Leveling and load equalization control method for air pressure driven flexible support system of ship

Abstract

The application discloses a kind of air pressure driving ship flexible support system's leveling and load equalization control method, it is related to shipbuilding equipment intelligent control technical field.System contains flexible support cluster unit, total control unit, total gas path unit, data acquisition unit, communication bus and execution drive unit, including grouping independent parameter analysis, grouping PID closed loop synchronization, global load equalization, bus time-sharing scheduling and grouping collaborative leveling algorithm.Through industrial fieldbus, the grouping independent control of four flexible support clusters and the high-precision synchronization in group are realized, the high deviation control in group is within ±0.8mm, and the single external load deviation is controlled within 0.2t.Grouping off is realized by adopting hierarchical pipeline design, and the execution drive unit drives pneumatic motor and electromagnetic reversing valve to complete lifting and lowering.The application effectively improves the support precision, operation efficiency and automation level of ship section construction, and has good technical versatility.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for shipbuilding equipment, specifically to a leveling and load balancing control method for a pneumatically driven marine flexible support system. Background Technology

[0002] Sectional construction is the core mode of modern shipbuilding, typically accounting for more than one-third of the total shipbuilding cycle. In sectional construction, the support system is the most important and fundamental piece of equipment, its main function being to support the ship sections and control their deformation during construction, welding, and transportation. With the rapid development of shipbuilding towards larger and more precise designs, and the widespread application of modular "split-body construction," higher demands are placed on the efficiency and quality of sectional construction. Traditional support methods mostly use fixed jigs, whose working surfaces are custom-made to the specific shape of each section. While this effectively ensures the section's shape, it consumes a great deal of steel and labor, occupies a large amount of platform space, and has extremely poor versatility. To overcome this bottleneck, the industry has gradually developed flexible support devices with height adjustment capabilities, achieving adjustable support height through stepless adjustment of screws, stepper motors, or pneumatic drives. In terms of control systems, existing flexible support systems typically adopt a combination of PLC controllers and host computers, achieving segmented positioning through a combination of initial and fine adjustments; some systems have also introduced wireless remote transmission functions and monitoring interpolation algorithms, thus initially possessing remote control and data acquisition capabilities.

[0003] However, existing flexible support control systems still have significant shortcomings in terms of clustered, precise, and intelligent control. In terms of control modes, existing systems are mostly single-unit independent operation or simple multi-unit linkage, lacking an architecture design for independent group control. This makes it impossible to achieve individual start-up, shutdown, speed adjustment, and calibration of support units in different areas, severely restricting operational flexibility and efficiency. Regarding synchronization accuracy, individual support units within a group generally lack high-precision closed-loop control mechanisms, with height deviations often exceeding ±2mm, failing to meet the stringent requirements for line accuracy in modern ship curved sections. In terms of load distribution, existing systems lack global load balancing control methods, and individual unit external load deviations easily exceed 0.5t, potentially leading to localized stress concentration and line distortion in ship sections. Regarding communication scheduling, with the large-scale increase in the number of support units, traditional bus communication methods lack effective time-sharing scheduling mechanisms, easily causing communication conflicts and data delays, making it difficult to guarantee real-time data interaction for large-scale clusters. Furthermore, existing systems generally lack line matching algorithms for curved sections, and curved surface leveling still heavily relies on manual operation, taking 3 to 5 days with uncertain accuracy. Overall, existing flexible support control systems have significant technical shortcomings in areas such as independent group control, intra-group synchronization accuracy, load balancing, real-time communication scheduling, and surface alignment matching, making it difficult to meet the urgent needs of automation, precision, and clustering in the construction of curved sections for ships of 300 tons and below.

[0004] Therefore, there is an urgent need for a pneumatically driven flexible support cluster grouping leveling and load balancing control system for ships to solve a series of problems in the existing technology, such as lack of grouping control, low synchronization accuracy within the group, uneven load distribution, low communication efficiency, and time-consuming and laborious manual matching of curved surface lines. This would enable efficient, precise and intelligent control of ship segment construction and meet the full-domain support and attitude control requirements of curved surface segments of various types of ships. Summary of the Invention

[0005] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0006] To address the technical shortcomings of existing full-domain support modes for curved surface sections in shipbuilding (300 tons and below), such as lack of group control capabilities, low synchronization accuracy within groups, uneven load distribution, low communication efficiency, and difficulty in matching curved surface lines, this paper proposes a pneumatically driven marine flexible support cluster group leveling and load balancing control system. In existing technologies, support devices are mostly operated independently as single units or in unified linkage of multiple units, failing to achieve individual start-up, shutdown, speed adjustment, and calibration under independent group control; individual support units within a group lack high-precision synchronous closed-loop control, with height deviations often exceeding ±2mm; there is no precise load balancing distribution mechanism between groups, and individual external load deviations easily exceed 0.5t. Large-scale cluster communication lacks an effective scheduling mechanism, easily leading to communication conflicts and data delays; curved surface section leveling is highly dependent on manual operation, taking 3-5 days and with unreliable accuracy. This invention integrates five core algorithms—group independent parameter analysis, group PID closed-loop synchronization, global load balancing, bus time-sharing scheduling, and group collaborative leveling—and combines them with a hardware cluster of four groups of 120 flexible support units. This enables independent group control, precise synchronization within groups, balanced global load distribution, conflict-free real-time communication, and precise matching of curved surface profiles, thereby comprehensively improving the automation level, support accuracy, and operational stability of ship section construction.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] As a first aspect of this application, the present invention discloses a method for leveling and load balancing control of a pneumatically driven marine flexible support system, comprising the following steps:

[0009] Step 1: Initialize the pneumatically driven marine flexible support system. By configuring independent state switching and parameter decoupling control strategies for the control subunits of each flexible support cluster, each flexible support cluster can operate independently without interfering with each other.

[0010] Step 2: Configure an independent PID parameter set for each flexible support cluster, and introduce a grouped PID closed-loop synchronization algorithm based on the independent target height value of each group to make the height deviation between any two flexible support units in the group converge.

[0011] Step 3: While maintaining the height synchronization of the flexible support units within the group, differentiated weights are set based on the total load of the entire domain, combined with the curvature of the surface and the stiffness of the support points. The actual load of the flexible support unit is collected in real time to fine-tune the global load balancing algorithm.

[0012] Step 4: The communication cycle is divided into multiple independent time slots and allocated to each flexible support cluster using a time-division multiple access mechanism. The bus time-division scheduling algorithm is used to perform conflict-free bidirectional data interaction to ensure the refresh cycle.

[0013] Step 5: Import the three-dimensional alignment model of the ship section and discretize it into an independent set of height targets for each group. Use the grouped collaborative leveling algorithm to plan a smooth speed regulation curve for each group, so that each group of flexible support clusters can be lifted collaboratively according to their respective surface height requirements.

[0014] Step 6: Repeat steps 2 to 5, monitor the height and load deviation of each flexible support unit in real time, until the height deviation of all flexible support units within the group meets the requirements, and complete the group leveling and load balancing control of the system.

[0015] Preferably, in step 1, after initialization, each control subunit corresponds to each flexible support cluster, and operates in parallel with independent states and parameters to achieve complete decoupling of group control, including:

[0016] Each control subunit is configured with an independent state register. and parameter storage pool The status register contains the core working states of start-stop, speed adjustment, calibration, self-locking, and fault, and the parameter storage pool stores the lifting height, running speed, PID parameters, and load threshold.

[0017] The system's main gas path unit employs a tiered piping design to complete the gas path pressure holding test;

[0018] The data acquisition unit completes the zero-position calibration of all flexible support units;

[0019] The communication unit completes time slot allocation and link testing to ensure its communication refresh cycle is [percentage missing]. .

[0020] Preferably, in step 2 The grouped PID closed-loop synchronization algorithm also includes:

[0021] Real-time acquisition and control subunit The Middle Actual height of the root flexible support unit The main control unit uses a uniform height target value within the group. Calculate the real-time height deviation using a given reference. ;

[0022] The height deviation Substitute into the PID formula to calculate the control output. The pneumatic motor is driven to implement closed-loop speed regulation;

[0023] Simultaneously, a deviation mean compensation strategy is introduced to calculate the average height deviation of each flexible support unit within the group in real time. ;

[0024] The average height deviation As a feedforward compensation, it is superimposed on the PID control loop of each flexible support unit, so that the height deviation between any two flexible support units in the group meets the requirements. .

[0025] Preferably, the global load balancing algorithm in step 3

[0026] Based on the principle of load sharing within the group, and taking into account the curvature of the ship's segmented surfaces and the stiffness of the support points, a load weighting coefficient is assigned to each flexible support unit. ;

[0027] Computational control subunit Inner Target load value of the root flexible support unit ;

[0028] Real-time acquisition of actual load of individual units ,when At that time, the output adjustment command changes the intake pressure of the corresponding flexible support unit's pneumatic motor, adjusts the support height to change the load-bearing capacity, until the external load deviation of the flexible support unit meets the requirements. .

[0029] Preferably, the bus time-sharing scheduling algorithm in step 4 further includes:

[0030] Set the communication bus refresh cycle It was divided into four independent communication time slots. The total duration of time slots must not exceed the communication cycle; the time slot scheduling sequence is as follows: During the specified time period, only the thirty flexible support units of the first control subunit communicated bidirectionally with the main control unit. The time period is switched to the second group of control subunits for communication; The time period is switched to the third group of control subunits for communication; The time period is switched to the fourth group of control subunit communication.

[0031] Preferably, the grouped collaborative leveling algorithm in step 5 further includes:

[0032] Import the 3D linear model of the ship's segmented curved surface ,in To support the plane coordinates of the point, To raise the target height;

[0033] The planar coordinates are divided into four independent regions according to the layout of four control sub-units. Extract the target height of all support points in each region to obtain the control subunit. High-altitude target set ;

[0034] Generate a continuous and smooth S-shaped lifting speed control curve for each control subunit. The speed regulation curve and the lifting height satisfy the integral relationship. ;

[0035] Each control subunit is configured according to its respective altitude target set. and speed regulation curve Coordinated execution of lifting actions.

[0036] As a second aspect of this application, the present invention discloses... ,include:

[0037] The flexible support cluster unit, comprising multiple sets of flexible support clusters, is used to perform full-domain support and attitude maintenance for ship sections.

[0038] The main control unit includes multiple control subunits corresponding to multiple sets of... Used to receive real-time operating parameters transmitted back by the data acquisition unit, and generate control commands after algorithm calculation, which are then sent to the execution drive unit and the main air circuit unit;

[0039] The main air circuit unit is used to provide pneumatic power to the system, enabling centralized air supply, group shutdown control, and independent drive of individual units;

[0040] The data acquisition unit is used to collect the operating parameters of all flexible support units in each flexible support cluster in real time and upload them to the main control unit.

[0041] The communication unit is used to realize bidirectional data interaction and command issuance between the main control unit and each unit;

[0042] The drive unit is used to receive control commands from the main control unit and drive the pneumatic motor and solenoid directional valve to operate.

[0043] The main control unit is connected to the data acquisition unit, the execution drive unit, and the main air circuit unit through the communication unit; the main air circuit unit is connected to the execution drive unit through pneumatic pipelines, and the execution drive unit is connected to each flexible support unit of the multiple sets of flexible support clusters through electrical drive cables to drive each flexible support unit to perform lifting actions.

[0044] Preferably, the flexible support cluster unit comprises four independent flexible support clusters, each consisting of 30 pneumatically driven flexible support units, totaling 120 flexible support units forming a grid-like support layout. Each flexible support unit includes a base, a lifting unit, a reducer, a pneumatic motor, and an encoder. The lifting unit consists of a trapezoidal lead screw and a modular support column. Each flexible support cluster has an independent number, and each flexible support unit has a unique feature parameter library.

[0045] Preferably, the communication unit adopts the Profinet industrial fieldbus with a star topology. The main control unit acts as the master station, and the four flexible support clusters are connected to the switch. The 30 flexible support units in each flexible support cluster are connected in parallel to the corresponding group-level gateway through the fieldbus interface, realizing the orderly polling and command broadcasting of all 120 flexible support unit slave nodes by the master station. The main air circuit unit adopts a hierarchical pipeline, including one main pipeline, four group-level branch pipelines, 120 individual manifolds, and corresponding three-position five-way solenoid valves.

[0046] As a third aspect of this application, the present invention also discloses an electronic device comprising:

[0047] At least one processor, and a memory communicatively connected to said at least one processor;

[0048] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the steps of the leveling and load balancing control method for the pneumatically driven marine flexible support system described above.

[0049] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0050] This invention provides a leveling and load balancing control method for a pneumatically driven marine flexible support system. Through the synergistic effect of a grouped PID closed-loop synchronous algorithm and a deviation mean compensation strategy, the height deviation between any two flexible support units within a group is strictly controlled within ±0.8mm, far exceeding the ±2mm accuracy of traditional control methods. Simultaneously, a global load balancing algorithm controls the external load deviation of individual units within 0.2t, effectively avoiding local stress concentration and line distortion problems in ship sections, ensuring that the construction quality of each section meets high-precision requirements. Furthermore, this invention employs a grouped independent parameter analysis algorithm to achieve independent control of four groups of 120 flexible support units. It supports individual start-up, shutdown, speed adjustment, and calibration of any group, with complete decoupling between groups and no command interference. This overcomes the drawbacks of traditional control modes, which require overall linkage and mutual parameter influence. The operational efficiency is improved by more than 50% compared to traditional distributed control, significantly shortening the previously time-consuming 3 to 5 days of manual positioning and welding fixing work, and significantly reducing reliance on manual labor and labor intensity.

[0051] In terms of global alignment matching for segmented curved surfaces, the grouped collaborative leveling algorithm integrated in this invention is based on a three-dimensional alignment model of the segmented curved surface of the ship. It extracts height target sets for each of the four control subunits and generates a continuous and smooth S-shaped lifting speed regulation curve. Combined with grouped PID closed-loop synchronization and global load balancing algorithms, it achieves accurate alignment matching across the entire lifting stroke from 0 to 2000 mm. It is adaptable to the curved surface features of various ship types, such as bulk carriers, container ships, and tankers, and has strong compatibility and wide applicability. In terms of communication assurance, this invention adopts a bus time-division scheduling algorithm to divide the communication cycle into four independent time slots and allocate them to the four control subunits. This completely solves the communication conflict problem of industrial fieldbus, and the communication refresh cycle is stabilized within 100 ms, providing a solid guarantee for the accurate execution of the closed-loop control algorithm.

[0052] This invention constructs an integrated hardware architecture encompassing "control core—execution cluster—power supply—data perception—communication interaction—action execution." The algorithms built into the central control unit achieve data exchange and command coordination with each unit via an industrial fieldbus. These algorithms cooperate and share data, forming a full-process intelligent closed-loop control link of "perception—decision—execution—feedback." This effectively overcomes the drawbacks of traditional control methods, such as high inter-group coupling, low synchronization accuracy, and uneven load distribution, thus significantly improving the overall intelligence level of the system. Finally, the technical solution of this invention is not only adaptable to the full-domain support and attitude control of curved sections in ships of 300 tons and below, but can also be extended to the segmented support and leveling control scenarios of large steel structures such as bridges and offshore platforms, demonstrating good technical versatility, engineering practical value, and promising prospects for industrialization. Attached Figure Description

[0053] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0054] In the attached diagram:

[0055] Figure 1 This is a flowchart illustrating the steps of the leveling and load balancing control method for a pneumatically driven marine flexible support system in an embodiment of the present invention.

[0056] Figure 2 This is a connection structure diagram of the pneumatically driven flexible support system for ships in an embodiment of the present invention;

[0057] Figure 3 This is a connection structure diagram of the main air circuit unit in the pneumatically driven flexible support system for ships in an embodiment of the present invention;

[0058] Figure 4This is a connection structure diagram of the main control unit and the flexible support cluster unit in the pneumatically driven marine flexible support system of this embodiment of the invention;

[0059] Figure 5 This is an execution block diagram of the leveling and load balancing control method for a pneumatically driven marine flexible support system in an embodiment of the present invention.

[0060] Figure 6 This is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. Detailed Implementation

[0061] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0062] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0063] Example

[0064] In an embodiment of the present invention, a pneumatically driven flexible support system for ships is disclosed, such as... Figures 2 to 4 As shown, this invention constructs an integrated hardware architecture of "control core—execution cluster—power supply—data perception—communication interaction—action execution," with each unit deeply integrated and cooperating to achieve clustered, intelligent, and high-precision control of 120 flexible support units. The specific components of this pneumatically driven marine flexible support cluster unit system include a flexible support cluster unit, a main control unit, a main pneumatic circuit unit, a data acquisition unit, a communication unit, and an execution drive unit.

[0065] The flexible support cluster unit is the core execution module of the system, and it has a total of Each group consists of 30 air-pressure driven flexible support units, totaling 4 × 30 = 120 flexible support units forming a grid-like support layout, adaptable to various applications. This system provides comprehensive support for sections of ships of class 2 and below. Each flexible support unit includes a base, lifting unit, reducer, pneumatic motor, and encoder. The lifting unit consists of a trapezoidal screw and modular support columns, available in 500mm, 1000mm, and 1500mm sizes, which, when assembled with the trapezoidal screw, achieve a lifting stroke of 0–2000mm. Each flexible support cluster has an independent number and physical characteristics, and each flexible support unit has a unique identifier within the system, providing a foundation for subsequent characteristic parameter database establishment, precise fault location, and graded self-locking.

[0066] The main control unit is the core control unit of the system. It comprises four control subunits corresponding to four flexible support clusters, and utilizes an industrial-grade PLC controller with a response time ≤50ms. Internally, it integrates core algorithms including a grouped independent parameter analysis algorithm, a grouped PID closed-loop synchronization algorithm, a global load balancing algorithm, a bus time-sharing scheduling algorithm, and a grouped collaborative leveling algorithm. The main control unit receives real-time operating parameters from the data acquisition unit, generates control commands through algorithmic calculations, and sends them to the execution drive unit and the main air path unit, achieving intelligent control of the entire system process. In leveling and load balancing control scenarios, the main control unit collects real-time height and load data of each unit based on a bus time-sharing scheduling mechanism, and simultaneously invokes the grouped PID closed-loop synchronization algorithm and the global load balancing algorithm. On one hand, using the target height and S-shaped speed regulation curve generated by the grouped collaborative leveling algorithm as a benchmark, it drives each group to independently execute PID regulation and introduces deviation mean compensation, controlling the height deviation within the group to within ±0.8mm. On the other hand, based on the global total load constraint and differentiated weights, it dynamically adjusts the intake pressure of each unit to distribute the load, ensuring that the external load deviation of each unit is ≤0.2t. The above process iterates cyclically with a refresh rate of no less than 10Hz until all flexible support units simultaneously meet the height and load accuracy indicators. The main control unit then issues a stop command to lock the system and completes the group leveling and load balancing control of the system.

[0067] The main pneumatic circuit unit is the system's pneumatic power supply module, employing a hierarchical piping design of "main air source—main trunk pipeline—group-level branch pipelines—individual manifolds." It includes a main air source, one main trunk pipeline, four group-level branch pipelines, 120 individual manifolds, and corresponding three-position five-way solenoid directional valves, achieving centralized supply of main air, group shut-off control, and independent actuation of individual units. Pneumatic circuit action commands are issued by the group-independent parameter parsing algorithm of the main control unit, ensuring precise linkage between the on / off states of group-level branch pipelines and individual manifolds and the status of subunits and individual unit control commands. In the self-locking protection mechanism, upon receiving a self-locking command within a group or across the entire system, the main pneumatic circuit unit can quickly cut off the air supply to the corresponding group-level branch pipeline or main trunk pipeline, stopping all lifting and lowering actions from the power source. Combined with the mechanical self-locking characteristics of the trapezoidal screw, this achieves dual safety assurance of pneumatic cut-off and mechanical locking.

[0068] The data acquisition unit is the system sensing module, equipped with a 1024-line / revolution incremental encoder, a high-precision pressure sensor with a measurement accuracy of ±0.01MPa, and a current sensor. It collects real-time operating parameters of all flexible support units in parallel at a fixed acquisition frequency of 10Hz, including lifting height. Bearing load air pressure Solenoid directional valve operating current The collected data is packaged according to individual unit numbers and timestamps, and uploaded in real time to the buffer area of ​​the main control unit via the communication unit. This unit provides real-time height feedback and load distribution data for leveling and load balancing control methods, supports the height deviation calculation of the grouped PID closed-loop synchronization algorithm and the load deviation determination of the global load balancing algorithm, and is the core data source for the closed-loop control system to achieve precise adjustment and dynamic convergence.

[0069] The communication unit serves as the system's data exchange bridge, employing the Profinet industrial fieldbus. The communication bus uses a star topology, with the central control unit acting as the master station. Four groups of control sub-units connect via switches, and the 30 flexible support units within each group are connected in parallel to the corresponding group-level gateway via fieldbus interfaces. This enables the master station to perform ordered polling and command broadcasting to all 120 slave nodes. The central control unit uses a time-sharing scheduling algorithm to achieve real-time bidirectional communication with the 120 flexible support units, with a communication refresh cycle... This ensures the real-time and conflict-free nature of data acquisition and command issuance. During fault diagnosis, the communication unit transmits the real-time status vectors of each unit in an orderly manner according to a time-slot mechanism. When a self-locking command is issued, the main control unit broadcasts the self-locking command within the group or across the entire domain with the highest priority through the communication unit, ensuring that the command reaches all target actuators instantly and avoiding delays in protection actions due to communication delays.

[0070] The actuator unit is the system's action execution module. It receives control commands from the main control unit and drives the pneumatic motor to rotate forward and backward, adjust its speed, and open and close the solenoid directional valve, thereby achieving lifting, lowering, and self-locking actions of the flexible support unit. A 1 / 2HP pneumatic motor is selected to meet heavy-load starting torque requirements. When self-locking protection is activated, the actuator unit, upon responding to the self-locking command, immediately closes all pneumatic motor air supply valves in the faulty subunit and resets the solenoid directional valve to the neutral closed position, halting all moving parts. Combined with air circuit cutoff and screw self-locking, the current support height is reliably locked.

[0071] The above six units are tightly coupled to the communication bus through hardware interfaces. Under the unified scheduling of the central control unit, they form a closed-loop control link of "perception-decision-execution-feedback". This provides a solid platform support for the stable operation of the leveling and load balancing control methods and the reliable triggering of fault safety protection functions, and comprehensively improves the safety, reliability and intelligence level of the system.

[0072] In this embodiment of the invention, a method for leveling and load balancing control of a pneumatically driven marine flexible support system is also disclosed. This disclosure will be described in detail below with reference to the accompanying drawings and embodiments. (Refer to...) Figure 1 and Figure 5 As shown, the present invention mainly includes the following steps:

[0073] Step 1: Initialize the pneumatically driven marine flexible support cluster system. By configuring independent state switching and parameter decoupling control strategies for the control subunits of each flexible support cluster, each flexible support cluster can operate independently without interfering with each other.

[0074] Step 2: Configure an independent PID parameter set for each flexible support cluster, and introduce a grouped PID closed-loop synchronization algorithm based on the independent target height value of each group to make the height deviation between any two flexible support units in the group converge.

[0075] Step 3: While maintaining the height synchronization of the flexible support units within the group, differentiated weights are set based on the total load of the entire domain, combined with the curvature of the surface and the stiffness of the support points. The actual load of the flexible support unit is collected in real time to fine-tune the global load balancing algorithm.

[0076] Step 4: The communication cycle is divided into multiple independent time slots and allocated to each flexible support cluster using a time-division multiple access mechanism. The bus time-division scheduling algorithm is used to perform conflict-free bidirectional data interaction to ensure the refresh cycle.

[0077] Step 5: Import the three-dimensional alignment model of the ship section and discretize it into an independent set of height targets for each group. Use the grouped collaborative leveling algorithm to plan a smooth speed regulation curve for each group, so that each group of flexible support clusters can be lifted collaboratively according to their respective surface height requirements.

[0078] Step 6: Repeat steps 2 to 5, monitor the height and load deviation of each flexible support unit in real time, until the height deviation of all flexible support units within the group meets the requirements, and complete the group leveling and load balancing control of the system.

[0079] Specifically, regarding step 1, the marine flexible support cluster system is initialized. This is achieved by configuring independent state switching and parameter decoupling control strategies for each flexible support cluster, ensuring independent operation without interference. Specifically, the system initialization phase is fundamental to ensuring the normal operation of all subsequent control algorithms, encompassing multiple stages such as hardware readiness, parameter configuration, and communication link verification. This flexible support cluster system comprises four clusters, each consisting of thirty pneumatically driven flexible support units, totaling 120 units forming a grid-like support layout, suitable for the full-range support requirements of 300-ton and smaller ship sections. Each flexible support unit includes an integrated base, lifting unit, reducer, pneumatic motor, and encoder. The lifting unit consists of a trapezoidal lead screw and modular support columns, enabling a lifting stroke of 0–2000 mm.

[0080] The specific execution content of the initialization phase includes: (1) The main control unit configures independent status registers for the four control subunits respectively. ( =1,2,3,4) and parameter storage pool ( =1,2,3,4), the status register contains five core working states: start-stop, speed regulation, calibration, self-locking, and fault. The parameter storage pool stores the lifting height, running speed, PID parameters, load threshold and other control parameters. (2) The main air circuit unit completes the air circuit pressure holding test. It adopts a hierarchical pipeline design of main air source-main trunk pipeline-group branch pipeline-individual manifold, and is equipped with four group-level branch pipelines, one hundred and twenty individual manifolds and corresponding three-position five-way solenoid reversing valve groups. (3) The data acquisition unit completes the zero-position calibration of all individual units. This unit is equipped with a 1024-line / revolution incremental encoder and a high-precision pressure sensor with a measurement accuracy of ±0.01MPa. (4) The communication unit completes the time slot allocation and link test. It adopts the Profinet industrial fieldbus and its communication refresh cycle. After initialization, the four control subunits operate in parallel with independent states and parameters, achieving complete decoupling of group control.

[0081] Regarding step 2, an independent PID parameter set is configured for each flexible support cluster. Based on the independent target height value of each group, a grouped PID closed-loop synchronization algorithm is introduced to ensure that the height deviation between any two flexible support units within the group converges to within ±0.8mm. This grouped PID closed-loop synchronization algorithm is the core control strategy for achieving precise height synchronization within the group. It employs a closed-loop control method combining an independent PID parameter set with deviation mean compensation, tailored to the aerodynamic drive characteristics. Specifically, the main control unit configures independent and dynamically adjustable PID parameter sets for each of the four control subunits. ,in For proportionality coefficient, For integral coefficients, As differential coefficients, they support individual calibration and dynamic optimization of parameters within a group, adapting to the aerodynamic characteristics and support requirements of different control subunits.

[0082] During the control execution process, the data acquisition unit collects data from the control subunit in real time. The Middle Actual height of the root flexible support unit The main control unit uses a uniform height target value within the group. Given a baseline, calculate the real-time height deviation of each flexible support unit. The height deviation is then substituted into the PID formula to calculate the control output. The pneumatic motor is driven to implement closed-loop speed regulation, which is represented as Building upon this, to further eliminate residual synchronization errors caused by factors such as gas path pressure fluctuations and load differences among the individual units within the group, a deviation mean compensation strategy is introduced to calculate the average height deviation of the thirty flexible support units within the group in real time, expressed as... The average height deviation is then used as a feedforward compensation and added to the PID control loop of each flexible support unit, driving the height of all flexible support units in the group to converge synchronously towards the target value. Through the above dual closed-loop synergy, the height deviation between any two flexible support units in the group is ultimately strictly controlled within a certain range. Within a certain accuracy range, it provides a solid technical guarantee for the high-precision matching of the curved surface shape of ship segments.

[0083] Regarding step 3, while maintaining the height synchronization of the flexible support units within the group, based on the total load across the entire area (300t) as a constraint, and combining the surface curvature and support point stiffness to set differentiated weights, the actual load of the flexible support units is collected in real time, and a global load balancing algorithm is used for fine-tuning, so that the external load deviation of the units converges to within 0.2t. The global load balancing fine-tuning is based on the principle of force balance and differentiated weight allocation, achieving uniform load distribution among the 120 flexible support units and avoiding localized stress concentration in ship sections. Specifically, the central control unit sets the maximum load-bearing threshold for the entire area. Based on the area and weight distribution characteristics of the ship's segmented support areas, the overall load is allocated to four groups of sub-units with group-level load thresholds. ( =1,2,3,4), satisfying the condition that the load across the entire domain does not exceed the limit, expressed as .

[0084] The execution process is as follows: First, based on the principle of load sharing within the group and combined with the curvature of the ship's segmented surfaces and the stiffness of the support points, a load weighting coefficient is set for each flexible support unit. Calculation control subunit Inner Target load value of the root flexible support unit .in It supports manual adjustment by group to adapt to the load distribution requirements between different ship sections. The weighting coefficients also support manual adjustment by group to adapt to the load distribution requirements between different ship sections. The data acquisition unit collects the actual load of each individual unit in real time. The main control unit judges the load deviation, when When the load exceeds 0.2t, the output adjustment command changes the inlet pressure of the corresponding flexible support unit's pneumatic motor, adjusting the support height to change the load-bearing capacity; through dynamic cyclic adjustment, it ensures that the external load deviation of the unit meets the requirements. ≤0.2t, in order to achieve the goal of precise load control.

[0085] Regarding step 4, a time-division multiple access (TDMA) mechanism is used to divide the communication cycle (≤100ms) into multiple independent time slots and allocate them to each control subunit. A bus time-division scheduling algorithm is used for conflict-free bidirectional data exchange, ensuring that the system refresh cycle meets real-time control requirements. This step addresses the large-scale communication needs of 120 flexible support units, employing a bus time-division scheduling algorithm to resolve communication conflicts in the industrial fieldbus and ensure the real-time performance of data acquisition and command issuance. Specifically, the central control unit sets the communication bus refresh cycle. It is divided into four independent communication time slots. The total duration of the time slots must not exceed the communication period, as expressed in the following way. Optimal configuration This achieves equal allocation of time slots.

[0086] The timing of time slot scheduling is strictly defined as follows: During the specified time period, only the thirty flexible support units of the first control subunit communicate bidirectionally with the main control unit; The time period is switched to the second group of control subunits for communication; The time period is switched to the third group of control subunits for communication; The time slot is switched to the fourth group of control subunit communication. Within the time slot, only the thirty flexible support units of the corresponding control subunit are allowed to communicate bidirectionally with the main control unit to complete the acquisition of encoder height data and load data, as well as the issuance of control commands. The time slot scheduling is executed cyclically according to the set time sequence to realize the acquisition of operating parameters and the issuance of control commands for 120 flexible support units, ensuring no communication conflicts between groups and a stable communication refresh cycle of ≤100ms.

[0087] Regarding step 5, the 3D alignment model of the ship's sections is imported and discretized into independent height target sets for each group. A grouped collaborative leveling algorithm is then used to plan an S-shaped smooth speed regulation curve for each group, enabling each control subunit to lift collaboratively according to its respective surface height requirements, achieving precise alignment matching across the entire travel range of 0–2000 mm. Based on the 3D alignment model of the ship's section surfaces, full-domain leveling with "zonal calibration and collaborative lifting" is achieved. Specifically, the main control unit imports the 3D alignment model of the ship's section surfaces. ,in To support the plane coordinates of the point, To raise the target height.

[0088] The specific execution flow of the grouped collaborative leveling algorithm is as follows: First, the planar coordinates are divided into four independent regions according to the layout of four groups of control sub-units. Extract the target height of all support points in each region to obtain the control subunit. The high target set is A continuous and smooth S-shaped lifting speed control curve is generated for each control subunit. To avoid segmental swaying of the ship caused by sudden speed changes, the speed regulation curve and the lifting height satisfy the integral relationship. The four control subunits are configured according to their respective altitude target sets. and speed regulation curve By coordinating the lifting actions and combining the grouped PID closed-loop synchronization and global load balancing algorithm in steps 2 and 3, the system achieves global attitude control and precise alignment matching of the ship's curved surface segments within the 0-2000mm lifting stroke.

[0089] Regarding step 6, steps 2 to 5 are executed cyclically, with a sampling frequency of no less than 10Hz to monitor the height and load deviation of each flexible support unit in real time. The control quantity is continuously calculated and corrected by the central control unit. Simultaneously, the grouped PID closed-loop synchronization algorithm, the global load balancing algorithm, the bus time-sharing scheduling algorithm, and the grouped collaborative leveling algorithm run synchronously throughout the process, comparing the unit's operating parameters with the characteristic parameter library in real time. Once an excessive deviation or fault characteristic is detected, the corresponding level of self-locking protection is immediately triggered according to the fault type matching logic. When the height deviation within the group of all flexible support units is ≤ ±0.8mm and the external load deviation is ≤ 0.2t, and there is no fault latch-up, the central control unit issues a stop command to shut down and lock the system, completing the grouped leveling and load balancing control of the system.

[0090] During continuous operation, the data acquisition unit collects individual unit operating parameters (height H(t), load f(t), air pressure P(t), electromagnetic reversing valve operating current I(t), etc.) at a frequency of 10Hz and transmits them back to the main control unit via the communication bus according to a time-sharing scheduling algorithm. The main control unit synchronously runs steps 2 to 5. Simultaneously, the fault diagnosis and location algorithm compares the measured parameters of each flexible support unit with the benchmark indicators in the characteristic parameter database in real time. ), of which the normal altitude fluctuation range This reflects the reasonable displacement range and normal load fluctuation range of the support column during loading and unloading processes. The normal air pressure value reflects the reasonable stress range of a single unit when bearing the weight of a ship section. This reflects the standard air supply pressure of the pneumatic drive system and the normal operating current range of the solenoid directional valve. It reflects the electrical signal characteristics of valve body on / off switching and state maintenance. When any parameter deviation exceeds the preset threshold, the fault source is immediately located and the fault type is reported; the graded self-locking trigger algorithm automatically determines the self-locking range according to the fault level (individual unit level / group level / global level) and instantly sends the corresponding priority self-locking command to the main air circuit unit and the execution drive unit.

[0091] The specific execution logic is as follows: First, the main air circuit unit receives instructions and realizes centralized supply of air source and group / individual on / off switching according to the hierarchical pipeline design; the execution drive unit drives the pneumatic motor and electromagnetic reversing valve to realize the lifting / lowering of the flexible support unit; the main control unit realizes precise height synchronization within the group through the group PID closed-loop synchronization algorithm and realizes balanced distribution of load across the entire domain through the global load balancing algorithm; when all flexible support units reach the target height and meet the requirements of group height deviation ≤ ±0.8mm and individual external load deviation ≤ 0.2t, the main control unit issues a stop command to stop the pneumatic motor, and uses the mechanical self-locking characteristics of the trapezoidal screw to assist in locking the support height, thus completing the global support and attitude control of the ship section.

[0092] To implement the above embodiments, this application also discloses an electronic device. (Refer to...) Figure 6 As shown, electronic device 600 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 601, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 602 or a program loaded from storage device 608 into random access memory (RAM) 603. RAM 603 also stores various programs and data required for the operation of electronic device 600. Processing device 601, ROM 602, and RAM 603 are interconnected via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0093] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows electronic device 600 to communicate wirelessly or wiredly with other devices to exchange data. Although... Figure 6 An electronic device 600 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 6 Each box shown can represent a device or multiple devices as needed.

[0094] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer storage medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, it performs the functions defined in the methods of some embodiments of this disclosure.

[0095] It should be noted that, in some embodiments of this disclosure, the computer storage medium described above can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, 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 device, magnetic storage device, or any suitable combination thereof.

[0096] In some embodiments of this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. In some embodiments of this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer storage medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0097] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed networks.

[0098] The aforementioned computer storage medium may be included in the aforementioned electronic device, or it may exist independently without being assembled into the electronic device. The aforementioned computer storage medium carries one or more programs that, when executed by the electronic device, enable the electronic device to implement a method for group leveling and load balancing control of a pneumatically driven marine flexible support system.

[0099] Computer program code for performing operations of some embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings.

[0101] For example, two consecutively represented blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Units described in some embodiments of this disclosure can be implemented in software or hardware. The described units can also be located in a processor, and the names of these units do not necessarily constitute a limitation on the unit itself.

[0102] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0103] All technologies not described in detail in this invention are existing technologies. The above descriptions are merely some preferred embodiments of this disclosure and explanations of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalent features without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for leveling and load balancing control of a pneumatically driven marine flexible support system, characterized in that, Includes the following steps: Step 1: Initialize the pneumatically driven marine flexible support system. By configuring independent state switching and parameter decoupling control strategies for the control subunits of each flexible support cluster, each flexible support cluster can operate independently without interfering with each other. Step 2: Configure an independent PID parameter set for each flexible support cluster, and introduce a grouped PID closed-loop synchronization algorithm based on the independent target height value of each group to make the height deviation between any two flexible support units in the group converge. Step 3: While maintaining the height synchronization of the flexible support units within the group, differentiated weights are set based on the total load of the entire domain, combined with the curvature of the surface and the stiffness of the support points. The actual load of the flexible support unit is collected in real time to fine-tune the global load balancing algorithm. Step 4: The communication cycle is divided into multiple independent time slots and allocated to each flexible support cluster using a time-division multiple access mechanism. The bus time-division scheduling algorithm is used to perform conflict-free bidirectional data interaction to ensure the refresh cycle. Step 5: Import the three-dimensional alignment model of the ship section and discretize it into an independent set of height targets for each group. Use the grouped collaborative leveling algorithm to plan a smooth speed regulation curve for each group, so that each group of flexible support clusters can be lifted collaboratively according to their respective surface height requirements. Step 6: Repeat steps 2 to 5, monitor the height and load deviation of each flexible support unit in real time, until the height deviation of all flexible support units within the group meets the requirements, and complete the group leveling and load balancing control of the system.

2. The leveling and load balancing control method for a pneumatically driven marine flexible support system according to claim 1, characterized in that, In step 1, after initialization, each control subunit corresponds to each flexible support cluster, and operates in parallel with independent states and parameters to achieve complete decoupling of group control, including: Each control subunit is configured with an independent state register. and parameter storage pool The status register includes the working status of start / stop, speed adjustment, calibration, self-locking, and fault, and the parameter storage pool stores the lifting height, running speed, PID parameters, and load threshold. The system's main gas path unit employs a tiered piping design to complete the gas path pressure holding test; The data acquisition unit completes the zero-position calibration of all flexible support units; The communication unit completes time slot allocation and link testing to ensure its communication refresh cycle is [percentage missing]. .

3. The leveling and load balancing control method for a pneumatically driven marine flexible support system according to claim 1, characterized in that, In step 2 The grouped PID closed-loop synchronization algorithm also includes: Real-time acquisition and control subunit The Middle Actual height of the root flexible support unit The main control unit uses a uniform height target value within the group. Calculate the real-time height deviation using a given reference. ; The height deviation Substitute into the PID formula to calculate the control output. The pneumatic motor is driven to implement closed-loop speed regulation; Simultaneously, a deviation mean compensation strategy is introduced to calculate the average height deviation of each flexible support unit within the group in real time. ; The average height deviation As a feedforward compensation, it is superimposed on the PID control loop of each flexible support unit, so that the height deviation between any two flexible support units in the group meets the requirements. .

4. The leveling and load balancing control method for a pneumatically driven marine flexible support system according to claim 1, characterized in that, Step 3, global load balancing algorithm Based on the principle of load sharing within the group, and taking into account the curvature of the ship's segmented surfaces and the stiffness of the support points, a load weighting coefficient is assigned to each flexible support unit. ; Computational control subunit Inner Target load value of the root flexible support unit ; Real-time acquisition of actual load of individual units ,when At that time, the output adjustment command changes the intake pressure of the corresponding flexible support unit's pneumatic motor, adjusts the support height to change the load-bearing capacity, until the external load deviation of the flexible support unit meets the requirements. .

5. The leveling and load balancing control method for a pneumatically driven marine flexible support system according to claim 1, characterized in that: The bus time-division scheduling algorithm in step 4 also includes: Set the communication bus refresh cycle It was divided into four independent communication time slots. The total duration of time slots must not exceed the communication cycle; the time slot scheduling sequence is as follows: During the specified time period, only the thirty flexible support units of the first control subunit communicated bidirectionally with the main control unit. The time period is switched to the second group of control subunits for communication; The time period is switched to the third group of control subunits for communication; The time period is switched to the fourth group of control subunit communication.

6. The leveling and load balancing control method for a pneumatically driven marine flexible support system according to claim 1, characterized in that, The grouped collaborative leveling algorithm in step 5 also includes: Import the 3D linear model of the ship's segmented curved surface ,in To support the plane coordinates of the point, To raise the target height; The planar coordinates are divided into four independent regions according to the layout of four control sub-units. Extract the target height of all support points in each region to obtain the control subunit. High-altitude target set ; Generate a continuous and smooth S-shaped lifting speed control curve for each control subunit. The speed regulation curve and the lifting height satisfy the integral relationship. ; Each control subunit is configured according to its respective altitude target set. and speed regulation curve Coordinated execution of lifting actions.

7. Its characteristics are, include The flexible support cluster unit includes multiple sets of flexible support clusters for performing full-domain support and attitude maintenance of ship sections; the main control unit includes multiple control subunits corresponding to the multiple sets of flexible support clusters. Used to receive real-time operating parameters transmitted back by the data acquisition unit, and generate control commands after algorithm calculation, which are then sent to the execution drive unit and the main air circuit unit; The main air circuit unit is used to provide pneumatic power to the system, enabling centralized air supply, group shutdown control, and independent drive of individual units; The data acquisition unit is used to collect the operating parameters of all flexible support units in each flexible support cluster in real time and upload them to the main control unit. The communication unit is used to realize bidirectional data interaction and command issuance between the main control unit and each unit; the execution drive unit is used to receive control commands from the main control unit and drive the pneumatic motor and electromagnetic reversing valve to operate; the main control unit is connected to the data acquisition unit, the execution drive unit and the main air circuit unit through the communication unit; the main air circuit unit is connected to the execution drive unit through pneumatic pipelines, and the execution drive unit is connected to each flexible support unit of the multiple sets of flexible support clusters through electrical drive cables to drive each flexible support unit to perform lifting actions.

8. The method according to claim 7 Its features are: The flexible support cluster unit consists of four independent flexible support clusters, each consisting of 30 pneumatically driven flexible support units, totaling 120 flexible support units forming a grid-like support layout. Each flexible support unit includes a base, a lifting unit, a reducer, a pneumatic motor, and an encoder. The lifting unit consists of a trapezoidal lead screw and a modular support column. Each flexible support cluster has an independent number, and each flexible support unit has a unique feature parameter library.

9. The method according to claim 8 Its features are: The communication unit adopts the Profinet industrial fieldbus with a star topology. The main control unit acts as the master station, and the four flexible support clusters are connected to the network via switches. The 30 flexible support units in each flexible support cluster are connected in parallel to the corresponding group-level gateway through the fieldbus interface, enabling the master station to conduct orderly polling and command broadcasting to all 120 flexible support unit slave nodes. The main air circuit unit adopts a hierarchical pipeline system, including one main trunk pipeline, four group-level branch pipelines, 120 individual unit manifolds, and corresponding three-position five-way solenoid valves.

10. An electronic device, characterized in that, include: At least one processor, and a memory communicatively connected to said at least one processor; The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the steps of the method according to any one of claims 1 to 6. A computer storage medium storing a computer program thereon, characterized in that: When the computer program is executed by the processor, it performs the steps as described in any one of claims 1 to 6.

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