Flexible self-adaptive material assembling control method and system applied to aluminum profiles

Abstract

The invention is suitable for the technical field of flexible production, and provides a flexible self-adaptive material assembling control method and system applied to aluminum profiles, and the method comprises the steps: firstly obtaining calibration position information, product parameter information of aluminum profiles to be assembled and current arrangement position set information in real time; the method comprises the following steps: calibrating position information of aluminum profiles to be assembled, quickly determining target position information of the aluminum profiles to be assembled according to the calibrated position information, the product parameter information and the current arrangement position set information, and finally controlling a grabbing translation mechanism based on the target position information, so that the aluminum profiles to be assembled are accurately transported to the target position information. Efficient operation can be kept in large-batch production, meanwhile, the assembling requirements of aluminum profiles of various numbers and sizes are met, the flexibility and self-adaptability of the production process are ensured, the aluminum profile assembling device is particularly suitable for the diversified production requirements of the aluminum profiles, and the flexibility capacity and the adaptive capacity of a production line are greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of flexible production, and in particular to a flexible adaptive material assembly control method and system for aluminum profiles. Background Art

[0002] At present, in the production and processing of aluminum profiles, due to the wide variety of aluminum profiles and the different sizes of various products, the current material assembly and packaging work mainly relies on manual operation; although manual operation has a certain degree of flexibility, in the process of large-scale production and processing, the handling personnel will gradually feel tired and there is a problem of low work efficiency, which needs further improvement. Summary of the invention

[0003] Based on this, an embodiment of the present application provides a flexible adaptive material grouping control method and system for aluminum profiles to solve the problem of low working efficiency in the prior art.

[0004] In a first aspect, an embodiment of the present application provides a flexible adaptive material grouping control method for aluminum profiles, which is applicable to an aluminum profile grouping production line, wherein the aluminum profile grouping production line includes a grasping translation mechanism, and the method includes:

[0005] Acquire preset calibration position information, product parameter information of the aluminum profile to be assembled, and current arrangement position set information, wherein the current arrangement position set information is used to describe a set of real-time position information corresponding to the aluminum profile located on the supporting platform, and the vertical section of the aluminum profile to be assembled is L-shaped or T-shaped;

[0006] Determine the target position information of the aluminum profile to be assembled according to the calibration position information, the product parameter information and the current arrangement position set information, wherein the target position information is used to describe the placement position of the aluminum profile to be assembled on the carrying platform;

[0007] Based on the target position information, the grasping and translating mechanism is controlled so that the aluminum profile to be assembled is transported to the target position information.

[0008] Compared with the prior art, the beneficial effect is that the flexible adaptive material assembly control method for aluminum profiles provided in the embodiment of the present application, the terminal device can first obtain the calibration position information, the product parameter information of the aluminum profile to be assembled and the current arrangement position set information in real time, and then quickly determine the target position information of the aluminum profile to be assembled according to the calibration position information, the product parameter information and the current arrangement position set information, and finally, based on the target position information, control the grasping and translation mechanism so that the aluminum profile to be assembled is accurately transported to the target position information, thereby achieving high work efficiency in large-scale production, and being able to meet the assembly needs of aluminum profiles of various quantities and sizes, realizing flexible adaptive production, and to a certain extent solving the current problem of low work efficiency.

[0009] In a second aspect, an embodiment of the present application provides a flexible adaptive material grouping control system for aluminum profiles, which is applicable to an aluminum profile grouping production line, wherein the aluminum profile grouping production line includes a grasping translation mechanism, and the system includes:

[0010] Calibration position information acquisition module: used to acquire preset calibration position information, product parameter information of the aluminum profile to be assembled and current arrangement position set information, wherein the current arrangement position set information is used to describe the set of real-time position information corresponding to the aluminum profile located on the carrier, and the vertical section of the aluminum profile to be assembled is L-shaped or T-shaped;

[0011] A target position information determination module is used to determine the target position information of the aluminum profile to be assembled according to the calibration position information, the product parameter information and the current arrangement position set information, wherein the target position information is used to describe the placement position of the aluminum profile to be assembled on the carrier;

[0012] Grabbing and translating mechanism control module: used to control the grabbing and translating mechanism based on the target position information so that the aluminum profile to be assembled is transported to the target position information.

[0013] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect described above when executing the computer program.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect described above are implemented.

[0015] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art.

[0017] Figure 1 It is a flow chart of a flexible adaptive material grouping control method provided in one embodiment of the present application;

[0018] Figure 2 is a schematic diagram of calibration position information provided by an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of product parameter information provided by an embodiment of the present application;

[0020] Figure 4 is a first schematic diagram of an aluminum profile provided by an embodiment of the present application;

[0021] Figure 5 It is a flowchart of step S200 in the flexible adaptive material grouping control method provided in one embodiment of the present application;

[0022] Figure 6 It is a flowchart of step S220 in the flexible adaptive material grouping control method provided in one embodiment of the present application;

[0023] Figure 7 is a second schematic diagram of an aluminum profile provided in an embodiment of the present application;

[0024] Figure 8 It is a flowchart of step S220 in the flexible adaptive material grouping control method provided in one embodiment of the present application;

[0025] Fig. 9 is a third schematic diagram of an aluminum profile provided in an embodiment of the present application;

[0026] Fig.10 It is a schematic diagram of the process after step S300 in the flexible adaptive material grouping control method provided in one embodiment of the present application;

[0027] Fig.11 It is a module block diagram of a flexible adaptive material grouping control system provided in an embodiment of the present application;

[0028] Fig.12 It is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0030] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0032] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0033] See also Figure 1 , Figure 1 : is a flow chart of a flexible adaptive material grouping control method for aluminum profiles provided in an embodiment of the present application. In this embodiment, the execution subject of the flexible adaptive material grouping control method is a terminal device. It is understandable that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc., and the embodiments of the present application do not impose any restrictions on the specific types of terminal devices.

[0034] See also Figure 1 The flexible adaptive material grouping control method provided in the embodiment of the present application includes but is not limited to the following steps:

[0035] In S100, the preset calibration position information, the product parameter information of the aluminum profile to be assembled and the current arrangement position set information are obtained.

[0036] Without loss of generality, the flexible adaptive material assembly control method is applicable to an aluminum profile assembly production line, which includes a grabbing and translating mechanism for grabbing and translating aluminum profiles. The grabbing and translating mechanism can be composed of a sensor, a cylinder and a servo motor. The specific composition structure can adopt existing technology, so it will not be elaborated.

[0037] Specifically, the terminal device can first obtain the preset calibration position information, the product parameter information of the aluminum profile to be assembled and the current arrangement position set information, wherein the aluminum profile to be assembled is used to describe the aluminum profile to be assembled; the current arrangement position set information is used to describe the set of real-time position information corresponding to the aluminum profile located on the carrier, and the vertical section of the aluminum profile to be assembled is L-shaped or T-shaped; the calibration position information is used to describe the calibration position, for example, please refer to Figure 2 , Figure 2 The “first calibration position” and the “second calibration position” can both be calibration position information.

[0038] In one possible implementation, before step S100, the terminal device can scan the QR code on the aluminum profile order based on a preset scanner, and then transmit the product information in the QR code to the PLC storage of the control system via industrial Ethernet, thereby facilitating subsequent analysis based on data such as the number of groups, upper width, lower width, height and left offset in the product information to determine which grouping method and position algorithm to call.

[0039] In S200, target position information of the aluminum profiles to be assembled is determined according to the calibration position information, product parameter information and current arrangement position set information.

[0040] Specifically, after the terminal device obtains the calibration position information, product parameter information and current arrangement position set information, the terminal device can effectively determine the target position information of the aluminum profile to be assembled based on the calibration position information, product parameter information and current arrangement position set information, wherein the target position information is used to describe the placement position of the aluminum profile to be assembled on the supporting platform.

[0041] Without loss of generality, the product parameter information includes aluminum profile upper width information, aluminum profile lower width information, aluminum profile height information and aluminum profile offset information, wherein the aluminum profile upper width information is used to describe the upper width size of the aluminum profile, the aluminum profile lower width information is used to describe the lower width size of the aluminum profile, and the aluminum profile height information is used to describe the height size of the aluminum profile. For example, please refer to Figure 3 , Figure 3 The distance corresponding to "W1" indicates the lower width of the aluminum profile. Figure 3 The distance corresponding to "W2" indicates the upper width of the aluminum profile. Figure 3The distance corresponding to "H" represents the height information of the aluminum profile. The aluminum profile offset information is used to describe the offset data of the aluminum profile. For example, the aluminum profile offset information can be left offset data, that is, the deviation distance from the calibrated position information.

[0042] Specifically, the current arrangement position set information includes upright arrangement position subset information and inverted arrangement position subset information, wherein the upright arrangement position subset information is used to describe the set of real-time position information corresponding to the aluminum profile located on the support platform and in an upright state, and the upright state is used to describe the placement state of the aluminum profile as the side with the largest cross-sectional area is located below the side with the smallest cross-sectional area; the inverted arrangement position subset information is used to describe the set of real-time position information corresponding to the aluminum profile located on the support platform and in an inverted state, and the inverted state is used to describe the placement state of the aluminum profile as the side with the largest cross-sectional area is located above the side with the smallest cross-sectional area. For example, please refer to Figure 4 , Figure 4 The three aluminum profiles marked with "1", "3" and "5" are in reverse position. Figure 4 The three aluminum profiles marked with "2", "4" and "6" inside are in the upright position.

[0043] In some possible implementations, in order to dynamically determine the target position information of the aluminum profiles to be assembled and meet the needs of flexible automated assembly, please refer to Figure 5 Step S200 includes but is not limited to the following steps:

[0044] In S210, the arrangement information of the aluminum profiles to be assembled is obtained.

[0045] Specifically, the terminal device may first obtain the arrangement information of the aluminum profile to be assembled, wherein the arrangement information is used to determine whether the aluminum profile to be assembled belongs to the right-side-up arrangement position subset information, or whether the aluminum profile to be assembled belongs to the reversed arrangement position subset information.

[0046] In S220, the target position information of the aluminum profile to be assembled is determined according to the arrangement information, the calibration position information, the product parameter information and the current arrangement position set information.

[0047] Specifically, after the terminal device obtains the arrangement information of the aluminum profiles to be assembled, the terminal device can effectively determine the target position information of the aluminum profiles to be assembled according to the arrangement information, the calibration position information, the product parameter information and the current arrangement position set information.

[0048] In some possible implementations, in order to facilitate the dynamic determination of the target position information of the aluminum profiles to be assembled and further meet the needs of flexible automated assembly, please refer to Figure 6 Step S220 includes but is not limited to the following steps:

[0049] In S221, for the aluminum profile to be assembled with an L-shaped vertical cross section: first type quantitative information is generated according to the aluminum profile lower width information, the aluminum profile offset information and a preset first product type determination formula.

[0050] Specifically, the terminal device can perform this processing on the aluminum profile to be assembled with an L-shaped vertical cross-section: quickly generate the first type of quantitative information based on the aluminum profile lower width information, the aluminum profile offset information and the preset first product type determination formula.

[0051] In a possible implementation, the above first product type determination formula may be:

[0052] K1=W1-10-2L,

[0053] Where K1 is the first type of quantitative information, W1 is the lower width information of the aluminum profile, and L is the offset information of the aluminum profile.

[0054] In S222, the first type quantization information is compared with the preset type quantization limit value information.

[0055] Specifically, after the terminal device generates the first type of quantization information, the terminal device may compare the first type of quantization information with preset type quantization boundary value information, wherein the type quantization boundary value information is twice the value of the width information of the aluminum profile.

[0056] In S223, if the first type quantization information is less than the type quantization limit value information, it is determined whether the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information.

[0057] Specifically, if the first type quantization information is less than the type quantization limit value information, the terminal device can determine whether the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information. For example, refer to Figure 4 The terminal device can determine whether the aluminum profile to be assembled corresponds to Figure 4 The aluminum profile marked with "2" is located inside.

[0058] In S224, if the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, the first position information of the aluminum profile to be assembled is determined according to the aluminum profile upper width information, the aluminum profile lower width information, the aluminum profile offset information and a preset first buffer distance determination formula.

[0059] Specifically, if the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, the terminal device can quickly determine the first position information of the aluminum profile to be assembled according to the aluminum profile upper width information, the aluminum profile lower width information, the aluminum profile offset information and the preset first buffer distance determination formula; for example, refer to Figure 4 , Figure 4 The position of the aluminum profile marked with "2" inside represents the first position information, and the first position information can be determined by the distance corresponding to the first calibration position and "D1".

[0060] In a possible implementation, the above-mentioned first buffer distance determination formula may be:

[0061] D1=15+2W2-W1+2L,

[0062] Wherein, D1 is the first position information, and the first position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, W2 is the upper width information of the aluminum profile, W1 is the lower width information of the aluminum profile, and L is the offset information of the aluminum profile.

[0063] In S225, if the aluminum profile to be assembled is not the first aluminum profile in the upright arrangement position subset information, it is determined whether the aluminum profile to be assembled is another aluminum profile in the upright arrangement position subset information except the first aluminum profile.

[0064] Specifically, if the aluminum profile to be assembled is not the first aluminum profile in the upright arrangement position subset information, the terminal device can determine whether the aluminum profile to be assembled is other aluminum profiles in the upright arrangement position subset information except the first aluminum profile. For example, refer to Figure 4 The terminal device can determine whether the aluminum profile to be assembled corresponds to Figure 4 The aluminum profile marked with "4" or "6" is located inside.

[0065] In S226, if the aluminum profiles to be assembled are other aluminum profiles except the first aluminum profile in the upright arrangement position subset information, the second position information of the aluminum profiles to be assembled is determined according to the target position information, the aluminum profile offset information and the preset second buffer distance determination formula.

[0066] Specifically, if the aluminum profiles to be assembled are other aluminum profiles except the first aluminum profile in the upright arrangement position subset information, the terminal device can quickly determine the second position information of the aluminum profiles to be assembled based on the target position information, the aluminum profile offset information and the preset second buffer distance determination formula.

[0067] In a possible implementation, the second buffer distance determination formula may be:

[0068] D Other_1 =5+D1-2L,

[0069] Where D Other_1 is the second position information, and the second position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the upright arrangement position subset information. For example, please refer to Figure 4 , the second location information can be specifically Figure 4 The distances corresponding to "D2" and "D3" are D2=D3=5+D1-2L; D1 is the first position information; and L is the aluminum profile offset information.

[0070] In S227, if the aluminum profile to be assembled is not other aluminum profiles except the first aluminum profile in the upright arrangement position subset information, it is determined whether the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information.

[0071] Specifically, if the aluminum profile to be assembled is not other aluminum profiles except the first aluminum profile in the forward arrangement position subset information, the terminal device can determine whether the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information. For example, refer to Figure 4 The terminal device can determine whether the aluminum profile to be assembled corresponds to Figure 4 The aluminum profile marked with "1" is located inside.

[0072] In S228, if the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information, the third position information of the aluminum profile to be assembled is determined according to a preset first fixed value.

[0073] Specifically, if the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information, the terminal device can quickly determine the third position information of the aluminum profile to be assembled according to the preset first fixed value, wherein the third position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information. For example, please refer to Figure 4 , Figure 4 The position of the aluminum profile marked with “1” inside represents the third position information. The third position information can be determined by the distance corresponding to the first calibration position and “C1”. The first fixed value can be 5.

[0074] In S229, if the aluminum profile to be assembled is not the first aluminum profile in the reverse arrangement position subset information, the fourth position information of the aluminum profile to be assembled is determined according to the target position information, the aluminum profile offset information and the second buffer distance determination formula.

[0075] Specifically, if the aluminum profile to be assembled is not the first aluminum profile in the reverse arrangement position subset information, the terminal device can quickly determine the fourth position information of the aluminum profile to be assembled based on the target position information, the aluminum profile offset information and the above-mentioned second buffer distance determination formula, wherein the fourth position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information; for example, please refer to Figure 4 The terminal device can determine whether the aluminum profile to be assembled corresponds to Figure 4 The position of the aluminum profile marked with "3" or "5" inside, that is, C2=C3=5+D1-2L.

[0076] In S2291, if the first type quantization information is greater than or equal to the type quantization limit value information, it is determined whether the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the reverse arrangement position subset information.

[0077] Specifically, if the first type quantization information is greater than or equal to the type quantization limit value information, the terminal device can determine whether the aluminum profile to be assembled is the first aluminum profile in the forward arrangement position subset information or the first aluminum profile in the reverse arrangement position subset information. For example, refer to Figure 7 The terminal device can determine whether the aluminum profile to be assembled corresponds to Figure 7 The aluminum profile marked with "1" or "2" is located inside.

[0078] In S2292, if the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the reverse arrangement position subset information, the fifth position information of the aluminum profile to be assembled is determined according to the first fixed value.

[0079] Specifically, if the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the reverse arrangement position subset information, the terminal device can determine the fifth position information of the aluminum profile to be assembled based on the first fixed value, wherein the fifth position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is greater than or equal to the type quantization limit value information, and the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the reverse arrangement position subset information.

[0080] In S2293, if the aluminum profile to be assembled is not the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the reverse arrangement position subset information, the sixth position information of the aluminum profile to be assembled is determined according to a preset second fixed value.

[0081] Specifically, if the aluminum profile to be assembled is not the first aluminum profile in the forward arrangement position subset information or the first aluminum profile in the reverse arrangement position subset information, that is, the aluminum profile to be assembled corresponds to Figure 7 When the aluminum profile marked with "3", "4", "5" or "6" inside is located at the position, the terminal device can determine the sixth position information of the aluminum profile to be assembled according to the preset second fixed value, wherein the sixth position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is greater than or equal to the type quantization limit value information, and the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the positive arrangement position subset information or other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information, wherein the second fixed value is twice the first fixed value, and the second fixed value can be 10.

[0082] Please note that Figure 7 In the actual assembly process, the terminal device can translate the aluminum profiles to be assembled onto the loading platform in the order of "2", "4", "6", "1", "3" and "5".

[0083] In some possible implementations, in order to further meet the needs of flexible automated assembly, please refer to Figure 8 Step S220 also includes but is not limited to the following steps:

[0084] In S2294, the processing is performed for the aluminum profile to be assembled with a T-shaped vertical cross-section: the terminal device can generate the second type of quantitative information based on the aluminum profile lower width information, the aluminum profile offset information and the preset second product type determination formula.

[0085] In a possible implementation, the second product type determination formula may be:

[0086] K2=W1-20,

[0087] Where K2 is the second type of quantitative information, and W1 is the lower width information of the aluminum profile.

[0088] In S2295, the second type quantization information and the type quantization limit value information are compared.

[0089] Specifically, after the terminal device generates the second type quantization information, the terminal device may compare the second type quantization information with the type quantization limit value information.

[0090] In S2296, if the second type quantization information is less than the type quantization limit value information, it is determined whether the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information.

[0091] Specifically, if the second type quantization information is less than the type quantization limit value information, the terminal device can determine whether the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information. For example, refer to Fig. 9 The terminal device can determine whether the aluminum profile to be assembled corresponds to Fig. 9 The aluminum profile marked with "1" is located inside.

[0092] In S2297, if the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information, the seventh position information of the aluminum profile to be assembled is determined according to the first fixed value.

[0093] Specifically, if the aluminum profile to be assembled is the first aluminum profile in the inverted arrangement position subset information, the terminal device can determine the seventh position information of the aluminum profile to be assembled based on the first fixed value, wherein the seventh position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the inverted arrangement position subset information.

[0094] In S2298, if the aluminum profile to be assembled is not the first aluminum profile in the reverse arrangement position subset information, it is determined whether the aluminum profile to be assembled is other aluminum profiles in the normal arrangement position subset information except the first aluminum profile or other aluminum profiles in the reverse arrangement position subset information except the first aluminum profile.

[0095] Specifically, if the aluminum profile to be assembled is not the first aluminum profile in the reverse arrangement position subset information, the terminal device can determine whether the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the normal arrangement position subset information or other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information. Fig. 9 The terminal device can determine whether the aluminum profile to be assembled corresponds to Fig. 9 The aluminum profile marked with "3", "4", "5" or "6" inside is located.

[0096] In S2299, if the aluminum profile to be assembled is any aluminum profile other than the first aluminum profile in the upright arrangement position subset information or any aluminum profile other than the first aluminum profile in the reverse arrangement position subset information, the eighth position information of the aluminum profile to be assembled is determined based on the aluminum profile upper width information, the aluminum profile lower width information and the preset third buffer distance determination formula.

[0097] Specifically, if the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the upright arrangement position subset information or other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information, the terminal device can determine the eighth position information of the aluminum profile to be assembled based on the aluminum profile upper width information, the aluminum profile lower width information and the preset third buffer distance determination formula.

[0098] In a possible implementation, the third buffer distance determination formula may be:

[0099] D Other_2 =20+2W2-W1,

[0100] Where D Other_2 The eighth position information of the aluminum profile to be assembled, wherein the eighth position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the forward arrangement position subset information or other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information. For example, please refer to Fig. 9 , C2=C3=D2=D3=20+2W2-W1; W2 is the upper width information of the aluminum profile, and W1 is the lower width information of the aluminum profile;

[0101] In S2230, if the aluminum profile to be assembled is not any aluminum profile other than the first aluminum profile in the upright arrangement position subset information or any aluminum profile other than the first aluminum profile in the reverse arrangement position subset information, the ninth position information of the aluminum profile to be assembled is determined according to the preset fourth buffer distance determination formula.

[0102] Specifically, if the aluminum profile to be assembled is not any aluminum profile other than the first aluminum profile in the upright arrangement position subset information or any aluminum profile other than the first aluminum profile in the reverse arrangement position subset information, it means that the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, and the terminal device can determine the ninth position information of the aluminum profile to be assembled according to the preset fourth buffer distance determination formula.

[0103] In a possible implementation, the fourth buffer distance determination formula may be:

[0104]

[0105] Wherein, d1 is the ninth position information of the aluminum profile to be assembled, and the ninth position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, W1 is the lower width information of the aluminum profile, D Other_2 It is the eighth position information of the aluminum profile to be assembled.

[0106] In S2231, if the second type quantization information is greater than or equal to the type quantization limit value information, it is determined whether the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information.

[0107] Specifically, if the second type quantization information is greater than or equal to the type quantization limit value information, the terminal device can determine whether the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information.

[0108] In S2232, if the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, the tenth position information of the aluminum profile to be assembled is determined according to the lower width information of the aluminum profile and the preset fifth buffer distance determination formula.

[0109] Specifically, if the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information, the terminal device can determine the tenth position information of the aluminum profile to be assembled according to the lower width information of the aluminum profile and the preset fifth buffer distance determination formula. Fig. 9 , see for example Fig. 9 The terminal device can determine whether the aluminum profile to be assembled corresponds to Fig. 9 The aluminum profile marked with "2" is located inside.

[0110] In a possible implementation, the fifth buffer distance determination formula is:

[0111] D Other_3 =8+W1÷2,

[0112] Where D Other_3 The tenth position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is greater than or equal to the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information;

[0113] In S2233, if the aluminum profile to be assembled is not the first aluminum profile in the upright arrangement position subset information, the eleventh position information of the aluminum profile to be assembled is determined according to a preset third fixed value.

[0114] Specifically, if the aluminum profile to be assembled is not the first aluminum profile in the upright arrangement position subset information, the terminal device can determine the eleventh position information of the aluminum profile to be assembled based on a preset third fixed value, wherein the eleventh position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is greater than or equal to the type quantization limit value information, and the aluminum profile to be assembled is an aluminum profile other than the first aluminum profile in the upright arrangement position subset information; the third fixed value can be 8, that is, C1=C2=C3=D2=D3=8.

[0115] In S300, based on the target position information, the grabbing and translating mechanism is controlled so that the aluminum profiles to be assembled are transported to the target position information.

[0116] Specifically, after the terminal device determines the target position information of the aluminum profiles to be assembled, the terminal device can control the grasping and translation mechanism based on the target position information to transport the aluminum profiles to be assembled to the target position information, thereby achieving high work efficiency in large-scale production and being able to meet the assembly needs of aluminum profiles of various quantities and sizes, thereby realizing flexible and adaptive production.

[0117] It should be noted that the lifting position of the grab can be determined in combination with the lifting reference point, the product height of the aluminum profile and the calculated buffer distance to ensure that the aluminum profile being lifted will not collide with other aluminum profiles.

[0118] In some possible implementations, in order to ensure the continuous operation of the assembly process, the aluminum profile assembly production line may also include a translational discharge mechanism, see Fig.10 After step S300, the method further includes but is not limited to the following steps:

[0119] In S400, the accumulated quantity information of the current arrangement position set information is obtained.

[0120] Specifically, the terminal device can obtain the cumulative quantity information of the current arrangement position set information, wherein the cumulative quantity information is used to describe the total quantity of aluminum profiles located on the supporting platform.

[0121] In S410, the cumulative quantity information is compared with the preset batch quantity information.

[0122] Specifically, the terminal device can compare the cumulative quantity information with the preset batch quantity information, wherein the batch quantity information can be any number, such as 3, 4, 5 or 6.

[0123] In S420, if the accumulated quantity information is equal to the batch quantity information, a finished product discharging instruction is generated.

[0124] Specifically, if the cumulative quantity information is equal to the batch quantity information, the terminal device can generate a finished product discharge instruction.

[0125] In S430, based on the finished product discharging instruction, the translation discharging mechanism is controlled to transport all the aluminum profiles on the supporting platform to the next process.

[0126] Specifically, the terminal device can control the translation discharging mechanism based on the finished product discharging instruction to transport all the aluminum profiles on the supporting platform to the next process.

[0127] The implementation principle of the flexible adaptive material grouping control method applied to aluminum profiles in the embodiment of the present application is as follows: the terminal device can first obtain the calibration position information, the product parameter information of the aluminum profile to be assembled and the current arrangement position set information in real time, and then quickly determine the target position information of the aluminum profile to be assembled according to the calibration position information, the product parameter information and the current arrangement position set information; finally, based on the target position information, the grasping and translation mechanism is controlled to enable the aluminum profile to be assembled to be accurately transported to the target position information, thereby achieving high work efficiency in large-scale production, and being able to meet the assembly requirements of aluminum profiles of various quantities and sizes, thereby achieving flexible adaptive production.

[0128] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0129] The embodiment of the present application also provides a flexible adaptive material grouping control system for aluminum profiles, which is suitable for an aluminum profile grouping production line. The aluminum profile grouping production line includes a grabbing and translation mechanism. For ease of description, only the parts related to the present application are shown, such as Fig.11 As shown, the system 110 includes:

[0130] The calibration position information acquisition module 111 is used to acquire preset calibration position information, product parameter information of the aluminum profile to be assembled, and current arrangement position set information, wherein the current arrangement position set information is used to describe a set of real-time position information corresponding to the aluminum profile located on the carrier, and the vertical section of the aluminum profile to be assembled is L-shaped or T-shaped;

[0131] The target position information determination module 112 is used to determine the target position information of the aluminum profile to be assembled according to the calibration position information, the product parameter information and the current arrangement position set information, wherein the target position information is used to describe the placement position of the aluminum profile to be assembled on the carrier;

[0132] The grabbing and translating mechanism control module 113 is used to control the grabbing and translating mechanism based on the target position information so that the aluminum profiles to be assembled are transported to the target position information.

[0133] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0134] The present application also provides a terminal device, such as Fig.12 As shown, the terminal device 120 of this embodiment includes: a processor 121, a memory 122, and a computer program 123 stored in the memory 122 and executable on the processor 121. When the processor 121 executes the computer program 123, the steps in the above-mentioned flexible adaptive material grouping control method embodiment are implemented, for example Figure 1 Steps S100 to S300 shown; or, when the processor 121 executes the computer program 123, the functions of each module in the above device are realized, for example Fig.11 The functions of modules 111 to 113 are shown.

[0135] The terminal device 120 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server, and the terminal device 120 includes but is not limited to a processor 121 and a memory 122. Those skilled in the art will appreciate that Fig.12 It is only an example of the terminal device 120 and does not constitute a limitation of the terminal device 120. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 120 may also include input and output devices, network access devices, buses, etc.

[0136] Among them, the processor 121 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0137] The memory 122 may be an internal storage unit of the terminal device 120, such as a hard disk or memory of the terminal device 120, or an external storage device of the terminal device 120, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. equipped on the terminal device 120; further, the memory 122 may also include both an internal storage unit and an external storage device of the terminal device 120, and the memory 122 may also store a computer program 123 and other programs and data required by the terminal device 120, and the memory 122 may also be used to temporarily store data that has been output or is to be output.

[0138] One embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc.; the computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0139] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the methods, principles, and structures of the present application should be included in the protection scope of the present application.

Claims

1. A flexible adaptive material grouping control method for aluminum profiles, suitable for an aluminum profile grouping production line, wherein the aluminum profile grouping production line includes a grabbing and translating mechanism, characterized in that: The method comprises: Acquire preset calibration position information, product parameter information of the aluminum profile to be assembled, and current arrangement position set information, wherein the current arrangement position set information is used to describe a set of real-time position information corresponding to the aluminum profile located on the supporting platform, and the vertical section of the aluminum profile to be assembled is L-shaped or T-shaped; Determine the target position information of the aluminum profile to be assembled according to the calibration position information, the product parameter information and the current arrangement position set information, wherein the target position information is used to describe the placement position of the aluminum profile to be assembled on the carrying platform; Based on the target position information, the grasping and translating mechanism is controlled so that the aluminum profile to be assembled is transported to the target position information.

2. The method according to claim 1, characterized in that The product parameter information includes aluminum profile upper width information, aluminum profile lower width information, aluminum profile height information and aluminum profile offset information; the current arrangement position set information includes upright arrangement position subset information and inverted arrangement position subset information, wherein the upright arrangement position subset information is used to describe a set of real-time position information corresponding to the aluminum profile located on the support platform and in an upright state, and the upright state is used to describe the placement state of the aluminum profile as the side with the largest cross-sectional area is located below the side with the smallest cross-sectional area; the inverted arrangement position subset information is used to describe a set of real-time position information corresponding to the aluminum profile located on the support platform and in an inverted state, and the inverted state is used to describe the placement state of the aluminum profile as the side with the largest cross-sectional area is located above the side with the smallest cross-sectional area; the target position information of the aluminum profile to be assembled is determined according to the calibrated position information, the product parameter information and the current arrangement position set information, including: Acquire the arrangement information of the aluminum profile to be assembled, wherein the arrangement information is used to determine whether the aluminum profile to be assembled belongs to the upright arrangement position subset information or the inverted arrangement position subset information; The target position information of the aluminum profile to be assembled is determined according to the arrangement information, the calibrated position information, the product parameter information and the current arrangement position set information.

3. The method according to claim 2, characterized in that The step of determining the target position information of the aluminum profile to be assembled according to the arrangement information, the calibration position information, the product parameter information and the current arrangement position set information includes: For the aluminum profile to be assembled with an L-shaped vertical cross section: generate first type quantitative information according to the lower width information of the aluminum profile, the offset information of the aluminum profile and a preset first product type determination formula, wherein the first product type determination formula is: K1=W1-10-2L, Wherein, K1 is the first type of quantitative information, W1 is the lower width information of the aluminum profile, and L is the offset information of the aluminum profile; Comparing the first type quantization information with preset type quantization limit value information, wherein the type quantization limit value information is twice the value of the upper width information of the aluminum profile; If the first type quantization information is less than the type quantization limit value information, determining whether the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information; If the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, the first position information of the aluminum profile to be assembled is determined according to the upper width information of the aluminum profile, the lower width information of the aluminum profile, the offset information of the aluminum profile and a preset first buffer distance determination formula, wherein the first buffer distance determination formula is: D1=15+2W2-W1+2L, Wherein, D1 is the first position information, and the first position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, W2 is the upper width information of the aluminum profile, W1 is the lower width information of the aluminum profile, and L is the offset information of the aluminum profile; If the aluminum profile to be assembled is not the first aluminum profile in the upright arrangement position subset information, determining whether the aluminum profile to be assembled is another aluminum profile in the upright arrangement position subset information except the first aluminum profile; If the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the upright arrangement position subset information, the second position information of the aluminum profile to be assembled is determined according to the target position information, the aluminum profile offset information and a preset second buffer distance determination formula, wherein the second buffer distance determination formula is: D Other_1 =5+D1-2L, Where D Other_1 is the second position information, and the second position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the upright arrangement position subset information, D1 is the first position information, and L is the aluminum profile offset information; If the aluminum profile to be assembled is not any other aluminum profile except the first aluminum profile in the upright arrangement position subset information, determining whether the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information; If the aluminum profile to be assembled is the first aluminum profile in the inverted arrangement position subset information, the third position information of the aluminum profile to be assembled is determined according to a preset first fixed value, wherein the third position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the inverted arrangement position subset information; If the aluminum profile to be assembled is not the first aluminum profile in the inverted arrangement position subset information, the fourth position information of the aluminum profile to be assembled is determined according to the target position information, the aluminum profile offset information and the second buffer distance determination formula, wherein the fourth position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the inverted arrangement position subset information; If the first type quantization information is greater than or equal to the type quantization limit value information, determine whether the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the reverse arrangement position subset information; If the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the inverted arrangement position subset information, the fifth position information of the aluminum profile to be assembled is determined according to the first fixed value, wherein the fifth position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is greater than or equal to the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the inverted arrangement position subset information; If the aluminum profile to be assembled is not the first aluminum profile in the upright arrangement position subset information or the first aluminum profile in the inverted arrangement position subset information, the sixth position information of the aluminum profile to be assembled is determined according to a preset second fixed value, wherein the sixth position information is used to describe the target position information of the aluminum profile to be assembled when the first type quantization information is greater than or equal to the type quantization limit value information, and the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the upright arrangement position subset information or other aluminum profiles except the first aluminum profile in the inverted arrangement position subset information, wherein the second fixed value is twice the first fixed value.

4. The method according to claim 3, characterized in that The step of determining the target position information of the aluminum profile to be assembled according to the arrangement information, the calibration position information, the product parameter information and the current arrangement position set information includes: For the aluminum profile to be assembled with a T-shaped vertical cross section: generate second type quantitative information according to the lower width information of the aluminum profile, the offset information of the aluminum profile and a preset second product type determination formula, wherein the second product type determination formula is: K2=W1-20, Wherein, K2 is the second type of quantitative information, and W1 is the lower width information of the aluminum profile; Comparing the second type quantization information with the type quantization limit value information; If the second type quantization information is less than the type quantization limit value information, determining whether the aluminum profile to be assembled is the first aluminum profile in the reverse arrangement position subset information; If the aluminum profile to be assembled is the first aluminum profile in the inverted arrangement position subset information, then according to the first fixed value, determine the seventh position information of the aluminum profile to be assembled, wherein the seventh position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the inverted arrangement position subset information; If the aluminum profile to be assembled is not the first aluminum profile in the reverse arrangement position subset information, then determine whether the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the normal arrangement position subset information or other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information; If the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the upright arrangement position subset information or other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information, the eighth position information of the aluminum profile to be assembled is determined according to the upper width information of the aluminum profile, the lower width information of the aluminum profile and the preset third buffer distance determination formula, wherein the third buffer distance determination formula is: D Other_2 =20+2W2-W1, Where D Other_2 is the eighth position information of the aluminum profile to be assembled, wherein the eighth position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is less than the type quantization limit value information, and the aluminum profile to be assembled is other aluminum profiles except the first aluminum profile in the upright arrangement position subset information or other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information, W2 is the upper width information of the aluminum profile, and W1 is the lower width information of the aluminum profile; If the aluminum profile to be assembled is not other aluminum profiles except the first aluminum profile in the upright arrangement position subset information or other aluminum profiles except the first aluminum profile in the reverse arrangement position subset information, the ninth position information of the aluminum profile to be assembled is determined according to a preset fourth buffer distance determination formula, wherein the fourth buffer distance determination formula is: Wherein, d1 is the ninth position information of the aluminum profile to be assembled, and the ninth position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is less than the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, W1 is the lower width information of the aluminum profile, and D Other_2 The eighth position information of the aluminum profile to be assembled; If the second type quantization information is greater than or equal to the type quantization limit value information, it is determined whether the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information; If the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information, the tenth position information of the aluminum profile to be assembled is determined according to the lower width information of the aluminum profile and a preset fifth buffer distance determination formula, wherein the fifth buffer distance determination formula is: D Other_3 =8+W1÷2, Where D Other_3 is the tenth position information, and the tenth position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is greater than or equal to the type quantization limit value information and the aluminum profile to be assembled is the first aluminum profile in the upright arrangement position subset information; If the aluminum profile to be assembled is not the first aluminum profile in the upright arrangement position subset information, the eleventh position information of the aluminum profile to be assembled is determined according to a preset third fixed value, wherein the eleventh position information is used to describe the target position information of the aluminum profile to be assembled when the second type quantization information is greater than or equal to the type quantization limit value information and the aluminum profile to be assembled is an aluminum profile other than the first aluminum profile in the upright arrangement position subset information.

5. The method according to claim 4, characterized in that The aluminum profile assembly production line further includes a translational discharging mechanism; after the grabbing and translational mechanism is controlled based on the target position information so that the aluminum profile to be assembled is transported to the target position information, the method further includes: Acquire the cumulative quantity information of the current arrangement position set information, wherein the cumulative quantity information is used to describe the total quantity of aluminum profiles located on the supporting platform; Comparing the cumulative quantity information with preset batch quantity information; If the cumulative quantity information is equal to the batch quantity information, a finished product discharging instruction is generated; Based on the finished product discharging instruction, the translation discharging mechanism is controlled to transport all the aluminum profiles on the supporting platform to the next process.

6. A flexible adaptive material grouping control system for aluminum profiles, suitable for an aluminum profile grouping production line, the aluminum profile grouping production line comprising a grabbing and translating mechanism, characterized in that: The system comprises: Calibration position information acquisition module: used to acquire preset calibration position information, product parameter information of the aluminum profile to be assembled and current arrangement position set information, wherein the current arrangement position set information is used to describe the set of real-time position information corresponding to the aluminum profile located on the carrier, and the vertical section of the aluminum profile to be assembled is L-shaped or T-shaped; A target position information determination module is used to determine the target position information of the aluminum profile to be assembled according to the calibration position information, the product parameter information and the current arrangement position set information, wherein the target position information is used to describe the placement position of the aluminum profile to be assembled on the carrier; Grabbing and translating mechanism control module: used to control the grabbing and translating mechanism based on the target position information so that the aluminum profile to be assembled is transported to the target position information.

7. The system according to claim 6, characterized in that The aluminum profile assembly production line also includes a translation discharging mechanism; the system also includes: A cumulative quantity information acquisition module: used to acquire the cumulative quantity information of the current arrangement position set information, wherein the cumulative quantity information is used to describe the total quantity of aluminum profiles located on the carrier platform; Cumulative quantity information comparison module: used to compare the cumulative quantity information with the preset batch quantity information; Finished product discharging instruction generating module: used for generating a finished product discharging instruction if the accumulated quantity information is equal to the batch quantity information; The translational discharging mechanism control module is used to control the translational discharging mechanism based on the finished product discharging instruction to transport all the aluminum profiles on the supporting platform to the next process.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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