Freight unmanned aerial vehicle control method, scheduling system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method of a freight unmanned aerial vehicle, a scheduling system, electronic equipment and a storage medium. The control method comprises the steps of S1, controlling the unmanned aerial vehicle to fly to a working airspace S2, judging whether the unmanned aerial vehicle receives an order or not; s3, if the order is stopped, the unmanned aerial vehicle is controlled to return to the base; s4, if the order is received, judging whether there is an order in the working airspace; s5, if no order exists, controlling the unmanned aerial vehicle to fly to the circling airspace to wait for the order; s6, if the order exists, the unmanned aerial vehicle is controlled to take or deliver the goods; and S7, after the unmanned aerial vehicle completes delivery, the steps S2-S6 or the steps S5-S6 continue to be repeated. The unmanned aerial vehicles are dispatched to the working airspace by adopting the control method, the order is distributed to the unmanned aerial vehicles in the airspace according to the current situation, and compared with the process of taking off, taking goods and delivering goods according to the order information, the flight efficiency of the unmanned aerial vehicles is optimized, and the delivery speed of the unmanned aerial vehicles is improved.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles, and particularly to a control method, a scheduling system, an electronic device and a storage medium for a cargo unmanned aerial vehicle. Background Art

[0002] For existing cargo vertical take-off and landing unmanned aerial vehicles, in order to complete pick-up and delivery, the whole aircraft first needs to land at the pick-up point, use automated equipment or manual labor to complete the loading of goods, and then take off from the pick-up point. This method is relatively mature, but there are deficiencies such as slow delivery speed, slow pick-up speed, low energy utilization rate, and few applicable scenarios. Summary of the Invention

[0003] This application provides a control method, a scheduling system, an electronic device and a storage medium for a cargo unmanned aerial vehicle, aiming to dispatch the unmanned aerial vehicle using a delivery process, optimize flight efficiency, and reduce energy consumption.

[0004] This application provides a control method for a cargo unmanned aerial vehicle in the first aspect, including:

[0005] S1: Control the unmanned aerial vehicle to fly to the working airspace;

[0006] S2: Determine whether the unmanned aerial vehicle has received an order;

[0007] S3: If the order receiving is stopped, control the unmanned aerial vehicle to return to the base;

[0008] S4: If an order is received, determine whether there is an order in the working airspace;

[0009] S5: If there is no order, control the unmanned aerial vehicle to fly to the hovering airspace to wait for an order;

[0010] S6: If there is an order, control the unmanned aerial vehicle to pick up or deliver goods;

[0011] S7: After the unmanned aerial vehicle completes the delivery, continue to repeat steps S2 - S6 or steps S5 - S6.

[0012] In a possible design, controlling the unmanned aerial vehicle to fly to the hovering airspace to wait for an order specifically includes:

[0013] S51: Determine whether there is an order for the unmanned aerial vehicle within a preset waiting time;

[0014] S52: If there is no order, return to step S2;

[0015] S53: If there is an order, enter step S6.

[0016] In a possible design, before determining whether the unmanned aerial vehicle has received an order, the method further includes:

[0017] S1.1: Determine whether the power of the drone is sufficient;

[0018] S1.2: If the power is sufficient, proceed to step S2;

[0019] S1.3: If the power is insufficient, control the drone to fly to the power station for charging. After the drone finishes charging, proceed to step S2.

[0020] In a possible design, controlling the drone to fly to the power station for charging specifically includes:

[0021] S1.3.1: The drone flies to hover above the power station, and controls the cargo compartment to descend to the power station for battery replacement;

[0022] S1.3.2: After the cargo compartment finishes battery replacement, control the cargo compartment to rise to dock with the drone and charge the drone.

[0023] In a possible design, the information used to determine whether the drone accepts an order includes meteorological information, route information, or attendance time.

[0024] In a possible design, controlling the drone to pick up or deliver goods specifically includes: controlling the drone to hover above the pick-up / delivery point;

[0025] Control the cargo compartment to descend to the pick-up / delivery point;

[0026] Locate the position of the pick-up / delivery point;

[0027] Control the cargo compartment to move within a preset distance from the pick-up / delivery point to complete the pick-up or delivery.

[0028] This application provides a dispatching system in a second aspect, including a control system and a drone;

[0029] The control system is used to control the drone according to the method described above.

[0030] This application also provides an electronic device in a third aspect, including a processor, a memory, and a computer program stored in the memory. When the processor runs the computer program, the electronic device executes the method described above.

[0031] This application provides a computer-readable storage medium in a fourth aspect. The computer-readable storage medium stores a computer program. When it runs on a computer, it causes the computer to execute the method described above.

[0032] It should be understood that the above general description and the following detailed description are only exemplary and do not limit this application. Brief Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram when the unmanned aerial vehicle provided by this application is combined with the cargo hold;

[0034] Figure 2 It is a schematic structural diagram when the unmanned aerial vehicle provided by this application is separated from the cargo hold;

[0035] Figure 3 It is a flow chart for dispatching the unmanned aerial vehicle to deliver goods provided by this application.

[0036] Reference Signs:

[0037] 1 - Unmanned Aerial Vehicle;

[0038] 11 - Ascending Rotor;

[0039] 12 - First Propulsion Rotor;

[0040] 2 - Cargo Hold;

[0041] 21 - Adjusting Rotor;

[0042] 22 - Second Propulsion Rotor;

[0043] 23 - Positioning Part;

[0044] 3 - Rope.

[0045] The drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with this application, and are used together with the description to explain the principles of this application. Detailed Description of the Embodiments

[0046] To better understand the technical solutions of this application, the embodiments of this application will be described in detail below with reference to the drawings.

[0047] It should be clear that the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope protected by this application.

[0048] The terms used in the embodiments of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "the" and "said" used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0049] It should be understood that the term "and / or" used herein is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, in this text, the character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0050] It should be noted that the orientation terms such as "upper", "lower", "left", and "right" described in the embodiments of this application are described from the perspective shown in the drawings and should not be construed as limitations on the embodiments of this application. In addition, in the context, it should also be understood that when it is mentioned that one component is connected "above" or "below" another component, it can not only be directly connected "above" or "below" another component, but also be indirectly connected "above" or "below" another component through an intermediate component.

[0051] As Figure 1 and Figure 2 As shown, this embodiment provides a freight drone 1, which is a split-type vertical takeoff and landing freight drone 1, including a drone 1 and a cargo compartment 2. The drone 1 and the cargo compartment 2 can be separated or combined. When the drone 1 and the cargo compartment 2 are separated, the cargo compartment 2 is connected to the drone 1 by a rope 3. The upper body part of the drone 1 has 8 ascending rotors 11, and the tail part has 2 first propulsion rotors 12. The cargo compartment 2 has 2 adjustment rotors 21 and 1 second propulsion rotor 22. The drone 1 relies on the lift generated by the ascending rotors 11 to balance the gravity of the aircraft, enabling the aircraft to take off. At this time, the thrust generated by the rotation of the second propulsion rotor 22 can drive the drone 1 to fly. When the cargo compartment 2 is in a separated state from the aircraft, the second propulsion rotor 22 will stop rotating and automatically fold.

[0052] As Figure 1 and Figure 2 As shown, when the aircraft is in a separated state from the cargo compartment 2, the first propulsion rotor 12 may start. When the aircraft hovers in the air and in a windless environment, the heading of the aircraft remains unchanged in a certain direction, and the first propulsion rotor 12 does not need to be started. When the environmental wind increases, under the combined action of the flight control and the tail vertical fin, the drone 1 adjusts the nose to point towards the direction of the wind, and then starts the first propulsion rotor 12 to generate thrust. The aircraft will naturally generate a resistance in the same direction as the wind direction. When the nose points towards the direction of the wind, the thrust generated by the first propulsion rotor 12 is opposite to the direction of the wind resistance. Under the control of the flight control, the first propulsion rotor 12 generates a force opposite to and of the same magnitude as the resistance direction, which can cancel out the resistance with the resistance. At this time, the aircraft can maintain its original position unchanged, achieving the anti-wind effect. By controlling the rotation speed and deflection direction of the adjustment rotors 21 on both sides of the cargo compartment 2, the attitude and horizontal position of the cargo compartment 2 can be adjusted, realizing the rapid and precise hoisting of the cargo compartment 2 in a complex environment and its movement towards the pick-up and delivery points.

[0053] The cargo hold 2 further includes a positioning member 23. When the cargo hold 2 moves to a height near the pick-up and delivery point, the precise position of the pick-up and delivery point is obtained through the positioning member 23. Among them, the positioning member 23 can be devices such as sensors and cameras.

[0054] To optimize the flight efficiency of the cargo aircraft and reduce energy consumption, such as Figure 3 As shown, this embodiment provides a control method for a cargo drone 1. The control method includes: S1: Controlling the drone 1 to fly to the working airspace; S2: Judging whether the drone 1 accepts an order; S3: If the order acceptance stops, controlling the drone 1 to return to the base; S4: If an order is accepted, judging whether there is an order in the working airspace; S5: If there is no order, controlling the drone 1 to fly to the hovering airspace to wait for an order; S6: If there is an order, controlling the drone 1 to fly forward to pick up and deliver goods; S7: After the drone 1 completes the delivery, continue to repeat steps S2 - S6 or steps S5 - S6.

[0055] In this embodiment, the working airspace is a certain range of space delimited according to the goods delivered by the drone 1. First, control the drone 1 to fly to the working airspace so that the drone 1 can receive the delivery orders within this working airspace. After the drone 1 arrives at the working airspace, the system judges whether the drone 1 accepts an order. If the drone 1 needs to stop accepting orders, then control the drone 1 to return to the base for maintenance and storage. If the drone 1 needs to continue accepting orders, then the system judges whether there is an order in the working area. If there is no order, then control the drone 1 to go to the hovering airspace to wait. If there is an order, then control the drone 1 to go to the pick-up and delivery point to pick up and deliver goods. After the drone 1 completes the pick-up and delivery, the system re-judges whether the drone 1 continues to accept orders and continues to repeat the above steps. Or, after the drone 1 completes the pick-up and delivery, the system re-judges whether there is an order in the working area and continues to repeat the steps. Among them, the hovering airspace is a space at the height where the drone 1 flies forward and has no influence on the flight route of the drone 1. This embodiment uses this control method to dispatch the drone 1 to the working airspace and distribute orders to the drones 1 in the airspace according to the current situation. Compared with the process of taking off, picking up goods, and delivering goods according to the order information, the flight efficiency of the drone 1 is optimized and the delivery speed of the drone 1 is improved.

[0056] In some embodiments, before judging whether the drone accepts an order, the control method further includes: S1.1: Judging whether the battery power of the drone 1 is sufficient; S1.2: If the battery power is sufficient, enter step S2; S1.3: If the battery power is insufficient, control the drone 1 to fly to the power station for charging. After the drone 1 finishes charging, enter step S2. Step S7 further includes: After the drone 1 completes the delivery, continue to repeat steps S1.1 - S6.

[0057] In this embodiment, after the drone 1 reaches the working airspace, the power of the drone 1 is first detected to check whether the power of the drone 1 is sufficient to complete the delivery. If the power is sufficient, the process of determining whether the drone 1 continues to receive orders is entered. If the power is insufficient, the drone 1 is controlled to fly to the power station for charging. After the drone 1 finishes charging, it continues to enter the process of determining whether the drone 1 continues to receive orders. After the drone 1 completes picking up and delivering goods, the system re-detects whether the remaining power of the drone 1 is sufficient and continues to repeat the above steps. This embodiment consists of a process of repeatedly detecting the remaining power of the drone 1, determining whether the drone 1 continues to receive orders, determining whether there are orders in the system, and controlling the drone 1 to pick up and deliver goods, enabling the drone 1 to operate in the working airspace according to this loop process, and sequentially determining whether the drone 1 can deliver goods according to the process steps, reducing the risk that the drone 1 suddenly needs to stop flying during the delivery process, and improving the delivery efficiency of the drone 1.

[0058] In some embodiments, before controlling the drone to fly to the working airspace, the control method further includes: controlling whether the system schedules the drone 1; if it is scheduled, enter step S1.

[0059] In this embodiment, the drone 1 is stored in the base before taking off for internal operation and maintenance. Before the drone 1 takes off, various detection parameters of the drone 1 are judged to determine whether the drone 1 is suitable for receiving orders. If the drone 1 is suitable for receiving orders, the drone 1 is controlled to take off and fly to the working airspace. If the drone 1 is not suitable for receiving orders, the drone 1 continues to be stored in the base for repair, inspection, etc.

[0060] Among them, for controlling the drone 1 to fly to the power station for charging, the control method further includes: S1.3.1: The drone 1 hovers above the power station, and the cargo compartment 2 is controlled to descend to the power station for battery replacement; S1.3.2: After the cargo compartment 2 completes battery replacement, the cargo compartment 2 is controlled to rise to dock with the drone 1 and charge the drone 1.

[0061] In this embodiment, when the power of the drone 1 is insufficient to support its delivery process, the drone 1 is controlled to fly to the power station and hover above the power station. The cargo compartment 2 is controlled to separate from the drone 1, and at the same time, the winch is controlled to lower the cargo compartment 2 so that the cargo compartment 2 descends to the power station to replace the battery of the cargo compartment 2. After the battery replacement is completed, the winch is controlled to raise the cargo compartment 2 to be combined with the drone 1, and the electrical interface of the cargo compartment 2 is connected to the electrical interface of the drone 1 to realize charging of the drone 1 by the cargo compartment 2. In this embodiment, the drone 1 does not need to descend to the power station for charging. During the flight of the drone 1, charging can also be realized, saving the time and energy wasted by the drone 1 in descending and ascending, and at the same time avoiding the risk of collision between the drone 1 and obstacles during the lifting process.

[0062] In some embodiments, the information used to determine whether the drone 1 accepts an order includes meteorological information, route information, or attendance time.

[0063] In this embodiment, it is possible to determine whether the drone 1 continues to accept orders based on whether the meteorological information in the working airspace is good, whether the routes of the drones 1 conflict with each other, and whether the attendance time of the drone 1 is too long. For example, excessive wind speed and rainfall affect the stable flight of the drone 1 and may cause impact events. At this time, the drone 1 can be stopped from accepting orders and controlled to return to the base. For example, if the route of a drone 1 conflicts with the routes of other drones 1, the drone 1 can be stopped from accepting orders and controlled to return to the base. For example, according to the flight standards of the drone 1, the drone 1 with a longer flight time can be stopped from accepting orders and controlled to return to the base for maintenance.

[0064] In some embodiments, when controlling the drone 1 to fly to the hovering airspace to wait for an order, the control method further includes: S51: determining whether the drone 1 has an order within a preset waiting time; S52: if there is no order, returning to step S2; S53: if there is an order, entering step S6.

[0065] In this embodiment, when the drone 1 is waiting for an order in the hovering airspace, a waiting time can be set. If the drone 1 still does not have an order within the preset time of waiting in the hovering airspace, it is continued to determine whether the drone 1 continues to accept orders. If the drone 1 has an order within the preset time of waiting in the hovering airspace, the drone 1 is controlled to fly to the pick-up and delivery point.

[0066] In some embodiments, when controlling the drone 1 to pick up and deliver goods, the drone 1 is controlled to hover above the pick-up and delivery point, and the cargo compartment 2 is controlled to descend to the pick-up and delivery point to pick up and deliver goods.

[0067] In this embodiment, the drone 1 and the cargo compartment 2 in a split form have the capabilities of large load capacity, long flight range, and precise movement between buildings at the same time, have a stronger adaptability to complex environments, and greatly reduce the requirements for ground equipment.

[0068] Specifically, after taking off, the drone 1, according to the control instruction, flies at a high speed to the vicinity of the pick-up point (merchant gathering area) in a fixed cruise mode, maintains a flight altitude greater than 100m, and has a height interval greater than 30m from other buildings. After the drone 1 reaches the pick-up point, it completes the conversion process from the fixed cruise mode to the multi-rotor mode (i.e., turns off the second propulsion rotor 22 in the cargo compartment 2), and stably hovers within a range of 0 - 50m horizontally from the pick-up point to avoid other obstacles in the vertical plane.

[0069] After the drone 1 hovers, the cargo compartment 2 is separated, and the winch controls the rope 3 to pay out at high speed to control the rapid descent of the cargo compartment 2, so that the cargo compartment 2 descends vertically at high speed under the action of gravity, and the horizontal position of the cargo compartment 2 remains directly below the drone 1. The descending speed of the cargo compartment 2 exceeds 5 m / s until the cargo compartment 2 descends to a height 10 meters higher than the pick-up point. During the descent of the cargo compartment 2, the attitude and horizontal position are precisely controlled by the adjustment rotors 21 on both sides to ensure that the position does not shift.

[0070] When the cargo compartment 2 moves to a height near the pick-up point, the precise position of the pick-up point is obtained by positioning.

[0071] After obtaining the precise position, the adjustment rotors 21 and the winch are controlled to cooperate to adjust the vertical height and horizontal position until within a preset distance close to the pick-up point. Exemplarily, the preset distance can be 20 cm.

[0072] A support component is provided at the pick-up point, and the cargo compartment 2 can be mechanically connected to the support component, and the connection strength can support the self-weight of the cargo compartment 2. At this time, the adjustment rotors 21 on the cargo compartment 2 can be turned off, the rope 3 is unloaded, and the rope 3 is straightened with a very small force. The required lift of the drone 1 can be reduced by half, and the hovering power is reduced by 60%, entering the energy-saving hovering mode.

[0073] The hatch of the cargo compartment 2 is controlled to open automatically, and the built-in micro mechanical claw or other grasping mechanisms in the cargo compartment 2 are used to precisely grasp the handle of the stationary item at close range, lift it into the cargo compartment 2, and finally close the hatch.

[0074] After the cargo compartment 2 completes picking up the goods, the adjustment rotors 21 on the cargo compartment 2 are started, and the winch controls the rope 3 to be loaded to be able to bear the weight of the cargo compartment 2, releases the mechanical connection between the cargo compartment 2 and the support component at the pick-up point, and controls the adjustment rotors 21 to precisely control the position and attitude of the cargo compartment 2, so that the cargo compartment 2 gradually moves away from the pick-up point. The height of the winch is controlled to rotate, so that the height of the cargo compartment 2 rises and combines with the drone 1 to complete the picking-up process.

[0075] After the drone 1 is combined with the cargo compartment 2, the aircraft is converted from the multi-rotor mode to the fixed cruise mode (i.e., the second propulsion rotor 22 in the cargo compartment 2 is turned on), and the drone 1 is controlled to fly straight to a high altitude above the delivery point at high speed, maintaining a flight height greater than 100 m and a height interval from other buildings greater than 30 m.

[0076] When the drone 1 arrives near a high altitude above the delivery point, it is converted back to the multi-rotor mode and hovers above the delivery point, and stably hovers within a horizontal distance of 0 - 50 m from the delivery point to avoid other obstacles in the vertical plane.

[0077] After the drone 1 hovers, the cargo hold 2 is separated, and the cable collector controls the high-speed defense line of the rope 3 to control the high-speed descent of the cargo hold 2, so that the cargo hold 2 descends vertically at high speed under the action of gravity, and the horizontal position of the cargo hold 2 remains directly below the drone 1. The downward speed of the cargo hold 2 exceeds 5m / s until the cargo hold 2 descends to a height 10 meters higher than the delivery point. During the descent of the cargo hold 2, the adjustment rotors 21 on both sides accurately control its own attitude and horizontal position to ensure that the position does not deviate.

[0078] When the cargo hold 2 moves to a height near the delivery point, the precise location of the delivery point is obtained.

[0079] After obtaining the precise position, control and adjust the rotor 21 and the cable collection machine to adjust the vertical height and horizontal position until it is within 20cm of the delivery point.

[0080] The delivery point is provided with a support component, and the cargo hold 2 can be mechanically connected to the support component, and the connection strength can support the weight of the cargo hold 2. At this time, the adjustment rotor 21 on the cargo hold 2 can be closed, the rope 3 is unloaded, and the rope 3 is straightened with very little force. The required lift of the drone 1 can be reduced by half, and the hovering power can be reduced by 60%, entering the energy-saving hovering mode.

[0081] Control the hatch cover of cargo hold 2 to open automatically, use the micro-mechanical claw or other grasping mechanism in cargo hold 2 to take out the goods in cargo hold 2 and place them at the delivery point, and finally close the hatch cover.

[0082] After cargo hold 2 completes the delivery, the adjustment rotor 21 on cargo hold 2 is started, the retractor controls the rope 3 to load to the weight of cargo hold 2, loosens the mechanical connection between cargo hold 2 and the support component at the delivery point, and controls the adjustment rotor 21 to accurately control the position and posture of cargo hold 2, so that cargo hold 2 gradually moves away from the delivery point. The height of the cable collector is controlled to rotate, so that the height of cargo hold 2 rises and combines with drone 1 to complete the delivery process.

[0083] This embodiment also provides a dispatching system for cargo drones, which includes a control system, drones, and an order distribution system. The control system is used to control the drones according to the control method. That is, the control system controls the drones 1 suitable for receiving orders to fly into the working airspace, and the order distribution system is responsible for distributing the received new orders to the drones on standby in the air in the nearby airspace according to the order information. The control system controls the drones 1 on standby in the air to change their course according to the order information and fly to the pickup point, so as to reasonably dispatch the drones 1 in the working area and improve the utilization efficiency of the drones 1.

[0084] This embodiment also provides an electronic device, the electronic device includes a processor, a memory and a computer program stored in the memory, when the processor runs the computer program, the electronic device executes the above control method.

[0085] This embodiment also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program runs on a computer, it causes the computer to execute the above control method. The storage medium may include: USB flash drives, mobile hard disks, memories, optical discs, magnetic disks, and other media that can store programs.

[0086] The foregoing is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, various modifications and variations can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A control method for a cargo drone, characterized in that: include: S1: Control the drone to fly to the working airspace; S2: Determine whether the drone accepts the order; S3: If the order is stopped, the drone is controlled to return to the base; S4: If an order is accepted, determining whether there is an order in the working airspace; S5: If there is no order, control the drone to fly to a hovering airspace and wait for orders; S6: If there is an order, control the drone to pick up or deliver the goods; S7: After the drone completes the delivery, continue to repeat steps S2-S6 or steps S5-S6.

2. The method according to claim 1, characterized in that Control the drone to fly to hovering airspace and wait for orders, specifically including: S51: Determine whether the drone has an order within a preset waiting time; S52: If there is no order, return to step S2; S53: If there is an order, go to step S6.

3. The method according to claim 1, characterized in that Before determining whether the drone accepts an order, the method further includes: S1.1: Determine whether the drone has sufficient battery power; S1.2: If the battery is sufficient, proceed to step S2; S1.3: If the power is insufficient, control the drone to fly to a power station for charging. After the drone is fully charged, proceed to step S2.

4. The method according to claim 3, characterized in that Controlling the drone to fly to a power station for charging, specifically including: S1.3.1: The UAV flies to the top of the power station and hovers, and controls the cargo hold to descend to the power station to replace the battery; S1.3.2: After the battery in the cargo hold is replaced, the cargo hold is controlled to rise to dock with the UAV and charge the UAV.

5. The method according to claim 1, characterized in that The information used to determine whether the drone accepts an order includes weather information, route information or departure time.

6. The method according to claim 1, characterized in that Controlling the drone to pick up or deliver goods, specifically including: Controlling the drone to hover above the delivery point; Control the cargo hold to descend to the delivery point; Locating the location of the pickup and delivery point; Control the cargo hold to move within a preset distance from the pickup or delivery point to complete the pickup or delivery.

7. A dispatching system for cargo drones, characterized in that: Including control systems and drones; The control system is used to control the drone according to the method according to any one of claims 1-6.

8. An electronic device, characterized in that: The electronic device comprises a processor, a memory and a computer program stored in the memory, and when the processor runs the computer program, the electronic device executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed on a computer, enables the computer to execute the method according to any one of claims 1 to 6.

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