, and the corresponding C2 j Labeled as rotation speed; A rectangular coordinate system is established with the rotation test rotation rate as the X-axis and the test group temperature rise value as the Y-axis, and it is named the rotation temperature rise scatter plot; The rotation test data is entered into a rotation temperature rise scatter plot, and a linear regression is performed on the rotation temperature rise scatter plot to obtain a running temperature rise function.

2. The processing lubrication temperature data function fitting analysis method according to claim 1, It is characterized in that During the operation of the rotating joint of the processing equipment, a detection cycle is set, and the operating temperature of the rotating joint of the processing equipment is recorded according to time during the detection cycle to obtain observation data points, and then the temperature change value of the rotating joint of the processing equipment is calculated and analyzed based on the observation data points and the operation temperature rise function, including the following sub-steps: The detection cycle is set to be a first detection cycle. During the detection cycle, the real-time operating temperature of the rotary joint of the processing equipment is recorded once every first detection time, and the real-time rotation rate of the rotary joint of the processing equipment is recorded once. The real-time operating temperature and the real-time rotation speed together constitute a piece of detection data; Substitute the real-time rotation rate into the running temperature rise function and mark the calculated result as the rotation-affected temperature; Correct the real-time operating temperature based on the rotation-affected temperature and conduct further analysis; The real-time operating temperature is reduced by the rotation-affected temperature to obtain the operating temperature to be analyzed; the same analysis is performed on all the detection data to obtain different operating temperatures to be analyzed; Sort and number the operating temperatures to be analyzed in the order of their records, using the symbol W i Indicates, where i is a non-zero natural number and i is the serial number of W; for W i , W i The corresponding detection time point is T i , T i With W i Correspondingly, T i The value of is i multiplied by the first detection duration; T i is the horizontal axis, W i Establish a rectangular coordinate system for the vertical axis, name it the scatter plot to be analyzed, and set T i and W i Enter the scatter plot to be analyzed, and name the coordinate points in the scatter plot to be analyzed as coordinates to be analyzed; Calculate and analyze the coordinates to be analyzed to obtain the temperature change value; By formula Calculate the residual of the coordinates to be analyzed, named data residual, where R i is the coordinate to be analyzed (T i , W i ), a is the temperature change value, b is the inherent constant; Based on the formula Calculate the sum of the data residuals, named the residual sum of squares, where S is the residual sum of squares; Solution , calculate the temperature change value a, where, is the partial derivative operator, and a is the temperature change.

3. The processing lubrication temperature data function fitting analysis method according to claim 2, It is characterized in that By analyzing the temperature change value and the temperature change critical value, judging whether the rotating joint of the processing equipment needs to be lubricated includes the following sub-steps: Obtain temperature change value and temperature change critical value; The temperature change value is compared with the temperature change critical value. If the temperature change value is less than or equal to the temperature change critical value, a normal temperature change signal is output; if the temperature change value is greater than the temperature change critical value, an abnormal temperature change signal is output; If an abnormal temperature change signal is output, the rotating joints of the processing equipment are lubricated.

4. An electronic device, It is characterized in that The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 1 to 3 are executed.

5. A storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are performed.

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