Humanoid Robot Transition Method and Device

Abstract

The present application discloses a method and device for a humanoid robot to transfer between production processes. The method includes: the server receives a target production task sent by a terminal device; determines a target transfer sequence according to the target production task; determines a plurality of target visual elements according to the target transfer sequence, and the plurality of target visual elements are used to instruct the humanoid robot to perform position positioning; determines a target transfer configuration file according to the target transfer sequence and the plurality of target visual elements; and sends the target transfer configuration file to the humanoid robot to enable the humanoid robot to transfer between a plurality of target production processes. Since the target transfer sequence for moving between a plurality of target production processes is determined, the target transfer configuration file is determined according to the target transfer sequence and the plurality of target visual elements, so that the humanoid robot configured with the target transfer position file can transfer between processes based on the process execution order and the production line visual elements, improving the flexibility and adaptability of the robot's transfer and having a high degree of intelligence.

Description

Technical Field

[0001] The present application relates to the technical field of information processing, and particularly relates to a method and device for a humanoid robot to transfer between scenes. Background Art

[0002] Currently, robots are often used in production workshops for production. When a robot executes a production task, it needs to transfer between processes. Since a production workshop often adjusts the facility layout according to the requirements of production orders, in the prior art, the action route of the robot is usually planned in advance, so that the robot identifies a fixed navigation route based on ground two-dimensional codes or reaches the target location through a random access mechanism, with poor flexibility and adaptability and low intelligence level, resulting in low production efficiency. Therefore, how to improve the flexibility and adaptability of the robot to transfer between scenes and improve the intelligence level has become a technical problem to be further solved. Summary of the Invention

[0003] The present application provides a method and device for a humanoid robot to transfer between scenes, which solve the problems of poor flexibility and adaptability of the robot to transfer between scenes and low intelligence level, and improve the flexibility and adaptability of the robot to transfer between scenes and have a high intelligence level.

[0004] In a first aspect, an embodiment of the present application provides a method for a humanoid robot to transfer between scenes, which is applied to a server in a production control system. The production control system includes the server, a humanoid robot, and a terminal device. The method includes:

[0005] Receiving a target production task sent by the terminal device. The target production task includes a plurality of target production processes and process sequence information corresponding to the plurality of target production processes. The plurality of target production processes are production processes that the humanoid robot needs to execute, and the process sequence information is used to indicate the order in which the humanoid robot executes the plurality of target production processes;

[0006] Determining a target transfer sequence according to the target production task. The target transfer sequence is used to indicate the order in which the humanoid robot moves between the plurality of target production processes;

[0007] Determining a plurality of target visual elements according to the target transfer sequence. The plurality of target visual elements are used to indicate the position positioning of the humanoid robot;

[0008] Determining a target transfer configuration file according to the target transfer sequence and the plurality of target visual elements;

[0009] Sending the target transfer configuration file to the humanoid robot, so that the humanoid robot transfers between the plurality of target production processes.

[0010] Second aspect, an embodiment of the present application provides a transfer device for a humanoid robot, which is applied to a server in a production control system. The production control system includes the server, the humanoid robot, and a terminal device. The device includes:

[0011] A first receiving unit, configured to receive a target production task sent by the terminal device. The target production task includes a plurality of target production processes and process sequence information corresponding to the plurality of target production processes. The plurality of target production processes are production processes that the humanoid robot needs to execute, and the process sequence information is used to indicate the order in which the humanoid robot executes the plurality of target production processes;

[0012] A first processing unit, configured to determine a target transfer sequence according to the target production task. The target transfer sequence is used to indicate the order in which the humanoid robot moves between the plurality of target production processes; determine a plurality of target visual elements according to the target transfer sequence. The plurality of target visual elements are used to indicate the position positioning of the humanoid robot; determine a target transfer configuration file according to the target transfer sequence and the plurality of target visual elements; and send the target transfer configuration file to the humanoid robot, so that the humanoid robot transfers between the plurality of target production processes.

[0013] Third aspect, an embodiment of the present application provides a server, including a processor, a memory, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. The programs include instructions for performing the steps in the method according to any one of the first aspect.

[0014] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0015] Fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction. When the computer program / instruction is executed by a processor, some or all of the steps of the method according to any one of the first aspect of the embodiments of the present application are implemented.

[0016] It can be seen that in this application, the server receives a target production task sent by a terminal device. The target production task includes multiple target production processes and process sequence information corresponding to the multiple target production processes. The multiple target production processes are production processes that a humanoid robot needs to execute, and the process sequence information is used to indicate the order in which the humanoid robot executes the multiple target production processes. A target transfer sequence is determined according to the target production task, and the target transfer sequence is used to indicate the order in which the humanoid robot moves between the multiple target production processes. Multiple target visual elements are determined according to the target transfer sequence, and the multiple target visual elements are used to indicate the position positioning of the humanoid robot. A target transfer configuration file is determined according to the target transfer sequence and the multiple target visual elements. The target transfer configuration file is sent to the humanoid robot so that the humanoid robot can transfer between the multiple target production processes. Since the target transfer sequence indicating the movement of the humanoid robot between the multiple target production processes is determined according to the target production task, then multiple target visual elements indicating the position positioning of the humanoid robot are determined according to the target transfer sequence, and then the target transfer configuration file is determined according to the target transfer sequence and the multiple target visual elements, so that the humanoid robot configured with the target transfer position file can transfer between processes based on the process execution order and the production line visual elements, without having to re-plan the action route of the humanoid robot every time the facility layout of the workshop is adjusted, improving the flexibility and adaptability of the robot transfer and having a high degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 is a schematic structural diagram of a production control system provided by an embodiment of the present application;

[0019] Figure 2 is a schematic structural diagram of a humanoid robot in a production control system provided by an embodiment of the present application;

[0020] Figure 3 is a schematic structural diagram of a server in a production control system provided by an embodiment of the present application;

[0021] Figure 4 is a schematic flowchart of a method for a humanoid robot to transfer fields provided by an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of a scenario of a method for a humanoid robot to transfer fields provided by an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of a scenario of another humanoid robot transition method provided by an embodiment of the present application;

[0024] Figure 7 It is a block diagram of the functional units of a humanoid robot transition device provided by an embodiment of the present application;

[0025] Figure 8 It is a block diagram of the functional units of another humanoid robot transition device provided by an embodiment of the present application;

[0026] Figure 9 It is a block diagram of the structure of a server provided by an embodiment of the present application. Detailed implementation manners

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0028] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0029] Referring to "embodiment" in this article means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0030] The "and / or" in the embodiments of the present application describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B may be singular or plural.

[0031] In the embodiments of the present application, the symbol " / " may indicate an "or" relationship between the associated objects before and after. Additionally, the symbol " / " may also represent a division sign, that is, perform a division operation. For example, A / B may represent A divided by B.

[0032] The "at least one (piece)" or its similar expression in the embodiments of the present application refers to any combination of these items, including any combination of single item (piece) or plural items (pieces), which means one or more, and multiple means two or more. For example, at least one (piece) of a, b, or c may represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c may be an element or a set containing one or more elements.

[0033] The "equal to" in the embodiments of the present application can be used in conjunction with "greater than" and is applicable to the technical solutions adopted when greater than, or can also be used in conjunction with "less than" and is applicable to the technical solutions adopted when less than. When "equal to" is used in conjunction with "greater than", it is not used in conjunction with "less than"; when "equal to" is used in conjunction with "less than", it is not used in conjunction with "greater than".

[0034] To better understand the solutions of the embodiments of the present application, the terminal devices, related concepts, and backgrounds that the embodiments of the present application may involve will be introduced below.

[0035] Currently, robots are often used in production workshops. When a robot executes a production task, it needs to transfer between processes. Since the production workshop often adjusts the facility layout according to the requirements of production orders, in the prior art, the action route of the robot is usually planned in advance, enabling the robot to reach the target location based on the recognition of ground two-dimensional codes for a fixed navigation route or through a random reach mechanism. This results in poor flexibility and adaptability, and low intelligence, leading to low production efficiency. Therefore, how to improve the flexibility and adaptability of robot transfer and enhance the intelligence level has become a technical problem that needs to be further solved.

[0036] To solve the above problems, the embodiments of the present application provide a method and device for a humanoid robot to transfer. In this method, the server determines a target transfer sequence indicating the humanoid robot to move between multiple target production processes according to the target production task, then determines multiple target visual elements indicating the humanoid robot to perform position positioning according to the target transfer sequence, and then determines a target transfer configuration file according to the target transfer sequence and the multiple target visual elements. Thus, the humanoid robot configured with the target transfer position file can transfer between processes based on the process execution order and the production line visual elements, without the need to re-plan the action route of the humanoid robot every time the facility layout of the workshop is adjusted, improving the flexibility and adaptability of robot transfer and having a high intelligence level.

[0037] Please refer to Figure 1 ,Figure 1 is a schematic structural diagram of a production control system provided by an embodiment of the present application. As Figure 1 shown, the production control system 100 includes a humanoid robot 110, a server 120, and a terminal device 130. The server 120 is communicatively connected to the humanoid robot 110, and the server 120 is communicatively connected to the terminal device 130. The server 120 can be a single server or a server cluster composed of multiple servers. The terminal device 130 can be a mobile phone terminal, a tablet computer, a laptop computer, or the like.

[0038] In the daily use of the production control system 100, the server 120 receives a target production task sent by the terminal device. The target production task includes multiple target production processes and process sequence information corresponding to the multiple target production processes. The multiple target production processes are production processes that the humanoid robot needs to execute, and the process sequence information is used to indicate the order in which the humanoid robot executes the multiple target production processes; determine a target transfer sequence according to the target production task, where the target transfer sequence is used to indicate the order in which the humanoid robot moves between the multiple target production processes; determine multiple target visual elements according to the target transfer sequence, where the multiple target visual elements are used to indicate the position positioning of the humanoid robot; determine a target transfer configuration file according to the target transfer sequence and the multiple target visual elements; and send the target transfer configuration file to the humanoid robot to enable the humanoid robot to transfer between the multiple target production processes.

[0039] Please refer to Figure 2 , Figure 2 is a schematic structural diagram of a humanoid robot in a production control system provided by an embodiment of the present application. As Figure 2 shown, the humanoid robot 110 includes a visual sensing module 210 and a controller 220. The visual sensing module 210 is communicatively connected to the controller 220. Among them, the visual sensing module 210 can be a single visual sensor or a visual sensor cluster composed of multiple visual sensors, and the controller 220 can be a single controller or a controller cluster composed of multiple controllers.

[0040] Please refer to Figure 3 , Figure 3 is a schematic structural diagram of a server in a production control system provided by an embodiment of the present application. As Figure 3As shown in the figure, the server 120 includes a processor 310 and a memory 320, and the processor 310 is communicatively connected to the memory 320. Among them, one or more programs are stored in the memory 320, and the one or more programs are configured to be executed by the processor 310. The functions of the one or more programs are to receive a target production task sent by a terminal device, where the target production task includes a plurality of target production processes and process sequence information corresponding to the plurality of target production processes. The plurality of target production processes are production processes that a humanoid robot needs to execute, and the process sequence information is used to indicate the order in which the humanoid robot executes the plurality of target production processes; determine a target transition sequence according to the target production task, where the target transition sequence is used to indicate the order in which the humanoid robot moves between the plurality of target production processes; determine a plurality of target visual elements according to the target transition sequence, where the plurality of target visual elements are used to indicate the position positioning of the humanoid robot; determine a target transition configuration file according to the target transition sequence and the plurality of target visual elements; and send the target transition configuration file to the humanoid robot so that the humanoid robot can transition between the plurality of target production processes.

[0041] The following introduces a method for a humanoid robot to transition provided by an embodiment of the present application.

[0042] Please refer to Figure 4 , Figure 4 which is a schematic flowchart of a method for a humanoid robot to transition provided by an embodiment of the present application, and is applied to the server 120 in the production control system 100 as shown in Figure 1 The production control system 100 includes a humanoid robot 110, a server 120, and a terminal device 130. The server 120 is communicatively connected to the humanoid robot 110, and the server 120 is communicatively connected to the terminal device 130; as shown in Figure 4 , the method includes the following steps:

[0043] Step S401, receive the target production task sent by the terminal device.

[0044] Among them, the target production task includes a plurality of target production processes and process sequence information corresponding to the plurality of target production processes. The plurality of target production processes are production processes that the humanoid robot needs to execute, and the process sequence information is used to indicate the order in which the humanoid robot executes the plurality of target production processes.

[0045] Among them, the target production task is determined by the terminal device through a process setting page.

[0046] Among them, please refer to Figure 5 , Figure 5 which is a schematic scenario diagram of a method for a humanoid robot to transition provided by an embodiment of the present application. As shown in Figure 5As shown, the terminal device displays a process setting interface 500. The process setting interface 500 includes an administrator display box 501, a date display box 502, a page name display box 503, a selected task display box 504, and a recommended process sequence display box 505. The administrator display box 501 is used to display the administrator name, such as "Administrator: Xiaohong". The date display box 502 is used to display the system time, such as "20240930". The page name display box 503 is used to display the name of the interface displayed on the terminal device, such as "Process Setting Page of Humanoid Robot Task Configuration Platform". The selected task display box 504 displays "Current Selected Task:". The recommended process sequence display box 505 displays "Recommended Process Sequence:". The process setting interface 500 further includes a task operation box 506 and a process operation box 507. The task operation box 506 is used to display the currently set production task, such as "Material Transportation Assistance Task". The process operation box 507 is used to display multiple production processes included in the currently set production task, such as "First Production Process", "Second Production Process", "Third Production Process", "Fourth Production Process". The process operation box 507 includes a confirmation button 5071 and an edit button 5072. The confirmation button is used to receive a confirmation operation for the multiple production processes included in the currently set production task displayed in the process operation box 507. The edit button 5072 is used to receive an edit operation for the multiple production processes included in the currently set production task displayed in the process operation box 507.

[0047] Among them, the edit operation includes drag-and-drop sorting and adding order indication arrows.

[0048] Among them, the method for the terminal device to determine the target production task specifically includes the following steps: The terminal device displays the process setting page; obtains production task information through the task operation box in the process setting page, and the production task information includes the production task name and corresponding multiple target production processes; determines the process sequence information according to the production task information; determines the target production task according to the production task information and the process sequence information; and sends the target production task to the server.

[0049] Among them, the terminal device determines the process sequence information according to the production task information, including: sending the production task information to the server so that the server sends recommended process sequence information to the terminal device; updating the process operation box in the process setting interface according to the recommended process sequence information so that the recommended process sequence information is displayed in the process operation box; obtaining an edit operation for the recommended process sequence information through the edit button in the process setting interface; and determining the process sequence information according to the recommended process sequence information and the edit operation.

[0050] Among them, the process sequence information may be, for example: "First production process → Second production process → Third production process → Fourth production process".

[0051] Among them, the server receives the production task information, determines the recommended process sequence information according to the production task information and a preset process database, and thus sends the recommended process sequence information to the terminal device.

[0052] Step S402, determine a target transfer sequence according to the target production task.

[0053] Among them, the target transfer sequence is used to indicate the order in which the humanoid robot moves between the multiple target production processes.

[0054] Among them, each element in the target transfer sequence indicates a movement of the humanoid robot between processes. For example, if the target transfer sequence includes three elements: "from the first production process to the second production process", "from the second production process to the third production process", and "from the third production process to the fourth production process", then the target transfer sequence is: (from the first production process to the second production process, from the second production process to the third production process, from the third production process to the fourth production process).

[0055] In a possible embodiment, the determining the target transfer sequence according to the target production task includes: obtaining a preset production workshop mapping relation table, where the production workshop mapping relation table includes the corresponding relations between multiple production workshops and multiple production processes, and a single production workshop corresponds to at least one production process; determining at least one target production workshop according to the multiple target production processes and the production workshop mapping relation table; and determining the target transfer sequence according to the at least one target production workshop and the process sequence information.

[0056] Among them, the determining at least one target production workshop according to the multiple target production processes and the production workshop mapping relation table may be, for example: the first production process and the second production process correspond to the first production workshop, and the third production process and the fourth production process correspond to the second production workshop.

[0057] Among them, the target transfer sequence determined according to the at least one target production workshop and the process sequence information may be, for example: (from the first production process in the first production workshop to the second production process in the first production workshop, from the second production process in the first production workshop to the third production process in the second production workshop, from the third production process in the second production workshop to the fourth production process in the second production workshop). The target transfer configuration file determined according to this target transfer sequence can instruct the humanoid robot to transfer between workshops.

[0058] It can be seen that in this example, at least one target production workshop corresponding to multiple target production processes is determined through the mapping relationship between the production workshop and the production process. Then, the target transfer sequence is determined according to the at least one target production workshop and the process sequence information. Next, multiple target visual elements for instructing the humanoid robot to perform position positioning are determined according to the target transfer sequence. Finally, the target transfer configuration file is determined according to the target transfer sequence and the multiple target visual elements. Thus, the humanoid robot configured with the target transfer position file can transfer between processes based on the process execution order and the production line visual elements, without having to re-plan the action route of the humanoid robot every time the facility layout of the workshop is adjusted, improving the flexibility and adaptability of the robot's transfer and having a high degree of intelligence.

[0059] In a possible embodiment, each target production workshop among the at least one target production workshop includes a plurality of first production workstations. Determining the target transfer sequence according to the at least one target production workshop and the process sequence information includes: determining at least one target production workstation according to the plurality of first production workstations in each target production workshop and the at least one target production process corresponding to each target production workshop, obtaining a plurality of target production workstations, and the plurality of target production workstations correspond one-to-one with the plurality of target production processes; determining the target transfer sequence according to the plurality of target production workstations and the process sequence information.

[0060] Among them, the production workshop mapping table further includes the corresponding relationship between a plurality of production workshops and a plurality of production workstations, and a single production workshop corresponds to at least one production workstation. For example, in the production workshop mapping table, the first production workshop corresponds to the first production workstation, the second production workstation, and the third production workstation, and the second production workshop corresponds to the fourth production workstation and the fifth production workstation.

[0061] Among them, the plurality of first production workstations in each target production workshop are obtained through the production workshop mapping table.

[0062] Among them, determining at least one target production station according to the multiple first production stations in each target production workshop and at least one target production process corresponding to each target production workshop to obtain multiple target production stations. For example, it can be: The first production process and the second production process corresponding to the first production workshop are specifically that the first production process corresponds to the first production station, and the second production process corresponds to the second production station. The third production process and the fourth production process corresponding to the second production workshop are specifically that the third production process corresponds to the fourth production station, and the fourth production process corresponds to the fifth production station. Therefore, the multiple target production stations include the first production station, the second production station, the fourth production station, and the fifth production station.

[0063] Among them, determining the target transfer sequence according to the multiple target production stations and the process sequence information. The obtained target transfer sequence can be, for example: (From the first production station in the first production workshop to the second production station in the first production workshop, from the second production station in the first production workshop to the fourth production station in the second production workshop, from the fourth production station in the second production workshop to the fifth production station in the second production workshop). The target transfer configuration file determined according to this target transfer sequence can instruct the humanoid robot to transfer between production stations across workshops.

[0064] It can be seen that in this example, at least one target production station is determined according to the multiple first production stations in each target production workshop and at least one target production process corresponding to each target production workshop to obtain multiple target production stations. Then, the target transfer sequence is determined according to the multiple target production stations and the process sequence information. Next, multiple target visual elements for instructing the humanoid robot to perform position positioning are determined according to the target transfer sequence. Finally, the target transfer configuration file is determined according to the target transfer sequence and the multiple target visual elements. Thus, the humanoid robot configured with the target transfer position file can transfer between processes based on the process execution order and the production line visual elements, without having to re-plan the action route of the humanoid robot every time the facility layout of the workshop is adjusted, improving the flexibility and adaptability of the robot's transfer and having a high degree of intelligence.

[0065] Step S403, determining multiple target visual elements according to the target transfer sequence.

[0066] Among them, the multiple target visual elements are used to instruct the humanoid robot to perform position positioning.

[0067] In a possible embodiment, determining a plurality of target visual elements according to the target transition sequence includes: obtaining a preset visual element set, where the visual element set includes a plurality of workshop visual elements and a visual element mapping relationship table, and the visual element mapping relationship table includes the correspondence between the plurality of production workshops and the plurality of workshop visual elements, and a single production workshop corresponds to at least one workshop visual element; determining the plurality of target visual elements according to the at least one target production workshop and the visual element set.

[0068] Among them, the correspondence between the plurality of production workshops and the plurality of workshop visual elements included in the visual element mapping relationship table may be, for example: the workshop visual elements corresponding to the first production workshop include a gray wall and a blue floor, and the workshop visual elements corresponding to the second production workshop include a white wall and a green floor.

[0069] Among them, for determining the plurality of target visual elements according to the at least one target production workshop and the visual element set, the plurality of target visual elements may include, for example: a gray wall, a blue bottom surface, a white wall, and a green floor.

[0070] It can be seen that in this example, a plurality of target visual elements are determined according to at least one target production workshop and a preset visual element set, and then a target transition configuration file is determined according to the target transition sequence and the plurality of target visual elements, so that a humanoid robot configured with the target transition position file can perform transitions between processes based on the process execution order and the production line visual elements, without having to re-plan the action route of the humanoid robot every time the facility layout of the workshop is adjusted, improving the flexibility and adaptability of the robot's transition and having a high degree of intelligence.

[0071] In a possible embodiment, the visual element set further includes a plurality of station visual elements, the visual element mapping relationship table further includes the correspondence between the plurality of production stations in each production workshop and the plurality of station visual elements, and a single production station corresponds to at least one station visual element. Determining the plurality of target visual elements according to the at least one target production workshop and the visual element set includes: determining a plurality of target workshop visual elements according to the at least one target production workshop and the visual element set; determining a plurality of target station visual elements according to the plurality of target production stations and the visual element set; and determining the plurality of target workshop visual elements and the plurality of target station visual elements as the plurality of target visual elements.

[0072] Among them, for determining a plurality of target workshop visual elements according to the at least one target production workshop and the visual element set, the plurality of target workshop visual elements may include, for example: a gray wall, a blue bottom surface, a white wall, and a green floor.

[0073] Among them, the correspondence between the multiple production workstations in each production workshop included in the visual element mapping relationship table and the multiple workstation visual elements can be, for example: the workstation visual elements corresponding to the first production workstation include a yellow standing point and a target material, and the workstation visual elements corresponding to the second production workstation include a pink standing point and a target feeding port.

[0074] Among them, for determining the multiple target workstation visual elements according to the multiple target production workstations and the visual element set, the multiple target workstation visual elements can include, for example: a yellow standing point, a target material, a pink standing point, and a target feeding port. Then, the determined multiple visual elements include a gray wall, a blue bottom surface, a white wall, a green ground, a yellow standing point, a target material, a pink standing point, and a target feeding port.

[0075] It can be seen that in this example, the determined multiple target workshop visual elements and multiple target workstation visual elements are determined as multiple target visual elements, and then a target transfer configuration file is determined according to the target transfer sequence and the multiple target visual elements. Thus, the humanoid robot configured with the target transfer position file can transfer between processes based on the process execution sequence and the production line visual elements, without the need to re-plan the action route of the humanoid robot every time the facility layout of the workshop is adjusted, improving the flexibility and adaptability of the robot transfer and having a high degree of intelligence.

[0076] Step S404, determine a target transfer configuration file according to the target transfer sequence and the multiple target visual elements.

[0077] In a possible embodiment, for determining the target transfer configuration file according to the target transfer sequence and the multiple target visual elements, it includes: determining the recognition priority of each target visual element among the multiple target visual elements to obtain multiple recognition priorities, and a single recognition priority is used to indicate the priority for the humanoid robot to recognize the corresponding visual element; determining the target transfer configuration file according to the target transfer sequence, the multiple target visual elements, and the multiple recognition priorities.

[0078] Among them, the element types of the target visual elements include first-class elements, second-class elements, and third-class elements. The first-class elements are used to characterize the environment where the corresponding production workshop or production workstation is located, the second-class elements are used to characterize the production equipment corresponding to the corresponding production workshop or production workstation, and the third-class elements are used to characterize the production materials corresponding to the corresponding production workshop or production workstation.

[0079] Among them, the visual element set is determined by the server receiving the visual element configuration information sent by the terminal device.

[0080] Among them, the terminal device obtains visual element configuration information through the visual element configuration page of the production workshop.

[0081] Among them, please refer to Figure 6 , Figure 6 which is a schematic diagram of the scenario of another humanoid robot transition method provided by an embodiment of the present application. As Figure 6 shown, the terminal device displays the visual element configuration page 600 of the production workshop. The visual element configuration page 600 of the production workshop includes an administrator display box 501, a date display box 502, and a page name display box 503. The page name display box 503 displays "Visual Element Configuration Page of the Humanoid Robot Task Configuration Platform Production Workshop". The visual element configuration page 600 of the production workshop further includes a production workshop list operation box 610 and a visual element configuration box 620. The production workshop list operation box 610 displays N operation boxes 611 including the first production workshop, the second production workshop... the Nth production workshop. The visual element configuration box 620 includes a first-class element configuration box 621, a second-class element configuration box 622, and a third-class element configuration box 623, as well as a first prompt information display box 6211, a second prompt information display box 6221, and a third prompt information display box 6231. When any one of the N operation boxes 611 detects a selection operation, the first-class element configuration box 621, the second-class element configuration box 622, and the third-class element configuration box 623 in the visual element configuration box 620 obtain the input visual element configuration information.

[0082] Among them, determining the recognition priority of each target visual element among the multiple target visual elements to obtain multiple recognition priorities includes: obtaining preset priority setting information, where the priority setting information is used to indicate the recognition priority corresponding to each element type; determining the recognition priority of each target visual element according to the element type of each target visual element and the priority setting information to obtain the multiple recognition priorities.

[0083] Among them, the priority setting information may be, for example: the recognition priority of the first-class elements is the first level, the recognition priority of the second-class elements is the second level, and the recognition priority of the third-class elements is the third level.

[0084] Among them, determining the recognition priority of each target visual element according to the element type of each target visual element and the priority setting information to obtain the multiple recognition priorities may be, for example: the recognition priority of the gray wall is the first level, the recognition priority of the blue floor is the first level, the recognition priority of the pink standing point is the first level, and the recognition priority of the target feeding port is the second level.

[0085] It can be seen that in this example, by determining the recognition priority of each target visual element, and then determining the target transition profile based on the target transition sequence, multiple target visual elements, and multiple recognition priorities, the humanoid robot configured with the target transition position file can transition between processes based on the process execution sequence and production line visual elements, without the need to re-plan the action route of the humanoid robot every time the facility layout in the workshop is adjusted, improving the flexibility and adaptability of the robot's transition and having a high degree of intelligence.

[0086] In a possible embodiment, the determining the target transition profile according to the target transition sequence, the multiple target visual elements, and the multiple recognition priorities includes: determining at least one target visual element corresponding to each transition element in the target transition sequence according to the target transition sequence and the multiple target visual elements; and determining the target transition profile according to the multiple recognition priorities and at least one target visual element corresponding to each transition element.

[0087] Among them, the determining at least one target visual element corresponding to each transition element in the target transition sequence according to the target transition sequence and the multiple target visual elements, for example, can be: at least one target visual element corresponding to the element "from the first production station in the first production workshop to the second production station in the first production workshop" in the target transition sequence (from the first production station in the first production workshop to the second production station in the first production workshop, from the second production station in the first production workshop to the fourth production station in the second production workshop, from the fourth production station in the second production workshop to the fifth production station in the second production workshop) includes: gray wall, blue floor, pink standing point, target feeding port.

[0088] It can be seen that in this example, at least one target visual element corresponding to each transition element in the target transition sequence is determined according to the target transition sequence and multiple target visual elements, and then the target transition profile is determined according to the multiple recognition priorities and at least one target visual element corresponding to each transition element, so that the humanoid robot configured with the target transition position file can transition between processes based on the process execution sequence and production line visual elements, without the need to re-plan the action route of the humanoid robot every time the facility layout in the workshop is adjusted, improving the flexibility and adaptability of the robot's transition and having a high degree of intelligence.

[0089] Step S405, sending the target transition profile to the humanoid robot so that the humanoid robot can transition between the multiple target production processes.

[0090] Among them, the controller of the humanoid robot receives the target transition profile, and the humanoid robot executes the multiple target production processes according to the target transition profile.

[0091] Wherein, the humanoid robot executes the multiple target production processes according to the target transfer configuration file. For example, when the humanoid robot completes the first production process at the first production station, it starts to move from the first production station; according to the target transfer elements corresponding to the first production station, that is, from the first production station in the first production workshop to the second production station in the first production workshop, the corresponding at least one target visual element, that is, the gray wall, the blue floor, the pink standing point, the target feeding port, and multiple recognition priorities, perform at least one target recognition operation until the humanoid robot executes the second production process at the second production station.

[0092] Wherein, the target recognition operation includes the following steps:

[0093] Scan and segment the surrounding environmental space through the visual sensing module to obtain the current view image;

[0094] Judge whether all the elements with the first-level priority in at least one target visual element corresponding to the target transfer element are included in the current view image;

[0095] If not, judge whether all the elements with the second-level priority in at least one target visual element corresponding to the target transfer element are included in the current view image;

[0096] If so, determine that the second production station has been reached, and execute the second production process at the second production station;

[0097] If not, judge whether all the elements with the third-level priority in at least one target visual element corresponding to the target transfer element are included in the current view image;

[0098] If so, determine that the second production station has been reached, and execute the second production process at the second production station;

[0099] If not, perform the next target recognition operation;

[0100] If so, determine that the second production station has been reached, and execute the second production process at the second production station.

[0101] It can be seen that in this application, the server receives the target production task sent by the terminal device. The target production task includes multiple target production processes and the process sequence information corresponding to the multiple target production processes. The multiple target production processes are the production processes that the humanoid robot needs to execute, and the process sequence information is used to indicate the order in which the humanoid robot executes the multiple target production processes. The target transition sequence is determined according to the target production task, and the target transition sequence is used to indicate the order in which the humanoid robot moves between the multiple target production processes. Multiple target visual elements are determined according to the target transition sequence, and the multiple target visual elements are used to indicate the position positioning of the humanoid robot. The target transition configuration file is determined according to the target transition sequence and the multiple target visual elements. The target transition configuration file is sent to the humanoid robot to enable the humanoid robot to transition between the multiple target production processes. Since the target transition sequence indicating the movement of the humanoid robot between the multiple target production processes is determined according to the target production task, then multiple target visual elements indicating the position positioning of the humanoid robot are determined according to the target transition sequence, and then the target transition configuration file is determined according to the target transition sequence and the multiple target visual elements, so that the humanoid robot configured with the target transition position file can transition between processes based on the process execution order and the production line visual elements, without having to re-plan the action route of the humanoid robot every time the facility layout of the workshop is adjusted, improving the flexibility and adaptability of the robot's transition and having a high degree of intelligence.

[0102] The above mainly introduces the solution of the embodiment of this application from the perspective of the execution process on the method side. It can be understood that in order for the controller to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments provided in this article, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but this implementation should not be considered to exceed the scope of this application.

[0103] Consistent with the above-described embodiments, please refer to Figure 7 , Figure 7 is the functional unit composition block diagram of a humanoid robot transition device provided by an embodiment of this application. As Figure 7As shown, the humanoid robot transfer device 700 includes: a first receiving unit 701, configured to receive a target production task sent by the terminal device, where the target production task includes a plurality of target production processes and process sequence information corresponding to the plurality of target production processes, the plurality of target production processes being production processes that the humanoid robot needs to execute, and the process sequence information being used to indicate the order in which the humanoid robot executes the plurality of target production processes; a first processing unit 702, configured to determine a target transfer sequence according to the target production task, the target transfer sequence being used to indicate the order in which the humanoid robot moves between the plurality of target production processes; determine a plurality of target visual elements according to the target transfer sequence, the plurality of target visual elements being used to indicate position positioning of the humanoid robot; determine a target transfer configuration file according to the target transfer sequence and the plurality of target visual elements; and send the target transfer configuration file to the humanoid robot, so that the humanoid robot transfers between the plurality of target production processes.

[0104] In a possible embodiment, in terms of determining the target transfer sequence according to the target production task, the first processing unit 702 is specifically configured to: obtain a preset production workshop mapping relationship table, where the production workshop mapping relationship table includes the corresponding relationships between a plurality of production workshops and a plurality of production processes, and a single production workshop corresponds to at least one production process; determine at least one target production workshop according to the plurality of target production processes and the production workshop mapping relationship table; and determine the target transfer sequence according to the at least one target production workshop and the process sequence information.

[0105] In a possible embodiment, each target production workshop in the at least one target production workshop includes a plurality of first production stations. In terms of determining the target transfer sequence according to the at least one target production workshop and the process sequence information, the first processing unit 702 is specifically configured to: determine at least one target production station according to the plurality of first production stations in each target production workshop and the at least one target production process corresponding to each target production workshop, to obtain a plurality of target production stations, where the plurality of target production stations correspond one-to-one to the plurality of target production processes; and determine the target transfer sequence according to the plurality of target production stations and the process sequence information.

[0106] In a possible embodiment, in determining a plurality of target visual elements according to the target transition sequence, the first processing unit 702 is specifically configured to: obtain a preset visual element set, where the visual element set includes a plurality of workshop visual elements and a visual element mapping relation table, the visual element mapping relation table includes the corresponding relationships between the plurality of production workshops and the plurality of workshop visual elements, and a single production workshop corresponds to at least one workshop visual element; determine the plurality of target visual elements according to the at least one target production workshop and the visual element set.

[0107] In a possible embodiment, the visual element set further includes a plurality of station visual elements, the visual element mapping relation table further includes the corresponding relationships between the plurality of production stations in each production workshop and the plurality of station visual elements, and a single production station corresponds to at least one station visual element. In determining the plurality of target visual elements according to the at least one target production workshop and the visual element set, the first processing unit 702 is specifically configured to: determine a plurality of target workshop visual elements according to the at least one target production workshop and the visual element set; determine a plurality of target station visual elements according to the plurality of target production stations and the visual element set; and determine the plurality of target workshop visual elements and the plurality of target station visual elements as the plurality of target visual elements.

[0108] In a possible embodiment, in determining a target transition configuration file according to the target transition sequence and the plurality of target visual elements, the first processing unit 702 is specifically configured to: determine the recognition priority of each target visual element in the plurality of target visual elements, to obtain a plurality of recognition priorities, and a single recognition priority is used to indicate the priority for the humanoid robot to recognize the corresponding visual element; determine the target transition configuration file according to the target transition sequence, the plurality of target visual elements, and the plurality of recognition priorities.

[0109] In a possible embodiment, in determining the target transition configuration file according to the target transition sequence, the plurality of target visual elements, and the plurality of recognition priorities, the first processing unit 702 is specifically configured to: determine at least one target visual element corresponding to each transition element in the target transition sequence according to the target transition sequence and the plurality of target visual elements; determine the target transition configuration file according to the plurality of recognition priorities and the at least one target visual element corresponding to each transition element.

[0110] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part, and will not be elaborated here.

[0111] In the case of adopting an integrated unit, as Figure 8 shown, Figure 8 Figure 4 is a block diagram of the functional units of another humanoid robot transition device provided by an embodiment of the present application. In Figure 8 Figure 5, the humanoid robot transition device 700 includes: a processing module 812 and a communication module 811. The processing module 812 is used to control and manage the actions of the humanoid robot transition device 700. For example, it executes the steps of the first receiving unit 701 and the first processing unit 702, and / or is used to execute other processes of the technologies described herein. The communication module 811 is used to support the interaction between the humanoid robot transition device 700 and other devices. As Figure 8 shown, the humanoid robot transition device 700 may further include a storage module 813, and the storage module 813 is used to store the program code and data of the humanoid robot transition device 700.

[0112] Among them, the processing module 812 may be a processor or a controller. For example, it may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in connection with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication module 811 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 813 may be a memory.

[0113] Among them, all relevant contents of each scenario involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here. The above humanoid robot transition device 700 can all execute the above Figure 4 shown humanoid robot transition method.

[0114] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that contains one or more collections of available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0115] Figure 9 is a structural block diagram of a server provided by an embodiment of the present application. As Figure 9 shown, the server 120 can include one or more of the following components: a processor 310 and a memory 320 coupled to the processor 310, where the memory 320 can store one or more computer programs 321, and the one or more computer programs 321 can be configured to implement the methods described in the above embodiments when executed by the one or more processors 310.

[0116] The processor 310 may include one or more processing cores. The processor 310 connects various parts within the entire server 120 using various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 320, and by invoking data stored in the memory 320, it performs various functions of the server 120 and processes data. Optionally, the processor 310 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 310 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing display content; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 310 and may be implemented separately through a communication chip.

[0117] The memory 320 may include random access memory (RAM) and may also include read-only memory (ROM). The memory 320 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 320 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created during the use of the server 120.

[0118] It can be understood that the server 120 may include more or fewer structural elements than those shown in the above block diagram, and no limitation is made here. An embodiment of the present application provides a computer-readable storage medium, on which computer programs / instructions are stored, and when the computer programs / instructions are executed by a processor, the steps of the method according to any possible embodiment are implemented.

[0119] It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution is prior or subsequent. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0120] In several embodiments provided by the present application, it should be understood that the disclosed methods, devices, and systems can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for example, the division of the unit is only a logical function division, and there can 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in electrical, mechanical, or other forms.

[0121] The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can be physically included separately, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0123] The integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above software functional units are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, mobile hard disks, magnetic disks, optical disks, volatile memories, or non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and directrambus random access memory (DR RAM), etc., and various media that can store program codes.

[0124] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various modifications and alterations, including combinations of the above different functions and implementation steps, including software and hardware implementation manners, all within the protection scope of the present invention.

Claims

1. A method for a humanoid robot to transition, characterized in that, A server applied to a production control system, the production control system including the server, a humanoid robot, and a terminal device, the method including: Receiving a target production task sent by the terminal device, the target production task including a plurality of target production processes and process sequence information corresponding to the plurality of target production processes, the plurality of target production processes being production processes that the humanoid robot needs to execute, and the process sequence information being used to indicate the order in which the humanoid robot executes the plurality of target production processes; Obtaining a preset production workshop mapping relationship table, the production workshop mapping relationship table including the corresponding relationships between a plurality of production workshops and a plurality of production processes, with each individual production workshop corresponding to at least one production process; determining at least one target production workshop according to the plurality of target production processes and the production workshop mapping relationship table; and determining a target transfer sequence according to the at least one target production workshop and the process sequence information, the target transfer sequence being used to indicate the order in which the humanoid robot moves between the plurality of target production processes; Determining a plurality of target visual elements according to the target transfer sequence, the plurality of target visual elements being used to indicate the position positioning of the humanoid robot; Determining a target transfer configuration file according to the target transfer sequence and the plurality of target visual elements; Sending the target transfer configuration file to the humanoid robot so that the humanoid robot transfers between the plurality of target production processes.

2. The method according to claim 1, characterized in that, Each of the at least one target production workshops includes a plurality of first production workstations, and the determining the target transfer sequence according to the at least one target production workshop and the process sequence information includes: Determining at least one target production workstation according to the plurality of first production workstations in each target production workshop and the at least one target production process corresponding to each target production workshop, obtaining a plurality of target production workstations, the plurality of target production workstations corresponding one-to-one to the plurality of target production processes; Determining the target transfer sequence according to the plurality of target production workstations and the process sequence information.

3. The method according to claim 2, wherein The determining a plurality of target visual elements according to the target transfer sequence includes: Obtaining a preset visual element set, the visual element set including a plurality of workshop visual elements and a visual element mapping relationship table, the visual element mapping relationship table including the corresponding relationships between the plurality of production workshops and the plurality of workshop visual elements, with each individual production workshop corresponding to at least one workshop visual element; Determining the plurality of target visual elements according to the at least one target production workshop and the visual element set.

4. The method according to claim 3, wherein The visual element set further includes a plurality of workstation visual elements, and the visual element mapping relationship table further includes the corresponding relationships between the plurality of production workstations in each production workshop and the plurality of workstation visual elements, with each individual production workstation corresponding to at least one workstation visual element. The determining the plurality of target visual elements according to the at least one target production workshop and the visual element set includes: Determining a plurality of target workshop visual elements according to the at least one target production workshop and the visual element set; Determine a plurality of target station visual elements based on the plurality of target production stations and the set of visual elements; Determine the plurality of target workshop visual elements and the plurality of target station visual elements as the plurality of target visual elements.

5. The method according to claim 4, wherein The determining the target transfer configuration file according to the target transfer sequence and the plurality of target visual elements includes: Determine the recognition priority of each target visual element in the plurality of target visual elements, obtaining a plurality of recognition priorities, and a single recognition priority is used to indicate the priority for the humanoid robot to recognize the corresponding visual element; Determine the target transfer configuration file according to the target transfer sequence, the plurality of target visual elements, and the plurality of recognition priorities.

6. The method according to claim 5, wherein It includes: Determine at least one target visual element corresponding to each transfer element in the target transfer sequence according to the target transfer sequence and the plurality of target visual elements; Determine the target transfer configuration file according to the plurality of recognition priorities and at least one target visual element corresponding to each transfer element.

7. A humanoid robot transition device, characterized in that, Applied to a server in a production control system, the production control system includes the server, a humanoid robot, and a terminal device, and the device includes: A first receiving unit, configured to receive a target production task sent by the terminal device, the target production task includes a plurality of target production processes and process sequence information corresponding to the plurality of target production processes, the plurality of target production processes are production processes that the humanoid robot needs to execute, and the process sequence information is used to indicate the order for the humanoid robot to execute the plurality of target production processes; A first processing unit, configured to obtain a preset production workshop mapping relationship table, the production workshop mapping relationship table includes the corresponding relationship between a plurality of production workshops and a plurality of production processes, and a single production workshop corresponds to at least one production process; determine at least one target production workshop according to the plurality of target production processes and the production workshop mapping relationship table; determine a target transfer sequence according to the at least one target production workshop and the process sequence information, the target transfer sequence is used to indicate the order for the humanoid robot to move between the plurality of target production processes; determine a plurality of target visual elements according to the target transfer sequence, the plurality of target visual elements are used to indicate the position positioning of the humanoid robot; determine a target transfer configuration file according to the target transfer sequence and the plurality of target visual elements; send the target transfer configuration file to the humanoid robot, so that the humanoid robot transfers between the plurality of target production processes.

8. A server, characterized in that, It includes a processor, a memory, and one or more programs, the one or more programs are stored in the memory and are configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, A computer program / instruction is stored thereon, and when the computer program / instruction is executed by a processor, the steps of the method according to any one of claims 1-6 are implemented.

Images