Detection system, method and device of permanent magnet motor and readable storage medium

Abstract

The invention relates to the technical field of motors, in particular to a permanent magnet motor detection system, method and device and a readable storage medium, and the system comprises a processor, and further comprises a magnetic performance detection module, a signal processing module, a data storage module, a feedback adjustment module and an environment compensation module which are in data connection with the processor. Through the magnetic performance detection module, the signal processing module, the data storage module, the feedback adjustment module and the environment compensation module, the problems that in an existing permanent magnet motor, the magnetic performance stability of a permanent magnet material is difficult to monitor in real time, and the electrical performance of the motor is obviously influenced by magnetic performance changes are effectively solved; and the reliability and the performance consistency of the permanent magnet motor in long-term operation are realized.

Description

Technical Field

[0001] This application relates to the technical field of motors, and particularly to a detection system, method, device, and readable storage medium for permanent magnet motors. Background Art

[0002] With the wide application of permanent magnet motors in the industrial field, the demand for their performance detection is increasing day by day. However, the existing permanent magnet motor detection systems still have many deficiencies in terms of real-time performance, accuracy, and structural complexity, and it is difficult to fully meet the requirements of efficient and intelligent detection.

[0003] There is a prior art of an automatic magnetization detection system for a permanent magnet motor rotor with the publication number CN106602807B, and the publication date is September 12, 2023. This technology combines a palletizing robot and a magnetization detection table to achieve automatic magnetization and surface magnetic field detection of the permanent magnet motor rotor, and classifies the rotor as a qualified or unqualified product according to the detection results. However, this technical solution mainly focuses on the surface magnetic field detection of the rotor and fails to achieve comprehensive monitoring of the overall performance of the permanent magnet motor. In addition, its classification operation relies on mechanical devices, which may limit the detection efficiency, and the complexity of the system is relatively high, increasing the maintenance cost and the risk of failure. Additionally, there is a prior art of a magnetic pole detection system for a permanent magnet linear synchronous motor with the publication number CN109687650B, and the publication date is April 8, 2025. This technology generates signals similar to incremental encoder signals through Hall sensors and a signal processing unit, and can accurately detect the movement direction, speed, and magnetic pole polarity information of the secondary permanent magnets of the linear motor. However, this technical solution is only applicable to the magnetic pole detection of linear motors and cannot be extended to the multi-parameter detection requirements of other types of permanent magnet motors. At the same time, the signal quality of its dependence on Hall sensors may be affected by external electromagnetic interference, resulting in a decrease in the stability of the detection results, especially more obvious under complex working conditions.

[0004] The above problems indicate that the existing permanent magnet motor detection systems still have certain deficiencies in terms of functional integration, anti-interference ability, and adaptation to various detection requirements. Summary of the Invention

[0005] The purpose of this application is to provide a detection system, method, device, and readable storage medium for permanent magnet motors, and solve the technical problem that the prior art cannot provide a system with a simple structure and capable of real-time and accurate monitoring of the magnetic performance changes of permanent magnet materials through a magnetic performance detection module, a signal processing module, a data storage module, a feedback adjustment module, and an environmental compensation module.

[0006] According to one aspect of the present application, a detection system for a permanent magnet motor is provided. The system includes a processor, and further includes a magnetic property detection module, a signal processing module, a data storage module, a feedback adjustment module, and an environment compensation module that are data-connected to the processor; the magnetic property detection module is data-connected to the signal processing module, and the signal processing module is data-connected to the data storage module, the feedback adjustment module, and the environment compensation module;

[0007] Among them, the magnetic property detection module at least includes a magnetic flux sensor array, a temperature sensor array, and a vibration sensor array; the signal processing module at least includes a signal conditioning unit, an analog-to-digital conversion unit, and a data processing unit;

[0008] The feedback adjustment module at least includes a current adjustment unit and a magnetic field compensation unit; the environment compensation module at least includes a temperature and humidity compensation unit and an electromagnetic interference suppression unit.

[0009] In some embodiments, the magnetic flux sensor array is fixedly connected to the stator permanent magnet of the permanent magnet motor, the temperature sensor array is fixedly connected to the permanent magnet and the stator winding, and the vibration sensor array is connected to the motor housing.

[0010] In some embodiments, the magnetic flux sensor array, the temperature sensor array, and the vibration sensor array all transmit the collected data to the analog-to-digital conversion unit through the signal conditioning unit, and the analog-to-digital conversion unit converts the analog signal into a digital signal and then sends it to the data processing unit for analysis and processing.

[0011] In some embodiments, the signal conditioning unit at least includes an amplifier, a filter, and a signal isolator; the analog-to-digital conversion unit at least includes the multi-channel analog-to-digital conversion chip; the data processing unit at least includes an embedded processor and a dedicated algorithm module.

[0012] In some embodiments, the current adjustment unit is fixedly connected to the permanent magnet motor drive circuit and is electrically connected to the data processing unit; the magnetic field compensation unit at least includes a compensation coil and a power amplifier, the compensation coil is wound around the permanent magnet in the permanent magnet motor, and the power amplifier is electrically connected to the data processing unit.

[0013] In some embodiments, the temperature and humidity compensation unit at least includes a temperature and humidity sensor and a compensation algorithm module, the temperature and humidity sensor is fixedly connected to the outside of the housing of the permanent magnet motor, and the compensation algorithm module is data-connected to the temperature and humidity sensor.

[0014] In some embodiments, the electromagnetic interference suppression unit at least includes a shielding cover, a filter circuit, and a differential signal transmission circuit. The shielding cover is fixedly connected to the magnetic property detection module, and the filter circuit is electrically connected to the signal conditioning unit.

[0015] According to another aspect of the present application, a method for detecting a permanent magnet motor is provided. The method is executed by a processor and includes:

[0016] Connect the magnetic property detection module and perform the magnetic property detection of the target permanent magnet motor;

[0017] Connect the signal processing module and perform the target signal processing;

[0018] Connect the data storage module and perform the target data storage;

[0019] Connect the feedback regulation module and perform the target data feedback regulation execution;

[0020] Connect the environment compensation module and perform the target environmental factor compensation.

[0021] According to still another aspect of the present application, a detection device for a permanent magnet motor is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method described above are implemented.

[0022] According to yet another aspect of the present application, a readable storage medium is provided. The readable storage medium stores a computer program, characterized in that when the computer program is executed by a processor, the steps of the method described above are implemented.

[0023] According to one or more technical solutions adopted by the present invention, the beneficial effects that can be achieved are as follows: By means of the magnetic property detection module, signal processing module, data storage module, feedback regulation module, and environment compensation module, the present invention effectively solves the problems existing in the existing permanent magnet motors, such as the difficulty in real-time monitoring of the magnetic property stability of permanent magnet materials, the significant impact of magnetic property changes on the electrical performance of the motor, and the complexity of the detection device and its susceptibility to external interference, and realizes the reliability and performance consistency of the permanent magnet motor during long-term operation. Description of the Drawings

[0024] 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 following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is the structural diagram of the detection system of the permanent magnet motor of the present application;

[0026] Figure 2 It is a diagram of the magnetic performance detection module of the detection system for the permanent magnet motor of the present application;

[0027] Figure 3 It is a diagram of the signal processing module of the detection system for the permanent magnet motor of the present application;

[0028] Figure 4 It is a diagram of the feedback regulation module of the detection system for the permanent magnet motor of the present application;

[0029] Figure 5 It is a diagram of the environmental compensation module of the detection system structure for the permanent magnet motor of the present application;

[0030] Figure 6 It is a flowchart of the detection method for the permanent magnet motor of the present application. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying Figures 1-6 drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0032] Application overview

[0033] In this embodiment, real-time and accurate monitoring of multiple parameters of the permanent magnet motor is realized through a magnetic performance detection module, a signal processing module, a data storage module, a feedback regulation module, and an environmental compensation module. The system structure is optimized to reduce complexity and maintenance costs, and at the same time, the anti-interference ability is enhanced, so as to meet the requirements of modern industry for the detection of high-efficiency and intelligent permanent magnet motors.

[0034] Embodiment 1

[0035] Figure 1 It is a structural diagram of a detection system for a permanent magnet motor provided by an embodiment of the present invention. The system includes a processor. The processor can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0036] The system further includes a magnetic property detection module, a signal processing module, a data storage module, a feedback regulation module, and an environment compensation module that are data-connected to the processor. The magnetic property detection module is data-connected to the signal processing module, and the signal processing module is data-connected to the data storage module, the feedback regulation module, and the environment compensation module; among them, the magnetic property detection module at least includes a magnetic flux sensor array, a temperature sensor array, and a vibration sensor array; the signal processing module at least includes a signal conditioning unit, an analog-to-digital conversion unit, and a data processing unit; the feedback regulation module at least includes a current regulation unit and a magnetic field compensation unit; the environment compensation module at least includes a temperature and humidity compensation unit and an electromagnetic interference suppression unit.

[0037] Furthermore, the magnetic flux sensor array is fixedly connected to the stator permanent magnet of the permanent magnet motor and is used to collect the magnetic flux distribution data of the permanent magnet in real time. The temperature sensor array is fixedly connected to the permanent magnet and the stator winding and is used to monitor the temperature change of the permanent magnet and its surrounding environment. The vibration sensor array is connected to the motor housing and is used to detect the mechanical vibration signal generated during the operation of the motor. The magnetic flux sensor array, the temperature sensor array, and the vibration sensor array all transmit the collected data to the analog-to-digital conversion unit through the signal conditioning unit. The analog-to-digital conversion unit converts the analog signal into a digital signal and then sends it to the data processing unit for analysis and processing. That is, the data collected by the above sensors is transmitted to the analog-to-digital conversion unit through the signal conditioning unit, and the analog-to-digital conversion unit converts the analog signal into a digital signal and then sends it to the data processing unit for analysis and processing.

[0038] In some preferred embodiments, the magnetic property detection module further includes an intelligent adaptive magnetic flux calibration system, which includes a reference magnetic source, a calibration sensor, and a calibration control unit. The reference magnetic source is installed near the permanent magnet and can generate a stable reference magnetic field; the calibration sensor is installed between the reference magnetic source and the magnetic flux sensor array and is used to monitor the magnetic field intensity of the reference magnetic source in real time; the calibration control unit is connected to the data processing unit and automatically adjusts the sensitivity and offset of the magnetic flux sensor array by comparing the magnetic field intensity of the reference magnetic source and the collected data of the magnetic flux sensor array to ensure the accuracy of the collected data. The response time of the calibration control unit is 1 millisecond, and the calibration accuracy is ±0.1%. Among them, the intelligent adaptive magnetic flux calibration system is connected to the magnetic property detection module through the calibration sensor and the calibration control unit, and is connected to the signal processing module through the data processing unit, and receives the instructions of the data processing unit in real time to adjust the sensitivity and offset of the magnetic flux sensor array.

[0039] Furthermore, the signal conditioning unit at least includes an amplifier, a filter, and a signal isolator. Among them, the amplifier is used to amplify the weak signals collected by the magnetic flux sensor array, the temperature sensor array, and the vibration sensor array. The filter is used to remove high-frequency noise and low-frequency drift signals. The signal isolator is used to prevent electromagnetic interference during signal transmission. The analog-to-digital conversion unit at least includes a multi-channel analog-to-digital conversion chip with a sampling rate of one million times per second and a resolution of 16 bits. The data processing unit at least includes an embedded processor and a dedicated algorithm module. The embedded processor is connected to the data storage module through a bus and is used to store and process the data collected by the magnetic performance detection module and judge the change trend of the magnetic performance of the permanent magnet according to a preset algorithm.

[0040] Furthermore, the current regulation unit is fixedly connected to the permanent magnet motor drive circuit and is electrically connected to the data processing unit, and is used to regulate the input current of the motor winding according to the instruction of the data processing unit. The magnetic field compensation unit at least includes a compensation coil and a power amplifier. The compensation coil is wound around the permanent magnet in the permanent magnet motor. The power amplifier is electrically connected to the data processing unit and is used to regulate the current in the compensation coil according to the instruction of the data processing unit, so as to change the magnetic field distribution around the permanent magnet and offset the magnetic field fluctuation caused by the change of magnetic performance.

[0041] In some preferred embodiments, the feedback regulation module further includes a multi-stage current regulation device, specifically including a primary current regulator, a secondary current regulator, and a current sensor. The primary current regulator and the secondary current regulator are serially installed in the power supply circuit of the motor winding. The current sensor is installed at the output end of the winding and is used to monitor the change of the winding current in real time. The data processing unit sends an instruction to the current regulator through the signal transceiver according to the change trend of the magnetic performance of the permanent magnet to regulate the amplitude and phase of the winding current to ensure the stability of the electromagnetic force of the motor. The maximum current of the primary current regulator is 50A, the maximum current of the secondary current regulator is 20A, and the measurement range of the current sensor is 0 - 100A with an accuracy of ±0.5%. Among them, the multi-stage current regulation device is connected to the power supply circuit of the motor winding through the primary current regulator, the secondary current regulator, and the current sensor, and is connected to the signal processing module through the data processing unit to receive the instruction of the data processing unit in real time and regulate the amplitude and phase of the winding current.

[0042] Furthermore, the temperature and humidity compensation unit at least includes a temperature and humidity sensor and a compensation algorithm module. The temperature and humidity sensor is fixedly connected to the outside of the housing of the permanent magnet motor. It can be understood that the temperature and humidity sensor is installed at the key positions inside and outside the motor housing and is used to monitor the change of the ambient temperature and humidity in real time. The compensation algorithm module is data-connected to the temperature and humidity sensor and corrects the acquisition result of the magnetic performance detection module according to the data collected by the temperature and humidity sensor.

[0043] Furthermore, the electromagnetic interference suppression unit at least includes a shielding cover, a filtering circuit, and a differential signal transmission circuit. The shielding cover is fixedly connected to the magnetic property detection module, and the filtering circuit is electrically connected to the signal conditioning unit. It can be understood that the shielding cover covers the periphery of the magnetic property detection module, the filtering circuit is installed at the input end of the signal conditioning unit, and the differential signal transmission circuit is used to reduce the common-mode interference during signal transmission.

[0044] In some preferred embodiments, the environment compensation module further includes an intelligent electromagnetic interference dynamic suppression system. The intelligent electromagnetic interference dynamic suppression system includes an electromagnetic interference detection unit, a dynamic filter, and an adaptive shielding controller. The electromagnetic interference detection unit is installed at key positions inside and outside the motor housing for real-time monitoring of the intensity and frequency of electromagnetic interference; the dynamic filter is connected to the signal conditioning unit and is used to dynamically adjust the filtering parameters according to the acquisition data of the electromagnetic interference detection unit; the adaptive shielding controller is connected to the shielding cover and is used to dynamically adjust the shielding effectiveness of the shielding cover according to the changes in electromagnetic interference. The frequency range of the electromagnetic interference detection unit is from 10 Hz to 1 GHz, the filtering bandwidth of the dynamic filter is from 1 kHz to 1 MHz, and the response time of the adaptive shielding controller is 0.1 millisecond. Among them, the intelligent electromagnetic interference dynamic suppression system is connected to the environment compensation module through the electromagnetic interference detection unit and the dynamic filter, and is connected to the signal processing module through the data processing unit to real-time monitor and suppress the influence of electromagnetic interference.

[0045] Based on the content of the foregoing preferred embodiments, the operating principle of the present invention is as follows: The intelligent adaptive magnetic flux calibration system generates a stable reference magnetic field through a reference magnetic source. The calibration sensor real-time monitors the magnetic field intensity of the reference magnetic source and feeds back the data to the calibration control unit. The calibration control unit automatically adjusts the sensitivity and offset of the magnetic flux sensor array according to the reference magnetic field intensity and the acquisition data of the magnetic flux sensor array to ensure the accuracy of the acquisition data. The multi-stage current regulating device serially regulates the input current of the motor winding through the primary current regulator and the secondary current regulator. The current sensor real-time monitors the change of the winding current and feeds back the data to the data processing unit. The data processing unit sends instructions to the current regulator through the signal transceiver according to the change trend of the magnetic properties of the permanent magnet to regulate the amplitude and phase of the winding current to ensure the stability of the electromagnetic force of the motor. The intelligent electromagnetic interference dynamic suppression system real-time monitors the intensity and frequency of electromagnetic interference through the electromagnetic interference detection unit. The dynamic filter dynamically adjusts the filtering parameters according to the acquisition data of the electromagnetic interference detection unit. The adaptive shielding controller dynamically adjusts the shielding effectiveness of the shielding cover according to the changes in electromagnetic interference to ensure that the acquisition data of the magnetic property detection module is not interfered by the outside world.

[0046] Based on the preferred embodiments, the present invention also has the following beneficial effects: The intelligent adaptive magnetic flux calibration system can calibrate the sensitivity and offset of the magnetic flux sensor array in real time through the cooperation of the reference magnetic source and the calibration sensor, significantly improving the accuracy and reliability of magnetic performance detection. The multi-stage current regulation device can accurately regulate the input current of the motor winding through the synergistic effect of the primary current regulator and the secondary current regulator, ensuring that the motor can still maintain a stable electromagnetic force output when the magnetic performance of the permanent magnet changes. The intelligent electromagnetic interference dynamic suppression system can effectively suppress the influence of external electromagnetic interference on the magnetic performance detection module through the combination of the dynamic filter and the adaptive shielding controller, improving the anti-interference ability and operation stability of the system.

[0047] Embodiment 2

[0048] Based on the same inventive concept as the detection system of the permanent magnet motor in the first embodiment described above, as Figure 6 shown, the present invention also provides a detection method for a permanent magnet motor, which is executed by a processor. The processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0049] The method specifically includes: connecting the magnetic performance detection module to perform the magnetic performance detection of the target permanent magnet motor; connecting the signal processing module to perform the target signal processing; connecting the data storage module to perform the target data storage; connecting the feedback regulation module to perform the target data feedback regulation execution; connecting the environment compensation module to perform the target environmental factor compensation. Through the foregoing method, the change of the magnetic performance of the permanent magnet material can be monitored in real time and accurately, so as to improve the reliability and performance consistency of the permanent magnet synchronous linear motor during long-term operation.

[0050] The specific examples of the detection system of the permanent magnet motor in the first embodiment described above are equally applicable to the detection method of the permanent magnet motor in this embodiment. Through the foregoing detailed description of the detection system of the permanent magnet motor, those skilled in the art can clearly know the detection method of the permanent magnet motor in this embodiment. Therefore, for the sake of brevity of the specification, it will not be described in detail herein.

[0051] Embodiment 3

[0052] Based on the same inventive concept as the detection system of the permanent magnet motor in the first foregoing embodiment, the present invention further provides a detection device for a permanent magnet motor. The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the foregoing method are implemented.

[0053] The specific examples of the detection system of the permanent magnet motor in the first foregoing embodiment are equally applicable to the detection device of the permanent magnet motor in this embodiment. Through the foregoing detailed description of the detection system of the permanent magnet motor, those skilled in the art can clearly know the detection device of the permanent magnet motor in this embodiment. Therefore, for the sake of brevity of the specification, it will not be described in detail herein.

[0054] Embodiment 4

[0055] Based on the same inventive concept as the detection system of the permanent magnet motor in the first foregoing embodiment, the present invention further provides a readable storage medium. The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the foregoing method are implemented. It should be noted that the content included in the readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0056] The above shows and describes the basic principles, main features and advantages of the present application. For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic features of the present application, the present application can be implemented in other specific forms. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claimed claims.

[0057] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A detection system for a permanent magnet motor, the system comprising a processor, characterized in that, It further includes a magnetic property detection module, a signal processing module, a data storage module, a feedback regulation module, and an environment compensation module that are data-connected to the processor; the magnetic property detection module is data-connected to the signal processing module, and the signal processing module is data-connected to the data storage module, the feedback regulation module, and the environment compensation module; Among them, the magnetic property detection module at least includes a magnetic flux sensor array, a temperature sensor array, and a vibration sensor array; the signal processing module at least includes a signal conditioning unit, an analog-to-digital conversion unit, and a data processing unit; the feedback regulation module at least includes a current regulation unit and a magnetic field compensation unit; the environment compensation module at least includes a temperature and humidity compensation unit and an electromagnetic interference suppression unit.

2. The system according to claim 1, wherein The magnetic flux sensor array is fixedly connected to the stator permanent magnet of the permanent magnet motor, the temperature sensor array is fixedly connected to the permanent magnet and the stator winding, and the vibration sensor array is connected to the motor housing.

3. The system according to claim 3, wherein The magnetic flux sensor array, the temperature sensor array, and the vibration sensor array all transmit the collected data to the analog-to-digital conversion unit through the signal conditioning unit, and the analog-to-digital conversion unit converts the analog signal into a digital signal and then sends it to the data processing unit for analysis and processing.

4. The system according to claim 1, wherein The signal conditioning unit at least includes an amplifier, a filter, and a signal isolator; the analog-to-digital conversion unit at least includes the multi-channel analog-to-digital conversion chip; the data processing unit at least includes an embedded processor and a dedicated algorithm module.

5. The system according to claim 1, wherein The current regulation unit is fixedly connected to the permanent magnet motor drive circuit and is electrically connected to the data processing unit; the magnetic field compensation unit at least includes a compensation coil and a power amplifier, the compensation coil is wound around the permanent magnet in the permanent magnet motor, and the power amplifier is electrically connected to the data processing unit.

6. The system according to claim 1, wherein The temperature and humidity compensation unit at least includes a temperature and humidity sensor and a compensation algorithm module, the temperature and humidity sensor is fixedly connected to the outside of the permanent magnet motor housing, and the compensation algorithm module is data-connected to the temperature and humidity sensor.

7. The system according to claim 6, wherein The electromagnetic interference suppression unit at least includes a shielding cover, a filter circuit, and a differential signal transmission circuit, the shielding cover is fixedly connected to the magnetic property detection module, and the filter circuit is electrically connected to the signal conditioning unit.

8. A detection method for a permanent magnet motor, which is executed by a processor, characterized in that, It includes: Connect to the magnetic property detection module to perform the magnetic property detection of the target permanent magnet motor; Connect to the signal processing module to perform the target signal processing; Connect to the data storage module to perform the target data storage; Connect to the feedback regulation module to perform the target data feedback regulation execution; Connect to the environment compensation module to perform the target environmental factor compensation.

9. A detection device for a permanent magnet motor, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that when the processor executes the computer program, it implements the steps of the method as claimed in claim 8.

10. A readable storage medium, characterized in that, The readable storage medium stores a computer program, and is characterized in that when the computer program is executed by the processor, it implements the steps of the method as claimed in claim 8.

Images