Novel weighing method and system for hydraulic excavator

Abstract

The invention belongs to the technical field of excavators, and discloses a novel weighing method and system for a hydraulic excavator, and the method comprises the steps: taking a hinge point of a rocker and a bucket hydraulic cylinder as a force balance point, and building a force balance model; the real-time stroke of the movement of the bucket hydraulic cylinder is obtained, the speed and acceleration of the movement of the bucket hydraulic cylinder are calculated according to the real-time stroke of the movement of the bucket hydraulic cylinder, and the damping force is calculated according to the speed of the movement of the bucket hydraulic cylinder and the equivalent viscous damping coefficient; the equivalent mass acting on the hinged point of the rocker and the bucket hydraulic cylinder is calculated through the bucket size parameters, and the equivalent load force acting on the hinged point of the bucket and the connecting rod is calculated according to the equivalent mass, the damping force, the acceleration of movement of the bucket hydraulic cylinder and the included angle between the bucket and the rocker; and inputting the parameters into a force balance model to calculate the weight of the heavy object in the bucket. According to the method, the weight of the materials in the bucket is recursively pushed only through bucket parameters, the weighing target is achieved, weighing parameter calibration is simplified, and the task load before weighing is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a novel weighing method and system for hydraulic excavators. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The weighing of large machinery, especially excavators, generally requires complex calculations, which requires knowing various parameters of the excavator in advance. For large construction machinery, knowing the size and weight of various components is a huge process.

[0004] The existing weighing method is mainly to establish a DH model for each component of the excavator (including the boom, dipper arm, and bucket) to calculate the material weight.

[0005] In order to be accurate, the existing weighing method takes into account the influence of various components of the excavator into the model, including various parameters of the boom, dipper arm, bucket and its accessories. This not only increases the workload of calibration before weighing, but also increases the amount of labor. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a new weighing method and system for hydraulic excavators, which only relies on bucket parameters to recursively infer the weight of materials in the bucket, thereby achieving the weighing goal and simplifying the weighing parameter calibration, greatly reducing the workload before weighing.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a novel weighing method for a hydraulic excavator, comprising the following steps:

[0009] The force balance model is established with the hinge point between the rocker and the bucket hydraulic cylinder as the force balance point;

[0010] Acquire the real-time stroke of the bucket hydraulic cylinder, calculate the speed and acceleration of the bucket hydraulic cylinder according to the real-time stroke of the bucket hydraulic cylinder, and calculate the damping force according to the speed of the bucket hydraulic cylinder and the equivalent viscous damping coefficient;

[0011] The equivalent mass acting on the hinge point between the rocker arm and the bucket hydraulic cylinder is calculated by using the bucket size parameters. The equivalent load force acting on the hinge point between the bucket and the connecting rod is calculated based on the equivalent mass, damping force, the acceleration of the bucket hydraulic cylinder movement, and the angle between the bucket and the rocker arm.

[0012] The above parameters are input into the force balance model to calculate the weight of the heavy object in the bucket.

[0013] As an optional implementation, the force balance model is:

[0014]

[0015] Where K is the load elastic stiffness, B p is the equivalent viscous damping coefficient, M is the equivalent mass acting on the hinge point between the rocker and the bucket hydraulic cylinder, and F L is the equivalent load force acting on the hinge point between bucket and connecting rod.

[0016] As an optional implementation, the calculation formula of the equivalent viscous damping coefficient is:

[0017]

[0018] Among them, x p is the equivalent viscous damping coefficient, B is the viscous damping coefficient, x is the length of the piston rod of the bucket hydraulic cylinder, r is the distance between the bucket hydraulic cylinder and the arm hinge point and the connecting line between the bucket hydraulic cylinder and the bucket hinge point, ω is the angular velocity of the rocker arm, is the angle between the bucket hydraulic cylinder and the rocker arm, θ is the angle between the bucket and the rocker arm, and m is the weight of the object required in the bucket.

[0019] As an optional implementation, the speed and acceleration of the bucket hydraulic cylinder movement are calculated according to the real-time stroke of the bucket hydraulic cylinder movement, specifically:

[0020] The bucket hydraulic cylinder stroke sensor is used to obtain the real-time stroke of the bucket hydraulic cylinder. The real-time stroke of the bucket hydraulic cylinder is multiplied by the elastic stiffness. The calculated result is differentiated to obtain the speed of the bucket hydraulic cylinder. The speed of the bucket hydraulic cylinder is further differentiated to obtain the acceleration of the hydraulic cylinder.

[0021] As an optional implementation, the calculation formula of the equivalent load force is:

[0022]

[0023] Among them, F L is the equivalent load force acting on the hinge point between bucket and connecting rod, B p is the equivalent viscous damping coefficient, M is the equivalent mass acting on the hinge point between the rocker and the bucket hydraulic cylinder, θ is the angle between the bucket and the rocker, m is the weight of the required object in the bucket, g is the gravitational acceleration, The speed of the bucket hydraulic cylinder movement, Acceleration of bucket hydraulic cylinder movement.

[0024] As an optional implementation, the calculation formula for the speed of the bucket hydraulic cylinder movement is as follows:

[0025]

[0026] The calculation formula for the acceleration of the bucket hydraulic cylinder movement is as follows:

[0027]

[0028] Where x is the length of the bucket hydraulic cylinder piston rod, r is the distance between the bucket hydraulic cylinder and the arm hinge point and the connecting line between the bucket hydraulic cylinder and the bucket hinge point, ω is the rocker rotation angular velocity, It is the angle between the bucket hydraulic cylinder and the rocker arm.

[0029] In a second aspect, the present invention provides a novel weighing system for a hydraulic excavator, comprising:

[0030] The model building module is configured to: establish a force balance model with a hinge point between the rocker arm and the bucket hydraulic cylinder as a force balance point;

[0031] The first calculation module is configured to: obtain the real-time stroke of the bucket hydraulic cylinder, calculate the speed and acceleration of the bucket hydraulic cylinder according to the real-time stroke of the bucket hydraulic cylinder, and calculate the damping force according to the speed of the bucket hydraulic cylinder and the equivalent viscous damping coefficient;

[0032] The second calculation module is configured to: calculate the equivalent mass acting on the hinge point between the rocker arm and the bucket hydraulic cylinder through the bucket size parameters, and calculate the equivalent load force acting on the hinge point between the bucket and the connecting rod according to the equivalent mass, the damping force, the acceleration of the bucket hydraulic cylinder movement, and the angle between the bucket and the rocker arm;

[0033] The model output module is configured to: input the above parameters into the force balance model to calculate the weight of the heavy object in the bucket.

[0034] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in the first aspect is performed.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium for storing computer instructions, wherein when the computer instructions are executed by a processor, the method described in the first aspect is performed.

[0036] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention proposes a new weighing method and system for hydraulic excavators. The force balance model is established by using the hinge point between the rocker and the bucket hydraulic cylinder as the force balance point. Only a few parameters such as the bucket size and the bucket hydraulic cylinder pressure are needed to calculate the weight of the material in the bucket, which greatly reduces the workload before weighing. In addition, fewer parameters are used, which reduces the use of sensors and can effectively save economic costs. The method of recursively inferring the weight of the material in the bucket by relying on only a few parameters achieves the goal of weighing and simplifies the calibration of weighing parameters. It greatly reduces economic costs, improves profits, simplifies the steps and calibration of the weighing system, and reduces a lot of manpower and material resources.

[0039] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0041] Figure 1 This is a flow chart of a new weighing method for a hydraulic excavator provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0044] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0045] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0046] Example 1

[0047] like Figure 1 As shown, this embodiment provides a new weighing method for a hydraulic excavator, comprising the following steps:

[0048] S1 uses the hinge point between the rocker and the bucket hydraulic cylinder as the force balance point to establish a force balance model;

[0049] S2 obtains the real-time stroke of the bucket hydraulic cylinder, calculates the speed and acceleration of the bucket hydraulic cylinder according to the real-time stroke of the bucket hydraulic cylinder, and calculates the damping force according to the speed of the bucket hydraulic cylinder and the equivalent viscous damping coefficient;

[0050] S3 calculates the equivalent mass acting on the hinge point between the rocker arm and the bucket hydraulic cylinder through the bucket size parameters, and calculates the equivalent load force acting on the hinge point between the bucket and the connecting rod based on the equivalent mass, damping force, acceleration of the bucket hydraulic cylinder movement, and the angle between the bucket and the rocker arm;

[0051] S4 inputs the above parameters into the force balance model to calculate the weight of the heavy object in the bucket.

[0052] When the new weighing method disclosed in the present invention is used for weighing, the hardware conditions only need to be equipped with a bucket hydraulic cylinder pressure sensor, a temperature sensor, a cylinder stroke sensor and two angle sensors. The size parameters only need to know the size and weight of the bucket, bucket hydraulic cylinder, connecting rod and rocker.

[0053] The mechanical balance formula is established through the rocker and the bucket hydraulic cylinder hinge point. The pressure of the bucket hydraulic cylinder large and small chambers is obtained through the pressure sensor. Combined with the cross-sectional area of ​​the bucket hydraulic cylinder large and small chambers, the bucket hydraulic cylinder thrust is calculated. The following is the bucket hydraulic cylinder thrust calculation formula.

[0054]

[0055] Among them, F1 is the thrust of the bucket hydraulic cylinder, D1 is the inner diameter of the bucket hydraulic cylinder without rod cavity, d1 is the inner diameter of the bucket hydraulic cylinder with rod cavity, P 11 is the pressure of the rodless chamber of the bucket hydraulic cylinder, P 12 It is the pressure in the rod chamber of the bucket hydraulic cylinder.

[0056] On the basis of ensuring accuracy, in order to further reduce the amount of model calculation, the real-time stroke of the hydraulic cylinder is obtained by using the bucket hydraulic cylinder stroke sensor, which is multiplied by the load elastic stiffness, and the derivative of the stroke, that is, the speed of the bucket hydraulic cylinder, is obtained by difference. The speed is multiplied by the equivalent viscous damping coefficient to obtain the damping force, and the speed of the bucket hydraulic cylinder is further differentiated to obtain the acceleration of the hydraulic cylinder. The equivalent mass acting on the hinge point of the rocker and the bucket hydraulic cylinder is calculated by the bucket size parameters, and the acceleration is multiplied by the equivalent mass acting on the hinge point of the bucket and the rocker. Finally, the equivalent load force acting on the hinge point of the bucket and the rocker is calculated. At this time, the calculated hydraulic cylinder thrust, stroke multiplied by the load elastic stiffness, speed multiplied by the viscous damping coefficient, acceleration multiplied by the equivalent mass, and equivalent load force are added and equal to obtain the force balance formula.

[0057] The force balance formula (model) is:

[0058]

[0059] Where K is the load elastic stiffness, B p is the equivalent viscous damping coefficient, M is the equivalent mass acting on the hinge point between bucket and rocker, F L is the equivalent load force acting on the hinge point between bucket and rocker, y is the stroke, is the speed of the hydraulic cylinder, is the acceleration of the hydraulic cylinder.

[0060] The equivalent viscous damping coefficient B p The calculation formula is:

[0061]

[0062] Among them, B p is the equivalent viscous damping coefficient, B is the viscous damping coefficient, x is the length of the piston rod of the bucket hydraulic cylinder, r is the distance between the bucket hydraulic cylinder and the rocker hinge point and the bucket and the connecting rod hinge point, ω is the angular velocity of the rocker rotation, is the angle between the bucket hydraulic cylinder and the rocker arm, θ is the angle between the bucket and the rocker arm, m is the weight of the object in the bucket, and R is the distance from the bucket center of mass to the hinge point between the bucket and the boom.

[0063] The calculation formula for equivalent load force is:

[0064]

[0065] Among them, F L is the equivalent load force acting on the hinge point between bucket and connecting rod, B pis the equivalent viscous damping coefficient, M is the equivalent mass acting on the hinge point between the rocker and the bucket hydraulic cylinder, θ is the angle between the bucket and the rocker, m is the weight of the required object in the bucket, g is the gravitational acceleration, The speed of the bucket hydraulic cylinder movement, Acceleration of bucket hydraulic cylinder movement.

[0066] The calculation formula for the speed of bucket hydraulic cylinder movement is as follows:

[0067]

[0068] The calculation formula for the acceleration of the bucket hydraulic cylinder movement is as follows:

[0069]

[0070] Where x is the length of the bucket hydraulic cylinder piston rod, r is the distance between the bucket hydraulic cylinder and the arm hinge point and the connecting line between the bucket hydraulic cylinder and the bucket hinge point, ω is the rocker rotation angular velocity, is the angle between the bucket hydraulic cylinder and the rocker arm, is the angular velocity of the joystick rotation angle.

[0071] In the above formula, B can be obtained through the temperature sensor installed in the bucket hydraulic cylinder. This physical quantity is correlated with temperature, and the relationship between temperature and viscous damping coefficient can be deduced based on the hydraulic oil of different materials. The real-time viscous damping coefficient can be calculated using the real-time temperature. All quantities are known, and there is only one unknown quantity m in the formula, which can calculate the weight of the material in the bucket.

[0072] In order to further reduce the economic cost, the stroke can be replaced by the bucket angle, that is, the stroke sensor is not needed, but the relationship between the bucket hydraulic cylinder stroke and the bucket angle needs to be found out, and a coefficient needs to be obtained. The coefficient is multiplied by the stroke formula to obtain the force balance relationship about the bucket angle.

[0073] Example 2

[0074] This embodiment provides a new weighing system for a hydraulic excavator, comprising:

[0075] The model building module is configured to: establish a force balance model with a hinge point between the rocker arm and the bucket hydraulic cylinder as a force balance point;

[0076] The first calculation module is configured to: obtain the real-time stroke of the bucket hydraulic cylinder, calculate the speed and acceleration of the bucket hydraulic cylinder according to the real-time stroke of the bucket hydraulic cylinder, and calculate the damping force according to the speed of the bucket hydraulic cylinder and the equivalent viscous damping coefficient;

[0077] The second calculation module is configured to: calculate the equivalent mass acting on the hinge point between the rocker arm and the bucket hydraulic cylinder through the bucket size parameters, and calculate the equivalent load force acting on the hinge point between the bucket and the connecting rod according to the equivalent mass, the damping force, the acceleration of the bucket hydraulic cylinder movement, and the angle between the bucket and the rocker arm;

[0078] The model output module is configured to: input the above parameters into the force balance model to calculate the weight of the heavy object in the bucket.

[0079] It should be noted that the above modules correspond to the steps described in Example 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Example 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer executable instructions.

[0080] In further embodiments, there is also provided:

[0081] An electronic device includes a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in Embodiment 1 is performed. For the sake of brevity, it will not be described in detail here.

[0082] It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general-purpose processors, digital signal processors DSP, application-specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0083] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0084] A computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the method described in Example 1 is completed.

[0085] The method in Example 1 can be directly embodied as a hardware processor, or a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it is not described in detail here.

[0086] A computer program product includes a computer program, and when the computer program is executed by a processor, the method described in embodiment 1 is implemented.

[0087] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer executable instructions, such as instructions included in a program module, which are executed in a device on a real or virtual processor of the target to perform the process / method as described above. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of program modules can be combined or divided between program modules as needed. Machine executable instructions for program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in local and remote storage media.

[0088] The computer program code for implementing the method of the present invention can be written in one or more programming languages. These computer program codes can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the computer or other programmable data processing device, causes the function / operation specified in the flow chart and / or block diagram to be implemented. The program code can be executed completely on a computer, partially on a computer, as an independent software package, partially on a computer and partially on a remote computer or completely on a remote computer or server.

[0089] In the context of the present invention, computer program codes or related data may be carried by any appropriate carrier to enable a device, apparatus or processor to perform the various processes and operations described above. Examples of carriers include signals, computer readable media, and the like. Examples of signals may include electrical, optical, radio, acoustic or other forms of propagation signals, such as carrier waves, infrared signals, and the like.

[0090] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0091] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A novel weighing method for hydraulic excavator, characterized in that: The following steps are involved: The force balance model is established with the hinge point between the rocker and the bucket hydraulic cylinder as the force balance point; Acquire the real-time stroke of the bucket hydraulic cylinder, calculate the speed and acceleration of the bucket hydraulic cylinder according to the real-time stroke of the bucket hydraulic cylinder, and calculate the damping force according to the speed of the bucket hydraulic cylinder and the equivalent viscous damping coefficient; The equivalent mass acting on the hinge point between the rocker arm and the bucket hydraulic cylinder is calculated by using the bucket size parameters. The equivalent load force acting on the hinge point between the bucket and the connecting rod is calculated based on the equivalent mass, damping force, the acceleration of the bucket hydraulic cylinder movement, and the angle between the bucket and the rocker arm. The above parameters are input into the force balance model to calculate the weight of the heavy object in the bucket.

2. A novel weighing method for hydraulic excavators as claimed in claim 1, characterized in that: The force balance model is: Where K is the load elastic stiffness, B p is the equivalent viscous damping coefficient, M is the equivalent mass acting on the hinge point between the rocker and the bucket hydraulic cylinder, and F L is the equivalent load force acting on the hinge point between bucket and connecting rod.

3. A novel weighing method for hydraulic excavator as claimed in claim 1, characterized in that: The calculation formula of the equivalent viscous damping coefficient is: Among them, B p is the equivalent viscous damping coefficient, B is the viscous damping coefficient, x is the length of the piston rod of the bucket hydraulic cylinder, r is the distance between the bucket hydraulic cylinder and the boom hinge point and the connecting line between the bucket hydraulic cylinder and the bucket hinge point, ω is the angular velocity of the rocker arm, is the angle between the bucket hydraulic cylinder and the rocker arm, θ is the angle between the bucket and the rocker arm, and m is the weight of the object required in the bucket.

4. A novel weighing method for hydraulic excavator as claimed in claim 1, characterized in that: The speed and acceleration of the bucket hydraulic cylinder are calculated based on the real-time stroke of the bucket hydraulic cylinder, specifically: The bucket hydraulic cylinder stroke sensor is used to obtain the real-time stroke of the bucket hydraulic cylinder. The real-time stroke of the bucket hydraulic cylinder is multiplied by the elastic stiffness. The calculated result is differentiated to obtain the speed of the bucket hydraulic cylinder. The speed of the bucket hydraulic cylinder is further differentiated to obtain the acceleration of the hydraulic cylinder.

5. A novel weighing method for a hydraulic excavator as claimed in claim 1, characterized in that: The calculation formula for the equivalent load force is: Among them, F L is the equivalent load force acting on the hinge point between bucket and connecting rod, B p is the equivalent viscous damping coefficient, M is the equivalent mass acting on the hinge point between the rocker and the bucket hydraulic cylinder, θ is the angle between the bucket and the rocker, m is the weight of the required object in the bucket, g is the gravitational acceleration, The speed of the bucket hydraulic cylinder movement, Acceleration of bucket hydraulic cylinder movement.

6. A novel weighing method for hydraulic excavator as claimed in claim 4, characterized in that: The calculation formula for the speed of bucket hydraulic cylinder movement is as follows: The calculation formula for the acceleration of the bucket hydraulic cylinder movement is as follows: Where x is the length of the bucket hydraulic cylinder piston rod, r is the distance between the bucket hydraulic cylinder and the arm hinge point and the connecting line between the bucket hydraulic cylinder and the bucket hinge point, ω is the rocker rotation angular velocity, It is the angle between the bucket hydraulic cylinder and the rocker arm.

7. A new weighing system for hydraulic excavators, characterized in that: include: The model building module is configured to: establish a force balance model with a hinge point between the rocker arm and the bucket hydraulic cylinder as a force balance point; The first calculation module is configured to: obtain the real-time stroke of the bucket hydraulic cylinder, calculate the speed and acceleration of the bucket hydraulic cylinder according to the real-time stroke of the bucket hydraulic cylinder, and calculate the damping force according to the speed of the bucket hydraulic cylinder and the equivalent viscous damping coefficient; The second calculation module is configured to: calculate the equivalent mass acting on the hinge point between the rocker arm and the bucket hydraulic cylinder through the bucket size parameters, and calculate the equivalent load force acting on the hinge point between the bucket and the connecting rod according to the equivalent mass, the damping force, the acceleration of the bucket hydraulic cylinder movement, and the angle between the bucket and the rocker arm; The model output module is configured to: input the above parameters into the force balance model to calculate the weight of the heavy object in the bucket.

8. An electronic device, characterized in that: The method comprises a memory and a processor and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method according to any one of claims 1 to 6 is completed.

9. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, complete the method described in any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

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