Motor overheating protection method and related equipment

Abstract

The invention relates to the field of motors, in particular to a motor overheating protection method and related equipment. The method comprises the following steps: detecting the internal temperature of the motor based on a temperature sensor; when it is detected that the internal temperature of the motor is larger than or equal to the trigger threshold value, a temperature protection threshold value corresponding to the current working condition of the motor is obtained; and when the internal temperature of the motor is detected to be greater than the temperature protection threshold value, performing overheating protection on the motor. According to the method, different temperature protection threshold values are set for different motor working conditions in advance, and then the specific value of the temperature protection threshold value is dynamically adjusted according to the actual working condition of the motor in the running process of the motor, so that the temperature protection threshold value of the motor is always at the optimal point, and the motor is fully protected and the performance of the motor is released.

Description

Technical Field

[0001] The present application relates to the field of motors, and in particular to a motor overheating protection method and related equipment. Background Art

[0002] The motor is one of the indispensable components of a vehicle. In a vehicle, oil cooling is often used to cool the motor to prevent the temperature of the motor from rising rapidly in the working state. When the temperature of the motor rises to the temperature protection threshold set by the electronic control, the electronic control will take overheating protection measures such as power reduction or shutdown. The temperature protection strategy of the oil-cooled motor is usually to monitor the temperature change inside the motor through the temperature sensor buried at the end of the motor stator winding, and the electronic control performs temperature control protection on the motor through the temperature feedback of the temperature sensor inside the motor. Since the cooling of the oil-cooled motor is to transport the cooling oil to the injection chamber through the oil cooling system, and then spray the oil through the injection hole on the injection ring to cool the motor stator, but since the injection hole cannot completely cover the stator, the temperature of the stator winding sprayed with oil will be lower, and the temperature of the winding not sprayed with oil will be higher, especially in the stator slot because there is no oil to cool, the temperature will be higher, so there will be a large temperature difference inside the stator. In addition, the internal temperature difference of the motor under different working conditions is also different. Therefore, if the preset fixed temperature protection threshold is set too high, the motor is at risk of burning out, while if it is set too low, the motor's performance cannot be fully released. Therefore, how to determine a suitable temperature protection threshold for the motor is an urgent problem to be solved. Summary of the invention

[0003] In view of this, the present application provides a motor overheating protection method and related equipment to avoid the problems of motor overheating and burning and incomplete performance release.

[0004] In a first aspect, an embodiment of the present invention provides a motor overheat protection method, comprising:

[0005] Detect the internal temperature of the motor based on the temperature sensor;

[0006] When it is detected that the internal temperature of the motor is greater than or equal to the trigger threshold, the temperature protection threshold corresponding to the motor in the current working condition is obtained;

[0007] When it is detected that the internal temperature of the motor is greater than the temperature protection threshold, overheat protection is performed on the motor.

[0008] In a possible implementation, the overheat protection of the motor includes:

[0009] The operating power of the motor is reduced or the motor is shut down for protection.

[0010] In a possible implementation, the method further includes:

[0011] Performing an operating condition test on the motor to obtain temperature data of various positions of the motor under different operating conditions;

[0012] Determine the maximum temperature difference corresponding to each working condition according to the temperature data; wherein the maximum temperature difference is the difference between the highest temperature and the lowest temperature under each working condition;

[0013] The temperature protection threshold corresponding to each operating condition is determined according to the maximum temperature difference corresponding to each operating condition and the maximum temperature resistance of the motor.

[0014] In a possible implementation, the temperature data at each location includes at least any one of the following data:

[0015] The temperature data of the inner layer of the stator winding of the motor, the temperature data of the middle layer of the stator winding of the motor, the temperature data of the outer layer of the stator winding of the motor and the temperature data inside the stator slot of the motor.

[0016] In a possible implementation, the method further includes:

[0017] The trigger threshold is determined based on the temperature protection threshold corresponding to each operating condition.

[0018] In a possible implementation, determining the trigger threshold based on the temperature protection threshold corresponding to each operating condition includes:

[0019] Determine a first difference between the maximum temperature difference corresponding to each of the operating conditions and the maximum temperature resistance;

[0020] The trigger threshold is determined according to a minimum value of the first differences.

[0021] In a second aspect, an embodiment of the present invention provides a motor overheat protection device, comprising:

[0022] A temperature detection module is used to detect the internal temperature of the motor based on a temperature sensor;

[0023] An acquisition module, used for acquiring a temperature protection threshold value corresponding to the motor under the current working condition when the temperature detection module detects that the internal temperature of the motor is greater than or equal to the trigger threshold value;

[0024] An overheat protection module is used to perform overheat protection on the motor when the temperature detection module detects that the internal temperature of the motor is greater than the temperature protection threshold.

[0025] In a possible implementation, the overheat protection module is specifically used to:

[0026] The operating power of the motor is reduced or the motor is shut down for protection.

[0027] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0028] at least one processor; and

[0029] at least one memory in communication with the processor, wherein:

[0030] The memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method described in the first aspect.

[0031] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method described in the first aspect.

[0032] In an embodiment of the present invention, by selecting a corresponding temperature protection threshold according to the current operating condition of the motor, the value of the temperature protection threshold can be dynamically adjusted as the operating condition of the motor changes, so that the temperature protection threshold is always optimal, thereby fully releasing the performance of the motor without burning the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0034] Figure 1 A flow chart of a motor overheat protection method provided by an embodiment of the present invention;

[0035] Figure 2-a A schematic diagram of a motor structure provided by an embodiment of the present invention;

[0036] Figure 2-b Another schematic diagram of a motor structure provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of the structure of a motor overheat protection device provided by an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0040] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0041] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0042] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0043] In the embodiment of the present invention, different temperature protection thresholds are set for different working conditions to ensure that the performance of the motor is maximized without burning out. Figure 1 The present invention provides a flow chart of a motor overheat protection method. Figure 1 As shown in , the motor overheat protection methods include:

[0044] Step 101, the internal temperature of the motor is detected based on a temperature sensor. Wherein, the temperature sensor can be set at multiple positions inside the motor under the premise that the motor structure allows. The temperature sensor can be selected from a thermistor sensor, a thermocouple sensor, a platinum thermal resistor temperature sensor, and a digital output sensor. Alternatively, an infrared sensor or other device can also be used to collect the internal temperature of the motor.

[0045] Step 102, when it is detected that the internal temperature of the motor is greater than or equal to the trigger threshold, the temperature protection threshold corresponding to the motor in the current working condition is obtained. In order to increase the sensitivity of the overheat protection trigger, the sampling frequency of the temperature sensor can be appropriately increased. For the internal temperature of the motor, the maximum value collected from multiple temperature sensors at the current moment can be used as the internal temperature of the motor at the current moment. Alternatively, the minimum value collected from multiple temperature sensors is used as the internal temperature of the motor at the current moment. Optionally, the average value, mode, median, etc. of each temperature sensor at the current moment can also be calculated. One of the average value, mode or median is used as the internal temperature of the motor at the current moment.

[0046] Among them, the temperature protection thresholds corresponding to different working conditions are different. This is because the temperature difference inside the motor under different working conditions is also different. Therefore, it is necessary to distinguish different working conditions and set different temperature protection thresholds.

[0047] Step 103, when it is detected that the internal temperature of the motor is greater than the temperature protection threshold, the motor is protected from overheating. After obtaining the temperature protection threshold corresponding to the current working condition, the internal temperature of the motor is continuously detected. By setting different temperature protection thresholds for different working conditions, the motor can fully release its performance under different working conditions, and the motor will not burn out due to the temperature protection threshold being set too high, nor will the motor performance be unable to be fully released due to the temperature protection threshold being set too low.

[0048] Among them, overheat protection can be specifically implemented by reducing the operating power of the motor or shutting down the motor for protection. The specific means of overheat protection can be determined according to the parameters of the motor. For example, when the maximum temperature resistance of the motor is relatively high, the shutdown protection method can be adopted. When the maximum temperature resistance of the motor is relatively low, the power reduction method can be adopted.

[0049] In some embodiments, the temperature protection thresholds corresponding to different working conditions in step 102 can be obtained through working condition testing. Specifically, the motor can be subjected to working condition testing to obtain temperature data of various positions of the motor under different working conditions. The maximum temperature difference corresponding to each working condition can then be determined based on the temperature data, and the maximum temperature difference is the difference between the highest temperature and the lowest temperature under each working condition. The temperature protection thresholds corresponding to each working condition can then be determined based on the maximum temperature difference corresponding to each working condition and the highest temperature resistance of the motor.

[0050] In some embodiments, the temperature correction value corresponding to each working condition can be calculated according to the maximum temperature difference corresponding to each working condition, and then the temperature protection threshold corresponding to each working condition can be obtained based on the maximum temperature resistance and the temperature correction value. For example, a mapping relationship between different maximum temperature differences and different temperature correction values ​​is established in advance, so that the maximum temperature difference is mapped to the temperature correction value, and then the difference between the maximum temperature resistance and the temperature correction value is determined as the temperature protection threshold corresponding to the current working condition.

[0051] In a specific example, when the motor is tested for working conditions, thermocouples can be arranged around the stator of the motor, which is different from the detection of the internal temperature of the motor based on the temperature sensor in step 101. When the working condition test is different from the actual vehicle operation scenario, there is no need to consider structural issues. Thermocouples can be deployed inside the stator and stator slots of the motor to detect the temperature of the motor, which is impossible in the actual vehicle operation scenario. Figure 2-a as well as Figure 2-b Schematic diagram of the motor structure provided by the embodiment of the present invention. Figure 2-a as well as Figure 2-b As shown in , as many thermocouples as possible can be placed in the circumferential direction of the windings at both ends of the motor stator. And as many thermocouples as possible can be placed in the inner layer, middle layer, outer layer of the stator winding and in the stator slot. After that, the motor can be operated under different working conditions to obtain the temperature data of the inner layer of the stator winding of the motor, the temperature data of the middle layer of the stator winding of the motor, the temperature data of the outer layer of the stator winding of the motor and the temperature data in the stator slot of the motor under each working condition. Table 1-1 is a schematic table of working conditions provided in the present embodiment.

[0052]

[0053] Table 1-1

[0054] As shown in Table 1-1, the motor speed and torque corresponding to different working conditions are different. The temperature rise test is carried out according to the working conditions shown in Table 1-1. Each working condition is operated until the thermal equilibrium or the highest point temperature reaches the highest temperature resistance T1 of the motor. max When the test is stopped, the maximum temperature difference △max under each working condition can be calculated through data analysis and statistics. Then, the maximum temperature difference △max under each working condition and the maximum temperature resistance T1 of the motor can be used to calculate the maximum temperature difference △max under each working condition. max Calculate the temperature protection threshold T1 of each working condition. The temperature protection threshold of each working condition can be the difference between the maximum temperature difference △max and the maximum temperature difference △max under the current working condition. That is, T1=T1 max -△max. After testing all the working conditions in Standard 1-1, the temperature protection thresholds of each working condition are shown in Table 1-2.

[0055]

[0056] Table 1-2

[0057] In some embodiments, since the actual driving conditions of the vehicle are relatively complex, the corresponding motor operating conditions are also relatively large. If all operating conditions are fully tested, the efficiency is low. Therefore, some operating conditions can be selected for testing to obtain the corresponding temperature protection thresholds, and then the temperature protection thresholds of all operating conditions can be supplemented by interpolation to obtain the temperature protection thresholds of all operating conditions.

[0058] The trigger threshold in step 102 can be obtained based on the temperature protection threshold corresponding to each working condition. Among them, the average value of the temperature protection threshold corresponding to each working condition can be calculated as the trigger threshold. Alternatively, the minimum value of each temperature protection threshold can be used as the trigger threshold. That is, the first difference between the maximum temperature difference and the highest temperature resistance corresponding to each working condition (i.e., the above-mentioned temperature protection threshold T1) is determined, and then the trigger threshold is determined according to the minimum value of the first difference.

[0059] In the embodiment of the present invention, the temperature protection threshold of the motor is no longer a fixed value, and the motor will not burn out due to the temperature difference problem inside the oil-cooled motor due to the temperature protection threshold being set too high, nor will the motor performance not be fully released due to the temperature protection threshold being set too low. By obtaining the current torque and speed of the motor to determine the current working condition, and then adjusting the temperature protection threshold in real time according to the determined current working condition, the motor can be prevented from burning out due to excessive temperature, and the design margin of the motor can be reduced to optimize the motor performance, reduce materials used, and reduce the cost of the motor.

[0060] Corresponding to the above-mentioned motor overheating protection method, an embodiment of the present invention provides a motor overheating protection device. Figure 3 The present invention provides a schematic diagram of the structure of a motor overheat protection device. Figure 3 As shown in , the motor overheat protection devices include:

[0061] A temperature detection module 301 , an acquisition module 302 and an overheat protection module 303 .

[0062] The temperature detection module 301 is used to detect the internal temperature of the motor based on a temperature sensor.

[0063] The acquisition module 302 is used to acquire the temperature protection threshold corresponding to the motor in the current working condition when the temperature detection module 301 detects that the internal temperature of the motor is greater than or equal to the trigger threshold.

[0064] The overheat protection module 303 performs overheat protection on the motor when the temperature detection module 301 detects that the internal temperature of the motor is greater than the temperature protection threshold.

[0065] In some embodiments, the overheat protection module 303 is specifically used for:

[0066] The operating power of the motor is reduced or the motor is shut down for protection.

[0067] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the electronic device may include at least one processor and at least one memory in communication with the processor, wherein the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the instructions of this specification. Figure 1 The motor overheat protection method provided by the embodiment shown in FIG. 2 .

[0068] like Figure 4As shown, the electronic device is in the form of a general computing device. The components of the electronic device may include but are not limited to: one or more processors 410, communication interface 420 and memory 430, and a communication bus 440 connecting different system components (including memory 430, communication interface 420 and processor 410).

[0069] The communication bus 440 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0070] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0071] The memory 430 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 430 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of each embodiment of the present specification.

[0072] A program / utility having a set (at least one) of program modules may be stored in memory 430, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in this specification.

[0073] The processor 410 executes various functional applications and data processing by running the programs stored in the memory 430, such as implementing the Figure 1 The motor overheat protection method provided by the embodiment shown in FIG. 2 .

[0074] The embodiment of the present specification provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the present specification. Figure 1 The motor overheat protection method provided by the embodiment shown in FIG. 2 .

[0075] The above-mentioned computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ReadOnly Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (Erasable Programmable ReadOnly Memory; hereinafter referred to as: EPROM) or flash memory, optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0076] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0077] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0078] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this specification, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0079] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of this specification includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of this specification belong.

[0080] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0081] It should be noted that the devices involved in the embodiments of this specification may include but are not limited to personal computers (Personal Computer; hereinafter referred to as: PC), personal digital assistants (Personal Digital Assistant; hereinafter referred to as: PDA), wireless handheld devices, tablet computers (Tablet Computer), mobile phones, MP3 displays, MP4 displays, etc.

[0082] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0083] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0084] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a connector, or a network device, etc.) or a processor (Processor) to perform some steps of the method described in each embodiment of this specification. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk and other media that can store program codes.

[0085] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

[0086] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A motor overheat protection method, characterized in that: include: Detect the internal temperature of the motor based on the temperature sensor; When it is detected that the internal temperature of the motor is greater than or equal to the trigger threshold, the temperature protection threshold corresponding to the motor in the current working condition is obtained; When it is detected that the internal temperature of the motor is greater than the temperature protection threshold, overheat protection is performed on the motor.

2. The method according to claim 1, characterized in that The overheat protection of the motor comprises: The operating power of the motor is reduced or the motor is shut down for protection.

3. The method according to claim 1, characterized in that The method further comprises: Performing an operating condition test on the motor to obtain temperature data of various positions of the motor under different operating conditions; Determine the maximum temperature difference corresponding to each working condition according to the temperature data; wherein the maximum temperature difference is the difference between the highest temperature and the lowest temperature under each working condition; The temperature protection threshold corresponding to each operating condition is determined according to the maximum temperature difference corresponding to each operating condition and the maximum temperature resistance of the motor.

4. The method according to claim 3, characterized in that The temperature data of each position includes at least one of the following data: The temperature data of the inner layer of the stator winding of the motor, the temperature data of the middle layer of the stator winding of the motor, the temperature data of the outer layer of the stator winding of the motor and the temperature data inside the stator slot of the motor.

5. The method according to claim 3, characterized in that: The method further comprises: The trigger threshold is determined based on the temperature protection threshold corresponding to each operating condition.

6. The method according to claim 5, characterized in that The determining the trigger threshold based on the temperature protection threshold corresponding to each operating condition includes: Determine a first difference between the maximum temperature difference corresponding to each of the operating conditions and the maximum temperature resistance; The trigger threshold is determined according to a minimum value of the first differences.

7. A motor overheat protection device, characterized in that: include: A temperature detection module is used to detect the internal temperature of the motor based on a temperature sensor; An acquisition module, used for acquiring a temperature protection threshold value corresponding to the motor under the current working condition when the temperature detection module detects that the internal temperature of the motor is greater than or equal to the trigger threshold value; An overheat protection module is used to perform overheat protection on the motor when the temperature detection module detects that the internal temperature of the motor is greater than the temperature protection threshold.

8. The device according to claim 7, characterized in that The overheat protection module is specifically used for: The operating power of the motor is reduced or the motor is shut down for protection.

9. An electronic device, characterized in that: include: at least one processor; as well as at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 6 by calling the program instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method according to any one of claims 1 to 6.

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