Servo motor position determination method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of servo motors, and provides a position determination method and device of a servo motor, electronic equipment and a storage medium. The method comprises the following steps: analyzing communication data transmitted by a servo encoder to obtain a first check code and to-be-verified data; generating a second check code according to the to-be-verified data, and obtaining the motor position information of the servo motor in the previous period and the position increment of the servo motor in the previous period under the condition that the matching of the first check code and the second check code fails; the current position information of the servo motor is predicted according to the motor position information of the previous period and the position increment of the previous period, whether the communication data are abnormal or not is rapidly determined through the first check code and the second check code, and when the first check code and the second check code are matched unsuccessfully, it is determined that the communication data are abnormal, and the accuracy of the communication data is improved. According to the motor position information of the previous period and the position increment of the previous period, the current position information of the servo motor is predicted, and the accuracy of the current position information is improved.

Description

Technical Field

[0001] This application relates to the field of servo motor technology, and in particular to a method, apparatus, electronic device and storage medium for determining the position of a servo motor. Background Technology

[0002] With the development of industrial automation technology, servo drives and servo motors are increasingly widely used in automated equipment. The speed and position information of servo motors are calculated based on the data fed back by servo encoders. Currently, servo encoders transmit position information to servo drives via communication. However, in industrial settings, electromagnetic interference from various devices inevitably causes communication abnormalities, resulting in the inability to correctly interpret the current encoder's position information. If the servo drive encounters a parsing error when interpreting the servo encoder's position information and then controls the servo motor based on the erroneous position information, it will cause abnormal and discontinuous speed changes in the servo motor, posing a risk of damaging equipment and causing personal injury. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, apparatus, electronic device, and storage medium for determining the position of a servo motor, in order to solve the problem in the prior art that when there is interference in the communication between the encoder and the servo driver, the current position of the servo motor cannot be accurately obtained, resulting in abnormal speed jumps and discontinuities when controlling the servo motor.

[0004] A first aspect of this application provides a method for determining the position of a servo motor. The method includes: parsing communication data transmitted by a servo encoder to obtain a first verification code and data to be verified; generating a second verification code based on the data to be verified; and, if the first verification code and the second verification code fail to match, obtaining the motor position information of the servo motor in the previous cycle and the position increment of the previous cycle; and predicting the current position information of the servo motor based on the motor position information of the previous cycle and the position increment of the previous cycle.

[0005] A second aspect of this application provides a servo motor position determination device, comprising: a parsing module for parsing communication data transmitted by a servo encoder to obtain a first verification code and data to be verified; an acquisition module for generating a second verification code based on the data to be verified, and, in the event that the first verification code and the second verification code fail to match, acquiring the motor position information of the servo motor in the previous cycle and the position increment of the previous cycle; and a prediction module for predicting the current position information of the servo motor based on the motor position information of the previous cycle and the position increment of the previous cycle.

[0006] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0007] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0008] The beneficial effects of this application embodiment compared with the prior art are as follows: The method of this application embodiment obtains a first check code and data to be verified by parsing the communication data transmitted by the servo encoder; generates a second check code based on the data to be verified; if the first check code and the second check code fail to match, obtains the motor position information and position increment of the servo motor in the previous cycle; predicts the current position information of the servo motor based on the motor position information and position increment of the previous cycle. Specifically, the first check code and the second check code enable rapid determination of whether the communication data is abnormal. If the first check code and the second check code fail to match, it is determined that the communication data is abnormal. At this time, the motor position information and position increment of the servo motor in the previous cycle are obtained; the current position information of the servo motor is predicted based on the motor position information and position increment of the previous cycle. That is, this application predicts the current position information based on the position information and position increment of the previous cycle, improving the accuracy of the current position information, rather than directly using erroneous data transmitted by the servo encoder to determine the current position information. This avoids the problem of servo motor speed jumps and jitters caused by abnormal servo motor position information and subsequent control of the servo motor based on abnormal position information. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a flowchart illustrating a method for determining the position of a servo motor according to an embodiment of this application;

[0011] Figure 2 This is a schematic diagram of the structure of a servo motor position determination device provided in an embodiment of this application;

[0012] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0013] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0014] The following will describe in detail, with reference to the accompanying drawings, a method and apparatus for determining the position of a servo motor according to an embodiment of this application.

[0015] Figure 1 This application provides a method for determining the position of a servo motor, such as... Figure 1 As shown, the method includes:

[0016] S101. Parse the communication data transmitted by the servo encoder to obtain the first check code and the data to be verified;

[0017] S102. Generate a second verification code based on the data to be verified. If the first verification code and the second verification code fail to match, obtain the motor position information of the servo motor in the previous cycle and the position increment of the previous cycle.

[0018] S103. Based on the motor position information of the previous cycle and the position increment of the previous cycle, predict the current position information of the servo motor.

[0019] It is understood that the servo motor position determination method provided in this application is applied to a servo driver, which is communicatively connected to a servo encoder and a servo motor. The servo motor is used to perform driven rotation or linear motion and serves as the power source. The servo encoder is used to acquire the motor shaft position information (or speed information) of the servo motor in real time. The servo driver is used to control the "position / speed / torque" output of the servo motor and parse the position information (or speed information) fed back by the servo encoder. Specifically, the Programmable Controller (PLC) sends the target position / speed to the servo driver. The servo driver generates drive signals to control the servo motor according to the control mode (position / speed / torque mode). While the servo motor rotates, the servo encoder acquires the motor shaft position information (or speed information) of the servo motor and feeds it back to the servo driver. The servo driver receives the position information (or speed information) fed back by the servo encoder, compares it with the target value, calculates the error, and adjusts the control signal to form a closed-loop regulation, achieving precise motion control of the servo motor.

[0020] It is understood that the aforementioned servo encoder can be an incremental servo encoder or an absolute servo encoder.

[0021] To facilitate a better explanation later, this application will use the position information of the servo motor shaft collected by the servo encoder for explanation. Those skilled in the art will know that the servo encoder in this application can also collect the speed information of the servo motor shaft and perform subsequent steps in a similar manner, which will not be elaborated here.

[0022] In some examples, this application parses the communication data transmitted by the servo encoder to obtain a first check code and data to be verified. After the servo encoder collects the position information of the motor shaft of the servo motor, it generates the original data to be verified based on the position information, then generates the original check data based on the original data to be verified, and finally generates communication data based on the original check data and the original data to be verified, and transmits the communication data to the servo driver.

[0023] After receiving communication data from the servo encoder, the servo driver parses the data to obtain a first checksum and data to be verified. To prevent communication anomalies caused by electromagnetic interference, which could lead to errors in the received data to be verified, this application further verifies the data to be verified.

[0024] Specifically, this application generates a second checksum based on the data to be verified, and then matches the second checksum with the first checksum. If the first and second checksums fail to match, the application obtains the servo motor's position information and position increment from the previous cycle. If the first and second checksums match successfully, the application directly obtains the servo motor's current position information based on the data to be verified.

[0025] It is understandable that the motor position information of the previous cycle, i.e., the position information obtained by the servo driver based on the communication data transmitted by the servo encoder in the previous communication cycle, is denoted as PosLast. The motor position information of the previous cycle is denoted as PosNew, and the motor position information of the current cycle (current position information) is denoted as PosNew. Then, the position increment of the current cycle is DeltNew = PosNew - PosLast. When the next communication cycle arrives, the position increment of the current cycle is used as the position increment of the previous cycle (DeltLast (position increment of the previous cycle) = DeltNew (position increment of the current cycle)), and the current position information is used as the motor position information of the previous cycle (PosLast = PosNew).

[0026] It is understandable that if the first check code and the second check code fail to match, it indicates that there is an anomaly in the communication data. Therefore, if the position information of the servo motor is determined directly using the parsed data to be verified, it may cause problems such as abnormal speed jumps and discontinuities when controlling the servo motor. Therefore, in the case of the failure of the first check code and the second check code to match, this application obtains the motor position information and the position increment of the servo motor in the previous cycle, and predicts the current position information of the servo motor based on the motor position information and the position increment of the previous cycle.

[0027] It is understandable that if the first checksum and the second checksum are the same, the first checksum and the second checksum are successfully matched; if the first checksum and the second checksum are different, the first checksum and the second checksum are not matched.

[0028] The method of predicting the current position information of the servo motor based on the motor position information and the position increment of the previous cycle includes: summing the motor position information and the position increment of the previous cycle; and using the result of the summation as the current position information of the servo motor. Specifically, the motor position information of the previous cycle is denoted as PosLast, the position increment of the previous cycle is denoted as DeltLast, and the current position information (the current position information is the position information of the current cycle) is denoted as PosNew. Then, PosNew = PosLast + DeltLast. That is, this application predicts the current position information based on the position information and the position increment of the previous cycle, which improves the accuracy of the current position information, rather than using erroneous data transmitted by the servo encoder to determine the current position information. This avoids the problem of servo motor speed jumps and jitters caused by abnormal servo motor position information and subsequent control of the servo motor based on abnormal position information.

[0029] In some examples, the current position information of the servo motor is predicted based on the motor position information and the position increment of the previous cycle. This includes: summing the motor position information and the position increment of the previous cycle; using the summation result as the initial position information of the servo motor; and then adjusting the position information corresponding to the data to be verified based on the initial position information to obtain the current position information. That is, this application uses the initial position information as a reference to adjust the position information corresponding to the data to be verified, which also improves the accuracy of the obtained current position information and avoids directly using the erroneous data transmitted by the servo encoder as the current position information. This avoids the problem of servo motor speed jumps and jitters caused by abnormal servo motor position information and subsequent control of the servo motor based on the abnormal position information.

[0030] According to the technical solution provided in this application embodiment, the communication data transmitted by the servo encoder is parsed to obtain a first check code and data to be verified; a second check code is generated based on the data to be verified; if the first check code and the second check code fail to match, the motor position information and position increment of the servo motor in the previous cycle are obtained; based on the motor position information and position increment of the previous cycle, the current position information of the servo motor is predicted. The first and second check codes enable rapid determination of whether the communication data is abnormal. If the first and second check codes fail to match, it is determined that the communication data is abnormal. At this time, the motor position information and position increment of the servo motor in the previous cycle are obtained; based on the motor position information and position increment of the previous cycle, the current position information of the servo motor is predicted. That is, this application predicts the current position information based on the position information and position increment of the previous cycle, improving the accuracy of the current position information, rather than directly using erroneous data transmitted by the servo encoder to determine the current position information. This avoids the problem of servo motor speed jumps and jitters caused by abnormal servo motor position information and subsequent control of the servo motor based on abnormal position information.

[0031] In some examples, generating a second checksum based on the data to be verified includes: performing a bitwise XOR operation on the data to be verified to obtain the second checksum. In other examples, generating a second checksum based on the data to be verified includes: performing a checksum verification on the data to be verified.

[0032] It is understandable that relevant personnel can flexibly configure the method for generating the second checksum from the data to be verified, and this example does not limit this. It is important to note that the method by which the servo encoder generates the checksum is the same as that of the servo driver. That is, after the servo encoder acquires the position information of the servo motor shaft, it generates the original data to be verified based on this position information, and then generates the original checksum based on this original data to be verified (if there are no communication abnormalities, this original checksum should be the same as the first checksum). At this point, the servo encoder generates the original checksum using an XOR operation, and subsequently, the servo driver also generates the second checksum using an XOR operation.

[0033] Understandably, to avoid continuous interference in the communication between the servo driver and the servo encoder, which causes the servo driver to rely on the motor position information and position increment of the previous cycle for an extended period to obtain the current position information, resulting in a gradual increase in the error of the current position information, this application, after predicting the current position information of the servo motor based on the motor position information and position increment of the previous cycle, further includes: determining the reliability of the current position information; if the reliability of the current position information is lower than a preset reliability threshold, determining the task hazard level of the servo system where the servo motor is located; and if the task hazard level is lower than a preset hazard level threshold, controlling the servo motor to stop running.

[0034] Specifically, after obtaining the current position information of the servo motor, this application determines the reliability of the current position information. If the current position information is determined directly based on the communication data transmitted by the servo encoder, the reliability of the current position information is a preset initial value (which is greater than the reliability threshold). If the reliability of the current position information is determined based on the motor position information of the previous cycle and the position increment of the previous cycle, the reliability of the current position information is determined by subtracting the preset step size from the reliability of the motor position information of the previous cycle.

[0035] After determining the reliability of the current location information, this application compares the reliability with a preset reliability threshold. If the reliability of the current location information is not lower than the preset reliability threshold, the servo motor is controlled based on the current location information. If the reliability of the current location information is lower than the preset reliability threshold, the task hazard level of the servo system containing the servo motor is further determined. If the task hazard level is lower than the preset hazard level threshold, the servo motor is stopped. In other words, if the reliability of the current location information is lower than the preset reliability threshold, continuing to control the servo motor with this current location information may lead to abnormal speed jumps or discontinuities, causing a safety accident. Therefore, this application determines the task hazard level of the servo system containing the servo motor. If the task hazard level is high, directly stopping the servo motor may lead to a more serious safety accident. If the task hazard level is lower than the preset hazard level threshold, stopping the servo motor will not cause a greater safety accident. In this case, stopping the servo motor improves the safety of the entire servo system.

[0036] In some examples, after predicting the current position information of the servo motor based on the motor position information and the position increment of the previous cycle, the method also includes controlling the servo motor based on the current position information.

[0037] In some examples, the method further includes: obtaining the number of failed matches between the first and second check codes; issuing an alarm when the number of failures exceeds a preset failure threshold; specifically, to avoid continuous interference with communication between the servo encoder and the servo driver, this application also counts the number of failed matches between the first and second check codes, and issues an alarm when the number of failures exceeds a preset failure threshold. This allows relevant personnel to promptly check the communication environment between the servo encoder and the servo driver, improving the communication quality between them and preventing continuous interference.

[0038] To better understand this application, this embodiment provides a more specific example for illustration:

[0039] First, after each communication cycle between the servo driver and the servo encoder ends, the communication data is parsed to obtain the encoder position information PosEnc. Then, the current position information PosNew of the servo motor can be initially set as PosNew = PosEnc.

[0040] This application will also calculate the position increments for the current period and the previous period, calculated in the following three formulas in order:

[0041] DeltNew = PosNew - PosLast;

[0042] PosLast = PosNew;

[0043] DeltLast = DeltNew.

[0044] This application calculates Crc1 (second check code) by bitwise XORing all data (data to be verified) except for Crc0 (first check code) transmitted in the communication data.

[0045] If the calculated Crc1 and Crc0 are not equal, it indicates that the communication data has been interfered with. In this case, the position information in the communication data cannot be used. Instead, the position information from the previous normal communication cycle (the motor position information of the previous cycle) PosLast and the position increment DeltLast of the previous cycle need to be relied upon to estimate the current position information of the servo motor, calculated using the following formula:

[0046] PosNew = PosLast + DeltLast.

[0047] When communication data is abnormal (i.e., when the first check code and the second check code do not match), this application calculates the current position information of the servo motor based on the motor position information of the previous cycle and the position increment of the previous cycle, instead of using erroneous data transmitted by the servo encoder. This avoids motor speed jumps and jitters caused by abnormal servo motor position information. At the same time, the position fault tolerance processing in this application has a small computational load, and the motor position is estimated and fault-tolerant with very little CPU resources.

[0048] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0049] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0050] This embodiment also provides a servo motor position determination device, such as... Figure 2 As shown, the device includes:

[0051] The parsing module 201 is used to parse the communication data transmitted by the servo encoder to obtain the first check code and the data to be verified.

[0052] The acquisition module 202 is used to generate a second verification code based on the data to be verified. If the first verification code and the second verification code fail to match, the module acquires the motor position information of the servo motor in the previous cycle and the position increment of the previous cycle.

[0053] The prediction module 203 is used to predict the current position information of the servo motor based on the motor position information of the previous cycle and the position increment of the previous cycle.

[0054] In some examples, the acquisition module 202 is also used to perform a bitwise XOR operation on the data to be verified to obtain a second check code.

[0055] In some examples, the prediction module 203 is also used to sum the motor position information of the previous cycle and the position increment of the previous cycle; and use the result of the summation as the current position information of the servo motor.

[0056] In some examples, the device also includes a control module for determining the reliability of the current location information; if the reliability of the current location information is lower than a preset reliability threshold, then the task hazard level of the servo system where the servo motor is located is determined; if the task hazard level is lower than a preset hazard level threshold, the servo motor is controlled to stop running.

[0057] In some examples, the control module is used to control the servo motor based on the current position information.

[0058] In some examples, the control module is also used to obtain the number of failures in matching the first checksum and the second checksum; if the number of failures exceeds a preset failure threshold, an alarm is issued.

[0059] According to the technical solution provided in the embodiments of this application, the servo motor position determination device provided in this embodiment parses the communication data transmitted by the servo encoder to obtain a first check code and data to be verified; generates a second check code based on the data to be verified; if the first check code and the second check code fail to match, obtains the motor position information of the servo motor in the previous cycle and the position increment of the previous cycle; predicts the current position information of the servo motor based on the motor position information of the previous cycle and the position increment of the previous cycle. The first check code and the second check code enable rapid determination of whether the communication data is abnormal. If the first check code and the second check code fail to match, it is determined that the communication data is abnormal. At this time, the motor position information of the servo motor in the previous cycle and the position increment of the previous cycle are obtained; the current position information of the servo motor is predicted based on the motor position information of the previous cycle and the position increment of the previous cycle. That is, this application predicts the current position information based on the position information of the previous cycle and the position increment of the previous cycle, improving the accuracy of the current position information, rather than directly using erroneous data transmitted by the servo encoder to determine the current position information. This avoids the problem of servo motor speed jumps and jitters caused by abnormal servo motor position information and subsequent control of the servo motor based on abnormal position information.

[0060] Figure 3 This is a schematic diagram of the electronic device 3 provided in an embodiment of this application. Figure 3 As shown, the electronic device 3 of this embodiment includes: a processor 301, a memory 302, and a computer program 303 stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program 303, it implements the steps in the various method embodiments described above. Alternatively, when the processor 301 executes the computer program 303, it implements the functions of each module / unit in the various device embodiments described above.

[0061] Electronic device 3 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 3 may include, but is not limited to, processor 301 and memory 302. Those skilled in the art will understand that... Figure 3 This is merely an example of electronic device 3 and does not constitute a limitation on electronic device 3. It may include more or fewer components than shown, or different components.

[0062] The processor 301 may be a central processing unit (CPU), or 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.

[0063] The memory 302 can be an internal storage unit of the electronic device 3, such as a hard disk or RAM. The memory 302 can also be an external storage device of the electronic device 3, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. The memory 302 can also include both internal and external storage units of the electronic device 3. The memory 302 is used to store computer programs and other programs and data required by the electronic device.

[0064] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0065] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium can be appropriately added or removed according to regional requirements and patent practice requirements. For example, in some regions, according to regional requirements and patent practice, a computer-readable medium may not include electrical carrier signals and telecommunication signals.

[0066] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for determining the position of a servo motor, characterized in that, The method includes: The communication data transmitted by the servo encoder is parsed to obtain the first checksum and the data to be verified. A second verification code is generated based on the data to be verified. If the first verification code and the second verification code fail to match, the motor position information of the servo motor in the previous cycle and the position increment of the previous cycle are obtained. Based on the motor position information of the previous cycle and the position increment of the previous cycle, the current position information of the servo motor is predicted.

2. The method according to claim 1, characterized in that, Generate a second verification code based on the data to be verified, including: The data to be verified is XORed bitwise to obtain the second verification code.

3. The method according to claim 1, characterized in that, Based on the motor position information of the previous cycle and the position increment of the previous cycle, the current position information of the servo motor is predicted, including: The motor position information from the previous cycle and the position increment from the previous cycle are summed. The result of the summation operation is used as the current position information of the servo motor.

4. The method according to claim 1, characterized in that, After predicting the current position information of the servo motor based on the motor position information of the previous cycle and the position increment of the previous cycle, the method further includes: Determine the reliability of the current location information; If the reliability of the current location information is lower than a preset reliability threshold, then the task hazard level of the servo system where the servo motor is located is determined. If the hazard level of the task is lower than a preset hazard level threshold, the servo motor will be controlled to stop running.

5. The method according to claim 1, characterized in that, After predicting the current position information of the servo motor based on the motor position information of the previous cycle and the position increment of the previous cycle, the method further includes: The servo motor is controlled based on the current location information.

6. The method according to claim 1, characterized in that, The method further includes: Get the number of failures where the first check code and the second check code failed to match; If the number of failures exceeds a preset failure threshold, an alarm will be issued.

7. A servo motor position determination device, characterized in that, The device includes: The parsing module is used to parse the communication data transmitted by the servo encoder to obtain the first checksum and the data to be verified. The acquisition module is used to generate a second verification code based on the data to be verified, and to acquire the motor position information of the servo motor in the previous cycle and the position increment of the previous cycle if the first verification code and the second verification code fail to match. The prediction module is used to predict the current position information of the servo motor based on the motor position information of the previous cycle and the position increment of the previous cycle.

8. The apparatus according to claim 7, characterized in that, The acquisition module is also used to perform a bitwise XOR operation on the data to be verified to obtain the second verification code.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

Images