Belt conveyor health inspection method based on multi-element laser fusion technology

Abstract

The invention relates to a multi-laser fusion technology-based belt conveyor health inspection method, which comprises the following steps of: arranging a laser emitting device near a belt conveyor, and monitoring a belt deviation condition, a belt tearing condition, a material throwing condition and a material volume; establishing a belt conveyor historical fault database, and establishing a risk grade analysis model according to the belt conveyor historical fault database; and according to the real-time operation state data of the belt conveyor, the risk level of the belt conveyor is determined through a risk level analysis model. The multi-angle comprehensive coverage belt conveyor inspection method has the advantages that the multi-angle comprehensive coverage belt conveyor inspection method can well adapt to the field environment with narrow corridor space, severe environment and numerous equipment, and intelligent operation and maintenance of the belt conveyor are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of belt conveyor inspection, and more specifically, to a belt conveyor health inspection method based on multi-element laser fusion technology. Background Art

[0002] Belt conveyors are a key link in the safe and efficient operation of energy, chemical, mineral and other fields. Belt conveyors are widely used in energy, mining, petrochemical and other industrial scenarios for material transfer due to their stability and reliability. Monitoring and inspection of their operating health status is crucial. However, in the current daily health status inspection of belt conveyors, on-site manual inspections are the main method, supplemented by some sensors, and a small number of on-site inspection robots are introduced to achieve automated inspections. However, these methods can only realize the inspection of part of the operating status of the belt conveyor. Due to problems such as installation, structure and on-site environment, they can only realize status detection from a single angle, and it is difficult to realize an integrated intelligent inspection method covering multiple angles such as the belt conveyor site, belt status, and material status. Therefore, intelligent monitoring equipment with efficient, objective, uninterrupted monitoring and real-time early warning is more in line with on-site needs. Summary of the invention

[0003] The purpose of the present invention is to address the deficiencies of the prior art and to propose a belt conveyor health inspection method based on multi-laser fusion technology.

[0004] In the first aspect, a belt conveyor health inspection method based on multi-element laser fusion technology is provided, comprising:

[0005] S1. Arrange a belt deviation laser emission device above the belt conveyor to monitor the belt deviation condition;

[0006] S2. Arrange a belt tearing laser emission device under the belt conveyor to monitor the belt tearing condition;

[0007] S3. Arrange a material throwing laser emitting device below the belt conveyor and a coal flow monitoring laser emitting device 7 above the belt conveyor to monitor the material throwing status and material volume;

[0008] S4. Establish a belt conveyor historical fault database, and establish a risk level analysis model based on the belt conveyor historical fault database; and determine the risk level of the belt conveyor through the risk level analysis model based on the real-time operating status data of the belt conveyor.

[0009] Preferably, in S1, a laser scanning plane is established in the horizontal direction of the belt edge by a belt deviation laser emitting device, and the distance between the belt edge and the roller is monitored according to the laser scanning plane to determine the belt deviation condition.

[0010] Preferably, in S2, a laser fitting curve of the lower surface of the belt is established by a belt tearing laser emitting device, and the belt tearing condition is identified by the curve distortion state.

[0011] Preferably, in S2, identifying the belt tear condition through the curve distortion state includes: judging the depth and length of the current belt tear wound through fitting the curve depression depth and distance.

[0012] Preferably, in S3, a laser scanning surface is established on the ground below the belt conveyor by a material scattering laser emitting device, and whether material scattering occurs is determined by whether the fitting state of the laser scanning surface is destroyed, and the material scattering state is determined based on the distortion height and distortion point of the laser scanning surface.

[0013] Preferably, in S3, a material scanning plane is established by a coal flow monitoring laser emitting device, and the coal flow is determined based on a scanning result of the material scanning plane.

[0014] Preferably, in S4, determining the risk level of the belt conveyor by means of a risk level analysis model comprises: quantifying the states of belt deviation distance, belt tearing record, material scattering volume, and material flow volume into risk levels.

[0015] In a second aspect, a belt conveyor health inspection device based on multi-element laser fusion technology is provided, which is used to execute any of the methods described in the first aspect, including: a belt conveyor, a belt conveyor bracket and a laser emitting device;

[0016] Among them, the belt conveyor is arranged on the belt conveyor bracket, and the laser emitting device includes a belt deviation laser emitting device, a belt tearing laser emitting device, a material throwing laser emitting device, and a coal flow monitoring laser emitting device; the belt conveyor includes rollers, an upper belt and a lower belt.

[0017] In a third aspect, a belt conveyor health inspection system based on multi-element laser fusion technology is provided, which is used to execute any of the methods described in the first aspect, including:

[0018] The first monitoring module is used to arrange a belt deviation laser emitting device above the belt conveyor to monitor the belt deviation condition;

[0019] The second monitoring module is used to arrange a belt tearing laser emitting device under the belt conveyor to monitor the belt tearing condition;

[0020] The third monitoring module is used to arrange a material throwing laser emitting device below the belt conveyor and a coal flow monitoring laser emitting device above the belt conveyor to monitor the material throwing status and material volume;

[0021] The determination module is used to establish a belt conveyor historical fault database, establish a risk level analysis model based on the belt conveyor historical fault database; and determine the risk level of the belt conveyor through the risk level analysis model based on the real-time operating status data of the belt conveyor.

[0022] In a fourth aspect, a computer storage medium is provided, wherein a computer program is stored in the computer storage medium; when the computer program is executed on a computer, the computer executes any of the methods described in the first aspect.

[0023] The beneficial effects of the present invention are:

[0024] 1. The present invention can realize intelligent identification and millimeter-level detection of belt conveyor deviation, effectively reduce the damage of conveyor belts and rollers, and reduce the damage rate of equipment and downtime for maintenance.

[0025] 2. The present invention can realize intelligent identification and real-time early warning of longitudinal tears in the conveyor belt, evaluate the health status of the conveyor belt through laser spectroscopy technology, reduce non-fault shutdowns caused by minor problems, and reduce greater losses such as material leakage and belt breakage caused by untimely discovery of safety hazards.

[0026] 3. The present invention can realize the intelligent identification of material spillage and leakage of the belt conveyor, effectively reduce material waste during transportation, reduce on-site environmental pollution and dangerous obstacles, improve the operation and maintenance efficiency of the belt conveyor, and evaluate the health status of the belt operation from the material perspective.

[0027] 4. The present invention provides a belt conveyor inspection method with comprehensive multi-angle coverage, which can well adapt to the on-site environment with narrow corridor space, harsh environment and numerous equipment, and realize the intelligent operation and maintenance of the belt conveyor. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flowchart of a belt conveyor health inspection method based on multi-element laser fusion technology provided by an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of belt deviation monitoring provided by an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of belt tear monitoring provided by an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of conveying material monitoring provided by an embodiment of the present invention;

[0032] Explanation of the reference numerals: roller 1, upper roller 101, lower roller 102, upper belt 2, lower belt 3, belt deviation laser emitting device 4, belt tearing laser emitting device 5, material scattering laser emitting device 6, coal flow monitoring laser emitting device 7. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with embodiments. The description of the following embodiments is only used to help understand the present invention. It should be noted that for ordinary persons in the art, without departing from the principle of the present invention, the present invention can also be modified in some ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0034] Embodiment 1:

[0035] In order to solve the defects of the prior art, improve the inspection coverage, and enhance the inspection efficiency and inspection quality, Example 1 of the present application provides a belt conveyor health inspection method based on multi-element laser fusion technology, which realizes multi-angle coverage of the conveyor corridor floor, conveyor belt, belt bottom surface, and materials on the belt through a laser transmitting and receiving device that integrates multiple laser detection technologies, and realizes comprehensive inspection of materials, equipment, belts, and the environment. Improve the inspection efficiency and inspection status of the belt conveyor's operating status.

[0036] Specifically, Figure 1 As shown, the belt conveyor health inspection method based on multi-element laser fusion technology includes:

[0037] S1. Arrange a belt deviation laser emitting device 4 above the belt conveyor to monitor the belt deviation condition.

[0038] This application first provides a millimeter-level belt deviation monitoring method. By more accurately identifying the deviation status and deviation distance of the belt conveyor, a deviation threshold management method can be established. Some sensitive information data can be ignored without affecting the normal operation of the belt conveyor, reducing non-fault shutdowns due to sensitive data detection, pushing maintenance shutdown suggestions, and maintaining safe and stable production.

[0039] Specifically, in S1, two parallel laser beams are deployed at the belt conveyor rollers and the conveyor belt to establish a scanning plane in space, and the receiver receives the signal by reflecting the laser from the object. The laser pulse method is combined with the laser phase method to modulate the infrared laser spectrum. When the belt conveyor deviates and enters the scanning plane, laser wave pulse reflection and broadcast phase difference will occur. Through the round-trip time of light break reflection, the belt intrusion into the scanning space can be calculated to determine the deviation site and evaluate the interception of the deviation laser band, activate the algorithm to measure the phase difference modulated light break wavelength and frequency, and verify the distance between the rangefinder and the target with an accuracy of millimeters. Furthermore, the present application can effectively identify the belt deviation status and deviation distance, reduce the false alarm rate of general deviation detection methods, and improve the deviation identification accuracy.

[0040] For example, Figure 2As shown, a group of belt deviation laser emitting devices 4 are arranged above the coal conveyor belt, and a laser scanning plane is established on the belt edge surface and the same horizontal cutting line as the roller. The normal moving edge of the belt conveyor is set as point a, and the intersection of the same horizontal cutting line and the roller is set as point b. The distance between point a and point b is d0, and the deviation limit allowable point c is set between point a and point b. The distance between point a and point c is d1, and the distance between point b and point c is d2.

[0041] It should be noted that the positions of point c and point b are fixed, and the belt deviation is the movement of point a to point c and point b. Point c is between point a and point b, so when d1 is a negative number, there is actually a deviation, and d2 is not a negative number at this time. When d2 is a negative number, the belt has rubbed against the roller, and the deviation is serious. When d2 is a negative number, d1 must be a negative number.

[0042] Furthermore, the present application implements monitoring of the lengths d1 and d2 through laser ranging technology. When the belt deviates, that is, when point a approaches point c, deviation occurs. When the distance d1 is negative, deviation occurs. When d2 is negative, the belt contacts the roller and the deviation is serious. Consider linking the belt conveyor control device to stop the belt conveyor. By monitoring the deviation distance of the belt conveyor at the millimeter level, the problem of oversensitivity or sluggishness of the traditional mechanical deviation correction device can be avoided. By setting the deviation threshold, the deviation distance can be adjusted intelligently and an operation plan can be formulated.

[0043] S2. Arrange a belt tearing laser emitting device 5 below the belt conveyor to monitor the belt tearing condition.

[0044] This application is based on belt life monitoring of belt tearing, which eliminates interference from belt surface attachments to a limited extent, detects the belt tearing status and evaluates the belt operation health spectrum, evaluates the belt life cycle, and replaces the belt in time to prevent material spillage, belt breakage and other major material and safety losses.

[0045] Specifically, in S2, a laser fitting surface is established on the conveyor belt surface by the belt tearing laser emitting device 5. When longitudinal tearing occurs on the belt conveyor surface, the fitting surface can be used to detect concave damage, and the tear length and tear depth can be determined based on the concave surface morphology. Laser spectral analysis is then used to identify light signals of different wavelengths obtained after spectral dispersion, and the spectral characteristics are analyzed to determine the belt material composition and structure, so as to evaluate the trend of belt health changes and predict potential tearing risks.

[0046] For example, Figure 3 As shown, two groups of belt tearing laser emitting devices 5 are deployed under the belt conveyor, and a world coordinate system is established at the sinking point of the lower belt center, and the laser straight line equation y=ax+b can be obtained. The lasers emitted by the two groups of laser emitting devices are fitted by the polynomial fitting method to obtain the fitting curve y=ax of the lower surface of the belt conveyor. 3+bx 2 +cx+d, Figure 3 A is used to represent the fitting curve, and the algorithm is used to shield the convex curve to prevent false alarms of attachments on the belt surface. The curve depression is used to identify whether the belt conveyor is torn. The depth and length of the current belt tear are determined by the depth and distance of the fitting curve depression. When the tear is too severe, it can be determined that the belt cannot be sustained, and the linkage control system pushes a shutdown suggestion. When the depth and length of the tear are small, maintenance suggestions can be pushed, and maintenance can be performed after the current operation is completed, reducing the non-fault shutdown of the belt conveyor due to unclear judgment of the belt tear state or the expansion of accidents caused by the belt conveyor breakage.

[0047] In addition, the ultrasonic waveform feedback technology can be used to replace the laser fitting interference measurement technology for belt tear detection. The ultrasonic detection technology can more accurately identify the small cracks and tears deep inside and inside the belt, as well as the state of the wire rope inside the wire rope belt, but it is more easily affected by the on-site environment. Laser technology is better for the detection of belt surface morphology and wounds. Different detection methods can be selected according to different belts.

[0048] S3. A material scattering laser emitting device 6 is arranged below the belt conveyor, and a coal flow monitoring laser emitting device 7 is arranged above the belt conveyor to monitor the material scattering status and material volume.

[0049] S4. Establish a belt conveyor historical fault database, and establish a risk level analysis model based on the belt conveyor historical fault database; and determine the risk level of the belt conveyor through the risk level analysis model based on the real-time operating status data of the belt conveyor.

[0050] Embodiment 2:

[0051] Based on Example 1, Example 2 of the present application provides a more specific belt conveyor health inspection method based on multi-element laser fusion technology, including:

[0052] S1. Arrange a belt deviation laser emitting device 4 above the belt conveyor to monitor the belt deviation condition.

[0053] S2. Arrange a belt tearing laser emitting device 5 below the belt conveyor to monitor the belt tearing condition.

[0054] S3. A material scattering laser emitting device 6 is arranged below the belt conveyor, and a coal flow monitoring laser emitting device 7 is arranged above the belt conveyor to monitor the material scattering status and material volume.

[0055] This application evaluates the operating status of the belt conveyor based on material status detection. It monitors the material transported by the belt and the floor of the conveyor workshop, and controls the material flow and leakage at the drop port in real time. It can also indirectly evaluate whether the belt conveyor can complete its task safely and stably and whether its operating status is healthy.

[0056] Specifically, in S3, the laser scanning plane of the floor of the material drop opening, coal plow and other equipment in the conveying workshop is established through the material throwing laser emitting device 6, which can effectively analyze the material spilling situation, and analyze the volume of the spilled material according to the laser imaging technology, which can not only reduce the material waste caused by material spilling and leakage, but also judge the running state of the belt conveyor by the volume of the material spilling. If the volume of the material spilling is too much, it can be judged that there is a fault other than deviation and tearing, and the emergency brake device can be linked to realize the automatic shutdown of the belt conveyor to reduce the risk. In addition, the material scanning plane is established through the coal flow monitoring laser emitting device 7, and the contour volume of the current belt conveyor conveying material is judged in real time through the laser three-dimensional imaging technology, and the material weight is judged according to the material density, and combined with the conveying speed of the conveyor belt to evaluate the coal flow.

[0057] For example, Figure 3 As shown, a laser scanning surface p1 and a material scanning plane p2 on the upper surface of the belt are established below the important areas such as the belt conveyor material spreading port and the coal plow by a laser transmitting and receiving device. Whether the material spilling phenomenon occurs can be determined by whether the fitting state of the laser surface p1 is destroyed, and the material spilling state can be determined according to the distortion height and distortion point of the laser scanning surface. When the material spilling is more serious, the belt conveyor state is comprehensively judged in combination with the deviation and tearing conditions of Example 1. If there is no problem with the belt itself, it is further determined that there may be a problem with the setting parameters and maintenance opinions are pushed. The cross-sectional area S of the scanning plane p2 of the coal flow is determined by laser scanning technology, the belt body length L and the belt conveyor conveying speed V are pre-determined by the belt conveyor parameters, and the calculation coefficient N (generally 1600) is combined. The coal flow A = L*V*S*N can be obtained by calculation. When the coal flow A is lower or higher than the normal value, the deviation and tearing conditions of Example 1 can be used to judge the health of the material drop port.

[0058] In addition, coal flow detection can also use 3D point cloud technology instead of 3D laser imaging technology, which can more accurately and precisely establish the contour volume of the material on the surface of the belt conveyor, and then more accurately analyze the coal flow of the belt conveyor. However, the calculation speed of 3D point cloud is slower than that of laser 3D imaging. The two can also be combined to establish a more accurate coal flow evaluation algorithm.

[0059] S4. Establish a belt conveyor historical fault database, and establish a risk level analysis model based on the belt conveyor historical fault database; and determine the risk level of the belt conveyor through the risk level analysis model based on the real-time operating status data of the belt conveyor.

[0060] Specifically, through the operation status of belt deviation, belt tearing, material leakage, and logistics flow, a comprehensive conveyor belt operation status library and risk scenario model are established, and the status of belt deviation distance, belt tearing record, material spillage volume, and material flow volume are numerically converted into risk levels. Minor faults in multiple dimensions may pose major risks, and a single medium or high risk may not affect the normal operation of the conveyor belt. Based on this, a dynamic early warning firewall for coal conveyor belts is established, and a risk identification model is established to intuitively display the level of hidden dangers within the scope of major events in each module of the belt conveyor.

[0061] In addition, this application integrates the implementation data and alarm information of belt deviation, belt tearing, material spillage, and material flow. Through multi-dimensional evaluation, the health status level is quantified, and specific problem risks and hidden dangers are pushed. Different levels of online broadcasts are made according to the severity of the alarm event to realize the online push of risk time. Comprehensively judge the operating status of the entire belt conveyor and give belt maintenance and shutdown suggestions, establish a firewall risk blocking tool, identify the overall level of accident hazards, graphically display risk factors and possible consequences, and directly link the control system to emergency stop when the accident level reaches the firewall breakthrough, realizing the intelligent upgrade of monitoring-early warning-decision-making.

[0062] For example, a set of belt conveyor operation risk level assessment is established, and suggestions for belt conveyor operation and maintenance are given through comprehensive judgment of belts, materials, environment, etc. Through real-time monitoring and analysis of belt conveyor operation status data (such as equipment deviation, tearing, spilled materials, etc.), potential faults are discovered and warned in time to prevent further expansion of accidents. An accident model is established based on accident identification, accident level analysis, and accident dynamic risk assessment, and a safety firewall isolation mechanism is established based on the accident model. Accidents of different levels are displayed, divided, and reported online at different levels. When the accident level is high enough to break through the firewall, the control system is linked to shut down urgently. Reduce non-fault shutdowns of belt conveyors caused by minor problems and reduce production losses. Establish an intelligent operation and maintenance system.

[0063] It should be noted that the parts in this embodiment that are the same or similar to those in Embodiment 1 can be referenced to each other and will not be described in detail in this application.

[0064] Embodiment 3:

[0065] Based on Examples 1 and 2, Example 3 of the present application provides a belt conveyor health inspection device based on multi-element laser fusion technology, such as Figure 2-3 As shown, it includes: a belt conveyor, a belt conveyor bracket 8 and a laser emitting device;

[0066] The belt conveyor is arranged on the belt conveyor support 8, the laser emitting device includes a belt deviation laser emitting device 4, a belt tearing laser emitting device 5, a material throwing laser emitting device 6, and a coal flow monitoring laser emitting device 7; the belt conveyor includes a roller 1, an upper belt 2 and a lower belt 3. The roller 1 is composed of an upper roller 101 and a lower roller 102.

[0067] Specifically, the device provided in this embodiment is a device corresponding to the method provided in Embodiments 1 and 2. Therefore, the parts in this embodiment that are the same or similar to Embodiments 1 and 2 can be referenced to each other and will not be repeated in this application.

[0068] Embodiment 4:

[0069] On the basis of embodiments 1 and 2, embodiment 4 of the present application provides a belt conveyor health inspection system based on multi-element laser fusion technology, including:

[0070] The first monitoring module is used to arrange a belt deviation laser emitting device 4 above the belt conveyor to monitor the belt deviation condition;

[0071] The second monitoring module is used to arrange a belt tearing laser emitting device 5 under the belt conveyor to monitor the belt tearing condition;

[0072] The third monitoring module is used to arrange a material throwing laser emitting device 6 below the belt conveyor and a coal flow monitoring laser emitting device 7 above the belt conveyor to monitor the material throwing status and material volume;

[0073] The determination module is used to establish a belt conveyor historical fault database, establish a risk level analysis model based on the belt conveyor historical fault database; and determine the risk level of the belt conveyor through the risk level analysis model based on the real-time operating status data of the belt conveyor.

[0074] Specifically, the system provided in this embodiment is a system corresponding to the method provided in Embodiments 1 and 2. Therefore, the parts in this embodiment that are the same or similar to Embodiments 1 and 2 can be referenced to each other and will not be repeated in this application.

Claims

1. A belt conveyor health inspection method based on multi-element laser fusion technology, characterized in that: include: S1. Arrange a belt deviation laser emitting device (4) above the belt conveyor to monitor the belt deviation condition; S2. Arrange a belt tearing laser emitting device (5) below the belt conveyor to monitor the belt tearing condition; S3. Arrange a material throwing laser emitting device (6) below the belt conveyor, and arrange a coal flow monitoring laser emitting device (7) above the belt conveyor to monitor the material throwing status and material volume; S4. Establish a belt conveyor historical fault database, and establish a risk level analysis model based on the belt conveyor historical fault database; and determine the risk level of the belt conveyor through the risk level analysis model based on the real-time operating status data of the belt conveyor.

2. The belt conveyor health inspection method based on multi-element laser fusion technology according to claim 1 is characterized in that: In S1, a laser scanning plane is established in the horizontal direction of the belt edge by a belt deviation laser emitting device (4), and the distance between the belt edge and the roller is monitored based on the laser scanning plane to determine the belt deviation condition.

3. The belt conveyor health inspection method based on multi-element laser fusion technology according to claim 2 is characterized in that: In S2, a laser fitting curve of the lower surface of the belt is established by using the belt tearing laser emitting device (5), and the belt tearing condition is identified by the curve distortion state.

4. The belt conveyor health inspection method based on multi-element laser fusion technology according to claim 3 is characterized in that: In S2, the identifying of the belt tear condition through the curve distortion state includes: judging the depth and length of the current belt tear wound through fitting the curve depression depth and distance.

5. The belt conveyor health inspection method based on multi-element laser fusion technology according to claim 4 is characterized in that: In S3, a laser scanning surface is established on the ground below the belt conveyor by a material scattering laser emitting device (6). Whether material scattering occurs is determined by determining whether the fitting state of the laser scanning surface is destroyed, and the material scattering state is determined based on the distortion height and distortion point of the laser scanning surface.

6. The belt conveyor health inspection method based on multi-element laser fusion technology according to claim 5 is characterized in that: In S3, a material scanning plane is established by means of a coal flow monitoring laser emitting device (7), and the coal flow is determined based on the scanning result of the material scanning plane.

7. The belt conveyor health inspection method based on multi-element laser fusion technology according to claim 6 is characterized in that: In S4, the risk level of the belt conveyor is determined by the risk level analysis model, including: converting the states of the belt deviation distance, belt tearing record, material scattering volume, and material flow volume into risk levels.

8. A belt conveyor health inspection device based on multi-element laser fusion technology, characterized in that: Used to perform the method according to any one of claims 1 to 7, comprising: a belt conveyor, a belt conveyor support (8) and a laser emitting device; The belt conveyor is arranged on the belt conveyor support (8), the laser emitting device comprises a belt deviation laser emitting device (4), a belt tearing laser emitting device (5), a material scattering laser emitting device (6), and a coal flow monitoring laser emitting device (7); the belt conveyor comprises a roller (1), an upper belt (2), and a lower belt (3).

9. A belt conveyor health inspection system based on multi-element laser fusion technology, characterized in that: Used to perform the method according to any one of claims 1 to 7, comprising: A first monitoring module is used to arrange a belt deviation laser emitting device (4) above the belt conveyor to monitor the belt deviation condition; A second monitoring module is used to arrange a belt tearing laser emitting device (5) below the belt conveyor to monitor the belt tearing condition; The third monitoring module is used to arrange a material throwing laser emitting device (6) below the belt conveyor and a coal flow monitoring laser emitting device (7) above the belt conveyor to monitor the material throwing status and material volume; The determination module is used to establish a belt conveyor historical fault database, establish a risk level analysis model based on the belt conveyor historical fault database; and determine the risk level of the belt conveyor through the risk level analysis model based on the real-time operating status data of the belt conveyor.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer program; when the computer program is executed on a computer, the computer executes any one of the methods described in claims 1 to 7.

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