Method, device and related equipment for filtering load data of a tool

Abstract

This application discloses a method, apparatus, and related equipment for filtering load data of cutting tools. The technical solution of this application obtains the load data corresponding to the cutting tool during the machining process. By performing difference calculations on the load data, which includes N sample values, N-1 difference values ​​are obtained. The M sets of data corresponding to the acceleration and deceleration stages of the cutting tool are determined by the N-1 difference values. All sample values ​​corresponding to the M sets of data are marked as invalid data and filtered. Thus, the load data of the cutting tool during the acceleration and deceleration stages is accurately determined during the tool machining process, thereby improving the filtering effect of load data during the acceleration and deceleration stages of the cutting tool.

Description

Technical Field

[0001] This application relates to the field of cutting tool processing technology, and in particular to a method, apparatus and related equipment for filtering load data of cutting tools. Background Technology

[0002] During tool monitoring, load data during spindle acceleration and deceleration phases is often meaningless and can significantly interfere with monitoring results, leading to numerous false alarms. Since spindle acceleration and deceleration typically lag behind machine tool command signals, relying solely on these signals is insufficient to completely filter out load data from these phases. Current techniques typically filter load data during acceleration and deceleration by setting a fixed delay time or using moving average filtering. However, setting a fixed delay time is difficult to determine accurately due to variations in equipment and cutting tools, and moving average filtering introduces data lag. Therefore, existing techniques for filtering load data during tool acceleration and deceleration phases are ineffective. Summary of the Invention

[0003] This application provides a method, apparatus, and related equipment for filtering load data of cutting tools, in order to solve the problem that the filtering effect is poor when filtering load data of cutting tools during acceleration and deceleration in the prior art.

[0004] In a first aspect, embodiments of this application provide a method for filtering the load data of a cutting tool, the method comprising:

[0005] During the machining process using a cutting tool on a machine tool, load data corresponding to the cutting tool is acquired. The load data includes: N sampled values ​​obtained by sampling the load of the cutting tool N times in chronological order during the machining process, where N is an integer greater than 1.

[0006] Based on the N sampled values, N-1 differences are determined, wherein the N-1 differences include the difference between any two adjacent sampled values ​​among the N sampled values;

[0007] M data groups are determined from the N-1 differences. Each data group includes a starting difference, an ending difference, and X differences between the starting difference and the ending difference. The first time period indicated by the starting difference is the acceleration phase of the tool in the first processing stage of the machining process. The second time period indicated by the ending difference is the deceleration phase of the tool in the first processing stage. The first time period is the time period between two sampling time points corresponding to the starting difference, and the second time period is the time period between two sampling time points corresponding to the ending difference. The first processing stage is any processing stage of the tool in the machining process. M and X are non-negative integers.

[0008] All sampled values ​​corresponding to the M data groups are marked as invalid data and filtered.

[0009] Optionally, the starting difference is the difference among the N-1 differences that is greater than 5 times the absolute value of the previous difference, and the ending difference is the difference among the N-1 differences where the previous difference is less than 0 and the next difference is greater than 0. The difference is the difference obtained by subtracting the previous sample value from the next sample value among the two corresponding sample values.

[0010] Optionally, after determining M data groups from the N-1 differences, the method further includes:

[0011] The original velocity mode and the original cutting signal corresponding to the tool are obtained. The original velocity mode is the initial velocity of the tool during the machining process, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process.

[0012] For the first data group, based on the original speed mode and the original cutting signal, determine whether there is a speed mode switch between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group, where the first data group is any one of the M data groups;

[0013] If there is a speed mode switching between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group, all sampled values ​​corresponding to the first data group are marked as invalid data and filtered.

[0014] Optionally, the first sample in the N samples is the first sample after the tool receives the original cutting signal, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process;

[0015] After determining M data groups from the N-1 differences, the method further includes:

[0016] Obtain the original cutting signal corresponding to the tool;

[0017] Determine Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, wherein the N sampled values ​​include the Y sampled values, and Y is a positive integer;

[0018] The target threshold is determined based on the first Y sampled values ​​among the N sampled values, wherein Y is less than or equal to N;

[0019] Determine the maximum value among all sampled values ​​corresponding to the second data group, where the second data group is any one of the M data groups;

[0020] If the maximum value is greater than the target threshold, all sampled values ​​corresponding to the second data group are marked as invalid data and filtered.

[0021] Optionally, determining the target threshold based on the first Y sampled values ​​among the N sampled values ​​includes:

[0022] Among the Y sampled values, a first sampled value and a second sampled value are determined. The first sampled value is the sampled value whose sampling time point is closest to the first time point among the Y sampled values. The second sampled value is the sampled value whose sampling time point is closest to the second time point among the Y sampled values. The first time point is the time difference between the first time point and the start time point in the third time period, which is one-quarter of the total duration of the third time period. The second time point is the time difference between the second time point and the end time point in the third time period, which is one-quarter of the total duration of the third time period. The third time period is the time period corresponding to the Y samples.

[0023] Calculate the interquartile range corresponding to the Y sample values ​​based on the first sample value and the second sample value to obtain the interquartile range value;

[0024] The target threshold is determined by the sum of 1.5 times the interquartile range value and the second sampled value.

[0025] Optionally, after determining the Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, the method further includes:

[0026] If the third sample value among the Y sample values ​​is greater than the target threshold, the third sample value is determined as the starting sample value in the third data group, and the ending sample value of the third data group is determined among the Y sample values. The third data group includes the starting sample value, the ending sample value, and Z sample values ​​located between the starting sample value and the ending sample value. The ending sample value is the sample value corresponding to the difference among the Y-1 differences obtained by calculating the first difference of the Y sample values, where the previous difference is less than 0 and the next difference is greater than 0. Z is a non-negative integer, and the third sample value is the first sample value among the Y sample values.

[0027] All sampled values ​​corresponding to the third data group are marked as invalid data and filtered.

[0028] Optionally, determining N-1 differences based on the N sampled values ​​includes:

[0029] Among the N sampled values, the first-order difference corresponding to the N sampled values ​​is calculated to obtain N-1 difference values ​​in sequence.

[0030] Secondly, embodiments of this application provide a tool load data filtering device, the device comprising:

[0031] The acquisition module is used to acquire load data corresponding to the cutting tool during the machining process of the machine tool. The load data includes: N sampled values ​​obtained by sampling the load of the cutting tool N times in time sequence during the machining process, where N is an integer greater than 1.

[0032] The first determining module is used to determine N-1 differences based on the N sampled values, wherein the N-1 differences include the difference between any two adjacent sampled values ​​among the N sampled values;

[0033] The second determining module is used to determine M data groups from the N-1 differences. The data groups include a starting difference, an ending difference, and X differences between the starting difference and the ending difference. The first time period indicated by the starting difference is the acceleration phase of the tool in the first processing stage of the machining process. The second time period indicated by the ending difference is the deceleration phase of the tool in the first processing stage. The first time period is the time period between two sampling time points corresponding to the starting difference, and the second time period is the time period between two sampling time points corresponding to the ending difference. The first processing stage is any processing stage of the tool in the machining process. M and X are non-negative integers.

[0034] The filtering module is used to mark all sampled values ​​corresponding to the M data groups as invalid data and filter them.

[0035] Thirdly, this application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method described in the first aspect above.

[0036] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in the first aspect above.

[0037] Fifthly, this application also provides a computer program product, including computer instructions that, when executed by a processor, implement the steps of the method described in the first aspect above.

[0038] This application discloses a method, apparatus, and related equipment for filtering tool load data. The method includes: acquiring load data corresponding to the tool during machining on a machine tool, wherein the load data includes: sampling the tool load N times in chronological order during machining, obtaining N sampled values, where N is an integer greater than 1; determining N-1 differences based on the N sampled values, wherein the N-1 differences include the difference between any two adjacent sampled values ​​among the N sampled values; and determining M data groups from the N-1 differences, wherein the data groups include a starting difference, an ending difference, and values ​​located between the starting difference and the ending difference. The X differences between the endpoint differences, the first time period indicated by the starting difference is the acceleration phase of the tool in the first processing stage of the machining process, the second time period indicated by the endpoint difference is the deceleration phase of the tool in the first processing stage, the first time period is the time period between the two sampling time points corresponding to the starting difference, the second time period is the time period between the two sampling time points corresponding to the endpoint difference, the first processing stage is any processing stage of the tool in the machining process, and M and X are non-negative integers; all sampled values ​​corresponding to the M sets of data are marked as invalid data and filtered. The technical solution of this application obtains the load data corresponding to the tool during the machining process using a tool, and obtains N-1 differences by sequentially performing difference calculations on the load data, including N sampled values. The M sets of data corresponding to the acceleration and deceleration stages of the tool are determined through the N-1 differences, and all sampled values ​​corresponding to the M sets of data are marked as invalid data and filtered. This accurately determines the load data of the tool's acceleration and deceleration stages during the tool machining process, thereby improving the filtering effect of the load data during the tool's acceleration and deceleration stages. Attached Figure Description

[0039] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application 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.

[0040] Figure 1 A flowchart illustrating a method for filtering load data of a cutting tool provided in an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of the overall process provided for an embodiment of this application;

[0042] Figure 3 A schematic diagram of the structure of a tool load data filtering device provided in an embodiment of this application;

[0043] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] The terms "first," "second," etc., used in the embodiments of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. 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 device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices. Additionally, the use of "and / or" in this application indicates at least one of the connected objects, such as A and / or B and / or C, representing seven possibilities: including A alone, B alone, C alone, and the presence of both A and B, both B and C, both A and C, and the presence of A, B, and C.

[0046] See Figure 1 , Figure 1 This is a flowchart illustrating the tool load data filtering method provided in an embodiment of this application. Figure 1 As shown, the following steps may be included:

[0047] Step 101: During the machining process using a cutting tool on a machine tool, acquire the load data corresponding to the cutting tool. The load data includes: N sampled values ​​obtained by sampling the load of the cutting tool N times in chronological order during the machining process, where N is an integer greater than 1.

[0048] In this embodiment, when the machine tool is machining with a cutting tool (e.g., milling, turning), the cutting tool is subjected to changes in force, torque, or spindle load, thereby generating load data. Exemplary load data can be represented as `original_spindle`. By sampling the tool load N times in chronological order, N sample values ​​are obtained, ordered chronologically, where N is an integer greater than 1, meaning it includes at least two sample values. In some embodiments, N is an integer greater than 2, meaning it includes at least three sample values. In some embodiments, N is an integer greater than 3, meaning it includes at least four sample values.

[0049] For example, the N sampled values ​​included in the load data can be represented as = [L1, L2, L3, …, L N The sampled value can be one or more of the spindle current, cutting force, torque or power, and is not specifically limited in this embodiment.

[0050] Step 102: Based on the N sampled values, determine N-1 differences, where the N-1 differences include the difference between any two adjacent sampled values ​​among the N sampled values.

[0051] In this embodiment, after determining N sample values, the difference between each sample value and the previous sample value is calculated, for example, L2-L1=d1, L3-L2=d2, ..., L N -L N-1 =d N-1 Ultimately, N-1 differences are obtained, which can be represented by the sequence [d1, d2, ..., d...]. N-1 ]express.

[0052] It should be noted that among the N-1 differences, each difference can be positive, negative, or zero. A positive difference indicates that the subsequent sample value is greater than the previous sample value, and the load data increases. A negative difference indicates that the subsequent sample value is less than the previous sample value, and the load data decreases. A difference of zero indicates that the subsequent sample value is equal to the previous sample value, and the load data is stable and does not change.

[0053] Step 103: Determine M data groups from the N-1 differences. Each data group includes a starting difference, an ending difference, and X differences between the starting difference and the ending difference. The first time period indicated by the starting difference is the acceleration phase of the tool in the first processing stage of the machining process. The second time period indicated by the ending difference is the deceleration phase of the tool in the first processing stage. The first time period is the time period between the two sampling time points corresponding to the starting difference, and the second time period is the time period between the two sampling time points corresponding to the ending difference. The first processing stage is any processing stage of the tool in the machining process. M and X are non-negative integers.

[0054] In this embodiment, based on the analysis of the obtained N-1 differences, M data groups are determined, where M is a non-negative integer, i.e., M can be 0. In this case, there are no data groups among the N-1 differences. Specifically, each data group includes a starting difference, an ending difference, and X differences between the starting difference and the ending difference, where X is a non-negative integer, X can be 0, meaning each data group consists of at least two differences. When X is 0, the data group only includes the starting difference and the ending difference.

[0055] Specifically, the first time period indicated by the starting point difference is the acceleration phase of the tool in the first machining stage of the machining process, that is, the starting point of the acceleration phase initiated by the tool spindle. The second time period indicated by the ending point difference is the deceleration phase of the tool in the first machining stage, that is, the ending point of the deceleration phase initiated by the tool spindle. Thus, the difference between the starting point difference and the ending point difference is collectively referred to as a data set.

[0056] It should be noted that the first time period is the time period between the two sampling time points corresponding to the starting difference, and the second time period is the time period between the two sampling time points corresponding to the ending difference. In other words, the first time period is the time period included within the two sampling time points corresponding to the starting difference; for example, if the sampling interval is 1 second, then the first time period is 1 second. The second time period is the same as the first time period, that is, the time period included within the two sampling time points corresponding to the ending difference, and it has the same sampling interval.

[0057] Furthermore, the first processing stage can be any processing stage of the tool during the processing. For example, the first processing stage can be the cutting stage, the tool entry stage, the tool retraction stage, etc., and is not specifically limited in this embodiment. Therefore, in some implementations, this embodiment can determine multiple different data groups, that is, each data group corresponds to a different tool processing stage.

[0058] Step 104: Mark all sampled values ​​corresponding to the M data groups as invalid data and filter them.

[0059] In this embodiment, after determining M sets of data, all sampled values ​​corresponding to the M sets of data are marked as invalid data. These M sets of data consist of all sampled values ​​corresponding to all differences within each data set. For example, if each difference corresponds to two sampling points, then a data set containing 100 differences would correspond to 101 sampled values. These 101 sampled values ​​represent the load data during the spindle acceleration and deceleration phases, and are therefore marked as invalid data and filtered.

[0060] It should be noted that when the data group M is 0, it means that the load data of the tool does not include the load data of the spindle acceleration and deceleration stage, so there is no need to filter it.

[0061] By accurately determining the sampling start and end points of the load data during the spindle acceleration and deceleration phases, the load data during the tool spindle acceleration and deceleration phases can be accurately determined, resulting in better filtering of the load data during these phases.

[0062] The technical solution of this application obtains the load data corresponding to the tool during the machining process, performs difference calculations on the load data including N sampled values ​​in sequence to obtain N-1 difference values, and determines M sets of data for the acceleration and deceleration stages of the tool through the N-1 difference values. Then, all sampled values ​​corresponding to the M sets of data are marked as invalid data and filtered out. In this way, the load data of the tool acceleration and deceleration stages is accurately determined during the tool machining process, thereby improving the filtering effect of the load data of the tool acceleration and deceleration stages.

[0063] In some feasible implementations, optionally, the starting difference is the difference among the N-1 differences that is greater than 5 times the absolute value of the previous difference, and the ending difference is the difference among the N-1 differences where the previous difference is less than 0 and the next difference is greater than 0. The difference is the difference obtained by subtracting the previous sample value from the next sample value among the two corresponding sample values.

[0064] In this embodiment, when determining the starting difference and the ending difference for each data group, a judgment can be made based on preset conditions. Specifically, when determining the starting difference, among the N-1 differences, it is determined whether a certain difference is greater than 5 times the absolute value of the previous difference. If a difference is greater than 5 times the absolute value of the previous difference, it is considered a starting difference and can be marked as s. iAfter determining the starting difference, starting from the starting difference, sequentially check if there exists a difference after the starting difference where the preceding difference is less than 0 and the following difference is greater than 0. If this condition is met, the difference is determined as the ending difference, which can be denoted as e. i .

[0065] It should be noted that only when a match is found in the search for e... i At that time, s i Only then will it be effective; otherwise, the s i Invalid means that if only the starting difference exists, the starting difference must be discarded. In addition, each starting difference and ending difference does not include other starting differences or ending differences. Therefore, each pair of starting differences and ending differences appears in pairs and includes only 0 or more differences, and does not include other starting differences or ending differences.

[0066] By setting the conditions in this embodiment, N-1 differences can be quickly traversed and judged to determine M data groups, thereby improving the efficiency of data group determination and further improving the filtering effect of load data during the tool acceleration and deceleration stage.

[0067] Optionally, after determining M data groups from the N-1 differences, the method further includes:

[0068] The original velocity mode and the original cutting signal corresponding to the tool are obtained. The original velocity mode is the initial velocity of the tool during the machining process, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process.

[0069] For the first data group, based on the original speed mode and the original cutting signal, determine whether there is a speed mode switch between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group, where the first data group is any one of the M data groups;

[0070] If there is a speed mode switching between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group, all sampled values ​​corresponding to the first data group are marked as invalid data and filtered.

[0071] In this embodiment, after determining the M data groups, it is also necessary to judge the validity of each data group in the M data groups, delete invalid data groups, mark valid data groups as invalid data and filter them.

[0072] Specifically, the tool has two initial speed modes during the machining process: original_speed_mode and original_cut. The original speed mode is the initial speed of the tool during machining, i.e., the speed at which machining begins. The original cutting signal is the initial operating signal used to control the movement of the tool during machining, i.e., the initial signal at which machining begins. For example, it can be the tool's cutting signal, retraction signal, feed signal, etc.

[0073] After determining the original speed mode and the original cutting signal, it is determined whether there is a speed mode switch between the 20th difference value before the starting difference value included in the first data group and the ending difference value included in the first data group, based on the original speed mode and the original cutting signal. The speed mode switch can be a switch of the tool's speed mode from a low level to a high level, or from a high level to a low level. The first data group is any one of the M data groups. In this embodiment, the first data group is used as an example for explanation; the validity of other data groups is determined using the same method as the first data group.

[0074] If there is a speed mode switch between the 20th difference value before the starting difference value included in the first data group and the ending difference value included in the first data group, it indicates that the starting difference value and the ending difference value of the first data group are valid data groups at this time. At the same time, the starting difference value and the ending difference value are updated to the relative position with each cut (i.e., cutting segment) as the starting point, and the cut number corresponding to the acceleration and deceleration interval is recorded. For example, the cut number can start from 1 and so on. Finally, all sampled values ​​corresponding to the valid data group are marked as invalid data (load data of the spindle acceleration and deceleration stage) and filtered.

[0075] The technical solution of this embodiment can determine the validity of the data set, thereby effectively avoiding misjudgment of the starting point difference and the ending point difference.

[0076] Optionally, the first sample in the N samples is the first sample after the tool receives the original cutting signal, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process;

[0077] After determining M data groups from the N-1 differences, the method further includes:

[0078] Obtain the original cutting signal corresponding to the tool;

[0079] Determine Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, wherein the N sampled values ​​include the Y sampled values, and Y is a positive integer;

[0080] The target threshold is determined based on the first Y sampled values ​​among the N sampled values, wherein Y is less than or equal to N;

[0081] Determine the maximum value among all sampled values ​​corresponding to the second data group, where the second data group is any one of the M data groups;

[0082] If the maximum value is greater than the target threshold, all sampled values ​​corresponding to the second data group are marked as invalid data and filtered.

[0083] In this embodiment, the original cutting signal is the initial operating signal used to control the movement of the tool during the machining process, that is, the initial signal when the tool starts machining. For example, it can be the tool's cutting signal, retraction signal, feed signal, etc.

[0084] After obtaining the original cutting signal original_cut corresponding to the tool, the load signal after filtering the cutting signal is set as spindle_cut1. This determines the Y sampled values ​​of the tool in machining based on the original cutting signal. Specifically, the Y sampled values ​​are sampled values ​​after receiving the original cutting signal, that is, the Y sampled values ​​are a portion of the N sampled values.

[0085] Therefore, a target threshold u_border is determined based on the first Y sampled values, where the target threshold is used to further validate the validity of the M data groups. The second data group is any one of the M data groups; in this embodiment, the second data group is used as an example for explanation, and the validity of the other data groups is judged using the same method as the second data group.

[0086] Specifically, this is achieved by determining whether the maximum value among all sampled values ​​in the second data set is greater than the target threshold, i.e., by calculating each pair of s... i to e i The maximum load value between the two values ​​is used to determine if the second data group is valid. If the maximum value is greater than the target threshold, all sampled values ​​corresponding to the second data group are marked as invalid data (load data during the spindle acceleration / deceleration phase) and filtered out. If the maximum value is less than or equal to the target threshold, the data corresponding to the second data group is filtered out. i and e i Delete it.

[0087] The technical solution of this embodiment can determine the validity of the data set, thereby effectively avoiding misjudgment of the starting point difference and the ending point difference.

[0088] Optionally, determining the target threshold based on the first Y sampled values ​​among the N sampled values ​​includes:

[0089] Among the Y sampled values, a first sampled value and a second sampled value are determined. The first sampled value is the sampled value whose sampling time point is closest to the first time point among the Y sampled values. The second sampled value is the sampled value whose sampling time point is closest to the second time point among the Y sampled values. The first time point is the time difference between the first time point and the start time point in the third time period, which is one-quarter of the total duration of the third time period. The second time point is the time difference between the second time point and the end time point in the third time period, which is one-quarter of the total duration of the third time period. The third time period is the time period corresponding to the Y samples.

[0090] Calculate the interquartile range corresponding to the Y sample values ​​based on the first sample value and the second sample value to obtain the interquartile range value;

[0091] The target threshold is determined by the sum of 1.5 times the interquartile range value and the second sampled value.

[0092] In this embodiment, when determining the target threshold based on the first Y sampled values, a first sampled value and a second sampled value are first determined from the Y sampled values. The first sampled value is the sampled value whose sampling time point is closest to the first time point among the Y sampled values; the second sampled value is the sampled value whose sampling time point is closest to the second time point among the Y sampled values. Specifically, the first time point is the time difference between the first time point and the start point of the third time period that is one-quarter of the total duration of the third time period, and the second time point is the time difference between the second time point and the end point of the third time period that is one-quarter of the total duration of the third time period.

[0093] For example, if the time period for Y sampled values ​​is 60 seconds, then the first time point is the 15th second of the 60 seconds, and the second time point is the 45th second of the 60 seconds.

[0094] The interquartile range (IQR) is a metric used to measure the dispersion of the middle portion of a set of data. It is calculated by subtracting the first quartile from the third quartile. For example, if q1 (the first quartile) is the number at the 25th percentile after sorting the data in ascending order, and q3 (the third quartile) is the number at the 75th percentile, then the IQR value is iqr = q3 – q1, where q3 is the second sample value and q1 is the first sample value.

[0095] Therefore, the target threshold u_border is determined by the sum of 1.5 times the interquartile range value iqr and the second sample value. The specific formula can be: u_border = q3 + 1.5 × iqr, where q3 is the second sample value and q1 is the first sample value.

[0096] This embodiment calculates the target threshold using the interquartile range, the first sample value, and the second sample value, resulting in a more accurate calculation. Consequently, when judging the validity of M data groups based on the target threshold, the judgment result is more accurate.

[0097] Optionally, after determining the Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, the method further includes:

[0098] If the third sample value among the Y sample values ​​is greater than the target threshold, the third sample value is determined as the starting sample value in the third data group, and the ending sample value of the third data group is determined among the Y sample values. The third data group includes the starting sample value, the ending sample value, and Z sample values ​​located between the starting sample value and the ending sample value. The ending sample value is the sample value corresponding to the difference among the Y-1 differences obtained by calculating the first difference of the Y sample values, where the previous difference is less than 0 and the next difference is greater than 0. Z is a non-negative integer, and the third sample value is the first sample value among the Y sample values.

[0099] All sampled values ​​corresponding to the third data group are marked as invalid data and filtered.

[0100] In this embodiment, after determining Y sample values, the first sample value among the Y sample values ​​is determined as the starting sample value in the third data group. If the starting sample value is greater than the target threshold, the ending sample value is determined from the Y sample values. The starting and ending sample values ​​include Z sample values, where Z is a non-negative integer and can be 0, meaning the third data group consists of at least two sample values. When Z is 0, the third data group only includes the starting and ending sample values.

[0101] Specifically, when determining the endpoint sample value, the first-order differences corresponding to the Y sample values ​​can be calculated. The first-order difference is obtained by subtracting adjacent data points to obtain a new sequence. Specifically, among the Y sample values, the difference between each subsequent sample value and the preceding sample value is calculated sequentially, resulting in Y-1 differences. From these Y-1 differences, the sample value corresponding to the difference where the preceding difference is less than 0 and the following difference is greater than 0 is determined and designated as the endpoint sample value. It should be noted that if there is no endpoint sample value, the starting sample value must also be discarded; that is, the third data group is invalid and should be directly deleted.

[0102] After determining the starting sample value, the ending sample value, and Z sample values ​​between the starting sample value and the ending sample value, a third data group is formed. All sample values ​​included in the third data group are determined as invalid data (load data during the spindle acceleration and deceleration phase) and filtered out.

[0103] The technical solution of this embodiment can determine the validity of the data set, thereby effectively avoiding misjudgment of the starting point difference and the ending point difference.

[0104] Optionally, determining N-1 differences based on the N sampled values ​​includes:

[0105] Among the N sampled values, the first-order difference corresponding to the N sampled values ​​is calculated to obtain N-1 difference values ​​in sequence.

[0106] In this embodiment, when determining N-1 differences based on N sampled values, the first difference corresponding to the N sampled values ​​can be calculated. The first-order difference is obtained by subtracting adjacent data points to obtain a new sequence. Therefore, by calculating the first-order difference for the N sampled values, the N-1 differences can be directly obtained.

[0107] The technical solution of this application obtains the load data corresponding to the tool during the machining process, performs difference calculations on the load data including N sampled values ​​in sequence to obtain N-1 difference values, and determines M sets of data for the acceleration and deceleration stages of the tool through the N-1 difference values. Then, all sampled values ​​corresponding to the M sets of data are marked as invalid data and filtered out. In this way, the load data of the tool acceleration and deceleration stages is accurately determined during the tool machining process, thereby improving the filtering effect of the load data of the tool acceleration and deceleration stages.

[0108] like Figure 2 As shown, Figure 2 This is a schematic diagram of the overall process in this embodiment. Specifically, let the original load be original_spindle; let the original speed mode be original_speed_mode; let the original cutting signal be original_cut; and let the load signal after filtering the cutting signal be spindle_cut1. The algorithm steps are as follows:

[0109] Step 1: Calculate the first-order difference o_spindle_diff of original_spindle, using the sequence [d1, d2, ..., d...]. n ] represents the length of the data in o_spindle_diff, where n is the length of the data in o_spindle_diff.

[0110] Step 2: When o_spindle_diff's d i > 5×|di-1 | At this time, the position is denoted as s. i From s i Initially, when o_spindle_diff[s i ]<0 and o_spindle_diff[s i+1 When ]>=0, the position is denoted as e. i Only when the search finds an e that meets the conditions i At that time, s i Only then will it be effective; otherwise, the s i invalid.

[0111] Step 3: Position s i - 20 to e i Does the original_speed_mode and original_cut switch between them involve a change in rotational speed mode? If so, then the speed mode should be adjusted accordingly. i and e i It is a pair of acceleration and deceleration intervals. At the same time, the start and end points are updated to the relative positions with each cut (i.e. cutting segment) as the starting point, and the cut number corresponding to the acceleration and deceleration interval is recorded.

[0112] Step 4: Calculate the interquartile range iqr of spindle_cut1. The calculation method is as follows: Let the first quartile be q1 and the third quartile be q3, then iqr = q3 – q1, and u_border = q3 + 1.5 × iqr.

[0113] Step 5: Calculate each pair of s i to e i The maximum value of the load between them; if this maximum value is less than the u_border obtained in step 4, then delete that s. i and e i .

[0114] Step 6: Determine if the first point of the sample spindle_cut1 is greater than u_border. If so, execute Step 2 and record the result as a new acceleration / deceleration interval.

[0115] Step 7: During monitoring, take each cutting segment as the starting point and set its corresponding s i to e i The load data between them is set to invalid data and is not monitored.

[0116] By deeply analyzing the shape and characteristics of spindle load data, this application can automatically identify and filter out data during spindle acceleration and deceleration phases. This method not only effectively avoids false alarms caused by data during acceleration and deceleration phases but also ensures the accuracy and reliability of monitoring data, thus laying a solid foundation for accurate tool monitoring. Specifically, by extracting and analyzing the shape and characteristics of load data, the algorithm can accurately identify the characteristic patterns of acceleration and deceleration phases. Data corresponding to these characteristic patterns is marked as invalid and filtered out from the monitoring data. In this way, the monitoring system can focus on analyzing load data during stable operation, thereby more accurately monitoring the tool status.

[0117] Furthermore, this application possesses a high degree of adaptability. The technical solution of this application naturally adapts to the characteristics of different machine tools and various processing conditions, accurately filtering out data during acceleration and deceleration phases under various circumstances. This adaptability allows this application to be applied not only to a single type of machine tool but also to a wide range of processing equipment, improving the versatility and flexibility of the monitoring system.

[0118] like Figure 3 As shown, Figure 3 This is a structural diagram of the tool load data filtering device provided in an embodiment of this application. Figure 3 As shown, the tool load data filtering device 300 includes:

[0119] The acquisition module 310 is used to acquire load data corresponding to the cutting tool during the machining process of the machine tool. The load data includes: N sampled values ​​obtained by sampling the load of the cutting tool N times in time sequence during the machining process, where N is an integer greater than 1.

[0120] The first determining module 320 is used to determine N-1 differences based on the N sampled values, wherein the N-1 differences include the difference between any two adjacent sampled values ​​among the N sampled values;

[0121] The second determining module 330 is used to determine M data groups from the N-1 differences. The data groups include a starting difference, an ending difference, and X differences between the starting difference and the ending difference. The first time period indicated by the starting difference is the acceleration phase of the tool in the first processing stage of the machining process. The second time period indicated by the ending difference is the deceleration phase of the tool in the first processing stage. The first time period is the time period between two sampling time points corresponding to the starting difference. The second time period is the time period between two sampling time points corresponding to the ending difference. The first processing stage is any processing stage of the tool in the machining process. M and X are non-negative integers.

[0122] The filtering module 340 is used to mark all sampled values ​​corresponding to the M groups of data as invalid data and filter them.

[0123] Optionally, the starting difference is the difference among the N-1 differences that is greater than 5 times the absolute value of the previous difference, and the ending difference is the difference among the N-1 differences where the previous difference is less than 0 and the next difference is greater than 0. The difference is the difference obtained by subtracting the previous sample value from the next sample value among the two corresponding sample values.

[0124] Optional, also includes:

[0125] The first acquisition submodule is used to acquire the original velocity mode and the original cutting signal corresponding to the tool. The original velocity mode is the initial velocity of the tool during the machining process, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process.

[0126] The first determining submodule is used to determine, for the first data group, whether there is a speed mode switch between the 20th difference before the starting difference and the ending difference of the first data group, based on the original speed mode and the original cutting signal, among the N-1 differences. The first data group is any one of the M data groups.

[0127] The first filtering submodule is used to mark all sampled values ​​corresponding to the first data group as invalid data and filter them when there is a speed mode switching between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group.

[0128] Optionally, the first sample in the N samples is the first sample after the tool receives the original cutting signal, and the original cutting signal is the initial operating signal used to control the movement of the tool during the machining process; it also includes:

[0129] The second acquisition submodule is used to acquire the original cutting signal corresponding to the tool;

[0130] The second determining submodule is used to determine Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, wherein the N sampled values ​​include the Y sampled values, and Y is a positive integer;

[0131] The third determining submodule is used to determine a target threshold based on the first Y sampled values ​​among the N sampled values, wherein Y is less than or equal to N;

[0132] The fourth determining submodule is used to determine the maximum value among all sampled values ​​corresponding to the second data group, where the second data group is any one of the M data groups;

[0133] The second filtering submodule is used to mark all sampled values ​​corresponding to the second data group as invalid data and filter them when the maximum value is greater than the target threshold.

[0134] Optionally, the third determination submodule includes:

[0135] A first determining unit is configured to determine a first sampled value and a second sampled value from the Y sampled values. The first sampled value is the sampled value whose sampling time point is closest to the first time point among the Y sampled values. The second sampled value is the sampled value whose sampling time point is closest to the second time point among the Y sampled values. The first time point is the time difference between the first time point and the start point of the third time period, which is one-quarter of the total duration of the third time period. The second time point is the time difference between the second time point and the end point of the third time period, which is one-quarter of the total duration of the third time period. The third time period is the time period corresponding to the Y samples.

[0136] The calculation unit is used to calculate the interquartile range corresponding to the Y sample values ​​based on the first sample value and the second sample value, and obtain the interquartile range value;

[0137] The second determining unit is used to determine the target threshold by summing 1.5 times the interquartile range value and the second sampled value.

[0138] Optional, also includes:

[0139] The fifth determining submodule is used to determine the third sampled value as the starting sampled value in the third data group when the third sampled value among the Y sampled values ​​is greater than the target threshold, and to determine the ending sampled value of the third data group among the Y sampled values. The third data group includes the starting sampled value, the ending sampled value, and Z sampled values ​​located between the starting sampled value and the ending sampled value. The ending sampled value is the sampled value corresponding to the difference among the Y-1 differences obtained by calculating the first difference of the Y sampled values, where the first difference is less than 0 and the second difference is greater than 0. Z is a non-negative integer, and the third sampled value is the first sampled value among the Y sampled values.

[0140] The third filtering submodule is used to mark all sampled values ​​corresponding to the third data group as invalid data and filter them.

[0141] Optionally, the first determining module 320 includes:

[0142] The sixth determining submodule is used to calculate the first-order difference corresponding to the N sample values ​​among the N sample values, and obtain N-1 difference values ​​in sequence.

[0143] The technical solution of this application obtains the load data corresponding to the tool during the machining process, performs difference calculations on the load data including N sampled values ​​in sequence to obtain N-1 difference values, and determines M sets of data for the acceleration and deceleration stages of the tool through the N-1 difference values. Then, all sampled values ​​corresponding to the M sets of data are marked as invalid data and filtered out. In this way, the load data of the tool acceleration and deceleration stages is accurately determined during the tool machining process, thereby improving the filtering effect of the load data of the tool acceleration and deceleration stages.

[0144] This application also provides an electronic device. Please refer to... Figure 4 The electronic device may include a processor 401, a memory 402, and a program 4021 stored in the memory 402 and executable on the processor 401.

[0145] When program 4021 is executed by processor 401, it can achieve the following: Figure 1 Any step in the corresponding method embodiment:

[0146] During the machining process using a cutting tool on a machine tool, load data corresponding to the cutting tool is acquired. The load data includes: N sampled values ​​obtained by sampling the load of the cutting tool N times in chronological order during the machining process, where N is an integer greater than 1.

[0147] Based on the N sampled values, N-1 differences are determined, wherein the N-1 differences include the difference between any two adjacent sampled values ​​among the N sampled values;

[0148] M data groups are determined from the N-1 differences. Each data group includes a starting difference, an ending difference, and X differences between the starting difference and the ending difference. The first time period indicated by the starting difference is the acceleration phase of the tool in the first processing stage of the machining process. The second time period indicated by the ending difference is the deceleration phase of the tool in the first processing stage. The first time period is the time period between two sampling time points corresponding to the starting difference, and the second time period is the time period between two sampling time points corresponding to the ending difference. The first processing stage is any processing stage of the tool in the machining process. M and X are non-negative integers.

[0149] All sampled values ​​corresponding to the M data groups are marked as invalid data and filtered.

[0150] Optionally, the starting difference is the difference among the N-1 differences that is greater than 5 times the absolute value of the previous difference, and the ending difference is the difference among the N-1 differences where the previous difference is less than 0 and the next difference is greater than 0. The difference is the difference obtained by subtracting the previous sample value from the next sample value among the two corresponding sample values.

[0151] Optionally, after determining M data groups from the N-1 differences, the method further includes:

[0152] The original velocity mode and the original cutting signal corresponding to the tool are obtained. The original velocity mode is the initial velocity of the tool during the machining process, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process.

[0153] For the first data group, based on the original speed mode and the original cutting signal, determine whether there is a speed mode switch between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group, where the first data group is any one of the M data groups;

[0154] If there is a speed mode switching between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group, all sampled values ​​corresponding to the first data group are marked as invalid data and filtered.

[0155] Optionally, the first sample in the N samples is the first sample after the tool receives the original cutting signal, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process;

[0156] After determining M data groups from the N-1 differences, the method further includes:

[0157] Obtain the original cutting signal corresponding to the tool;

[0158] Determine Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, wherein the N sampled values ​​include the Y sampled values, and Y is a positive integer;

[0159] The target threshold is determined based on the first Y sampled values ​​among the N sampled values, wherein Y is less than or equal to N;

[0160] Determine the maximum value among all sampled values ​​corresponding to the second data group, where the second data group is any one of the M data groups;

[0161] If the maximum value is greater than the target threshold, all sampled values ​​corresponding to the second data group are marked as invalid data and filtered.

[0162] Optionally, determining the target threshold based on the first Y sampled values ​​among the N sampled values ​​includes:

[0163] Among the Y sampled values, a first sampled value and a second sampled value are determined. The first sampled value is the sampled value whose sampling time point is closest to the first time point among the Y sampled values. The second sampled value is the sampled value whose sampling time point is closest to the second time point among the Y sampled values. The first time point is the time difference between the first time point and the start time point in the third time period, which is one-quarter of the total duration of the third time period. The second time point is the time difference between the second time point and the end time point in the third time period, which is one-quarter of the total duration of the third time period. The third time period is the time period corresponding to the Y samples.

[0164] Calculate the interquartile range corresponding to the Y sample values ​​based on the first sample value and the second sample value to obtain the interquartile range value;

[0165] The target threshold is determined by the sum of 1.5 times the interquartile range value and the second sampled value.

[0166] Optionally, after determining the Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, the method further includes:

[0167] If the third sample value among the Y sample values ​​is greater than the target threshold, the third sample value is determined as the starting sample value in the third data group, and the ending sample value of the third data group is determined among the Y sample values. The third data group includes the starting sample value, the ending sample value, and Z sample values ​​located between the starting sample value and the ending sample value. The ending sample value is the sample value corresponding to the difference among the Y-1 differences obtained by calculating the first difference of the Y sample values, where the previous difference is less than 0 and the next difference is greater than 0. Z is a non-negative integer, and the third sample value is the first sample value among the Y sample values.

[0168] All sampled values ​​corresponding to the third data group are marked as invalid data and filtered.

[0169] Optionally, determining N-1 differences based on the N sampled values ​​includes:

[0170] Among the N sampled values, the first-order difference corresponding to the N sampled values ​​is calculated to obtain N-1 difference values ​​in sequence.

[0171] The technical solution of this application obtains the load data corresponding to the tool during the machining process, performs difference calculations on the load data including N sampled values ​​in sequence to obtain N-1 difference values, and determines M sets of data for the acceleration and deceleration stages of the tool through the N-1 difference values. Then, all sampled values ​​corresponding to the M sets of data are marked as invalid data and filtered out. In this way, the load data of the tool acceleration and deceleration stages is accurately determined during the tool machining process, thereby improving the filtering effect of the load data of the tool acceleration and deceleration stages.

[0172] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, this computer program implements the various processes of the above-described tool load data filtering method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0173] This application also provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described tool load data filtering method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0174] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0175] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a communication device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0176] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for filtering tool load data, characterized in that, The method includes: During the machining process using a cutting tool on a machine tool, load data corresponding to the cutting tool is acquired. The load data includes: N sampled values ​​obtained by sampling the load of the cutting tool N times in chronological order during the machining process, where N is an integer greater than 1. Based on the N sampled values, N-1 differences are determined, and the N-1 differences include the difference between any two adjacent sampled values ​​among the N sampled values; M data groups are determined from the N-1 differences. Each data group includes a starting difference, an ending difference, and X differences between the starting difference and the ending difference. The first time period indicated by the starting difference is the acceleration phase of the tool in the first processing stage of the machining process. The second time period indicated by the ending difference is the deceleration phase of the tool in the first processing stage. The first time period is the time period between two sampling time points corresponding to the starting difference, and the second time period is the time period between two sampling time points corresponding to the ending difference. The first processing stage is any processing stage of the tool in the machining process. M and X are non-negative integers. All sampled values ​​corresponding to the M data groups are marked as invalid data and filtered.

2. The method according to claim 1, characterized in that, The starting difference is the difference among the N-1 differences that is greater than 5 times the absolute value of the previous difference. The ending difference is the difference among the N-1 differences where the previous difference is less than 0 and the next difference is greater than 0. The difference is the difference obtained by subtracting the previous sample value from the next sample value among the two corresponding sample values.

3. The method according to claim 2, characterized in that, After determining M data groups from the N-1 differences, the method further includes: The original velocity mode and the original cutting signal corresponding to the tool are obtained. The original velocity mode is the initial velocity of the tool during the machining process, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process. For the first data group, based on the original speed mode and the original cutting signal, determine whether there is a speed mode switch between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group, where the first data group is any one of the M data groups; If there is a speed mode switching between the 20th difference before the starting difference included in the first data group and the ending difference included in the first data group, all sampled values ​​corresponding to the first data group are marked as invalid data and filtered.

4. The method according to claim 2, characterized in that, The first sample in the N samplings is the first sample after the tool receives the original cutting signal, and the original cutting signal is the initial running signal used to control the movement of the tool during the machining process; After determining M data groups from the N-1 differences, the method further includes: Obtain the original cutting signal corresponding to the tool; Determine Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, wherein the N sampled values ​​include the Y sampled values, and Y is a positive integer; The target threshold is determined based on the first Y sampled values ​​among the N sampled values, wherein Y is less than or equal to N; Determine the maximum value among all sampled values ​​corresponding to the second data group, where the second data group is any one of the M data groups; If the maximum value is greater than the target threshold, all sampled values ​​corresponding to the second data group are marked as invalid data and filtered.

5. The method according to claim 4, characterized in that, Determining the target threshold based on the first Y sampled values ​​out of the N sampled values ​​includes: Among the Y sampled values, a first sampled value and a second sampled value are determined. The first sampled value is the sampled value whose sampling time point is closest to the first time point among the Y sampled values. The second sampled value is the sampled value whose sampling time point is closest to the second time point among the Y sampled values. The first time point is the time difference between the first time point and the start time point in the third time period, which is one-quarter of the total duration of the third time period. The second time point is the time difference between the second time point and the end time point in the third time period, which is one-quarter of the total duration of the third time period. The third time period is the time period corresponding to the Y samples. Calculate the interquartile range corresponding to the Y sample values ​​based on the first sample value and the second sample value to obtain the interquartile range value; The target threshold is determined by the sum of 1.5 times the interquartile range value and the second sampled value.

6. The method according to claim 4, characterized in that, After determining the Y sampled values ​​corresponding to the tool after machining based on the original cutting signal, the method further includes: If the third sample value among the Y sample values ​​is greater than the target threshold, the third sample value is determined as the starting sample value in the third data group, and the ending sample value of the third data group is determined among the Y sample values. The third data group includes the starting sample value, the ending sample value, and Z sample values ​​located between the starting sample value and the ending sample value. The ending sample value is the sample value corresponding to the difference among the Y-1 differences obtained by calculating the first difference of the Y sample values, where the previous difference is less than 0 and the next difference is greater than 0. Z is a non-negative integer, and the third sample value is the first sample value among the Y sample values. All sampled values ​​corresponding to the third data group are marked as invalid data and filtered.

7. The method according to claim 1, characterized in that, The step of determining N-1 differences based on the N sampled values ​​includes: Among the N sampled values, the first-order difference corresponding to the N sampled values ​​is calculated to obtain N-1 difference values ​​in sequence.

8. A tool load data filtering device, characterized in that, The device includes: The acquisition module is used to acquire load data corresponding to the cutting tool during the machining process of the machine tool. The load data includes: N sampled values ​​obtained by sampling the load of the cutting tool N times in time sequence during the machining process, where N is an integer greater than 1. The first determining module is used to determine N-1 differences based on the N sampled values, wherein the N-1 differences include the difference between any two adjacent sampled values ​​among the N sampled values; The second determining module is used to determine M data groups from the N-1 differences. The data groups include a starting difference, an ending difference, and X differences between the starting difference and the ending difference. The first time period indicated by the starting difference is the acceleration phase of the tool in the first processing stage of the machining process. The second time period indicated by the ending difference is the deceleration phase of the tool in the first processing stage. The first time period is the time period between two sampling time points corresponding to the starting difference, and the second time period is the time period between two sampling time points corresponding to the ending difference. The first processing stage is any processing stage of the tool in the machining process. M and X are non-negative integers. The filtering module is used to mark all sampled values ​​corresponding to the M data groups as invalid data and filter them.

9. An electronic device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 7.

11. A computer program product, characterized in that, Includes computer instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1 to 7.

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