Arc processing method, electronic equipment and readable storage medium

Abstract

The invention relates to the technical field of vibration cutting, and discloses an arc machining method, electronic equipment and a readable storage medium, the arc machining method comprises the steps that a workpiece image and graphic data of a workpiece are imported, and the graphic data comprise the layer machining speed of the workpiece; determining a target arc in the workpiece image; according to the diameter of the target arc and the comparison result of the layer machining speed of the target arc and the target speed limiting speed, whether the machining speed of the target arc is limited or not is determined; and the machining speed of the target arc needing speed limiting is controlled to be the target speed limiting speed. According to the arc machining method, the cutting quality of the arc can be greatly improved in the machining work of a knife cutting system.

Description

Technical Field

[0001] The present application relates to the field of vibration cutting technology, and in particular to an arc processing method, an electronic device and a readable storage medium. Background Art

[0002] The knife cutting system is used to achieve effective control of the knife cutting CNC machine tool and complete the processing tasks according to the different requirements of the user. The knife cutting system includes a control motherboard and a control panel, as well as supporting software tools. The software tools of the knife cutting system include parameter design functions, CAD functions, software functions and processing output functions, providing a fully automated CNC cutting solution that can reduce the risks of manual operation and machine failures and improve production efficiency and quality. However, when designing parameters, the software tools of the knife cutting system generally process the workpiece according to the conventional cutting speed, and do not specifically distinguish whether there is an arc in the processing trajectory, which makes it easy for the quality of the cut workpiece to fail to meet the standards. Summary of the invention

[0003] In view of this, the embodiments of the present application provide an arc processing method, an electronic device and a readable storage medium, which can effectively solve the problem that the arc cutting quality of the workpiece processed by the knife cutting system does not meet the standards.

[0004] In a first aspect, an embodiment of the present application provides an arc processing method, comprising: Importing a workpiece image and graphic data of the workpiece, wherein the graphic data includes a layer processing speed of the workpiece; determining a target arc in the workpiece image; Determining whether to limit the processing speed of the target arc according to the diameter of the target arc and the comparison result between the layer processing speed of the target arc and the target speed limit speed; The processing speed of the target arc that needs to be speed-limited is controlled to be within the target speed limit.

[0005] In a first possible embodiment of the first aspect, determining whether to limit the processing speed of the target arc according to the diameter of the target arc and a comparison result between the layer processing speed of the target arc and a target speed limit speed includes: Searching a speed limit table to determine whether the diameter of the target arc is within a speed limit interval of the speed limit table, wherein the speed limit table includes the target speed limits corresponding to arcs of different diameters; Comparing the layer processing speed with the target speed limit to determine whether the layer processing speed of the target arc is greater than the target speed limit; If the diameter of the target arc is within the speed limit interval, and the layer processing speed is greater than the target speed limit in the speed limit table, the processing speed of the target arc is limited; If the diameter of the target arc is within the speed limit interval, and the layer processing speed is less than or equal to the target speed limit in the speed limit table, the processing speed of the target arc is not limited.

[0006] In a second possible embodiment of the first aspect, the present invention further includes: If the diameter of the target arc is smaller than the speed limit interval, the processing speed of the target arc is limited to the target speed limit corresponding to the arc with the smallest diameter; If the diameter of the target arc is greater than the speed limit interval, the processing speed of the target arc is not limited. In a third possible embodiment of the first aspect, the present invention further includes: Performing sampling analysis on all curves of the workpiece image to determine a target arc in the workpiece image; The target circular arc is fitted by least square fitting to calculate the diameter of the target circular arc.

[0007] In a fourth possible embodiment of the first aspect, the sampling analysis of all curves of the workpiece image to determine the target arc in the workpiece image includes: Dividing each of the curves into a plurality of detection points on average; Preliminarily extracting a plurality of groups of the detection points as first detection points according to different sampling ratios, so as to determine an initial arc according to the first detection points; The middle point between the first detection point and the adjacent point is extracted again as the second detection point, so as to determine the target arc according to the second detection point.

[0008] In a fifth possible embodiment of the first aspect, preliminarily extracting a plurality of groups of detection points as first detection points according to different sampling ratios to determine an initial arc according to the first detection points includes: Determine the center of gravity of the curve according to the first detection point of each group; Determine whether a first error of the distance from the first detection point of each group to the center of gravity of the curve meets a first error range; A curve whose first errors all conform to the first error interval is preliminarily determined as the initial arc.

[0009] In a sixth possible embodiment of the first aspect, extracting again a middle point between the first detection point and an adjacent point as a second detection point to determine the target arc according to the second detection point includes: Determine the center of gravity of the initial arc according to the second detection point of each group; Determine whether a second error of the distance from the second detection point of each group to the center of gravity of the initial arc meets a second error range; A curve whose second errors all conform to the second error interval is determined as the target arc.

[0010] In a seventh possible embodiment of the first aspect, the maximum value of the speed limit interval is the diameter of the arc with the largest diameter in the speed limit table, and the minimum value of the speed limit interval is the diameter of the arc with the smallest diameter in the speed limit table.

[0011] In a second aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the arc processing method described above.

[0012] In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when executed on a processor, implements the arc processing method described above.

[0013] The embodiments of the present application have the following beneficial effects: An arc processing method of this embodiment includes: importing a workpiece image and graphic data of the workpiece, wherein the graphic data includes the layer processing speed of the workpiece; determining a target arc in the workpiece image; determining whether to limit the processing speed of the target arc according to the diameter of the target arc and the comparison result between the layer processing speed of the target arc and the target speed limit speed; and limiting the processing speed of the target arc that needs to be limited to the target speed limit speed. During processing, the arc processing method can determine whether the workpiece to be processed is a target arc with speed limit, and process the target arc using the currently set target speed limit speed according to the diameter of the arc, thereby greatly improving the cutting quality of the arc. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A first schematic flow chart of the arc processing method according to an embodiment of the present application is shown; Figure 2 A second schematic flow chart of the arc processing method according to an embodiment of the present application is shown; Figure 3 A third schematic flow chart of the arc processing method according to an embodiment of the present application is shown; Figure 4 A schematic diagram showing the setting of arc processing speed parameters by the software tool of the knife cutting system in the embodiment of the present application. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0017] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0018] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or a combination of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or a combination of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or a combination of the foregoing items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0019] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. Terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0020] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0021] Figure 1 A flow chart of the arc processing method of an embodiment of the present application is shown. Exemplarily, the arc processing method includes the following steps: S110, importing a workpiece image and graphic data of the workpiece, wherein the graphic data includes a layer processing speed of the workpiece.

[0022] Specifically, the knife-cutting system is a CNC machining technology. In the process of machining workpieces, the workpiece image needs to be processed in layers, and different processing speeds are set for different layers to achieve the best processing effect and quality. The layer processing speed of the workpiece refers to the way in which different processing speeds are used for different parts of the workpiece model in the knife-cutting system to achieve the best processing effect. Due to the different structural complexity, strength requirements, processing difficulty and other factors of different parts, different processing speeds need to be used in different parts to ensure the best balance between processing efficiency and processing quality.

[0023] S120, determining a target arc in the workpiece image.

[0024] Exemplarily, the arc processing method samples and analyzes the detection points on any curve according to the geometric characteristics of the arc, and compares several groups of sampling results to quickly exclude curves that do not meet the geometric characteristics of the arc. The arc processing method also samples the midpoints of the detection points again to distinguish between regular polygons and arcs.

[0025] For example, in one embodiment, Figure 2 As shown, the arc processing method performs sampling analysis on all curves of the workpiece image to determine the target arc in the workpiece image, including the following steps: S121, dividing each curve into a plurality of detection points on average.

[0026] S122, preliminarily extracting multiple groups of detection points as first detection points according to different sampling ratios, so as to determine an initial arc according to the first detection points.

[0027] In one embodiment, the arc processing method preliminarily extracts multiple groups of detection points as first detection points according to different sampling ratios to determine the initial arc based on the first detection points, including: determining the center of gravity of the curve according to the first detection points of each group; judging whether the first error of the distance from the first detection point of each group to the center of gravity of the curve meets the first error interval; and preliminarily determining the curve whose first error meets the first error interval as the initial arc.

[0028] Specifically, the arc processing method takes the average value of the distance from the first detection point to the center of gravity calculated for each group as the true value, the first error is the absolute error of the distance from each group of first detection points to the center of gravity calculated for each group, and the arc geometric characteristics include: the distance from the detection point on the arc to the center of the circle is equal; the center of the arc coincides with the center of gravity of the arc. First, assuming that the selected curve is an arc, then any selected detection point should meet the characteristics of the points on the arc mentioned above; in order to avoid local points being less standardized, after determining the position of the first sampled detection point, the detection points are uniformly sampled according to a certain sampling ratio. For example, the sampling ratio can be 30%. A curve has 100 detection points. Now 3 points need to be sampled for inspection. According to the ratio of the number of points, the detection points at the 0%, 33%, and 66% positions should be selected, that is, the 1st, 33rd, and 66th detection points. In order to prevent a special point from being drawn in a single sampling, several groups can be drawn, and the sampling ratio is also 30%, the second group: 10%, 43%, 76%; the third group: 20%, 53%, 86%. The center of gravity of the arc is calculated based on the first detection point of each group, and then the distance from each first detection point to the center of gravity of the arc is calculated. If the error of the distance from each group's first detection point to the center of each group is within the first error interval, the curve can be considered to be an arc. Among them, the first error interval is set according to the actual application situation.

[0029] S123, extracting again the middle point between the first detection point and the adjacent point as the second detection point, so as to determine the target arc according to the second detection point.

[0030] In one embodiment, the arc processing method again extracts the middle point between the first detection point and the adjacent point as the second detection point to determine the target arc based on the second detection point, including: determining the center of gravity of the initial arc according to the second detection points of each group; judging whether the second error of the distance from the second detection point of each group to the center of gravity of the initial arc meets the second error range; and determining the curve whose second error meets the second error range as the target arc.

[0031] Specifically, the arc processing method takes the distance from each first detection point to each group of calculated centroids as the true value, and the second error is the error between the distance from each group of second detection points to each group of calculated centroids and the true value. If the points on the curve have passed the preliminary sampling analysis, it can be considered that the points on the curve are all on a common arc, or are vertices of regular polygons. The arc processing method still selects points according to the original sampling method, such as 0%, 33%, and 66%, but does not directly take the original coordinates of the first detection point, but selects the middle point between the first detection point and the adjacent point; for example, the total number of points on the curve is 100, and the selected points are the 1st, 33rd, and 66th points; then the adjacent points are the 2nd, 34th, and 67th points; the second detection point is regenerated, and the coordinates of the second detection point can be the average of the coordinates of the 1st and 2nd detection points, and so on. The arc processing method calculates the center of gravity of the second detection point and the distance from each second detection point to the center of gravity, and determines whether the error between the distance and the distance calculated based on each first detection point meets the second error range. If so, the curve is determined to be the target arc, otherwise the curve is not an arc.

[0032] S130, determining whether to limit the processing speed of the target arc according to the diameter of the target arc and the comparison result between the layer processing speed of the target arc and the target speed limit.

[0033] In one embodiment, the arc processing method performs circle fitting on the target arc by least square fitting to calculate the diameter of the target arc.

[0034] Specifically, the specific calculation steps for determining the diameter of the target arc by fitting with the least squares method are as follows: First, the coordinates of multiple points on the target arc, that is, the known data points, are collected and plotted on a plane rectangular coordinate system to form a series of discrete data. Then, the starting point and end point of the target arc, as well as the arc, are determined based on the collected data points. Then, the parametric equation of the target arc is established, and the distance from each data point on the target arc to the center of the circle is calculated through the parametric equation. Suppose the formula of the target arc is (xa)²+ (yb)² = r², where a and b are the coordinates of the center of the circle, and r is the radius of the target arc. Then, the error function is defined. The goal is to minimize the error function, that is, the sum of the squares of the difference between the distance from all discrete data points to the circumference of the fitted target arc and the actual distance is minimized. The least squares method is used to optimize the error function to a quadratic form. Finally, the optimal solution of the error function is solved, and the parameters of the target arc when the error function is minimized are found through an optimization algorithm (such as the Levenberg-Marquardt algorithm), that is, the diameter and center point coordinates of the target arc.

[0035] Exemplarily, the arc processing method determines whether to limit the processing speed of the target arc according to the diameter of the target arc and the layer processing speed of the target arc, and limits the speed of target arcs of different diameters according to the target speed limit speed specified in the speed limit table.

[0036] For example, in one embodiment, Figure 3 As shown, the arc processing method determines whether to limit the processing speed of the target arc according to the diameter of the target arc and the comparison result between the layer processing speed of the target arc and the target speed limit speed, and includes the following steps: S131, searching a speed limit table to determine whether the diameter of the target arc is within a speed limit interval of the speed limit table, wherein the speed limit table includes target speed limits corresponding to arcs of different diameters.

[0037] S132, comparing the layer processing speed with the target speed limit to determine whether the layer processing speed of the target arc is greater than the target speed limit.

[0038] S133: If the diameter of the target arc is within the speed limit range and the layer processing speed is greater than the target speed limit in the speed limit table, the processing speed of the target arc is limited.

[0039] S134: If the diameter of the target arc is within the speed limit range and the layer processing speed is less than or equal to the target speed limit in the speed limit table, the processing speed of the target arc is not limited.

[0040] Specifically, the target speed limit is the maximum tolerable processing speed of arcs or circles of different diameters. The software tool of the knife cutting system includes a small circle speed limit list, such as Figure 4 As shown, the test is performed according to the actual machine type to obtain a list of arc diameters and maximum tolerable speeds. The maximum value of the speed limit interval is the diameter of the arc with the largest diameter in the speed limit table, and the minimum value of the speed limit interval is the diameter of the arc with the smallest diameter in the speed limit table. If the diameter of the target arc is in the speed limit interval, and the speed of the target speed limit is less than the layer processing speed, the current target arc needs to be speed limited, and then the layer processing speed of the target arc is compared with the target speed limit specified in the speed limit table.

[0041] In one embodiment, the arc processing method also includes: if the diameter of the target arc is smaller than the speed limit interval, limiting the processing speed of the target arc to the target speed limit corresponding to the arc with the smallest diameter; if the diameter of the target arc is larger than the speed limit interval, not limiting the processing speed of the target arc.

[0042] Specifically, the arc processing method also determines whether the diameter of the target arc is within the minimum and maximum arc diameter range specified in the speed limit table. If the diameter of the target arc exceeds the maximum restricted diameter range, the processing speed of the target arc is not limited; if the diameter of the target arc is smaller than the minimum speed limit circle diameter, the speed is limited according to the target speed limit speed corresponding to the minimum speed limit circle diameter in the speed limit table. If the diameter of the target arc is within the speed limit range, but the speed limit value corresponding to the diameter of the target arc is not specified in the speed limit table, the corresponding speed limit value can be calculated by linear difference. For example, Figure 4 The target processing speed for an arc with a diameter of 1.1 mm is specified to be 15 mm / s, the target processing speed for an arc with a diameter of 2.1 mm is specified to be 20 mm / s, and the target processing speed for an arc with a diameter of 3.1 mm is specified to be 25 mm / s. Based on the proportional relationship between the arc diameter and the target processing speed, the target processing speeds for arcs with diameters of 1.5 mm, 1.6 mm, and 2.0 mm can be calculated.

[0043] S140, controlling the processing speed of the target arc that needs to be speed-limited to be within the target speed limit. In this embodiment, the processing order of the arc is related to the path planning. Regardless of whether the speed limit is implemented, the processing order is executed according to the rules of the path planning. The speed limit only applies to the arc to be processed. If the speed limit is required, the processing speed of the arc will be forced to be modified. If the speed limit is not required, it will be executed according to the processing speed set by the original layer of the curve. The purpose of the speed limit is to affect the processing speed, because the general processing speed set by the layer exceeds the processing speed that the current arc can withstand. The speed limit only affects the speed of running the arc, and does not affect the idling speed of jumping from the current curve to the next curve.

[0044] The present application also provides an electronic device, which can be a computer or a numerical control system, for automatic control of a knife cutting system, and can realize graphical programming and preprocessing functions. Exemplarily, the electronic device includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the electronic device to execute the above-mentioned arc processing method.

[0045] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0046] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. Among them, the memory is used to store a computer program, and the processor can execute the computer program accordingly after receiving an execution instruction.

[0047] The present application also provides a computer-readable storage medium for storing a computer program used in the above electronic device. For example, the computer-readable storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0048] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented in other ways. The apparatus embodiments described above are merely schematic, for example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the apparatus, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and a module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0049] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0050] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, 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, which is stored in a storage medium and includes several instructions for enabling an electronic device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of each embodiment of the present application.

[0051] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A circular arc processing method, characterized in that: include: Importing a workpiece image and graphic data of the workpiece, wherein the graphic data includes a layer processing speed of the workpiece; determining a target arc in the workpiece image; Determining whether to limit the processing speed of the target arc according to the diameter of the target arc and the comparison result between the layer processing speed of the target arc and the target speed limit speed; The processing speed of the target arc that needs to be speed-limited is controlled to be within the target speed limit.

2. The arc processing method according to claim 1, characterized in that: The determining whether to limit the processing speed of the target arc according to the diameter of the target arc and the comparison result between the layer processing speed of the target arc and the target speed limit speed comprises: Searching a speed limit table to determine whether the diameter of the target arc is within a speed limit interval of the speed limit table, wherein the speed limit table includes the target speed limits corresponding to arcs of different diameters; Comparing the layer processing speed with the target speed limit to determine whether the layer processing speed of the target arc is greater than the target speed limit; If the diameter of the target arc is within the speed limit interval, and the layer processing speed is greater than the target speed limit in the speed limit table, the processing speed of the target arc is limited; If the diameter of the target arc is within the speed limit interval, and the layer processing speed is less than or equal to the target speed limit in the speed limit table, the processing speed of the target arc is not limited.

3. The arc processing method according to claim 2, characterized in that: Also includes: If the diameter of the target arc is smaller than the speed limit interval, the processing speed of the target arc is limited to the target speed limit corresponding to the arc with the smallest diameter; If the diameter of the target arc is greater than the speed limit interval, the processing speed of the target arc is not limited.

4. The arc processing method according to claim 1, characterized in that: Also includes: Performing sampling analysis on all curves of the workpiece image to determine a target arc in the workpiece image; The target circular arc is fitted by least square fitting to calculate the diameter of the target circular arc.

5. The arc processing method according to claim 4, characterized in that: The sampling analysis of all curves of the workpiece image to determine the target arc in the workpiece image includes: Dividing each of the curves into a plurality of detection points on average; Preliminarily extracting a plurality of groups of the detection points as first detection points according to different sampling ratios, so as to determine an initial arc according to the first detection points; The middle point between the first detection point and the adjacent point is extracted again as the second detection point, so as to determine the target arc according to the second detection point.

6. The arc processing method according to claim 5, characterized in that: The step of preliminarily extracting a plurality of groups of detection points as first detection points according to different sampling ratios to determine an initial arc according to the first detection points includes: Determine the center of gravity of the curve according to the first detection point of each group; Determine whether a first error of the distance from the first detection point of each group to the center of gravity of the curve meets a first error range; A curve whose first errors all conform to the first error interval is preliminarily determined as the initial arc.

7. The arc processing method according to claim 5, characterized in that: The step of extracting again the middle point between the first detection point and the adjacent point as the second detection point to determine the target arc according to the second detection point includes: Determine the center of gravity of the initial arc according to the second detection point of each group; Determine whether a second error of the distance from the second detection point of each group to the center of gravity of the initial arc meets a second error range; A curve whose second errors all conform to the second error interval is determined as the target arc.

8. The arc processing method according to claim 2, characterized in that: The maximum value of the speed limit interval is the diameter of the arc with the largest diameter in the speed limit table, and the minimum value of the speed limit interval is the diameter of the arc with the smallest diameter in the speed limit table.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the arc processing method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer program is stored therein, and when the computer program is executed on a processor, the arc processing method according to any one of claims 1 to 8 is implemented.

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