Conveying line motion control method and device and readable medium

Abstract

The invention relates to the field of conveying line control, in particular to a conveying line motion control method and device and a readable medium, and the method specifically comprises the steps that the acceleration of a conveying line, the distance between adjacent workpieces and the grabbing period of a robot are set, and the workpieces are conveyed through the conveying line and enter a robot working area; when the robot grabs the current workpiece, the current conveying line speed and the current position of the workpiece are obtained, the distance, needing to be conveyed, of the next workpiece entering the working area of the robot is calculated according to the distance between the adjacent workpieces and the current position of the workpiece, and a first distance is obtained; calculating adjustment time according to the first distance, the current conveying line speed and the acceleration of the conveying line; and calculating the speed of the adjusted conveying line according to the adjusting time, the current speed of the conveying line and the acceleration of the conveying line so as to adjust the speed of the conveying line. The problem that robot grabbing fails due to different waiting time of robot grabbing and speed errors of a conveying line is solved.

Description

Technical Field

[0001] The present invention relates to the field of conveyor line control, and in particular to a conveyor line motion control method, device and readable medium. Background Art

[0002] With the development of technology, parallel robots are being used more and more widely, and their share in the sorting field is increasing. However, most of the current sorting equipment uses vision as the basis for positioning, tracking and grasping, and does not perform motion planning for the conveyor belt or use synchronous belts to ensure the stability of the robot's grasping.

[0003] The existing technology has strict requirements on production line design and has a small scope of application. Although mechanical modifications can be used to meet production requirements and expand the scope of application, the cost of mechanical modifications is high and the time is long, and it cannot meet the requirements of simplicity and practicality, and the following problems cannot be avoided: 1. When there are multiple conveyor lines, there is a slight error in the machining radius of the transmission shaft of the conveyor line, which causes the given speed of the conveyor line to be inconsistent with the actual speed. As a result, when the robot periodically grasps the workpiece, the workpiece will deviate from the working area due to the accumulation of errors, causing the robot to grasp in vain or miss something, resulting in an overall logical error, causing the entire production line to shut down.

[0004] 2. The number of products that the robot needs to grab on multiple conveyor lines is inconsistent, resulting in inconsistent waiting times on the conveyor lines for the robot to grab. The accumulation of such long waiting times causes the robot to miss the products that have been put on other conveyor belts first, resulting in robot grabbing failure.

[0005] Therefore, it is necessary to propose a conveyor line control method, device and readable medium to dynamically adjust the conveyor line speed, so that the robot can stably grasp the workpiece in a fixed grasping cycle, ensure the stability of the robot's grasping, thereby improving the efficiency of the entire production line and reducing production costs. Summary of the invention

[0006] The purpose of this application is to propose a conveyor line motion control method, device and readable medium to address the above-mentioned technical problems.

[0007] In a first aspect, the present invention provides a conveyor line motion control method, comprising the following steps: The acceleration of the conveyor line, the distance between adjacent workpieces and the robot's grasping cycle are set, and the workpieces are transported through the conveyor line and enter the robot's working area; When the robot grabs the current workpiece, the current conveyor line speed and the current workpiece position are obtained, and the distance that the next workpiece needs to be conveyed to enter the robot work area is calculated according to the distance between adjacent workpieces and the current workpiece position to obtain a first distance; Calculating the adjustment time according to the first distance, the current conveyor line speed and the acceleration of the conveyor line; Calculate the adjusted conveyor line speed according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line; The speed of the conveyor line is adjusted according to the adjustment time and the adjusted conveyor line speed.

[0008] Preferably, the calculation formula of the first distance is as follows: ; Among them, S represents the distance that the next workpiece needs to be transported to enter the robot work area. Indicates the distance between adjacent workpieces. Indicates the distance between the current workpiece and the entry point of the workspace when the robot grabs the current workpiece.

[0009] Preferably, the first distance, the current conveyor line speed and the acceleration of the conveyor line satisfy the following relationship: ; Among them, S represents the distance that the next workpiece needs to be transported to enter the robot work area. Indicates the current conveyor line speed. represents the adjustment time, a represents the acceleration of the conveyor line, Indicates the robot's grasping cycle; The adjustment time is calculated based on the first distance, the current conveyor line speed and the acceleration of the conveyor line, as shown in the following formula: ; in, .

[0010] Preferably, the adjusted conveyor line speed is calculated according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line, as shown in the following formula: ; in, Indicates the adjusted conveyor line speed.

[0011] Preferably, adjusting the speed of the conveyor line according to the adjustment time and the adjusted conveyor line speed specifically includes: when When the conveyor line is controlled, the time is adjusted. Accelerate within 10 seconds until the conveyor line reaches the speed ; when When the conveyor line is controlled, the time is adjusted. The speed is reduced until the conveyor line reaches .

[0012] Preferably, the direction of the conveyor line is calibrated so that the forward direction of the conveyor line coincides with the positive x direction of the robot world coordinate system. The robot working area is established in the robot grasping area in the robot world coordinate system. When the robot grasps the current workpiece, the current position of the workpiece is obtained based on the position of the robot in the robot working area.

[0013] In a second aspect, the present invention provides a conveyor line motion control device, comprising: an initialization module configured to set the acceleration of the conveyor line, the distance between adjacent workpieces and the grasping cycle of the robot, and the workpiece is conveyed through the conveyor line and enters the working area of ​​the robot; The grasping feedback module is configured to obtain the current conveying line speed and the current position of the workpiece when the robot grasps the current workpiece, and calculate the distance that the next workpiece needs to be conveyed to enter the robot working area according to the distance between adjacent workpieces and the current position of the workpiece to obtain a first distance; A first calculation module is configured to calculate the adjustment time according to the first distance, the current conveying line speed and the acceleration of the conveying line; A second calculation module is configured to calculate an adjusted conveyor line speed according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line; The speed adjustment module is configured to adjust the speed of the conveyor line according to the adjustment time and the adjusted conveyor line speed.

[0014] In a third aspect, the present invention provides an electronic device comprising one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner in the first aspect.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any implementation manner in the first aspect.

[0016] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method described in any implementation manner in the first aspect.

[0017] Compared with the prior art, the present invention has the following beneficial effects: (1) The conveyor line motion control method proposed in the present invention adopts a negative feedback mechanism. The robot feeds back the position of the current workpiece in the robot's working area when grasping it, so as to dynamically adjust the speed of the conveyor line, thereby ensuring that the workpiece is in the robot's working area every time the robot grasps it, thereby ensuring the stability of the robot's grasping and improving the efficiency of the entire production line.

[0018] (2) The conveyor line motion control method proposed in the present invention adjusts the conveyor line speed within a robot grasping cycle to ensure that the workpiece is within the grasping range of the robot each time the robot grasps.

[0019] (3) The conveyor line motion control method proposed in the present invention is aimed at production lines that cannot use visual recognition, and production lines that use multiple conveyor lines for incoming materials and have inconsistent requirements on the number of workpieces that the robot grasps on multiple conveyor lines. By dynamically adjusting the conveyor line speed, there is no need for time-consuming and costly mechanical changes. The robot can stably grasp the workpiece during the robot's grasping cycle, ensuring the stability of the robot's grasping, thereby improving the efficiency of the entire production line and reducing production costs. It is simple and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic flow chart of a conveyor line motion control method according to an embodiment of the present application; Figure 2 A schematic diagram of the structure of the robot and conveyor line of the production line of the embodiment of the present application; Figure 3 A side view of a robot and a conveyor line of a production line according to an embodiment of the present application; Figure 4 A schematic diagram of a robot work area, a distance between adjacent work pieces, and a distance between a current work piece and an entry point of the work area when the robot grabs the current work piece according to an embodiment of the present application; Figure 5 A schematic diagram of a conveyor line motion control device according to an embodiment of the present application; Figure 6 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention.

[0022] Figure numerals: 11, robot; 12, conveyor line; 13, workpiece; 14, robot working area; 141, working area entrance point; 15, carton. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all 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.

[0024] Figure 1 A conveyor line motion control method provided by an embodiment of the present application is shown, comprising the following steps: S1, set the acceleration of the conveyor line, the distance between adjacent workpieces and the robot's grasping cycle. The workpiece is transported through the conveyor line and enters the robot's working area.

[0025] Specifically, refer to Figure 2 The grabbing cycle of the robot 11 needs to be calculated according to the actual production situation of the equipment. For example, the production line is required to produce 5 boxes of products in one minute. Each carton 15 contains 8 workpieces 13. There are two robots 11 in the production line. The first robot 11 loads the first 4 workpieces 13, and the second robot 11 loads the last 4 workpieces 13. Each robot 11 needs to load 20 workpieces 13 in one minute, and each robot 11 needs to move 20 times in one minute. It is calculated that the time required for each action of each robot 11 is 3 seconds, so the grabbing cycle of each robot 11 is 3 seconds.

[0026] In a specific embodiment, it also includes calibrating the direction of the conveyor line so that the forward direction of the conveyor line coincides with the positive x direction of the robot world coordinate system. The robot workspace is established in the robot grasping interval in the robot world coordinate system. When the robot grasps the current workpiece, the current position of the workpiece is obtained based on the position of the robot in the robot workspace.

[0027] S2, when the robot grabs the current workpiece, obtains the current conveyor line speed and the current workpiece position, calculates the distance that the next workpiece needs to be transported to enter the robot work area according to the distance between adjacent workpieces and the current workpiece position, and obtains the first distance.

[0028] In a specific embodiment, the calculation formula of the first distance is as follows: ; Among them, S represents the distance that the next workpiece needs to be transported to enter the robot work area. Indicates the distance between adjacent workpieces. Indicates the distance between the current workpiece and the entry point of the workspace when the robot grabs the current workpiece.

[0029] Specifically, refer to Figure 3 and Figure 4 , the forward direction of the conveyor line 12 coincides with the positive x direction of the robot world coordinate system. In actual application, the grasping position of the robot 11 is any point in the robot work area 14. When the robot grasps the current workpiece, the grasping point is the position of the robot 11 in the robot work area 14, which is also the position of the current workpiece 13. According to the position of the current workpiece 13 in the robot work area 14, the distance between the current workpiece and the work area entrance point 141 can be calculated.

[0030] S3, calculating the adjustment time according to the first distance, the current conveyor line speed and the acceleration of the conveyor line.

[0031] In a specific embodiment, the first distance, the current conveying line speed and the acceleration of the conveying line satisfy the following relationship: ; Among them, S represents the distance that the next workpiece needs to be transported to enter the robot work area. Indicates the current conveyor line speed. represents the adjustment time, a represents the acceleration of the conveyor line, Indicates the robot's grasping cycle; The adjustment time is calculated based on the first distance, the current conveyor line speed and the acceleration of the conveyor line, as shown in the following formula: ; in, .

[0032] S4, calculating the adjusted conveyor line speed according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line.

[0033] In a specific embodiment, the adjusted conveyor line speed is calculated according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line, as shown in the following formula: ; in, Indicates the adjusted conveyor line speed.

[0034] Specifically, by calculating the adjustment time of the conveyor line 12 for speed adjustment and adjusting the speed of the conveyor line 12 within the adjustment time, it is ensured that there are workpieces 13 in the robot working area 14 during the robot's grasping cycle, and the robot 11 is prevented from grasping empty or missing. Furthermore, for production lines that use multiple conveyor lines for incoming materials and have inconsistent requirements for the number of workpieces grasped by the robot on the multiple conveyor lines, the speed of the conveyor line 12 is adjusted according to the parameters of the conveyor line 12 and the robot 11 that grasps the workpiece 13 on the conveyor line 12.

[0035] refer to Figure 2, the production line uses two conveyor lines 12 for incoming materials, and the robot 11 grabs the workpiece 13 on the two conveyor lines 12. In the embodiment of the present application, when the first robot 11 grabs the workpiece on the first conveyor line 12, the second robot 11 is grabbing the workpiece on the second conveyor line 12, and the adjustment time and the adjusted conveyor line speed are calculated based on the position information fed back when the first robot 11 grabs the current workpiece 13 on the first conveyor line 12, the parameters of the first robot 11, and the parameters of the first conveyor line 12, so as to facilitate the subsequent adjustment of the speed of the first conveyor line 12; when the second robot 11 returns from the second conveyor line 12 to the first conveyor line 12 to grab the workpiece, the second robot 11 adjusts the movement of the first conveyor line according to the position information and parameters fed back by the first robot 11, so as to smoothly grab the workpiece on the first conveyor line. The conveyor line motion control method proposed in this application can ensure that the workpiece 13 transported by the conveyor line 12 can always be grasped by the robot 11, avoiding the robot 11 missing the workpieces on other conveyor belts 12 due to the accumulation of long-term waiting actions, resulting in the robot 11 failing to grasp.

[0036] S5, adjusting the speed of the conveyor line according to the adjustment time and the adjusted conveyor line speed.

[0037] In a specific embodiment, adjusting the speed of the conveyor line according to the adjustment time and the adjusted conveyor line speed specifically includes: when When the conveyor line is controlled, the time is adjusted. Accelerate within 10 seconds until the conveyor line reaches the speed ; when When the conveyor line is controlled, the time is adjusted. The speed is reduced until the conveyor line reaches .

[0038] Specifically, in the conveyor line motion control method proposed in the present invention, by adopting a negative feedback mechanism, the robot 11 feeds back the position of the current workpiece 13 in the robot working area 14, so as to dynamically adjust the speed of the conveyor line 12, and finally realize the motion control function of the conveyor line 12. By adjusting the speed of the conveyor line 12, it is ensured that the robot 11 can ensure that the workpiece 13 is in the robot working area 14 each time it grabs the workpiece 13, thereby adjusting the grabbing position of the robot 11.

[0039] In existing production lines, especially where visual recognition cannot be applied, there is no need to make time-consuming and costly mechanical changes. The conveyor line motion control method proposed in the present invention can enable the robot 11 to stably grasp the workpiece 13 during the robot's grasping cycle, thereby ensuring the stability of the robot's grasping, improving the efficiency of the entire production line, and reducing production costs.

[0040] The above steps S1-S5 do not necessarily represent the order between the steps, but are represented by step symbols, and the order between the steps can be adjusted.

[0041] Further references Figure 5 As an implementation of the methods shown in the above figures, the present application provides an embodiment of a conveyor line motion control device, which is similar to Figure 1 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0042] The present application provides a conveyor line motion control device, comprising: Initialization module 1, configured to set the acceleration of the conveyor line, the distance between adjacent workpieces and the gripping cycle of the robot, the workpieces are conveyed through the conveyor line and enter the robot working area; The grasping feedback module 2 is configured to obtain the current conveying line speed and the current position of the workpiece when the robot grasps the current workpiece, and calculate the distance that the next workpiece needs to be conveyed to enter the robot working area according to the distance between adjacent workpieces and the current position of the workpiece to obtain a first distance; A first calculation module 3 is configured to calculate the adjustment time according to the first distance, the current conveying line speed and the acceleration of the conveying line; A second calculation module 4 is configured to calculate the adjusted conveyor line speed according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line; The speed adjustment module 5 is configured to adjust the speed of the conveyor line according to the adjustment time and the adjusted conveyor line speed.

[0043] Figure 6 Schematic diagram of the hardware structure of the electronic device provided by the embodiment of the present invention. Figure 6 As shown, the electronic device of this embodiment includes: a processor 601 and a memory 602; wherein the memory 602 is used to store computer-executable instructions; the processor 601 is used to execute the computer-executable instructions stored in the memory to implement the various steps performed by the electronic device in the above embodiment. For details, please refer to the relevant description in the above method embodiment.

[0044] Optionally, the memory 602 may be independent or integrated with the processor 601 .

[0045] When the memory 602 is independently provided, the electronic device further includes a bus 603 for connecting the memory 602 and the processor 601 .

[0046] The embodiment of the present invention further provides a computer storage medium, in which computer execution instructions are stored. When the processor 601 executes the computer execution instructions, the above method is implemented.

[0047] The embodiment of the present invention further provides a computer program product, including a computer program. When the computer program is executed by the processor 601, the above method is implemented.

[0048] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0049] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0050] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each module may exist physically separately, or two or more modules may be integrated into one unit. The above-mentioned module-composed unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0051] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor 601 to perform some steps of the methods of various embodiments of the present application.

[0052] It should be understood that the processor 601 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or the processor 601 may be any conventional processor 601, etc. The steps of the method disclosed in the invention may be directly embodied in the execution of the hardware processor 601, or may be executed by a combination of hardware and software modules in the processor 601.

[0053] The memory 602 may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

[0054] The bus 603 may be an Industry Standard Architecture (ISA), a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus 603 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus 603 in the drawings of the present application is not limited to only one bus 603 or one type of bus 603.

[0055] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0056] An exemplary storage medium is coupled to the processor 601, so that the processor 601 can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor 601. The processor 601 and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor 601 and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0057] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A conveyor line motion control method, characterized in that: The following steps are involved: The acceleration of the conveyor line, the distance between adjacent workpieces and the robot's grasping cycle are set, and the workpieces are transported through the conveyor line and enter the robot's working area; When the robot grabs the current workpiece, the current conveyor line speed and the current workpiece position are obtained, and the distance that the next workpiece needs to be conveyed to enter the robot working area is calculated according to the distance between adjacent workpieces and the current workpiece position to obtain a first distance; Calculating the adjustment time according to the first distance, the current conveyor line speed and the acceleration of the conveyor line; Calculating an adjusted conveyor line speed according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line; The speed of the conveyor line is adjusted according to the adjustment time and the adjusted conveyor line speed.

2. The conveyor line motion control method according to claim 1, characterized in that: The calculation formula of the first distance is as follows: ； Where S represents the distance that the next workpiece needs to be transported to enter the robot working area. Indicates the distance between adjacent workpieces. Indicates the distance between the current workpiece and the entry point of the workspace when the robot grabs the current workpiece.

3. The conveyor line motion control method according to claim 2, characterized in that: The first distance, the current conveyor line speed and the acceleration of the conveyor line satisfy the following relationship: ； Where S represents the distance that the next workpiece needs to be transported to enter the robot working area. Indicates the current conveyor line speed. represents the adjustment time, a represents the acceleration of the conveyor line, Indicates the robot's grasping cycle; The adjustment time is calculated according to the first distance, the current conveyor line speed and the acceleration of the conveyor line, as shown in the following formula: ； in, .

4. The conveyor line motion control method according to claim 3, characterized in that: The adjusted conveyor line speed is calculated according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line, as shown in the following formula: ； in, Indicates the adjusted conveyor line speed.

5. The conveyor line motion control method according to claim 4, characterized in that: The adjusting the speed of the conveyor line according to the adjustment time and the adjusted conveyor line speed specifically includes: when When the conveyor line is controlled to adjust the time Accelerate within 10 seconds until the conveyor line reaches the speed ; when When the conveyor line is controlled to adjust the time The speed is reduced until the conveyor line reaches .

6. The conveyor line motion control method according to claim 1, characterized in that: It also includes calibrating the direction of the conveyor line so that the forward direction of the conveyor line coincides with the positive x direction of the robot world coordinate system. The robot working area is a robot grasping interval established in the robot world coordinate system. When the robot grasps the current workpiece, the current position of the workpiece is obtained based on the position of the robot in the robot working area.

7. A conveyor line motion control device, characterized in that: include: an initialization module configured to set the acceleration of the conveyor line, the distance between adjacent workpieces and the grasping cycle of the robot, and the workpiece is conveyed through the conveyor line and enters the working area of ​​the robot; The grasping feedback module is configured to obtain the current conveying line speed and the current position of the workpiece when the robot grasps the current workpiece, and calculate the distance that the next workpiece needs to be conveyed to enter the robot working area according to the distance between adjacent workpieces and the current position of the workpiece to obtain a first distance; A first calculation module is configured to calculate an adjustment time according to the first distance, a current conveyor line speed, and an acceleration of the conveyor line; A second calculation module is configured to calculate the adjusted conveyor line speed according to the adjustment time, the current conveyor line speed and the acceleration of the conveyor line; The speed adjustment module is configured to adjust the speed of the conveyor line according to the adjustment time and the adjusted conveyor line speed.

8. An electronic device comprising: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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