Frame loader control method, device, equipment and storage medium

Abstract

The present invention discloses a frame loader control method, device, equipment and storage medium, and belongs to the technical field of aluminum profile production. The present invention obtains the profile specification information and positioning information of the target aluminum profile in the incoming frame of the frame loader; determines the grabbing position range of the target aluminum profile according to the profile specification information and the positioning information; determines the grabbing position and grabbing force corresponding to the target aluminum profile according to the material discharge position of the grabber of the frame loader and the grabbing position range; controls the grabber according to the grabbing position and the grabbing force, thereby achieving the technical effect of improving the quality of aluminum profile production.

Description

Technical Field

[0001] The present invention relates to the field of aluminum profile production, and in particular to a frame assembly machine control method, device, equipment and storage medium. Background Art

[0002] The framing machine is generally a device that is transported by the user after the production of aluminum profiles is completed. Compared with other metal workpieces, aluminum profiles are products with a certain cross-sectional shape produced through an extrusion process, and generally have various complex cross-sectional shapes. In the framing process, the current framing mechanical grippers generally use a fixed control method when grabbing aluminum profiles, which is prone to scratches or deformation, resulting in low final production quality of aluminum profiles.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a frame machine control method, device, equipment and storage medium, aiming to improve the quality of aluminum profile production. To achieve the above purpose, the present invention provides a frame machine control method, the frame machine control method comprising the following steps:

[0005] Obtaining profile specification information and positioning information of a target aluminum profile in an incoming frame of a frame assembling machine;

[0006] Determine a grabbing position range of the target aluminum profile according to the profile specification information and the positioning information;

[0007] Determine the gripping position and gripping force corresponding to the target aluminum profile according to the material discharge position of the gripper of the framing machine and the gripping position range;

[0008] The gripper is controlled according to the gripping position and the gripping force.

[0009] Optionally, the step of obtaining the profile specification information and positioning information of the target aluminum profile in the incoming frame of the frame assembling machine includes:

[0010] Obtaining a design drawing of the target aluminum profile, and controlling a camera to capture image information of the target aluminum profile;

[0011] Verifying the design drawing according to the image information, and determining the specification information of the target aluminum profile;

[0012] The positioning information of the target aluminum profile in the incoming material frame is determined according to the image information.

[0013] Optionally, the profile specification information includes: weight information, wall thickness information and material information, and the step of determining the grabbing position range of the target aluminum profile according to the profile specification information and the positioning information includes:

[0014] calculating a minimum grasping force based on the weight information;

[0015] Determine the maximum force corresponding to each plate position of the target aluminum profile according to the wall thickness information and the material information;

[0016] The gripping position range is determined according to the minimum gripping force and the maximum force corresponding to each plate position.

[0017] Optionally, the grabbing position range includes: a plurality of plate positions, and the step of determining the grabbing position and grabbing force corresponding to the target aluminum profile according to the discharge position of the gripper of the framing machine and the grabbing position range includes:

[0018] Calculate the distances between the discharge position and the plurality of plate positions to obtain a plurality of gripper movement distances;

[0019] Sorting the plurality of sheet metal locations according to the plurality of gripper movement distances to obtain a sorting result, wherein the shorter the gripper movement distance, the higher the corresponding sheet metal location ranking;

[0020] The grasping position is determined according to the sorting result, and the grasping force is determined according to the grasping position.

[0021] Optionally, the step of determining the grasping force according to the grasping position includes:

[0022] The grasping force is calculated according to the maximum force corresponding to the grasping position and the minimum grasping force of the aluminum profile.

[0023] Optionally, the step of controlling the gripper according to the gripping position and the gripping force comprises:

[0024] Determining a moving path of the gripper according to the grasping position, and determining corresponding movement data according to the moving path;

[0025] The gripper is controlled to operate according to the movement data and the gripping force.

[0026] Optionally, after the step of controlling the gripper according to the gripping position and the gripping force, the method further comprises:

[0027] Recording the material placement position of the gripper in the material placement frame;

[0028] When the target aluminum profile exists in the incoming material frame, the process returns to the step of obtaining the profile specification information and positioning information of the target aluminum profile in the incoming material frame of the framing machine.

[0029] In addition, to achieve the above-mentioned purpose, the present invention further provides a frame loading machine control device, the frame loading machine control device comprising:

[0030] An acquisition module, used to acquire profile specification information and positioning information of a target aluminum profile in an incoming frame of a frame assembling machine;

[0031] An identification module, used to determine a grabbing position range of the target aluminum profile according to the profile specification information and the positioning information;

[0032] A selection module, used to determine the gripping position and gripping force corresponding to the target aluminum profile according to the discharge position of the gripper of the framing machine and the gripping position range;

[0033] An execution module is used to control the gripper according to the gripping position and the gripping force.

[0034] In addition, to achieve the above-mentioned purpose, the present invention also provides a framing machine, which includes: a memory, a processor, and a framing machine control program stored in the memory and executable on the processor, wherein the framing machine control program is configured to implement the steps of any of the framing machine control methods described above.

[0035] In addition, to achieve the above-mentioned purpose, the present invention further provides a storage medium, on which a frame loader control program is stored, and when the frame loader control program is executed by a processor, the steps of any one of the above-mentioned frame loader control methods are implemented.

[0036] The present invention proposes a framing machine control method, which determines the grasping position range of the target aluminum profile through the profile specification information and the positioning information; in fact, it avoids the deformation caused by the force of the aluminum profile during the grasping process, and determines the grasping position and grasping force corresponding to the target aluminum profile according to the discharge position of the gripper of the framing machine and the grasping position range. Compared with the traditional framing machine, the gripper is controlled according to the grasping position and the grasping force, so that the gripper of the framing machine can adaptively grasp the aluminum profile, thereby improving the quality of the aluminum profile while ensuring the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of a frame loader in a hardware operating environment involved in an embodiment of the present invention;

[0038] Figure 2 It is a flowchart of a first embodiment of a frame assembling machine control method of the present invention;

[0039] Figure 3 It is a flow chart of a second embodiment of the frame assembling machine control method of the present invention;

[0040] Figure 4 It is a flow chart of a third embodiment of the frame assembling machine control method of the present invention;

[0041] Figure 5 It is a flowchart diagram of a fourth embodiment of a frame assembling machine control method of the present invention;

[0042] Figure 6 Schematic diagram of the flow chart of the fifth embodiment of the frame assembling machine control method of the present invention

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0045] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of a frame loader in the hardware operating environment involved in the embodiment of the present invention.

[0046] like Figure 1 As shown, the frame loader may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, an interactive device 1003, a network interface 1004 and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The interactive device 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional interactive device 1003 may also be connected to the communication bus through a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the frame loader, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0048] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and a frame loader control program.

[0049] exist Figure 1 In the frame loader shown, the network interface 1004 is mainly used for data communication with other devices; the interactive device 1003 is mainly used for data interaction with users; the processor 1001 and the memory 1005 in the frame loader of the present invention can be set in the frame loader, and the frame loader calls the frame loader control program stored in the memory 1005 through the processor 1001, and executes the frame loader control method provided by the embodiment of the present invention.

[0050] The embodiment of the present invention provides a frame assembling machine control method, referring to Figure 2 , Figure 2 It is a flowchart diagram of a first embodiment of a frame assembling machine control method of the present invention.

[0051] In this embodiment, the frame assembling machine control method includes:

[0052] Step S1, obtaining profile specification information and positioning information of a target aluminum profile in an incoming frame of a frame assembling machine;

[0053] In this embodiment, the profile specifications of the target aluminum profile are not limited. For example, the geometric shape of the cross section of the target aluminum profile can be square, round, rectangular, T-shaped, L-shaped, and H-shaped. In addition, the profile specification information can also include information such as the width, height, and wall thickness of the cross section. The positioning information is specifically the specific position and specific placement direction of the target aluminum profile in the incoming material frame. In addition, the profile specification information can also include the weight of the profile.

[0054] Step S2, determining a grabbing position range of the target aluminum profile according to the profile specification information and the positioning information;

[0055] Specifically, the center of gravity of the target aluminum profile is determined according to the profile specification information, and the position on the target aluminum profile that is less than a preset distance from the center of gravity can be used as a selectable grabbing aluminum profile position. The above method can ensure that the aluminum profile is not easy to overturn during the framing process. Of course, the above method can only determine the grabbable position of the aluminum profile, and cannot determine that the aluminum profile will not be deformed or scratched during the grabbing process. Furthermore, according to the profile specification information, a position that will not be deformed during the grabbing process is selected from the selectable grabbable aluminum profile positions. After obtaining the grabbable position of the aluminum profile, the grabbing position range of the target aluminum profile is determined based on the grabbable position of the aluminum profile and the positioning information.

[0056] Step S3, determining the gripping position and gripping force corresponding to the target aluminum profile according to the material discharge position of the gripper of the framing machine and the gripping position range;

[0057] During the continuous operation of the frame machine, the gripper generally needs to return to the incoming frame after completing the discharge of the previous aluminum profile, that is, the discharge position of the gripper here is actually the position of the gripper after completing the frame before the current moment. In the grabbing position range, the position closest to the discharge position can be selected as the grabbing position in the grabbing position range, and the appropriate force can be selected as the grabbing force according to the grabbing position. This is because for the same aluminum profile transportation, the greater the gripping force, the more stable the aluminum profile can be during operation, and the greater the gripping force, the higher the probability of deformation and scratches on the aluminum profile during operation.

[0058] Step S4, controlling the gripper according to the gripping position and the gripping force.

[0059] In this embodiment, the control data of the control motor corresponding to the gripper is controlled according to the gripping position and the gripping force, so that the gripper can complete the framing work of the target aluminum profile.

[0060] In this embodiment, the gripping position range of the target aluminum profile is determined by the profile specification information and the positioning information; in fact, deformation caused by the force on the aluminum profile during the gripping process is avoided, and the gripping position and gripping force corresponding to the target aluminum profile are determined according to the discharge position of the gripper of the framing machine and the gripping position range. Compared with the traditional framing machine, the gripper is controlled according to the gripping position and the gripping force, so that the gripper of the framing machine can adaptively grip the aluminum profile, thereby improving the quality of the aluminum profile while ensuring the production efficiency.

[0061] Further, based on the first embodiment, a second embodiment of a frame assembling machine control method of the present invention is proposed. In this embodiment, referring to Figure 3 The step of obtaining the profile specification information and positioning information of the target aluminum profile in the incoming frame of the frame assembling machine includes:

[0062] Step S11, obtaining the design drawing of the target aluminum profile, and controlling the camera to capture image information of the target aluminum profile;

[0063] Here, the camera is used to obtain image data in the incoming material frame. When the target aluminum profile is in the incoming material frame, the image information is obtained, and the label information on the surface of the target aluminum profile, the shape information of the cross section of the aluminum profile, and the length information are determined based on the image information.

[0064] Step S12, verifying the design drawing according to the image information, and determining the specification information of the target aluminum profile;

[0065] Specifically, the image information is used to verify whether the target aluminum profile is consistent with the design content of the design drawing. Optionally, when the verification passes, the specification information is determined according to the design drawing; when the verification fails, the specification information is determined according to the image information, or a prompt message about the verification failure is issued.

[0066] Step S13, determining the positioning information of the target aluminum profile in the incoming material frame according to the image information.

[0067] The distance between the target aluminum profile and the incoming material frame is determined according to the image information, thereby determining the positioning information.

[0068] In this embodiment, the design drawing is verified through the image information, and the specification information of the target aluminum profile is determined. The positioning information of the target aluminum profile in the incoming material frame is determined based on the image information, thereby improving the accuracy of determining the grasping position and the grasping force in subsequent steps.

[0069] Further, based on the first embodiment or the second embodiment, a third embodiment of a frame assembling machine control method of the present invention is proposed. In this embodiment, referring to Figure 4 The profile specification information includes: weight information, wall thickness information and material information. The step of determining the grabbing position range of the target aluminum profile according to the profile specification information and the positioning information includes:

[0070] Step S21, calculating the minimum grasping force according to the weight information;

[0071] The minimum grasping force is calculated by multiplying the weight information by a conversion coefficient. Each gripper corresponds to a conversion coefficient. The area of ​​contact between the gripper and the grasped object is called the contact area. The conversion coefficient is negatively correlated with the contact area.

[0072] Step S22, determining the maximum force corresponding to each plate position of the target aluminum profile according to the wall thickness information and the material information;

[0073] The maximum force corresponding to each plate position of the target aluminum profile is determined according to the material information and the wall thickness information, and the relevant data can be stored in the force mapping table. The corresponding maximum force can be found in the force mapping table according to the wall thickness information and the material information.

[0074] Step S23, determining the grasping position range according to the minimum grasping force and the maximum force corresponding to each plate position.

[0075] In this embodiment, the minimum grasping force and the maximum force corresponding to each plate position are compared one by one, so as to determine the grasping position range that can be grasped.

[0076] In this embodiment, the minimum grasping force and the maximum force are calculated respectively, so that the position that can be grasped on the target aluminum profile can be determined.

[0077] Further, based on any of the above embodiments, a fourth embodiment of a frame assembling machine control method of the present invention is proposed. In this embodiment, referring to Figure 5 The grabbing position range includes: a plurality of plate positions, and the step of determining the grabbing position and grabbing force corresponding to the target aluminum profile according to the material discharge position of the gripper of the frame assembling machine and the grabbing position range includes:

[0078] Step S31, calculating the distances between the discharge position and the plurality of plate positions respectively to obtain a plurality of gripper movement distances;

[0079] The multiple gripper moving distances here correspond to the sheet site one by one, that is, one sheet site corresponds to one gripper moving distance. Optionally, the straight-line distance between the discharge position and the sheet site is calculated respectively, and the straight-line distance is used as the gripper moving distance. This calculation method is relatively simple, simulating the operation of the motor during the movement of the gripper between the discharge position and the sheet site, and calculating the gripper moving distance according to the operation of the motor. For example: the gripper movement is controlled by dual motors, and the displacement of the gripper driven by the dual motors is calculated to determine the gripper moving distance. The gripper moving distance calculated in this way is more accurate. Of course, in other embodiments, the power resources consumed by the motor during the movement of the gripper between the discharge position and each sheet site can be simulated, and the gripping position is determined by selecting the corresponding sheet site with the smallest power resources. The technical solution for determining the gripping position in this embodiment or the technical solution for determining the gripping position in other embodiments is determined according to the number of tasks.

[0080] Step S32, sorting the plurality of sheet metal locations according to the plurality of gripper movement distances to obtain a sorting result, wherein the shorter the gripper movement distance, the higher the corresponding sheet metal location is sorted;

[0081] According to the movement distances of the plurality of grippers, the plurality of plate locations are sorted from small to large to obtain a sorting result.

[0082] Step S33, determining the grasping position according to the sorting result, and determining the grasping force according to the grasping position.

[0083] In this embodiment, the distances are calculated between the discharge position and the plurality of sheet metal sites respectively to obtain a plurality of gripper movement distances; and the plurality of sheet metal sites are sorted according to the plurality of gripper movement distances to obtain a sorting result, wherein the shorter the gripper movement distance, the higher the corresponding sheet metal site is sorted; thereby, based on the last transportation of aluminum profiles, the site for the next grabbing is automatically selected, thereby taking into account both the efficiency of aluminum profile framing and resource saving.

[0084] Furthermore, the step of determining the grasping force according to the grasping position includes:

[0085] The grasping force is calculated according to the maximum force corresponding to the grasping position and the minimum grasping force of the aluminum profile.

[0086] It should be noted that, after the grasping position is determined, the grasping force may be any value between the maximum force and the minimum grasping force, or may be the maximum force or the minimum grasping force. Preferably, the grasping force may be the average value of the maximum force and the minimum grasping force.

[0087] In this embodiment, calculating the grasping force according to the maximum force corresponding to the grasping position and the minimum grasping force of the aluminum profile can actually select a more appropriate grasping force, thereby avoiding scratches or deformation of the target aluminum profile.

[0088] Further, based on any of the above embodiments, a fifth embodiment of a frame assembling machine control method of the present invention is proposed. In this embodiment, referring to Figure 6 , the step of controlling the gripper according to the gripping position and the gripping force comprises:

[0089] Step S41, determining a moving path of the gripper according to the gripping position, and determining corresponding movement data according to the moving path;

[0090] The moving path of the gripper is determined according to the grasping position, and corresponding motor control data is generated according to the moving path as the movement data.

[0091] Step S42, controlling the movement of the gripper according to the movement data and the gripping force.

[0092] Furthermore, after the step of controlling the gripper according to the gripping position and the gripping force, the method further includes:

[0093] Recording the material placement position of the gripper in the material placement frame;

[0094] In other embodiments, when no new target aluminum profile appears within a preset time, the gripper is controlled to return to a default position;

[0095] When the target aluminum profile exists in the incoming material frame, the process returns to the step of obtaining the profile specification information and positioning information of the target aluminum profile in the incoming material frame of the framing machine.

[0096] Optionally, a waiting time may be set, and when the presence of the target aluminum profile is detected in the incoming material frame during the waiting time, the process returns to the step of obtaining the profile specification information and positioning information of the target aluminum profile in the incoming material frame of the framing machine.

[0097] In addition, an embodiment of the present invention further provides a frame loading machine control device, the frame loading machine control device comprising:

[0098] An acquisition module, used to acquire profile specification information and positioning information of a target aluminum profile in an incoming frame of a frame assembling machine;

[0099] An identification module, used to determine a grabbing position range of the target aluminum profile according to the profile specification information and the positioning information;

[0100] A selection module, used to determine the gripping position and gripping force corresponding to the target aluminum profile according to the discharge position of the gripper of the framing machine and the gripping position range;

[0101] An execution module is used to control the gripper according to the gripping position and the gripping force.

[0102] In addition, an embodiment of the present invention further proposes a frame loader, which includes: a memory, a processor, and a frame loader control program stored in the memory and executable on the processor, wherein the frame loader control program is configured to implement the steps of any of the above-mentioned frame loader control methods.

[0103] In addition, an embodiment of the present invention further provides a storage medium, on which a frame loader control program is stored. When the frame loader control program is executed by a processor, the steps of any one of the above frame loader control methods are implemented.

[0104] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0105] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0106] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0107] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A frame assembling machine control method, characterized in that: The frame assembling machine control method comprises the following steps: Obtaining profile specification information and positioning information of a target aluminum profile in an incoming frame of a frame assembling machine; Determine a grabbing position range of the target aluminum profile according to the profile specification information and the positioning information; Determine the gripping position and gripping force corresponding to the target aluminum profile according to the material discharge position of the gripper of the framing machine and the gripping position range; controlling the gripper according to the gripping position and the gripping force; The profile specification information includes: weight information, wall thickness information and material information. The step of determining the grabbing position range of the target aluminum profile according to the profile specification information and the positioning information includes: calculating a minimum grasping force based on the weight information; Determine the maximum force corresponding to each plate position of the target aluminum profile according to the wall thickness information and the material information; The gripping position range is determined according to the minimum gripping force and the maximum force corresponding to each plate position.

2. The frame assembling machine control method according to claim 1, characterized in that: The step of obtaining the profile specification information and positioning information of the target aluminum profile in the incoming frame of the frame assembling machine includes: Obtaining a design drawing of the target aluminum profile, and controlling a camera to capture image information of the target aluminum profile; Verifying the design drawing according to the image information, and determining the specification information of the target aluminum profile; The positioning information of the target aluminum profile in the incoming material frame is determined according to the image information.

3. The frame assembling machine control method according to claim 1, characterized in that: The grabbing position range includes: a plurality of plate positions, and the step of determining the grabbing position and grabbing force corresponding to the target aluminum profile according to the material placement position of the gripper of the frame assembling machine and the grabbing position range includes: Calculate the distances between the discharge position and the plurality of plate positions to obtain a plurality of gripper movement distances; Sorting the plurality of sheet metal locations according to the plurality of gripper movement distances to obtain a sorting result, wherein the shorter the gripper movement distance, the higher the corresponding sheet metal location ranking; The grasping position is determined according to the sorting result, and the grasping force is determined according to the grasping position.

4. The frame assembling machine control method according to claim 3, characterized in that: The step of determining the grasping force according to the grasping position comprises: The grasping force is calculated according to the maximum force corresponding to the grasping position and the minimum grasping force of the aluminum profile.

5. The frame assembling machine control method according to claim 1, characterized in that: The step of controlling the gripper according to the gripping position and the gripping force comprises: Determining a moving path of the gripper according to the grasping position, and determining corresponding movement data according to the moving path; The gripper is controlled to operate according to the movement data and the gripping force.

6. The frame assembling machine control method according to any one of claims 1 to 5, characterized in that: After the step of controlling the gripper according to the gripping position and the gripping force, the method further includes: Recording the material placement position of the gripper in the material placement frame; When the target aluminum profile exists in the incoming material frame, the process returns to the step of obtaining the profile specification information and positioning information of the target aluminum profile in the incoming material frame of the framing machine.

7. A frame assembling machine control device, characterized in that: The frame assembling machine control device comprises: An acquisition module, used to acquire profile specification information and positioning information of a target aluminum profile in an incoming frame of a frame assembling machine; an identification module, for determining a grabbing position range of the target aluminum profile according to the profile specification information and the positioning information; the profile specification information includes: weight information, wall thickness information and material information, and the step of determining the grabbing position range of the target aluminum profile according to the profile specification information and the positioning information includes: calculating a minimum grabbing force according to the weight information; determining a maximum force corresponding to each plate position of the target aluminum profile according to the wall thickness information and the material information; and determining the grabbing position range according to the minimum grabbing force and the maximum force corresponding to each plate position; A selection module, used to determine the gripping position and gripping force corresponding to the target aluminum profile according to the discharge position of the gripper of the framing machine and the gripping position range; An execution module is used to control the gripper according to the gripping position and the gripping force.

8. A framing machine, characterized in that: The frame loader comprises: a memory, a processor, and a frame loader control program stored in the memory and executable on the processor, wherein the frame loader control program is configured to implement the steps of the frame loader control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a frame loader control program, and when the frame loader control program is executed by the processor, the steps of the frame loader control method according to any one of claims 1 to 6 are implemented.

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