Workpiece breakpoint continuous welding method, device, equipment, storage medium and program product

Abstract

The present application relates to a workpiece breakpoint welding continuation method, device, equipment, storage medium and program product, which are applied to a workpiece breakpoint welding continuation system, wherein the workpiece breakpoint welding continuation system is connected to a welding robot for communication, and the method comprises: obtaining the welding breakpoint information of the welding robot when detecting that the welding robot is interrupted in welding the workpiece; generating a corresponding workpiece welding continuation path according to the welding breakpoint information when detecting that the welding robot is located at a welding continuation reference position to resume welding of the workpiece, wherein the welding continuation reference position refers to a safe troubleshooting position of the welding robot before the breakpoint welding continuation; and controlling the welding robot to perform the workpiece breakpoint welding continuation according to the workpiece welding continuation path. The method is used to improve the effect of the welding robot in performing workpiece breakpoint welding continuation.

Description

Technical Field

[0001] The present application relates to the field of welding technology, and in particular to a method, device, computer equipment, computer-readable storage medium and computer program product for continuing to weld a workpiece at a breakpoint. Background Art

[0002] With the continuous development of science and technology, welding technology is also gradually iterating, and has become one of the irreplaceable processing technologies in many fields such as automobile manufacturing, shipbuilding, aerospace and machinery manufacturing. At the same time, welding robots have also been widely used. By pre-programming the welding path and parameters for the welding robot through the teach pendant, stable and efficient welding operations can be achieved. In the process of welding the workpiece by the welding robot, breakpoint continuation is inevitable.

[0003] At present, in the process of breakpoint continued welding by welding robots, manual operations such as re-setting welding parameters and weld troubleshooting are usually required. However, since the welding gun of the welding robot is in a fixed position when the welding of the workpiece is interrupted, it is not conducive to manual troubleshooting. At the same time, the setting of welding parameters depends on the professional ability of the welder, which makes it easy for the breakpoint continued welding process to be difficult to match the user's expectations. Therefore, the current welding robot has a poor effect in performing breakpoint continued welding of workpieces. Summary of the invention

[0004] Based on this, it is necessary to provide a workpiece breakpoint continuing welding method, device, computer equipment, computer readable storage medium and computer program product to improve the effect of workpiece breakpoint continuing welding by a welding robot in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a welding breakpoint continuous welding method, which is applied to a workpiece breakpoint continuous welding system, wherein the workpiece breakpoint continuous welding system is communicatively connected to a welding robot, and the method comprises:

[0006] When it is detected that the welding robot interrupts welding of the workpiece, obtaining welding breakpoint information of the welding robot;

[0007] When it is detected that the welding robot is at a welding continuation reference position to resume welding of the workpiece, a corresponding workpiece welding continuation path is generated according to the welding breakpoint information, wherein the welding continuation reference position refers to a safe obstacle clearing position of the welding robot before the breakpoint welding continuation;

[0008] According to the workpiece continued welding path, the welding robot is controlled to perform workpiece breakpoint continued welding.

[0009] In one embodiment, generating a corresponding workpiece continuous welding path according to the welding breakpoint information includes:

[0010] Extracting first welding breakpoint position information and first welding control information from the welding breakpoint information;

[0011] Determining a first continued welding starting position of the welding robot according to the first welding breakpoint position information and the first welding control information;

[0012] The workpiece continued welding path is generated according to the first continued welding starting position and the first welding breakpoint position information.

[0013] In one embodiment, determining the first continuous welding starting position of the welding robot according to the first welding breakpoint position information and the first welding control information includes one of the following:

[0014] In the case where the first welding control information satisfies a first preset control condition, taking the first welding breakpoint position in the first welding breakpoint position information as the first continuous welding starting position;

[0015] When the first welding control information satisfies the second preset control condition, the welding retraction position of the welding robot is determined according to the first welding breakpoint position information, and the welding retraction position is used as the first continued welding starting position, wherein the first preset control condition and the second preset control condition are mutually exclusive control conditions.

[0016] In one embodiment, determining the welding retraction position of the welding robot according to the first welding breakpoint position information includes one of the following:

[0017] Extracting a first welding start position and a second welding breakpoint position from the first welding breakpoint position information, and selecting the welding retreat position on a first welding trajectory formed by the first welding start position and the second welding breakpoint position;

[0018] The first welding auxiliary position, the second welding starting position and the third welding breakpoint position are extracted from the first welding breakpoint position information, and the welding retraction position is selected on the second welding trajectory composed of the first welding auxiliary position, the second welding starting position and the third welding breakpoint position.

[0019] In one embodiment, before controlling the welding robot to perform workpiece breakpoint continuous welding according to the workpiece continuous welding path, the method further includes:

[0020] Determine a retraction distance of the welding robot for continued welding according to the continued welding reference position and the first continued welding starting position, and obtain a retraction speed of the welding robot for continued welding;

[0021] When a retraction instruction for the welding robot to retract for continued welding is detected, the welding robot is controlled to retract from the continued welding reference position to the first continued welding starting position according to the continued welding retraction distance and the retraction speed.

[0022] In one embodiment, generating a corresponding workpiece continuous welding path according to the welding breakpoint information includes:

[0023] The continuous welding reference position is used as the second continuous welding starting position of the welding robot, and the second welding breakpoint position information and the second welding control information are extracted from the welding breakpoint information, wherein the second welding breakpoint position information includes the welding termination position;

[0024] The workpiece continued welding path is generated according to the second welding control information at a third welding trajectory formed by the second continued welding start position and the welding end position.

[0025] In a second aspect, the present application further provides a welding breakpoint continuing welding device, which is applied to a workpiece breakpoint continuing welding system, wherein the workpiece breakpoint continuing welding system is communicatively connected to a welding robot, and comprises:

[0026] An acquisition module, used for acquiring welding breakpoint information of the welding robot when it is detected that the welding robot interrupts welding of the workpiece;

[0027] A generating module, for generating a corresponding workpiece continuing welding path according to the welding breakpoint information when it is detected that the welding robot is at a continuing welding reference position to resume welding of the workpiece, wherein the continuing welding reference position refers to a safe obstacle clearing position of the welding robot before the breakpoint continuing welding;

[0028] The control module is used to control the welding robot to perform workpiece breakpoint continuous welding according to the workpiece continuous welding path.

[0029] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0030] When it is detected that the welding robot interrupts welding of the workpiece, the welding breakpoint information of the welding robot is obtained; when it is detected that the welding robot is located at a welding continuation reference position to resume welding of the workpiece, a corresponding workpiece welding continuation path is generated according to the welding breakpoint information, wherein the welding continuation reference position refers to a safe troubleshooting position of the welding robot before the welding robot performs breakpoint welding continuation; according to the workpiece welding continuation path, the welding robot is controlled to perform workpiece breakpoint welding continuation.

[0031] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0032] When it is detected that the welding robot interrupts welding of the workpiece, the welding breakpoint information of the welding robot is obtained; when it is detected that the welding robot is located at a welding continuation reference position to resume welding of the workpiece, a corresponding workpiece welding continuation path is generated according to the welding breakpoint information, wherein the welding continuation reference position refers to a safe troubleshooting position of the welding robot before the welding robot performs breakpoint welding continuation; according to the workpiece welding continuation path, the welding robot is controlled to perform workpiece breakpoint welding continuation.

[0033] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0034] When it is detected that the welding robot interrupts welding of the workpiece, the welding breakpoint information of the welding robot is obtained; when it is detected that the welding robot is located at a welding continuation reference position to resume welding of the workpiece, a corresponding workpiece welding continuation path is generated according to the welding breakpoint information, wherein the welding continuation reference position refers to a safe troubleshooting position of the welding robot before the welding robot performs breakpoint welding continuation; according to the workpiece welding continuation path, the welding robot is controlled to perform workpiece breakpoint welding continuation.

[0035] The above-mentioned workpiece breakpoint welding continuation method, device, computer equipment, computer-readable storage medium and computer program product are applied to a workpiece breakpoint welding continuation system. The workpiece breakpoint welding continuation system is communicatively connected to a welding robot. First, when it is detected that the welding robot is interrupted in welding the workpiece, the welding breakpoint information of the welding robot is recorded, and the welding robot is controlled to be in a welding continuation reference position for safety troubleshooting before the breakpoint welding continuation. When it is detected that the welding robot is in the welding continuation reference position to resume the workpiece welding, the corresponding workpiece welding continuation path is automatically generated according to the welding breakpoint information, and finally, according to the workpiece welding continuation path, the welding robot is controlled to perform the workpiece breakpoint welding continuation. That is, the welding robot can freely move to the welding continuation reference position when the welding robot is interrupted in welding the workpiece. At the same time, The corresponding workpiece continuation welding path is automatically generated relying on the welding breakpoint information, so that the purpose of automatically completing the workpiece breakpoint continuation welding along the workpiece continuation welding path can be achieved after the welding robot is in a safe troubleshooting position for troubleshooting. It not only takes into account various workpiece welding troubleshooting scenarios to provide troubleshooting convenience, but also automatically performs workpiece breakpoint continuation welding to improve the convenience of continuation welding, so that the workpiece breakpoint continuation welding processing can match user expectations. Therefore, the problem of the welding robot's welding gun being in a fixed position when the workpiece welding is interrupted, which is not conducive to manual troubleshooting, and at the same time, the setting of welding parameters depends on the professional ability of the welder, which makes it easy for the breakpoint continuation welding processing to be difficult to match the user's expectations, is overcome. Technical defects, therefore, improve the effect of the welding robot in performing workpiece breakpoint continuation welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of a process of a method for continuing welding at a breakpoint in one embodiment;

[0038] Figure 2 A schematic diagram of a process of a method for continuing welding at a breakpoint in another embodiment;

[0039] Figure 3 It is a structural block diagram of a welding breakpoint continuous welding device in one embodiment;

[0040] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] First of all, it should be understood that in the process of welding workpieces by means of a welding robot, the welding robot may be interrupted due to the following two reasons, resulting in welding breakpoints: 1) Active termination by humans, such as emergency stop, pressing the pause button, and cleaning the weld; 2) Passive termination due to faults, such as collision, failure to successfully ignite the arc, welding singularities in the welding path, and communication failures; and then there are the following two traditional ways of continuing welding workpiece breakpoints: 1) Automatically ending the workpiece welding task, and after manual troubleshooting, re-teaching the welding starting point and welding trajectory through the teach pendant, and re-setting the welding parameters and continuing welding; 2) The welding robot movement is paused, and the welding The robot's welding machine extinguishes the arc, waits for manual troubleshooting, and then strikes the arc again for welding. However, the former involves manual setting of a large number of welding parameters, and the latter cannot move the welding gun after the welding robot stops moving, resulting in the inability to clean the weld and avoid obstacles. In addition, it is very easy to strike the arc again when the arc is struck at the original point where the arc stops, which seriously limits the troubleshooting measures. Generally speaking, as the manufacturing industry continues to increase its requirements for production efficiency and welding quality, the traditional breakpoint continuation welding method is obviously unable to meet the needs of efficient and precise welding, that is, the breakpoint continuation welding process is difficult to match user expectations. Therefore, there is an urgent need for a workpiece breakpoint continuation welding method that can improve the effect of the welding robot in performing breakpoint continuation welding on the workpiece.

[0043] In one embodiment, Figure 1As shown, a welding breakpoint continuation method is provided. This embodiment takes the method applied to a workpiece breakpoint continuation welding system as an example. The workpiece breakpoint continuation welding system is communicatively connected to a welding robot. It can be understood that the workpiece breakpoint continuation welding system is deployed on a computer device. The workpiece breakpoint continuation welding system can control the welding robot to perform a workpiece welding task, and when a welding breakpoint occurs during the execution of the workpiece welding task, the welding robot is controlled to perform workpiece breakpoint continuation welding. This embodiment takes the method applied to a terminal as an example. The terminal includes but is not limited to a teaching pendant, a personal computer, a laptop computer, a smart phone, and a tablet computer. The terminal includes an acquisition module, a generation module, and a control module. The acquisition module is used to acquire welding breakpoint information of the welding robot when it is detected that the welding robot is located at a welding continuation reference position to resume workpiece welding. The generation module is used to generate a corresponding workpiece continuation welding path according to the welding breakpoint information when it is detected that the welding robot is interrupted in welding the workpiece. The welding continuation reference position refers to a safe troubleshooting position of the welding robot before the breakpoint continuation welding. The control module is used to control the welding robot to perform according to the workpiece continuation welding path. Workpiece breakpoint welding, in this embodiment, when the welding robot is interrupted in welding the workpiece, the welding breakpoint information of the welding robot is obtained, and the welding robot is controlled to be located at the safe troubleshooting position before the breakpoint welding, that is, the welding robot is controlled to be in the welding reference position, and when it is detected that the welding robot is in the welding reference position to resume the welding of the workpiece, the corresponding workpiece welding path is generated through the welding breakpoint information, and finally the welding robot is controlled to perform the workpiece breakpoint welding according to the workpiece welding path, that is, through the information interaction between the acquisition module, the generation module and the control module, the welding robot can freely move to the welding reference position when the welding robot is interrupted in welding the workpiece, and at the same time, the corresponding workpiece welding path can be automatically generated based on the welding breakpoint information, so that the purpose of automatically completing the workpiece breakpoint welding along the workpiece welding path after the welding robot is in the safe troubleshooting position for troubleshooting is achieved, so that the effect of the welding robot performing the workpiece breakpoint welding is improved. It can be understood that the method can also be applied to the server, and can also be applied to the system including the terminal and the server, and is realized through the interaction between the terminal and the server. In this embodiment, the method includes the following steps 202 to 208. Among them:

[0044] Step 202, when it is detected that the welding robot interrupts welding the workpiece, the welding breakpoint information of the welding robot is obtained.

[0045] It should be noted that the interruption of welding the workpiece by the welding robot is actively interrupted by the welding personnel or passively interrupted by the welding robot, wherein the active interruption is triggered by the welding interruption instruction actively input by the welding personnel into the workpiece breakpoint continuation welding system, and the passive interruption is triggered when the welding operation signal periodically detected by the workpiece breakpoint continuation welding system is abnormal. It can be understood that after the welding robot has a welding breakpoint, the welding personnel need to use designated troubleshooting methods to manually troubleshoot, and different troubleshooting methods have different troubleshooting requirements. For example, in the case where the welding robot needs to clean the weld bead after the welding workpiece is interrupted, it may be necessary to lift the welding robot's welding gun to a preset height. However, if the welding interruption of the welding robot is passive, the welding robot's welding gun cannot be moved, which makes it impossible to clean the weld bead. For another example, in an implementable manner, in the case where the welding robot needs to start the arc again from the arc stopping point after the welding workpiece is interrupted, if the secondary arc starting fails, the workpiece breakpoint continuation welding cannot be completed. Based on the above, in the current process of workpiece breakpoint continuation welding, there will be problems such as limited troubleshooting methods, inability to avoid obstacles midway, or inability to repair the singularity of the welding robot's robotic arm.

[0046] It should be noted that welding breakpoint information refers to the information when the welding robot interrupts welding the workpiece, and may include welding breakpoint position information and welding breakpoint control information, etc. For example, in one implementable method, the welding breakpoint information includes arc starting state, instruction type, instruction index, point index, arc starting point, auxiliary point, end point and pause point, etc., wherein the arc starting state and instruction type serve as welding breakpoint control information, and the point index, arc starting point, auxiliary point, terminal and pause point serve as welding breakpoint position information, that is, when the welding robot interrupts welding the workpiece, the workpiece breakpoint continuation welding system automatically records the on-site data and allows the welder to turn on force control and zero force to facilitate the welder to adjust the welding position of the welding robot.

[0047] As an example, when an abnormality is detected in the welding operation signal of the welding robot, the welding robot instruction index, point index, welding start point, welding end point, welding interruption point, arc starting state, current layer number and current pass number are recorded.

[0048] It can be understood that the instruction index is used to identify the instruction line where the welding robot is interrupted when welding the workpiece, the point index is used to identify the specific position of the instruction line where the welding robot is interrupted when welding the workpiece, the arc starting state is used to characterize the arc opening situation of the welding robot's welding gun, the welding starting point refers to the starting position of the welding path of the welding robot to perform the welding task, the welding end point refers to the ending position of the welding path of the welding robot to perform the welding task, the welding interruption point refers to the welding breakpoint position of the welding robot to perform the welding task, and the current layer number and the current pass number are used to jointly identify the specific position of the welding robot when performing multi-layer and multi-pass welding tasks.

[0049] Step 204, when it is detected that the welding robot is at the welding continuation reference position to resume welding of the workpiece, a corresponding workpiece welding continuation path is generated according to the welding breakpoint information, wherein the welding continuation reference position refers to a safe troubleshooting position of the welding robot before the breakpoint welding is resumed.

[0050] It should be noted that the re-welding reference position refers to the safe troubleshooting position where the welding robot is located before re-welding the breakpoint. It can be understood that the re-welding reference position of the welding robot is different for different reasons for the interruption of the welding workpiece. That is, when the welding robot interrupts the welding of the workpiece due to different reasons, the final re-welding reference position is different due to the different distances that the welder can freely move from the welding interruption position. For example, in one feasible method, assuming that the welding robot interrupts the welding of the workpiece due to a welding singularity point in front of the welding interruption position, the welding interruption position where the welding robot is located can be used as the re-welding reference position. Assuming that the welding robot is interrupted at the welding interruption position due to weld bead blockage, the welding gun of the welding robot can be lifted to a preset height to facilitate the welder to clean the weld. The position where the welding robot is located after completing the lifting operation is the re-welding reference position.

[0051] It should be noted that the workpiece continuation welding path refers to the path of the welding robot for workpiece breakpoint continuation welding. Specifically, it can be a workpiece continuation welding path composed of the continuation welding reference position as the starting position of the workpiece continuation welding, and the welding end position of the initial welding path as the end position of the workpiece continuation welding. In addition, the welding robot resumes workpiece welding by the welder actively inputting the continuation welding instruction of the workpiece breakpoint continuation welding system. For example, in one feasible method, assuming that the user clicks "Continue" on the continuation welding interface of the terminal and selects "Restart" in the pop-up window, the continuation welding instruction is generated by default, that is, the workpiece breakpoint continuation welding system can detect that the welding robot resumes workpiece welding.

[0052] As an example, step 204 includes: extracting the initial welding end point position in the initial welding path of the welding robot welding the workpiece from the welding breakpoint information, and using the continued welding reference position as the continued welding starting position, and using the initial welding end point position as the continued welding end position to construct a workpiece continued welding path for the welding robot to continue welding the workpiece.

[0053] Step 206, controlling the welding robot to perform workpiece breakpoint continued welding according to the workpiece continued welding path.

[0054] As an example, step 206 includes: generating a corresponding workpiece continued welding instruction according to the workpiece continued welding path, sending the workpiece continued welding instruction to the welding robot, and controlling the welding robot to perform workpiece breakpoint continued welding according to the workpiece continued welding path through the workpiece continued welding instruction.

[0055] In the above-mentioned welding breakpoint resumption method, firstly, the workpiece breakpoint resumption welding system obtains the welding breakpoint information of the welding robot when periodically detecting that the welding operation signal of the welding robot is abnormal during the process of welding the workpiece, and then controls the welding robot to be located in the safe troubleshooting position before the breakpoint resumption welding, that is, controls the welding robot to be located in the resumption welding reference position, and when it is detected that the welding robot is located in the resumption welding reference position to resume the workpiece welding, generates the corresponding workpiece resumption welding path according to the resumption welding end position and the resumption welding start position provided by the welding breakpoint information, and finally controls the welding robot to perform the workpiece breakpoint resumption welding based on the workpiece welding path, that is, the welding robot can freely move to the resumption welding reference position when the welding robot is interrupted in welding the workpiece, and at the same time, it can also rely on The corresponding workpiece continuation welding path is automatically generated based on the welding breakpoint information, so that the purpose of automatically completing the workpiece breakpoint continuation welding along the workpiece continuation welding path can be achieved after the welding robot is in a safe troubleshooting position for troubleshooting. It not only takes into account various workpiece welding troubleshooting scenarios to provide troubleshooting convenience, but also automatically performs workpiece breakpoint continuation welding to improve the convenience of continuation welding, so that the workpiece breakpoint continuation welding processing can match user expectations. Therefore, the problem of the welding robot's welding gun being in a fixed position when the workpiece welding is interrupted, which is not conducive to manual troubleshooting, and at the same time, the setting of welding parameters depends on the professional ability of the welder, which makes it easy for the breakpoint continuation welding processing to be difficult to match the user's expectations, is overcome. Technical defects, therefore, the effect of the welding robot in performing workpiece breakpoint continuation welding is improved.

[0056] In one embodiment, Figure 2 As shown, according to the welding breakpoint information, the corresponding workpiece continuous welding path is generated, including:

[0057] Step 302: extract first welding breakpoint position information and first welding control information from the welding breakpoint information.

[0058] It should be noted that the first welding breakpoint position information is used to characterize the position where the welding robot interrupts the welding of the workpiece, which may be specifically the starting point, auxiliary point, stop point (welding interruption point), arc starting state, current layer number and current pass number, etc. The first welding control information is used to characterize the control state of the welding robot when the welding of the workpiece is interrupted, which may be specifically the arc starting state and instruction type, etc. In some welding scenarios, since the position of the welding robot when the welding of the workpiece is interrupted is not the secondary arc starting position, the welding reference position is not used as the starting position for continued welding. Instead, the starting position for continued welding is determined by the starting position for continued welding and the welding breakpoint position.

[0059] As an example, step 302 includes: acquiring first welding breakpoint position information and first welding control information in the welding breakpoint information.

[0060] Step 304: determining a first continuous welding starting position of the welding robot according to the first welding breakpoint position information and the first welding control information.

[0061] It should be noted that, during the process of continuing welding the workpiece breakpoint, the workpiece breakpoint continuing welding system can automatically restore to the arc stopping point or retreat from the arc stopping point, thereby restoring the original welding path until the welding is completed, wherein the first continuing welding starting position refers to the starting position of the continuing welding path for continuing welding the workpiece breakpoint by restoring the initial welding path.

[0062] As an example, step 304 includes: extracting the instruction type and arc starting state of the welding robot at the welding breakpoint position from the first welding control information, splicing the instruction type, arc starting state and the first welding breakpoint position information together into a continuation welding position query vector, and querying the first continuation welding starting position of the welding robot according to the continuation welding position query vector.

[0063] Step 306: Generate a workpiece continued welding path according to the first continued welding starting position and the first welding breakpoint position information.

[0064] As an example, step 306 includes: extracting the welding end position of the initial welding path from the first welding breakpoint position information, and using the welding end position as the first continued welding end position, and planning the workpiece welding path with the first continued welding start position and the first continued welding end position.

[0065] In this embodiment, in the scenario where the welding robot can continue to perform workpiece breakpoint continuation welding based on the initial welding path after troubleshooting, the first welding breakpoint position information and the first welding control information in the welding breakpoint information can be first extracted, and then the first continuation welding starting position of the welding robot can be queried by the first continuation welding starting position information and the first welding breakpoint position information, and finally the workpiece continuation welding path is generated through the first continuation welding starting position and the first welding breakpoint position information, so that in the process of workpiece breakpoint continuation welding, if the initial welding path needs to be restored, the starting position of the welding robot for workpiece breakpoint continuation welding can be accurately located based on the welding breakpoint position information and the welding control information, and finally the workpiece continuation welding path is generated. Therefore, while improving the effect of the welding robot in performing workpiece breakpoint continuation welding, it also lays a foundation for improving the accuracy of the welding robot in performing workpiece breakpoint continuation welding.

[0066] In one embodiment, determining a first continuous welding starting position of a welding robot according to the first welding breakpoint position information and the first welding control information includes one of the following:

[0067] When the first welding control information satisfies the first preset control condition, the first welding breakpoint position in the first welding breakpoint position information is used as the first continued welding starting position; when the first welding control information satisfies the second preset control condition, the welding retraction position of the welding robot is determined according to the first welding breakpoint position information, and the welding retraction position is used as the first continued welding starting position, wherein the first preset control condition and the second preset control condition are mutually exclusive control conditions.

[0068] It should be noted that, when the first welding control information meets different control conditions, there are differences in the determination of the starting position of the continued welding, that is, when the first welding control information meets the first preset control condition, the welding robot can directly perform breakpoint continued welding of the workpiece at the welding breakpoint position, and when the first welding control information meets the second preset control condition, the welding robot needs to retract the position so that the arc can be successfully started at the welding breakpoint position, wherein the first preset control condition and the second preset control condition are mutually exclusive control conditions. For example, in an implementable manner, it is assumed that the first preset control condition is "arcing state A0 = no arcing, or the instruction at the breakpoint is a non-motion type instruction", and the second preset control condition is "arcing state = arcing, and the instruction at the breakpoint is a motion type instruction", wherein the welding retraction position is used to characterize the position to which the welding robot needs to retract for breakpoint continued welding.

[0069] As an example, when the first welding control information indicates that the arcing state of the welding robot at the welding breakpoint position is not arcing, or the instruction type is a non-motion instruction, the first welding breakpoint position in the first welding breakpoint position information is used as the first continuous welding starting position; when the first welding control information indicates that the arcing state of the welding robot at the welding breakpoint position is arcing, and the instruction type is a motion instruction, the welding retraction position of the welding robot is determined according to the first welding breakpoint position information, and the welding retraction position is used as the first continuous welding starting position. This embodiment determines the corresponding position as the continuous welding starting position by determining the control conditions satisfied by the first welding control information, thereby ensuring that in the scenario where the welding robot can continue to perform workpiece breakpoint continuous welding based on the initial welding path after troubleshooting, the welding robot can completely restore the welding action in the initial welding path, so as to further lay a foundation for improving the accuracy of the false welding of the workpiece breakpoint continuous welding.

[0070] In one embodiment, determining the welding retraction position of the welding robot according to the first welding breakpoint position information includes one of the following:

[0071] The first welding start position and the second welding breakpoint position are extracted from the first welding breakpoint position information, and the welding retraction position is selected on the first welding trajectory composed of the first welding start position and the second welding breakpoint position; the first welding auxiliary position, the second welding start position and the third welding breakpoint position are extracted from the first welding breakpoint position information, and the welding retraction position is selected on the second welding trajectory composed of the first welding auxiliary position, the second welding start position and the third welding breakpoint position.

[0072] It should be noted that when a welding robot performs workpiece welding tasks, it will adopt different welding processes in the face of different welding requirements, such as linear welding, linear weaving welding, linear intermittent welding, linear multi-layer and multi-pass, and linear arc tracking, etc. Under different welding processes, the actual corresponding welding retraction distances are different, and therefore it is necessary to use the specific position carried in the welding breakpoint position information to perform specific calculations of the welding retraction position.

[0073] As an example, the first welding starting position and the second welding breakpoint position are extracted from the first welding breakpoint position information, and a first welding trajectory is constructed based on the welding starting position and the second welding breakpoint position, and the first welding trajectory position is located on the first welding trajectory, and the first welding trajectory position is used as the welding retraction position; the first welding auxiliary position, the second welding starting position and the third welding breakpoint position are extracted from the first welding breakpoint position information, and a second welding trajectory is constructed based on the first welding auxiliary position, the second welding starting position and the third welding breakpoint position, and the second welding trajectory is located on the second welding trajectory, and the second welding trajectory position is used as the welding retraction position.

[0074] In an implementable manner, the design of the "original path recovery" function of the workpiece breakpoint continuous welding system is as follows: 1) After the welder clicks "Continue", a pop-up window will be displayed to select "Original Path Recovery"; 2) If the arc starting state A0 = no arc starting, or the action is a non-motion action, ignore step 3 and move directly to the stop point P; 3) The program first calculates the coordinates of the retraction point and moves in a straight line to the retraction point B: If it is a straight line, then on the line connecting the stop point P to the starting point S, calculate the new position point of the retraction distance T, and move in a straight line to the retraction point; if it is an arc, on the arc formed by the end point E, the auxiliary point A and the starting point S, calculate the new position point of the retraction arc length T, and move in a straight line to the retraction point; if it is a straight line welding / intermittent welding, the same as the straight line. The premise is that when the weaving welding stops, the welding gun stops in the middle of the weld; if it is arc weaving welding / intermittent welding, the same as the arc, the premise is that when the weaving welding stops, the welding gun stops in the middle of the weld; if it is multi-layer multi-pass, the linear multi-layer multi-pass and the arc multi-layer multi-pass, the retraction is the same as the linear and arc respectively; if it is arc tracking, the linear arc tracking and the arc arc tracking, the retraction is the same as the linear and arc respectively; 4) After moving to the retraction point B or the stop point P, the arc is judged to be started or not based on the arc starting state AO; 5) Based on the actionindex, the current point, the motion trajectory is recalculated and the remaining tasks are executed.

[0075] In this embodiment, by obtaining different types of specific position information from the welding breakpoint position information and performing the welding retraction trajectory, the position where the welding robot needs to retract before breakpoint continued welding is determined on the welding trajectory, and the purpose of accurately calculating the specific retraction distance under different welding processes can be achieved. Therefore, the foundation is laid for further improving the accuracy of the welding robot in performing breakpoint continued welding of workpieces.

[0076] In one embodiment, before controlling the welding robot to perform workpiece breakpoint continuous welding according to the workpiece continuous welding path, the method further includes:

[0077] According to the continued welding reference position and the first continued welding starting position, the continued welding retract distance of the welding robot is determined, and the retract speed of the welding robot for the continued welding is obtained; when a retract instruction for the welding robot to retract for the continued welding is detected, the welding robot is controlled to retract from the continued welding reference position to the first continued welding starting position according to the continued welding retract distance and the retract speed.

[0078] It should be noted that in order to ensure stability during the retraction process, the retraction speed of the welding robot for continued welding can be set specifically, and the retraction distance can be completed at the corresponding retraction speed, where the retraction distance can be specifically 5mm, 6mm or 7mm, etc., and the retraction speed can be specifically 50mm / s or 55mm / s.

[0079] As an example, the distance between the continuation welding reference position and the first continuation welding starting position is used as the continuation welding retract distance of the welding robot, and the retract speed of the welding robot for the continuation welding retract input by the user is obtained; when a retract instruction for the welding robot to retract for the continuation welding is detected, the welding robot is controlled to retract from the continuation welding reference position to the first continuation welding starting position according to the continuation welding retract distance and the retract speed, wherein the retract instruction can be specifically triggered by the welder clicking the "original path restoration" button.

[0080] In one embodiment, generating a corresponding workpiece continuous welding path according to the welding breakpoint information includes:

[0081] The continuation welding reference position is used as the second continuation welding starting position of the welding robot, and the second welding breakpoint position information and the second welding control information are extracted from the welding breakpoint information, wherein the second welding breakpoint position information includes the welding termination position; according to the second welding control information, a workpiece continuation welding path is generated on a third welding trajectory composed of the second continuation welding starting position and the welding termination position.

[0082] It should be noted that in the scenario where the welding robot is still unable to continue welding the workpiece breakpoint based on the initial welding path after troubleshooting, it is necessary to re-plan the workpiece welding path for the welding robot based on the welding reference position, wherein the second welding start position refers to the starting position of the welding path for welding the workpiece breakpoint by reconstructing the welding path.

[0083] As an example, the continuation welding reference position is used as the second continuation welding starting position of the welding robot, and the second welding breakpoint position information and the second welding control information are extracted from the welding breakpoint information, wherein the second welding breakpoint position information includes the welding end position; according to the second welding control information, a workpiece continuation welding path is generated in a third welding trajectory composed of the second continuation welding starting position and the welding end position.

[0084] In an implementable manner, the design of the "restart" function of the workpiece breakpoint continuation welding system is as follows: 1) After the welder clicks "Continue", a pop-up window will be displayed to select "Restart", prompting the user that the movement will use the current position as the starting position for the continuation welding, which will be different from the trajectory of the original welding task. When "restarting", it is also necessary to ensure that the welding robot's welding gun is manually placed at the appropriate starting point; 2) If the welding process is a straight line, the third welding trajectory is a straight line with the continuation welding reference position as the starting point and the initial welding end position as the end point; if the welding process is linear swing welding, the third welding trajectory is a straight line with the current position as the swing welding start point to the end point E, wherein the welding gun needs to be controlled to stop in the middle of the weld when the swing welding stops; if the welding process is arc, arc swing welding, arc intermittent welding, linear intermittent welding, multi-layer multi-pass welding or arc tracking welding, the "restart" function is not supported; 3) The program determines whether the arc is started or not based on the arc starting state A0; 4) Based on the instruction index new motion trajectory, the workpiece breakpoint continuation welding task is executed.

[0085] In this embodiment, in the scenario where the welding robot is still unable to continue to perform workpiece breakpoint continuation welding based on the initial welding path after troubleshooting, the welding reference position where the welding robot is located can be first used as the second welding continuation starting position of the welding robot, and the second welding breakpoint position information and the second welding control information can be extracted from the welding breakpoint information. Finally, the second welding continuation starting position and the welding end position are jointly composed of the third welding trajectory. Finally, the workpiece continuation welding path is generated with the second welding control information as the index, thereby achieving the purpose of regenerating a workpiece continuation welding task that can be completed by the welding robot. Therefore, while improving the effect of the welding robot in performing workpiece breakpoint continuation welding, it also lays a foundation for improving the welding accuracy of the welding robot in performing workpiece breakpoint continuation welding.

[0086] In one feasible method, first, after pausing, the welding robot can freely restore its state and move its position without restriction. When continuing, the welding personnel can freely select the original welding path to continue welding the workpiece breakpoints or skip certain positions to generate the workpiece welding continuation path according to the reasons for the workpiece welding terminal. When re-starting the arc, the personnel can flexibly avoid positions that are prone to arc ignition failure, such as the arc closing mirror and oxidized old welds.

[0087] That is, in the stage where the welding robot interrupts the welding of the workpiece, it can freely move to the welding continuation reference position. At the same time, it can also automatically generate the corresponding workpiece welding continuation path based on the welding breakpoint information, so as to achieve the purpose of automatically completing the workpiece breakpoint welding along the workpiece welding continuation path after the welding robot is in a safe troubleshooting position for troubleshooting. It not only takes into account various workpiece welding troubleshooting scenarios to provide troubleshooting convenience, but also automatically performs workpiece breakpoint welding continuation to improve the convenience of welding continuation, so that the workpiece breakpoint welding continuation processing can match the user's expectations. Therefore, it overcomes the problem that the welding robot's welding gun is in a fixed position when the workpiece welding is interrupted, which is not conducive to manual troubleshooting. At the same time, the setting of welding parameters depends on the professional ability of the welder, which makes it easy for the breakpoint welding continuation processing to match the user's expectations. Technical defects, therefore, improve the effect of the welding robot in performing workpiece breakpoint welding continuation.

[0088] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0089] Based on the same inventive concept, the embodiment of the present application also provides a welding breakpoint welding device for implementing the welding breakpoint welding method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the welding breakpoint welding device provided below can refer to the limitations of the welding breakpoint welding method above, and will not be repeated here.

[0090] In an exemplary embodiment, Figure 3 As shown, a welding breakpoint continuous welding device is provided, which is applied to a workpiece breakpoint continuous welding system, wherein the workpiece breakpoint continuous welding system is connected to a welding robot for communication, and includes: an acquisition module 401, a generation module 402 and a control module 403, wherein:

[0091] An acquisition module 401 is used to acquire welding breakpoint information of the welding robot when it is detected that the welding robot interrupts welding of the workpiece;

[0092] A generating module 402 is used to generate a corresponding workpiece continuing welding path according to the welding breakpoint information when it is detected that the welding robot is at a continuing welding reference position to resume welding of the workpiece, wherein the continuing welding reference position refers to a safe obstacle clearing position of the welding robot before the breakpoint continuing welding;

[0093] The control module 403 is used to control the welding robot to perform workpiece breakpoint continuous welding according to the workpiece continuous welding path.

[0094] In one embodiment, the generating module 402 is further configured to:

[0095] Extract the first welding breakpoint position information and the first welding control information from the welding breakpoint information; determine the first continued welding starting position of the welding robot according to the first welding breakpoint position information and the first welding control information; generate the workpiece continued welding path according to the first continued welding starting position and the first welding breakpoint position information.

[0096] In one embodiment, the generating module 402 is further configured to:

[0097] When the first welding control information satisfies the first preset control condition, the first welding breakpoint position in the first welding breakpoint position information is used as the first continued welding starting position; when the first welding control information satisfies the second preset control condition, the welding retraction position of the welding robot is determined according to the first welding breakpoint position information, and the welding retraction position is used as the first continued welding starting position, wherein the first preset control condition and the second preset control condition are mutually exclusive control conditions.

[0098] In one embodiment, the output module 401 is further used for:

[0099] The first welding start position and the second welding breakpoint position are extracted from the first welding breakpoint position information, and the welding retract position is selected on the first welding trajectory jointly composed of the first welding start position and the second welding breakpoint position; the first welding auxiliary position, the second welding start position and the third welding breakpoint position are extracted from the first welding breakpoint position information, and the welding retract position is selected on the second welding trajectory jointly composed of the first welding auxiliary position, the second welding start position and the third welding breakpoint position.

[0100] In one embodiment, the workpiece breakpoint continuous welding device is also used for:

[0101] According to the continued welding reference position and the first continued welding starting position, the continued welding retract distance of the welding robot is determined, and the retract speed of the welding robot for continued welding is obtained; when a retract instruction for the welding robot to retract for continued welding is detected, the welding robot is controlled to retract from the continued welding reference position to the first continued welding starting position according to the continued welding retract distance and the retract speed.

[0102] In one embodiment, the generating module 402 is further configured to:

[0103] The continued welding reference position is used as the second continued welding starting position of the welding robot, and the second welding breakpoint position information and the second welding control information are extracted from the welding breakpoint information, wherein the second welding breakpoint position information includes the welding termination position; according to the second welding control information, the workpiece continued welding path is generated in a third welding trajectory composed of the second continued welding starting position and the welding termination position.

[0104] Each module in the above-mentioned welding breakpoint continuous welding device can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

[0105] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 4 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a welding breakpoint continuation method is implemented. Those skilled in the art can understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0106] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0107] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0108] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0109] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium 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), magnetoresistive 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. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, 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.

[0111] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for continuous welding of workpiece breakpoints, characterized in that: Applied to a workpiece breakpoint continuous welding system, the workpiece breakpoint continuous welding system is communicatively connected with a welding robot, and the method comprises: When it is detected that the welding robot interrupts welding of the workpiece, obtaining welding breakpoint information of the welding robot; When it is detected that the welding robot is at a welding continuation reference position to resume welding of the workpiece, a corresponding workpiece welding continuation path is generated according to the welding breakpoint information, wherein the welding continuation reference position refers to a safe obstacle clearing position of the welding robot before the breakpoint welding continuation; According to the workpiece continuous welding path, the welding robot is controlled to perform workpiece breakpoint continuous welding, wherein the corresponding workpiece continuous welding path is generated according to the welding breakpoint information, including: Extracting first welding breakpoint position information and first welding control information from the welding breakpoint information; Determining a first continued welding starting position of the welding robot according to the first welding breakpoint position information and the first welding control information; The workpiece continuous welding path is generated according to the first continuous welding starting position and the first welding breakpoint position information, wherein the first continuous welding starting position of the welding robot is determined according to the first welding breakpoint position information and the first welding control information, including one of the following items: In the case where the first welding control information satisfies a first preset control condition, taking the first welding breakpoint position in the first welding breakpoint position information as the first continuous welding starting position; In the case where the first welding control information satisfies the second preset control condition, the welding retract position of the welding robot is determined according to the first welding breakpoint position information, and the welding retract position is used as the first continuous welding starting position, wherein the first preset control condition and the second preset control condition are mutually exclusive control conditions, wherein the determining the welding retract position of the welding robot according to the first welding breakpoint position information includes one of the following items: Extracting a first welding start position and a second welding breakpoint position from the first welding breakpoint position information, and selecting the welding retreat position on a first welding trajectory formed by the first welding start position and the second welding breakpoint position; The first welding auxiliary position, the second welding starting position and the third welding breakpoint position are extracted from the first welding breakpoint position information, and the welding retraction position is selected on the second welding trajectory composed of the first welding auxiliary position, the second welding starting position and the third welding breakpoint position.

2. The method according to claim 1, characterized in that Before controlling the welding robot to perform workpiece breakpoint continuous welding according to the workpiece continuous welding path, the method further includes: Determine a retraction distance of the welding robot for continued welding according to the continued welding reference position and the first continued welding starting position, and obtain a retraction speed of the welding robot for continued welding; When a retraction instruction for the welding robot to retract for continued welding is detected, the welding robot is controlled to retract from the continued welding reference position to the first continued welding starting position according to the continued welding retraction distance and the retraction speed.

3. The method according to claim 1, characterized in that The step of generating a corresponding workpiece continuous welding path according to the welding breakpoint information includes: The continuous welding reference position is used as the second continuous welding starting position of the welding robot, and the second welding breakpoint position information and the second welding control information are extracted from the welding breakpoint information, wherein the second welding breakpoint position information includes the welding termination position; The workpiece continued welding path is generated according to the second welding control information at a third welding trajectory formed by the second continued welding start position and the welding end position.

4. A welding breakpoint continuous welding device, characterized in that: Applicable to a workpiece breakpoint continuous welding system, the workpiece breakpoint continuous welding system is communicatively connected with a welding robot, and the device comprises: An acquisition module, used for acquiring welding breakpoint information of the welding robot when it is detected that the welding robot interrupts welding of the workpiece; A generating module, for generating a corresponding workpiece continuing welding path according to the welding breakpoint information when it is detected that the welding robot is at a continuing welding reference position to resume welding of the workpiece, wherein the continuing welding reference position refers to a safe obstacle clearing position of the welding robot before the breakpoint continuing welding; A control module is used to control the welding robot to perform workpiece breakpoint continuous welding according to the workpiece continuous welding path, wherein the generation module is also used to: Extracting first welding breakpoint position information and first welding control information from the welding breakpoint information; determining a first continuous welding starting position of the welding robot according to the first welding breakpoint position information and the first welding control information; generating the workpiece continuous welding path according to the first continuous welding starting position and the first welding breakpoint position information, wherein the generating module is further used to: When the first welding control information satisfies a first preset control condition, the first welding breakpoint position in the first welding breakpoint position information is used as the first continuous welding starting position; when the first welding control information satisfies a second preset control condition, the welding retraction position of the welding robot is determined according to the first welding breakpoint position information, and the welding retraction position is used as the first continuous welding starting position, wherein the first preset control condition and the second preset control condition are mutually exclusive control conditions, and wherein the generating module is further used for: The first welding start position and the second welding breakpoint position are extracted from the first welding breakpoint position information, and the welding retract position is selected on the first welding trajectory jointly composed of the first welding start position and the second welding breakpoint position; the first welding auxiliary position, the second welding start position and the third welding breakpoint position are extracted from the first welding breakpoint position information, and the welding retract position is selected on the second welding trajectory jointly composed of the first welding auxiliary position, the second welding start position and the third welding breakpoint position.

5. The device according to claim 4, characterized in that The welding breakpoint continuous welding device is also used for: According to the continued welding reference position and the first continued welding starting position, the continued welding retract distance of the welding robot is determined, and the retract speed of the welding robot for continued welding is obtained; when a retract instruction for the welding robot to retract for continued welding is detected, the welding robot is controlled to retract from the continued welding reference position to the first continued welding starting position according to the continued welding retract distance and the retract speed.

6. The device according to claim 4, characterized in that The generation module is also used for: The continued welding reference position is used as the second continued welding starting position of the welding robot, and the second welding breakpoint position information and the second welding control information are extracted from the welding breakpoint information, wherein the second welding breakpoint position information includes the welding termination position; according to the second welding control information, the workpiece continued welding path is generated in a third welding trajectory composed of the second continued welding starting position and the welding termination position.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, 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 implemented.

9. A computer program product, comprising a computer program, 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 implemented.

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