Temperature monitoring method and device suitable for motor, equipment and medium

Abstract

The invention relates to the field of industrial vehicle power components, in particular to safety optimization design of a power component control method. The invention aims to provide a temperature monitoring method and device suitable for a motor, equipment and a medium. Based on the physical relationship between the internal resistance of the motor winding and the temperature, the real-time temperature of the winding is reversely deduced by calculating the current resistance value. Accurate and real-time protection of the winding temperature is achieved, and protection lag is avoided. Moreover, zero hardware increase cost is realized, the reliability problem caused by faults of the sensor and the wire harness is eliminated, and the robustness of the system is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of power components for industrial vehicles, and more specifically to the safety optimization design of control methods for power components. Background Technology

[0002] Industrial vehicles refer to all motor vehicles used for short-distance handling, stacking, loading and unloading, and traction operations in industries such as industry, warehousing, and logistics. The electric motor is a key power component of industrial vehicles; its main function is to convert the electrical energy from the onboard battery into mechanical energy, which then drives the vehicle or lifts goods through the transmission system.

[0003] Motors generate heat during operation, and in many situations, the temperature can become excessively high. For example, when a vehicle starts under heavy load, climbs a hill, or experiences mechanical jamming, the armature current increases sharply, causing a rapid increase in the heat generated in the windings, with the temperature rise exceeding normal operating conditions. Excessive temperature accelerates the aging and failure of the motor's insulation materials, ultimately leading to short circuits between windings or to ground, causing the motor to burn out, and further triggering operational accidents in industrial vehicles.

[0004] Therefore, temperature detection and control of the motors in industrial vehicles are necessary. Currently, there are two technical solutions. The first solution involves detecting the temperature of the controller. This is the most common solution used in economy vehicles. Its temperature control logic does not directly monitor the motor temperature, but rather detects the temperature of the associated controller. This is because the motor is more heat-resistant than the controller; if the controller is within a safe temperature range, the motor will not overheat.

[0005] However, in actual use, due to poor heat dissipation, the motor's temperature is higher than the controller's actual temperature under harsh operating conditions, which can easily lead to demagnetization or damage to the motor.

[0006] Therefore, technical solution two is now more common, which involves adding a temperature sensor to the motor to monitor the motor temperature in real time.

[0007] However, this approach is costly to modify, requiring alterations to the motor structure to install the sensor and increasing the cost of the sensor itself and signal harness, resulting in an overall system cost increase of approximately 15%-20%, which contradicts the cost control goals of economical vehicles. Furthermore, the sensor and its leads are prone to open circuits, short circuits, or poor contact in the continuous vibration environment of industrial vehicles, becoming a new point of failure. Once the sensor fails, the entire temperature protection system malfunctions. In addition, the complex wiring increases the difficulty of manufacturing and maintenance. Summary of the Invention

[0008] The purpose of this invention is to provide a method, device, equipment, and medium for monitoring the temperature of motors. Based on the physical relationship between the internal resistance of the motor windings and temperature, the real-time temperature of the windings is calculated by back-calculating the current resistance value. This achieves accurate and real-time protection of the winding temperature, avoiding protection lag; it also achieves zero hardware cost increase, eliminates reliability issues caused by sensor and wiring harness failures, and significantly improves system robustness.

[0009] In a first aspect, the present invention provides a temperature monitoring method suitable for motors, comprising the following steps:

[0010] The motor is placed in an environment with a reference temperature T0, and the reference internal resistance value R0 of the motor is calculated.

[0011] Calculate the internal resistance R of the motor in real time during operation;

[0012] Based on the internal resistance value R, the reference temperature T0, the internal resistance value RO, and the resistance temperature coefficient α of the motor internal resistance, the real-time temperature value T of the motor during operation is calculated.

[0013] A second aspect of the present invention provides a temperature monitoring device suitable for an electric motor, comprising:

[0014] The reference internal resistance value determination module is configured to place the motor in a reference temperature environment T0 and calculate the reference internal resistance value R0 of the motor.

[0015] The real-time internal resistance calculation module is configured to calculate the internal resistance R of the motor in real time during operation.

[0016] The real-time temperature value calculation module is configured to calculate the real-time temperature value T of the motor during operation based on the internal resistance value R, the reference temperature T0, the internal resistance value RO, and the resistance temperature coefficient α of the motor internal resistance.

[0017] In a third aspect, the present invention provides an electronic device, including a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the method described thereon.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium for storing a computer program that, when executed by a processor, can perform the method described thereon.

[0019] In summary, the present invention has the following beneficial effects:

[0020] 1. A sensorless temperature monitoring method based on the physical characteristics of the motor body was established. By using internal resistance as the temperature measurement parameter, the temperature of the motor windings can be directly and in real time estimated, fundamentally avoiding the hardware costs and failure risks associated with relying on external temperature sensors.

[0021] 2. By using a constant temperature environment and sufficient placement time, the rigor of the reference internal resistance value R0 calibration process and the accuracy of the results are ensured, effectively improving the measurement accuracy of the entire temperature monitoring system.

[0022] 3. Apply a low starting current and control its self-generated heat to ensure that the reference internal resistance measurement is performed under static conditions with near-zero temperature rise. This avoids the influence of the measurement process itself on the motor state, thus obtaining a pure internal resistance value R0 that truly reflects the reference temperature T0.

[0023] 4. Real-time calculation of internal resistance is achieved by utilizing the controller's inherent voltage and current detection functions, without the need for any additional dedicated hardware. This allows temperature monitoring to be seamlessly integrated into existing control systems, enabling continuous, online, and low-cost monitoring of the motor's operating status.

[0024] 5. A method for the actual measurement and calibration of the temperature coefficient α is provided, effectively overcoming theoretical calculation errors caused by differences in motor materials. This flexible design enhances the adaptability and universal applicability of the monitoring method to different motor models, and improves temperature measurement accuracy.

[0025] 6. Based on real-time calculated temperature T and internal resistance ratio R / R0, dual active protection against motor overheating and potential faults, such as poor brush contact, is achieved. This significantly enhances the system's early warning and diagnostic capabilities, improving the safety and reliability of equipment operation. Attached Figure Description

[0026] Figure 1 Flowcharts illustrating several embodiments of a temperature monitoring method suitable for an electric motor are shown in this specification;

[0027] Figure 2 Sub-flowcharts illustrating several embodiments of this specification for obtaining a reference internal resistance value R0 are shown;

[0028] Figure 3 Schematic diagrams of modules for a temperature monitoring device suitable for an electric motor, representing several embodiments of this specification, are shown.

[0029] Figure 4 Schematic diagrams of the structure of electronic devices according to various embodiments of this specification are shown. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to the accompanying drawings.

[0031] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.

[0032] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0033] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0034] Figure 1 Flowcharts illustrating several embodiments of a temperature monitoring method for an electric motor are shown in this specification; such as Figure 1 As shown, method 100 includes:

[0035] Box 101 provides the reference internal resistance value R0 of the motor, establishing a precise and reliable reference for the entire temperature monitoring method. Its core objective is to accurately measure the reference internal resistance value R0 of the motor windings at a controlled reference temperature T0. This R0 value is the absolute reference point for all subsequent real-time temperature calculations, and its accuracy directly determines the precision of the entire monitoring system.

[0036] Figure 2 As shown in the figure, this step is systematically broken down into three progressive sub-steps to ensure the rigor of the benchmark establishment.

[0037] Box 1011: Place the motor in a constant temperature environment for a predetermined time. For example, correctly connect the electrical cables between the motor under test and the controller, and then place the entire motor in a temperature-controlled constant temperature chamber. Set and stabilize the temperature of the chamber at a predetermined reference temperature T0, such as 25°C. The constant temperature chamber serves as a standard environmental source and has a uniform temperature field inside.

[0038] Subsequently, the temperature control program is initiated, and the motor is allowed to remain stationary in this constant temperature environment for a predetermined time, such as 2 hours. This sufficiently long period of temperature control eliminates the difference between the motor's residual temperature and the ambient temperature, ensuring that the temperature of all components, including the motor windings and core, reaches a thermal equilibrium state completely consistent with T0. This fundamentally avoids initial measurement errors caused by uneven or unstable internal motor temperatures, providing ideal physical conditions for subsequent high-precision electrical parameter measurements.

[0039] Box 1012: Apply a low starting current to the motor and measure R0.

[0040] After confirming that the motor has stabilized sufficiently at T0, a very low DC starting current is applied to the motor windings via the controller. For example, the controller acts as the execution and measurement unit, and its internal drive circuit outputs a controlled small current. This current is precisely configured to be far below the motor's rated current, for example, 0.1A, to ensure that the generated Joule heat power is negligible. Simultaneously with this current application, the controller's high-precision analog-to-digital converter (ADC) module synchronously acquires the voltage U across the motor terminals and the current I in the circuit. The voltage sampling circuit is connected to the motor windings via a high-impedance differential amplifier, and the current sampling circuit is connected in series in the circuit via a precision shunt or Hall sensor. All signals are filtered and converted by the ADC before being sent to the processor for calculation. According to Ohm's law, the reference internal resistance value R0 = U / I is calculated.

[0041] By applying a microcurrent that does not cause significant self-heating, the cold-state resistance R0 of the winding, which is purely determined by the ambient temperature T0, can be measured under conditions where the motor temperature rise is negligible. This ensures that R0 is a single function of temperature T0, avoids systematic errors caused by self-heating effects, and thus obtains a reference internal resistance value with extremely high accuracy.

[0042] In some embodiments, there is also a verification calculation for R0, that is, in block 1013, an additional current is applied to the motor for verification to verify the correctness of R0.

[0043] Specifically, after obtaining the initial R0 value, instead of relying entirely on a single measurement, a simple self-verification process is executed. While maintaining the ambient temperature at T0, the controller gradually increases the current applied to the motor in small, stepwise increments to a level slightly higher than the current in block 1012, but still well below the normal operating current. For example, by increasing it by 0.15A, a new set of voltage and current values ​​is measured at this new stable current, and a temporary resistance value R0_verify is calculated.

[0044] If the two measurement results match, it proves that the measurement conditions are valid and there is no self-heating; and that the measurement system is stable and reliable, thus confirming the correctness of the R0 value. If they do not match, it may indicate that the measurement conditions are not met, such as insufficient settling time, excessive current causing temperature rise, or abnormality in the measurement circuit. The system can issue a calibration error alarm accordingly to prevent the use of incorrect reference values ​​in subsequent calculations, greatly improving the robustness and reliability of the system's reference establishment.

[0045] like Figure 1 As shown in box 102, the motor is running normally, and the voltage and current values ​​of the motor's internal resistance are periodically collected, and the real-time internal resistance value R of the motor during operation is calculated.

[0046] Box 102 is the core execution link of the temperature monitoring method. Its goal is to continuously and accurately acquire the real-time internal resistance value R, which reflects the temperature change of the windings, during normal motor operation. Specifically, after the motor enters normal operation, the timer module in the controller starts working, automatically generating a trigger signal according to a preset sampling period, for example, every 10 seconds. This signal wakes up the controller's data acquisition system, preparing for a new round of voltage and current measurements.

[0047] This function is primarily implemented by the controller's internal real-time clock or timer / counter hardware unit. A cyclic task is set up in the software, with lower priority than the real-time control task, to ensure that the basic drive function of the motor is not affected. The core benefit of periodic sampling is that it significantly reduces the computational load on the microprocessor (MCU) and system power consumption while ensuring real-time temperature monitoring. Winding temperature changes are a relatively slow thermal process; overly frequent sampling, such as at the millisecond level, only generates a large amount of redundant data and does not help improve the accuracy of temperature monitoring.

[0048] When the sampling trigger signal arrives, the controller's analog-to-digital converter module initiates a synchronous acquisition. The voltage sampling channel accurately measures the voltage U across the motor drive terminals using a high-impedance differential amplifier. Simultaneously, the current sampling channel accurately measures the current I flowing through the motor windings using a precision shunt or Hall sensor. The sampling and holding of both channels are synchronized with the AD conversion to capture electrical parameters at the same moment.

[0049] After successfully acquiring a set of synchronized U and I values, the data is sent to the processor's arithmetic unit. The system directly applies Ohm's law to perform a division operation: R = U / I, thereby obtaining the real-time internal resistance value R of this sample.

[0050] In some embodiments, to address potential noise, digital filtering, such as the moving average method, can be applied to several consecutive sampled values ​​before calculation.

[0051] This process relies entirely on the controller's inherent detection and computing resources, requiring no external sensors and achieving true zero hardware cost increase. Its periodic design reduces the system burden, synchronous sampling ensures data accuracy, and ultimately provides a continuous and reliable data stream for the entire sensorless temperature monitoring system.

[0052] like Figure 1 As shown in box 103, calculate the real-time temperature value T of the motor.

[0053] Box 103 is the target implementation link of this method. Its core task is to accurately deduce the real-time temperature value T of the motor winding from the real-time internal resistance value R through the determined physical relationship, and execute the protection logic based on this value.

[0054] The temperature coefficient of resistance α is determined in two ways. First, the standard method directly uses the theoretical value of the conductor material, for example, α = 0.00393 / ℃ for copper windings. Second, a high-precision method involves actual measurement calibration: the motor is placed at two known different ambient temperatures, such as T1 = 25℃ and T2 = 100℃, and its internal resistances R1 and R2 are measured respectively. Then, these values ​​are substituted into the formula α = (R2 / R1 – 1)·(T2 - T1) for calculation. For example, this calibration process can be completed before the motor leaves the factory or during system initialization, and the final α value is stored in the controller's non-volatile memory.

[0055] This operating method offers flexibility, adaptability, and higher accuracy. For pure copper windings, using theoretical values ​​simplifies the process. For alloy windings or to pursue ultimate accuracy, the experimental method can effectively compensate for deviations caused by differences in material composition and manufacturing processes, ensuring the accuracy of the temperature inversion formula on this specific motor, thereby significantly improving the temperature measurement accuracy and reliability of the entire system.

[0056] After obtaining reliable values ​​of R0, α, and real-time R, the formula R = R0 [1 + α (T - T0)] is inversely calculated to obtain the real-time temperature T. The controller CPU reads these parameters from memory and performs simple calculations to obtain the result T. The calculation process is highly efficient and consumes very few MCU resources. This step is executed by the controller's arithmetic logic unit. In software, it is implemented as a simple mathematical function with inputs of R, R0, α, and T0, and outputting T. The calculation method is simple and direct, and the calculation speed is fast, ensuring the real-time performance of temperature monitoring. It realizes the shift from indirect electrical measurement to direct temperature sensing, providing the possibility for precise thermal management.

[0057] Box 104, execute the early warning strategy.

[0058] This is the execution and decision-making stage of this method. Its core task is to implement a multi-level protection strategy based on the calculated real-time temperature T.

[0059] For example, the system can preset multiple temperature thresholds, corresponding to tiered response strategies. When the real-time temperature T reaches the first-level warning threshold, such as T_warn = 90℃, the system triggers a primary warning, sending a command to the vehicle's dashboard via the controller communication interface to illuminate a yellow warning light and display a prompt message, reminding the operator that the motor temperature is too high.

[0060] If the temperature continues to rise to the level 2 alarm threshold, such as T_alarm = 100℃, the system triggers an advanced alarm. In addition to the audible and visual alarm, the controller automatically intervenes and limits the output power of the motor by reducing the PWM pulse width supplied to it, thereby achieving forced cooling.

[0061] If the temperature rises to the critical safety threshold T_max, such as 110℃, the system will immediately execute emergency protection, completely cut off the power output of the motor drive circuit, and lock the controller. It can only resume operation after manual reset.

[0062] In addition, some embodiments also include fault diagnosis and early warning based on internal resistance analysis.

[0063] The system monitors the dynamic changes of the internal resistance ratio R / R0 in parallel. When the R / R0 value is detected to be abnormally lower than the preset lower limit, such as 0.8, it indicates that the real-time resistance deviates significantly from the normal temperature rise model, which may indicate non-temperature-related faults such as poor brush contact, partial short circuit in the winding, or loose connection points. At this time, the system immediately triggers an independent diagnostic fault alarm and displays a specific fault code on the instrument panel.

[0064] This enables the early detection of potential mechanical or electrical hidden faults, shifting the safety management focus forward, preventing minor faults from escalating into serious equipment damage or safety accidents, significantly improving equipment reliability and maintainability, and reducing the total lifecycle maintenance cost.

[0065] Figure 3 Schematic diagrams of control devices suitable for dual electronic fuse boxes according to various embodiments of this specification are shown.

[0066] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments. Figure 3 As shown, the device 200 includes:

[0067] The reference internal resistance value determination module 201 is configured to place the motor in a reference temperature environment T0 and calculate the reference internal resistance value R0 of the motor.

[0068] The real-time internal resistance calculation module 202 is configured to calculate the internal resistance R of the motor in real time during operation.

[0069] The real-time temperature value calculation module 203 is configured to calculate the real-time temperature value T of the motor during operation based on the internal resistance value R, the reference temperature T0, the internal resistance value RO, and the resistance temperature coefficient α of the motor internal resistance.

[0070] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0071] Figure 4 A block diagram of an electronic device 300 that can implement various embodiments of the present disclosure is shown. For example... Figure 4 As shown, device 300 includes a processor 301, which can perform various appropriate actions and processes based on computer program instructions loaded into random access memory (RAM) 303 according to computer program instructions stored in read-only memory (ROM) 302. RAM 303 may also store various programs and data required for the operation of device 300. The processor 301, ROM 302, and RAM 303 are interconnected via bus 304. Input / output (I / O) interface 305 is also connected to bus 304.

[0072] The various processes and procedures described above, such as method 100, can be executed by processor 301. For example, in some embodiments, method 100 may be implemented as a software program tangibly contained in a machine-readable medium. In some embodiments, part or all of the software program may be loaded and / or installed on device 300 via ROM 302. When the software program is loaded into RAM 303 and executed by processor 301, one or more actions of method 300 described above may be performed.

[0073] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0074] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. Furthermore, although operations are depicted in a specific order, this should be understood as requiring that such operations be performed in the specific order shown or in sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the foregoing discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0075] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A method for monitoring the temperature of an electric motor, characterized in that, It includes the following steps: The motor is placed in an environment with a reference temperature T0, and the reference internal resistance value R0 of the motor is calculated. Calculate the internal resistance R of the motor in real time during operation; Based on the internal resistance value R, the reference temperature T0, the internal resistance value RO, and the resistance temperature coefficient α of the motor internal resistance, the real-time temperature value T of the motor during operation is calculated.

2. The temperature monitoring method for motors according to claim 1, characterized in that, The step of placing the motor in a reference temperature environment TO specifically means placing the motor in a constant temperature chamber at a temperature of TO for a period of time exceeding a preset time.

3. The temperature monitoring method for motors according to claim 1, characterized in that: The calculation of the reference internal resistance value R0 of the motor is specifically achieved by applying a low starting current to the motor, measuring the voltage U and current I of the motor's internal resistance, and calculating R0. The low starting current is configured to cause the self-generated heat of the motor to be within a preset self-generated heat threshold.

4. The temperature monitoring method for motors according to claim 1, characterized in that: The real-time calculation of the internal resistance value R during motor operation specifically involves reading the voltage value U' and current value I' of the internal resistance during motor operation through the controller, and then calculating the internal resistance value R.

5. The temperature monitoring method for motors according to any one of claims 1-4, characterized in that: The calculation of the real-time motor temperature T during operation is specifically performed using the formula R = R0[1+α(T-T0)].

6. The temperature monitoring method for motors according to any one of claims 1-4, characterized in that: The temperature coefficient α is a constant or obtained by actual measurement; the temperature coefficient α is obtained by actual measurement by collecting resistance values ​​R1 and R2 at ambient temperatures T1 and T2 respectively, and calculating it by the formula α=(R2 / R1 – 1)·(T2 - T1).

7. The temperature monitoring method for motors according to any one of claims 1-4, characterized in that, When T is greater than the preset threshold Tmax, a high temperature alarm is triggered; when R / RO is less than the preset threshold, a diagnostic fault alarm is triggered.

8. A temperature monitoring device suitable for motors, characterized in that, include: The reference internal resistance value determination module is configured to place the motor in a reference temperature environment T0 and calculate the reference internal resistance value R0 of the motor. The real-time internal resistance calculation module is configured to calculate the internal resistance R of the motor in real time during operation. The real-time temperature value calculation module is configured to calculate the real-time temperature value T of the motor during operation based on the internal resistance value R, the reference temperature T0, the internal resistance value RO, and the resistance temperature coefficient α of the motor internal resistance.

9. An electronic device, comprising a processor and a memory; the processor being connected to the memory; the memory being used to store executable program code; the processor running a program corresponding to the executable program code by reading the executable program code stored in the memory, for performing the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium for storing a computer program, characterized in that, When the computer program is executed by a processor, it is capable of performing the method as described in any one of claims 1 to 7.

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