Control method and device of electronic valve and electronic equipment

Abstract

The invention provides a control method and device of an electronic valve and electronic equipment, and relates to the technical field of automatic control, and the method comprises the following steps: responding to a power-on operation of the electronic valve, and obtaining operation parameters of the electronic valve; judging whether the operation parameters meet preset control conditions or not; and if so, stopping the rotation of the motor corresponding to the electronic valve. According to the control method and device of the electronic valve and the electronic equipment, the power-on operation of the electronic valve can be responded, the operation parameters of the electronic valve are obtained, and whether the operation parameters meet the preset control conditions or not is judged; if yes, the motor corresponding to the electronic valve is stopped from rotating, the operation parameters comprise the current parameter of the electronic valve or the Hall parameter of the electronic valve, the torque of the electronic valve can be directly monitored, then the situation that the electronic valve directly collides with the mechanical stop position with the large torque is avoided, and therefore the risks of rotation blocking and tooth breaking of the electronic valve can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and in particular to a control method, device and electronic equipment of an electronic valve. Background Art

[0002] In the water circulation system of new energy vehicles, electronic valves are usually installed. The vehicle collects the real-time temperature of the drive motor, battery and cockpit, analyzes their heat demand, and adjusts the liquid flow to various locations through electronic valves, so that the motor, battery and cockpit are in an ideal temperature environment and energy is used efficiently.

[0003] When the electronic valve is used for the first time, it needs to be initialized to find the initial position. In the prior art, the electronic valve is initialized to hit the mechanical stop position with a fixed duty cycle, so when the vehicle is actually used in different working conditions, there is a risk of the electronic valve being blocked and the risk of broken teeth, which affects the performance of the entire vehicle. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a control method, device and electronic equipment of an electronic valve to alleviate the above technical problems.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling an electronic valve, the method comprising: in response to a power-on operation of the electronic valve, obtaining operating parameters of the electronic valve, wherein the operating parameters include current parameters of the electronic valve, or Hall parameters of the electronic valve; determining whether the operating parameters meet preset control conditions; if so, stopping the rotation of a motor corresponding to the electronic valve.

[0006] In combination with the first aspect, an embodiment of the present invention provides a first possible implementation of the first aspect, wherein the above-mentioned step of obtaining the operating parameters of the electronic valve includes: if the operating parameter is the current parameter of the electronic valve, starting a preconfigured current sampling circuit; sampling the current parameter of the electronic valve through the current sampling circuit; and determining the sampled current parameter as the operating parameter of the electronic valve.

[0007] In combination with the first aspect, an embodiment of the present invention provides a second possible implementation of the first aspect, wherein the above-mentioned step of obtaining the operating parameters of the electronic valve further includes: if the operating parameters are the Hall parameters of the electronic valve, starting a pre-configured Hall sampling circuit; sampling the Hall parameters of the electronic valve through the Hall sampling circuit; and determining the sampled Hall parameters as the operating parameters of the electronic valve.

[0008] In combination with the first or second possible implementation of the first aspect, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the above-mentioned step of determining whether the operating parameters meet the pre-set control conditions includes: generating a parameter change curve for the sampled operating parameters; calculating the change amount of the operating parameters based on the parameter change curve; determining whether the change amount is greater than a pre-configured change threshold; if so, it means that the operating parameters meet the pre-set control conditions.

[0009] In combination with the third possible implementation of the first aspect, an embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein the step of calculating the change amount of the operating parameter according to the parameter change curve includes: calculating the slope of the parameter change according to the parameter change curve; and determining the slope as the change amount of the operating parameter.

[0010] In combination with the fourth possible implementation of the first aspect, an embodiment of the present invention provides a fifth possible implementation of the first aspect, wherein the above-mentioned step of judging whether the change amount is greater than a preconfigured change threshold comprises: obtaining the current power supply voltage of the electronic valve and the temperature parameters of the environment in which the electronic valve is located; searching for the slope setting value corresponding to the power supply voltage and the temperature parameter in a preconfigured slope change table; wherein the slope change table pre-records the slope setting values ​​corresponding to different temperature parameter intervals under different power supply voltages; determining the slope setting value found as the change threshold; judging whether the slope is greater than the found change threshold; if so, determining that the change amount is greater than the preconfigured change threshold.

[0011] In combination with the fourth possible implementation of the first aspect, an embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the above-mentioned step of determining whether the change in the current parameter is greater than a preconfigured change threshold value further includes: acquiring the slope at a preset time interval; if the difference between the slope currently acquired and the slope previously acquired is greater than a preset difference threshold value, determining that the change is greater than the preconfigured change threshold value.

[0012] In a second aspect, an embodiment of the present invention further provides a control device for an electronic valve, the device comprising: a response module, used to respond to the power-on operation of the electronic valve and obtain operating parameters of the electronic valve, wherein the operating parameters include current parameters of the electronic valve, or Hall parameters of the electronic valve; a judgment module, used to judge whether the operating parameters meet pre-set control conditions; and a control module, used to stop the rotation of the motor corresponding to the electronic valve when the judgment result of the judgment module is yes.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in the first aspect above is implemented.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] The control method, device and electronic device of the electronic valve provided in the embodiments of the present invention can respond to the power-on operation of the electronic valve, obtain the operating parameters of the electronic valve, and determine whether the operating parameters meet the pre-set control conditions; if so, stop the rotation of the motor corresponding to the electronic valve, and the above-mentioned operating parameters include the current parameters of the electronic valve, or the Hall parameters of the electronic valve, which can directly monitor the torque of the electronic valve, thereby preventing the electronic valve from directly hitting the mechanical stop position with a large torque, thereby reducing the risk of electronic valve jamming and tooth breakage.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A flow chart of a method for controlling an electronic valve provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a current sampling circuit provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of a Hall sampling circuit provided by an embodiment of the present invention;

[0023] Figure 4 A parameter variation curve of a current parameter provided by an embodiment of the present invention;

[0024] Figure 5 A schematic structural diagram of a control device for an electronic valve provided by an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] At present, during the initialization process of the electronic valve, the mechanical stop position is hit with a fixed duty cycle. Therefore, when the vehicle is actually used in different working conditions, there is a risk of the electronic valve being blocked and there may also be a risk of tooth breakage, which in turn affects the performance of the entire vehicle.

[0028] Based on this, an electronic valve control method, device and electronic equipment provided by the embodiments of the present invention can effectively alleviate the above technical problems.

[0029] To facilitate understanding of this embodiment, a control method for an electronic valve disclosed in an embodiment of the present invention is first introduced in detail.

[0030] In a possible implementation manner, an embodiment of the present invention provides a method for controlling an electronic valve, such as Figure 1 A flow chart of a method for controlling an electronic valve is shown, the method comprising the following steps:

[0031] Step S102, in response to the power-on operation of the electronic valve, obtaining the operating parameters of the electronic valve;

[0032] The operating parameters in the embodiment of the present invention include current parameters of the electronic valve, or Hall parameters of the electronic valve;

[0033] Step S104, determining whether the operating parameters meet the preset control conditions;

[0034] Step S106: if yes, stop the motor corresponding to the electronic valve from rotating.

[0035] In actual use, when the electronic valve is powered on, the operating parameters can be obtained according to the preset time interval. For example, the time interval can be set small enough to realize real-time acquisition of the operating parameters, and then when the operating parameters meet the control conditions, the impact of the electronic valve body on the mechanical stop position can be timely reduced.

[0036] Therefore, the control method of the electronic valve provided in the embodiment of the present invention can respond to the power-on operation of the electronic valve, obtain the operating parameters of the electronic valve, and determine whether the operating parameters meet the pre-set control conditions; if so, stop the rotation of the motor corresponding to the electronic valve, and the above-mentioned operating parameters include the current parameters of the electronic valve, or the Hall parameters of the electronic valve, which can directly monitor the torque of the electronic valve, thereby preventing the electronic valve from directly hitting the mechanical stop position with a large torque, thereby reducing the risk of electronic valve jamming and tooth breaking.

[0037] In actual use, the above operating parameters can be configured according to actual use requirements, that is, whether to select current parameters or Hall parameters as operating parameters can be set according to actual use conditions, and the embodiment of the present invention does not limit this.

[0038] Furthermore, in order to obtain the operating parameters, in the embodiment of the present invention, a current sampling circuit and a Hall sampling circuit may be pre-configured in the control circuit of the electronic valve. Thus, when obtaining the operating parameters of the electronic valve, if the pre-configured operating parameters are the current parameters of the electronic valve, the pre-configured current sampling circuit is started; the current parameters of the electronic valve are sampled by the current sampling circuit; and the sampled current parameters are determined as the operating parameters of the electronic valve.

[0039] For ease of understanding, Figure 2 A schematic diagram of a current sampling circuit is shown, such as Figure 2 As shown, it includes an input terminal IN and an output terminal OUT, wherein the input terminal IN is connected to the input terminal of the electronic valve to sample the current parameters flowing through the electronic valve, and the output terminal is connected to a controller, such as the controller of the control circuit of the electronic valve, so that the controller can monitor the current parameters flowing through the electronic valve in real time.

[0040] Specifically, the current is input from the input terminal IN, passes through the operational amplifier U1, and then enters the controller MCU from the output terminal for collection, and, Figure 2 The resistors R1, R2 and R4 at the input end and the resistor R3 at the output end are also output. In addition, the grounding capacitors C1, C2 and C3 are also shown. It should be understood that Figure 2 What is shown is only one possible current sampling circuit. In other implementations, the current sampling circuit may be configured according to actual usage, and the embodiment of the present invention is not limited thereto.

[0041] Furthermore, if the above operating parameters are Hall parameters of the electronic valve, a pre-configured Hall sampling circuit is started; the Hall parameters of the electronic valve are sampled by the Hall sampling circuit; and the sampled Hall parameters are determined as the operating parameters of the electronic valve.

[0042] For ease of understanding, Figure 3 A schematic diagram of a Hall sampling circuit is shown, such as Figure 3 As shown, U2 is a Hall switch, and the controller MCU collects Hall parameters from the output terminal OUT and counts, where: Figure 3 In FIG. 1 , the peripheral resistors R1 and R2 of the Hall switch and the supply voltage VCC are also shown. It should be understood that Figure 3 What is shown is only one possible Hall sampling circuit. In other implementations, the Hall sampling circuit may also be configured according to actual usage, and the embodiment of the present invention is not limited to this.

[0043] Furthermore, for the above-mentioned current parameters or Hall parameters, a parameter change curve can be generated for the sampled operating parameters; then the change amount of the operating parameters is calculated according to the parameter change curve; and it is further determined whether the change amount is greater than a pre-configured change threshold; if so, it means that the operating parameters meet the pre-set control conditions.

[0044] Specifically, when calculating the change amount of the operating parameter, the slope of the parameter change may be calculated according to the parameter change curve; and the slope may be determined as the change amount of the operating parameter.

[0045] Furthermore, when judging whether the change at this time is greater than the pre-configured change threshold, it is necessary to consider the current operating environment of the electronic valve, that is, obtain the current power supply voltage of the electronic valve, and the temperature parameters of the environment in which the electronic valve is located; search for the slope setting value corresponding to the power supply voltage and temperature parameters in the pre-configured slope change table; wherein the slope change table pre-records the slope setting values ​​corresponding to different temperature parameter intervals under different power supply voltages; then the slope setting value found is determined as the change threshold; further judge whether the slope is greater than the found change threshold, and if so, determine that the change is greater than the pre-configured change threshold.

[0046] In addition, when judging whether the change is greater than a pre-configured change threshold, the above slope can also be obtained according to a pre-set time interval. If the difference between the currently obtained slope and the previously obtained slope is greater than the preset difference threshold, it is determined that the change is greater than the pre-configured change threshold.

[0047] For ease of understanding, take the current parameter as an example. Figure 4FIG. 1 shows a parameter change curve of a current parameter, that is, the change relationship between the current parameter and time after the electronic valve is powered on, wherein the horizontal axis represents time in milliseconds, and the vertical axis represents current in milliamperes. Moreover, after the electronic valve is powered on, the current parameter gradually increases with time. When the slope change is large, such as Figure 4 The position indicated by the arrow in the middle indicates that the current parameter rises quickly, the torque of the electronic valve increases quickly, and it is easy for the large torque of the electronic valve to hit the mechanical stop position. Therefore, the above calculation of the change and the judgment process with the change threshold can immediately detect the phenomenon of large changes in operating parameters.

[0048] Further, the following Table 1 shows a possible implementation of a slope change table, which respectively shows the temperature parameter ranges corresponding to different power supply voltages, and the slope setting values ​​T corresponding to the temperature parameter ranges. Taking T1 as an example, T1 represents the slope setting value corresponding to -40°C to 25°C, T2 represents the slope setting value corresponding to 25°C to 90°C, and so on.

[0049] Table 1:

[0050]

[0051] In actual use, based on the above Table 1, the slope setting value T can be determined according to the current supply voltage value of the electronic valve and the ambient temperature. The electronic valve can collect the current value or Hall number every 50ms as the current parameter or Hall parameter, calculate the difference of the current value or Hall number, and divide the difference by 50ms to get the corresponding current value or Hall number slope. When it is detected that the current value or Hall number slope of the electronic valve is greater than the set value T, the motor is stopped, or the slope calculated currently is compared with the slope calculated last time. If the current calculated slope minus the previous calculated slope is greater than X, the motor is stopped. Both methods can reduce the impact of the valve body of the electronic valve on the mechanical stop position, avoid direct large torque hitting the mechanical stop position, and thus reduce the risk of electronic valve blocking and broken teeth.

[0052] Further, based on the above embodiments, the present invention also provides a control device for an electronic valve, such as Figure 5 A schematic structural diagram of a control device for an electronic valve is shown, the device comprising:

[0053] A response module 50, configured to respond to the power-on operation of the electronic valve and obtain operating parameters of the electronic valve, wherein the operating parameters include current parameters of the electronic valve or Hall parameters of the electronic valve;

[0054] A judging module 52 is used to judge whether the operating parameters meet the preset control conditions;

[0055] The control module 54 is used to stop the motor corresponding to the electronic valve from rotating when the judgment result of the judgment module is yes.

[0056] The electronic valve control device provided in the embodiment of the present invention has the same technical features as the electronic valve control method provided in the above embodiment, and can therefore solve the same technical problems and achieve the same technical effects.

[0057] Furthermore, an embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0058] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are executed.

[0059] Furthermore, an embodiment of the present invention also provides a schematic diagram of the structure of an electronic device, such as Figure 6 As shown, it is a schematic diagram of the structure of the electronic device, wherein the electronic device includes a processor 61 and a memory 60, the memory 60 stores computer executable instructions that can be executed by the processor 61, and the processor 61 executes the computer executable instructions to implement the above method.

[0060] exist Figure 6 In the illustrated embodiment, the electronic device further includes a bus 62 and a communication interface 63 , wherein the processor 61 , the communication interface 63 and the memory 60 are connected via the bus 62 .

[0061] Among them, the memory 60 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 62 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 62 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0062] The processor 61 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 61 or the instructions in the form of software. The above processor 61 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding 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 61 reads the information in the memory and completes the above method in combination with its hardware.

[0063] The electronic valve control method, device and computer program product of the electronic device provided in the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments and will not be repeated here.

[0064] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0065] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0067] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0068] Finally, it should be noted that the above embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for controlling an electronic valve, characterized in that: The method comprises: In response to the power-on operation of the electronic valve, an operating parameter of the electronic valve is acquired, wherein the operating parameter includes a current parameter of the electronic valve or a Hall parameter of the electronic valve; Determining whether the operating parameters meet preset control conditions; If yes, the motor corresponding to the electronic valve is stopped from rotating.

2. The method according to claim 1, characterized in that The step of obtaining the operating parameters of the electronic valve comprises: If the operating parameter is a current parameter of the electronic valve, a pre-configured current sampling circuit is started; Sampling the current parameter of the electronic valve through the current sampling circuit; The sampled current parameter is determined as an operating parameter of the electronic valve.

3. The method according to claim 1, characterized in that: The step of obtaining the operating parameters of the electronic valve further includes: If the operating parameter is a Hall parameter of the electronic valve, a pre-configured Hall sampling circuit is started; Sampling the Hall parameters of the electronic valve by means of the Hall sampling circuit; The sampled Hall parameters are determined as operating parameters of the electronic valve.

4. The method according to claim 2 or 3, characterized in that: The step of determining whether the operating parameters meet the preset control conditions comprises: Generating a parameter variation curve for the sampled operating parameters; Calculating the change amount of the operating parameter according to the parameter change curve; Determining whether the change amount is greater than a pre-configured change threshold; If yes, it means that the operating parameters meet the preset control conditions.

5. The method according to claim 4, characterized in that The step of calculating the change amount of the operating parameter according to the parameter change curve comprises: Calculating the slope of parameter change according to the parameter change curve; The slope is determined as the amount of change in the operating parameter.

6. The method according to claim 5, characterized in that The step of determining whether the change amount is greater than a pre-configured change threshold comprises: Acquire the current power supply voltage of the electronic valve and the temperature parameter of the environment where the electronic valve is located; Searching for the slope setting value corresponding to the supply voltage and the temperature parameter in a pre-configured slope change table; wherein the slope setting value corresponding to different temperature parameter intervals under different supply voltages is pre-recorded in the slope change table; Determining the slope setting value found as the change threshold; Determine whether the slope is greater than the found change threshold; If so, it is determined that the change amount is greater than a preconfigured change threshold.

7. The method according to claim 5, characterized in that The step of determining whether the change in the current parameter is greater than a pre-configured change threshold further includes: Acquiring the slope at preset time intervals; If the difference between the slope currently acquired and the slope previously acquired is greater than a preset difference threshold, it is determined that the change amount is greater than a preconfigured change threshold.

8. A control device for an electronic valve, characterized in that: The device comprises: A response module, used for responding to the power-on operation of the electronic valve to obtain the operation parameters of the electronic valve, wherein the operation parameters include the current parameters of the electronic valve, or the Hall parameters of the electronic valve; A judgment module, used to judge whether the operating parameters meet the preset control conditions; The control module is used to stop the rotation of the motor corresponding to the electronic valve when the judgment result of the judgment module is yes.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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