阅读说明：本技术 一种机器人编程方法、装置及存储介质 (Robot programming method and device and storage medium ) 是由 刁世普 林健发 肖盼 关日钊 黄冠成 李威胜 罗坚铭 于 2021-07-30 设计创作，主要内容包括：本发明公开了一种机器人编程方法、装置及存储介质,本发明通过激光设备向工件发射激光以在工件上形成激光体,激光体包括激光线条或者激光点；确定激光体处于期望位置,将激光体作为目标激光体,从目标激光体中确定至少一目标点；对目标点进行转换处理,得到转换位置；转换位置表征目标点在机器人基坐标系下的坐标描述；根据转换位置与预设程序模板,生成机器人程序；通过形成目标激光,提取目标点并进行转换处理确定的转换位置结合预设程序模板,生成机器人程序实现编程,能够减少人工示教所花费的时间和程序,降低了成本且提高了编程的效率,本发明作为一种机器人编程方法、装置及存储介质,可广泛应用于编程技术领域。(The invention discloses a robot programming method, a device and a storage medium, wherein laser is emitted to a workpiece through laser equipment to form a laser body on the workpiece, and the laser body comprises a laser line or a laser spot; determining that the laser body is at a desired position, taking the laser body as a target laser body, and determining at least one target point from the target laser body; converting the target point to obtain a conversion position; converting the coordinate description of the position representation target point under the robot base coordinate system; generating a robot program according to the conversion position and a preset program template; the robot programming method, the robot programming device and the robot programming storage medium are used as a robot programming method, a robot programming device and a robot programming storage medium, and can be widely applied to the technical field of programming.)

1. A robot programming method, comprising:

emitting laser light to a workpiece through a laser device to form a laser body on the workpiece; the laser body comprises a laser line or a laser spot;

determining that the laser body is in a desired position, taking the laser body as a target laser body, and determining at least one target point from the target laser body;

converting the target point to obtain a conversion position; the conversion position represents the coordinate description of the target point under a robot base coordinate system;

and generating a robot program according to the conversion position and a preset program template.

2. The robot programming method of claim 1, wherein: the determining at least one target point from the target laser volume includes:

detecting the laser line through a vision system, and determining a target point on the laser line; and the coordinate position of the target point is described by coordinates in a visual system coordinate system.

3. The robot programming method of claim 2, wherein: the converting the target point to obtain a conversion position includes:

acquiring a first transformation matrix between a vision system coordinate system and a robot base coordinate system;

determining a second transformation matrix through positive kinematics calculation of the robot;

and obtaining a conversion position according to the product of the first transformation matrix, the second transformation matrix and the coordinate position of the target point.

4. The robot programming method of claim 3, wherein: the acquiring a first transformation matrix between a vision system coordinate system and a robot base coordinate system includes:

performing point cloud collection on the three-dimensional calibration block through a vision system, and determining at least three key points;

determining the space coordinates of the three key points under the robot base coordinate system by adjusting the tail end of the robot;

constructing a first workpiece coordinate system under a vision system and a second workpiece coordinate system under a robot base coordinate system;

and fitting according to the first workpiece coordinate system, the second workpiece coordinate system and the space coordinate system to determine a first transformation matrix.

5. The robot programming method of claim 1, wherein: the laser equipment is a laser ranging module and is arranged at the tail end of the robot, a laser point on the target laser body is the target point, and the target point is converted to obtain a conversion position, and the laser equipment comprises:

acquiring a distance measurement value between the laser distance measurement module and the target point, a coordinate position of the target point and a robot tail end position coordinate;

determining a third transformation matrix according to the position coordinates of the tail end of the robot and the origin of the robot base coordinate system;

performing first conversion processing on the coordinate position of the target point according to the third conversion matrix;

and performing second conversion processing according to the ranging value and the first conversion processing result to obtain a conversion position.

6. The robot programming method of claim 5, wherein: the laser ranging module is provided with a three-dimensional gyroscope, and the obtaining of the ranging value between the laser ranging module and the target point comprises the following steps:

setting the reference direction of the laser ranging module to be parallel to a reference axis of the robot, and acquiring the ranging value under the condition that the reference direction is parallel to the reference axis; the three-dimensional gyroscope is used for acquiring angle deviation when the robot moves and keeping the reference direction parallel to the reference axis according to the angle deviation.

7. Robot programming method according to any of claims 1-6, characterized in that: generating a robot program according to the conversion position and a preset program template, wherein the method comprises the following steps:

generating assigned value data according to the number of the conversion positions and the conversion positions;

and generating a head program, a middle point program and a program tail end according to the assigned value data and the preset program template to obtain a robot program.

8. A robot programming apparatus, comprising:

the laser device comprises a laser module, a laser module and a control module, wherein the laser module is used for emitting laser to a workpiece through a laser device so as to form a laser body on the workpiece; the laser body comprises a laser line or a laser spot;

the determining module is used for determining that the laser body is in a desired position, taking the laser body as a target laser body and determining at least one target point from the target laser body;

the conversion module is used for converting the target point to obtain a conversion position; the conversion position represents the coordinate description of the target point under a robot base coordinate system;

and the generating module is used for generating a robot program according to the conversion position and a preset program template.

9. A robot programming device comprising a processor and a memory;

the memory stores a program;

the processor executes the program to implement the method of any one of claims 1-7.

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

Technical Field

The invention relates to the field of programming, in particular to a robot programming method, a robot programming device and a storage medium.

Background

The automatic equipment is high-speed and intelligent, the teaching programming of the robot facing complex scenes is very difficult, or the teaching programming process is very time-consuming, and an important means for improving the teaching programming efficiency of the robot is to provide the robot with eyes and a brain matched with the eyes, wherein the eyes can obtain required data so as to teach the robot. The existing interactive robot teaching programming method needs to hold a demonstrator to perform precise teaching, and the processing of one workpiece needs to spend a lot of time on manual teaching to perform programming, so that the cost is high and the efficiency is low.

Disclosure of Invention

In view of the above, in order to solve the above technical problems, an object of the present invention is to provide a robot programming method, apparatus and storage medium with improved efficiency.

The technical scheme adopted by the invention is as follows:

emitting laser light to a workpiece through a laser device to form a laser body on the workpiece; the laser body comprises a laser line or a laser spot;

determining that the laser body is in a desired position, taking the laser body as a target laser body, and determining at least one target point from the target laser body;

converting the target point to obtain a conversion position; the conversion position represents the coordinate description of the target point under a robot base coordinate system;

and generating a robot program according to the conversion position and a preset program template.

Further, the determining at least one target point from the target laser volume includes:

detecting the laser line through a vision system, and determining a target point on the laser line; and the coordinate position of the target point is described by coordinates in a visual system coordinate system.

Further, the converting the target point to obtain a conversion position includes:

acquiring a first transformation matrix between a vision system coordinate system and a robot base coordinate system;

determining a second transformation matrix through positive kinematics calculation of the robot;

and obtaining a conversion position according to the product of the first transformation matrix, the second transformation matrix and the coordinate position of the target point.

Further, the obtaining a first transformation matrix between a vision system coordinate system and a robot base coordinate system includes:

performing point cloud collection on the three-dimensional calibration block through a vision system, and determining at least three key points;

determining the space coordinates of the three key points under the robot base coordinate system by adjusting the tail end of the robot;

constructing a first workpiece coordinate system under a vision system and a second workpiece coordinate system under a robot base coordinate system;

and fitting according to the first workpiece coordinate system, the second workpiece coordinate system and the space coordinate system to determine a first transformation matrix.

Further, the laser device is a laser ranging module and is arranged at the tail end of the robot, the laser point on the target laser body is the target point, the target point is converted to obtain a conversion position, and the method comprises the following steps:

acquiring a distance measurement value between the laser distance measurement module and the target point, a coordinate position of the target point and a robot tail end position coordinate;

determining a third transformation matrix according to the position coordinates of the tail end of the robot and the origin of the robot base coordinate system;

performing first conversion processing on the coordinate position of the target point according to the third conversion matrix;

and performing second conversion processing according to the ranging value and the first conversion processing result to obtain a conversion position.

Further, the laser ranging module is provided with a three-dimensional gyroscope, and the obtaining of the ranging value between the laser ranging module and the target point comprises:

setting the reference direction of the laser ranging module to be parallel to a reference axis of the robot, and acquiring the ranging value under the condition that the reference direction is parallel to the reference axis; the three-dimensional gyroscope is used for acquiring angle deviation when the robot moves and keeping the reference direction parallel to the reference axis according to the angle deviation.

Further, generating a robot program according to the conversion position and a preset program template includes:

generating assigned value data according to the number of the conversion positions and the conversion positions;

and generating a head program, a middle point program and a program tail end according to the assigned value data and the preset program template to obtain a robot program.

The present invention also provides a robot programming device, comprising:

the laser device comprises a laser module, a laser module and a control module, wherein the laser module is used for emitting laser to a workpiece through a laser device so as to form a laser body on the workpiece; the laser body comprises a laser line or a laser spot;

the determining module is used for determining that the laser body is in a desired position, taking the laser body as a target laser body and determining at least one target point from the target laser body;

the conversion module is used for converting the target point to obtain a conversion position; the conversion position represents the coordinate description of the target point under a robot base coordinate system;

and the generating module is used for generating a robot program according to the conversion position and a preset program template.

The invention also provides a robot programming device, which comprises a processor and a memory;

the memory stores a program;

the processor executes the program to implement the method.

The present invention also provides a computer-readable storage medium storing a program which, when executed by a processor, implements the method.

The invention has the beneficial effects that: emitting laser to a workpiece through laser equipment to form a laser body on the workpiece, wherein the laser body comprises a laser line or a laser point; determining that the laser body is at a desired position, taking the laser body as a target laser body, and determining at least one target point from the target laser body; converting the target point to obtain a conversion position; converting the coordinate description of the position representation target point under the robot base coordinate system; generating a robot program according to the conversion position and a preset program template; by forming the target laser, extracting the target point and combining the conversion position determined by conversion processing with a preset program template, the robot program is generated to realize programming, the time and the program spent by manual teaching can be reduced, the cost is reduced, and the programming efficiency is improved.

Drawings

FIG. 1 is a flow chart illustrating the steps of the robot programming method of the present invention;

FIG. 2 is a first schematic diagram of a laser apparatus according to an embodiment of the present invention;

FIG. 3 is a second schematic diagram of a laser apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a three-dimensional calibration block according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

As shown in fig. 1, an embodiment of the present invention provides a robot programming method, including steps S100-S400:

and S100, emitting laser to the workpiece through the laser device to form a laser body on the workpiece.

As shown in fig. 2 and 3, in the embodiment of the present invention, the laser body includes a laser line 201 or a laser spot 301. Alternatively, the laser lines 201 include, but are not limited to, straight lines, curved lines, or the like; the number of the laser lines 201 or the laser spots 301 is one or more, and may be formed as needed, and is not particularly limited. It should be noted that the laser apparatus includes, but is not limited to, a laser projection mapping device 202 for forming the laser line 201 on the workpiece a, and a laser ranging module 302 for forming the laser spot 301 on the workpiece B. Wherein, the robots are respectively C and D, and the robot C is also provided with a vision system 203.

S200, determining that the laser body is located at a desired position, taking the laser body as a target laser body, and determining at least one target point from the target laser body.

It should be noted that the desired position is a position to be processed on the workpiece, for example, a part of the workpiece needs to be cut, then the laser line (i.e., the target laser body or the target laser line) located at the desired position is a desired path of the robot end tool, and the robot end tool can process along the desired path formed by the laser line; alternatively, a laser spot (i.e., a target laser body or a target laser spot) located at a desired position, that is, a position to be processed, may be determined from a plurality of laser spots, so that a processing path including a plurality of positions to be processed can be determined. It will be appreciated that the target point is the acquired point on the target laser line, or alternatively, the laser spot on the target laser volume (i.e. the target laser spot) is the target point. It should be noted that the desired position and the position of the laser body can be adjusted manually, and the manual adjustment makes the laser body located at the desired position.

Optionally, when the laser body is a laser line, the step S200 determines at least one target point from the target laser body, specifically:

and detecting the laser line through a vision system, and determining a target point on the laser line. And the coordinate position of the target point is described by coordinates in a visual system coordinate system. Specifically, the coordinate value P of the sampling point on the line can be determined by the stereoscopic vision technology of the vision system, such as the binocular vision positioning method, the position of the same point in different cameras, the three-dimensional position of the space point (the space point positioning which can refer to the stereoscopic vision) is determined by combining the external parameters of the cameras_SI.e. a description of the coordinate position of the target point in the visual coordinate system.

And S300, converting the target point to obtain a conversion position.

It should be noted that the transformed position represents a coordinate description of the target point in the robot-based coordinate system.

Optionally, when the target point is determined from the target laser line, step S300 includes steps S311 to S313:

s311, a first transformation matrix between the vision system coordinate system and the robot base coordinate system is obtained.

Specifically, step S311 includes steps S3111-S3114:

s3111, carrying out point cloud collection on the three-dimensional calibration block through a vision system, and determining at least three key points.

As shown in fig. 4, at least three key points, P1, P2 and P3, are determined by the point cloud collection using the three-dimensional calibration block 401 by the vision system, where O is the origin and XYZ represents the coordinate axes.

S3112, determining the space coordinates of the three key points under the robot base coordinate system through adjusting the tail end of the robot.

Alternatively, the robot includes, but is not limited to, a six-axis robot. It should be noted that the robot end may refer to a robot end or a tool mounted on the robot end, for example, a sharp needle mounted on the robot end, the sharp needle is mounted on the sixth axis of the robot, the origin of the sixth axis coordinate system of the robot is offset along the Z axis by the length of the sharp needle, which is the position of the sharp needle, and the spatial coordinates under the robot base coordinate system are determined by adjusting the robot end so that the sharp needle moves to three key points.

S3113, a first workpiece coordinate system under a vision system and a second workpiece coordinate system under a robot base coordinate system are constructed.

S3114, fitting according to the first workpiece coordinate system, the second workpiece coordinate system and the space coordinates, and determining a first transformation matrix.

Specifically, according to the space coordinates of the three key points under the robot base coordinate system, a first transformation matrix of the vision system coordinate system relative to the robot base coordinate system is fitted by combining a first workpiece coordinate system and a second workpiece coordinate systemAnd completing the calibration of the vision system.

And S312, determining a second transformation matrix through positive kinematic calculation of the robot.

Optionally by robotThe positive kinematics calculation obtains a second transformation matrix

And S313, obtaining a conversion position according to the product of the first transformation matrix, the second transformation matrix and the coordinate position of the target point.

Wherein the content of the first and second substances,as a second transformation matrix, P_BFor the coordinate description of the target point under the robot-based coordinate system, P_SFor the description of the coordinate position of the target point in the visual coordinate system,is a first transformation matrix.

Alternatively, when the target point is the target laser point, the step S300 includes steps S321 to S324:

s321, obtaining a distance measurement value between the laser distance measurement module and the target point, a coordinate position of the target point and a position coordinate of the tail end of the robot.

In the embodiment of the invention, the laser ranging module is arranged at the tail end of the robot, and the three-dimensional gyroscope is arranged on the laser ranging module. It is understood that the ranging value refers to a distance value between the laser ranging module and the target point in the reference direction.

Optionally, in step S321, a distance value between the laser distance measurement module and the target point is obtained, specifically:

setting the reference direction of the laser ranging module to be parallel to the reference axis of the robot, and acquiring a ranging value under the condition that the reference direction is parallel to the reference axis; the three-dimensional gyroscope is used for acquiring angle deviation when the robot moves and keeping the reference direction parallel to the reference axis according to the angle deviation. Specifically, as shown in fig. 3, the reference axis is taken as an X axis as an example, the reference direction is set to be parallel to the reference axis of the robot, that is, the reference direction is made to follow the reference axis X axis, and the reference direction of the laser ranging module can also follow the reference axis X axis when the mobile robot makes the laser body be in a desired position through the setting of the three-dimensional gyroscope, so that the accuracy and the effectiveness of the obtained ranging value are ensured.

And S322, determining a third transformation matrix according to the position coordinates of the tail end of the robot and the origin of the robot base coordinate system.

Optionally, the determination of the third transformation matrix may be performed in a calibration manner, and is not described in detail.

And S323, performing first conversion processing on the coordinate position of the target point according to the third conversion matrix.

Specifically, the coordinate position of the target point is subjected to first conversion processing according to the third conversion matrix, and the first conversion is completed.

S324, second conversion processing is carried out according to the ranging value and the first conversion processing result, and a conversion position is obtained.

Optionally, the ranging value is equivalent to the offset, and a second conversion process is performed according to the offset and the first conversion process result to perform a second conversion, so as to obtain a conversion position. The offset is to solve the calculation of the corresponding relationship between the position of the irradiation point of the laser spot on the workpiece and the sixth axis coordinate system (robot base coordinate system) of the robot, specifically, the laser ranging module is used to measure the ranging value, and then a translation matrix can be obtained according to the inherent values of dY and dZ of the light emitting point (laser ranging module/robot end) of the laser ranging module and the sixth axis coordinate system (robot base coordinate system) of the robot, and the translation matrix can be used for the second conversion processing to obtain and record the conversion position.

And S400, generating a robot program according to the conversion position and a preset program template.

Optionally, step S400 includes steps S411-S412:

s411, generating assigned value data according to the number of conversion positions and the conversion positions.

Optionally, the assignment data that needs to be assigned to the preset program template is determined according to the number of the conversion positions, that is, the number of the target points, and the conversion positions of the target points.

And S412, generating a head program, a middle point program and a program tail end according to the assigned value data and a preset program template to obtain the robot program.

It should be noted that the preset program template may be set according to different robots, and without specific limitation, the assigned value data is substituted into the preset program template to generate a head program, a middle point program, and a program tail end, so as to obtain a robot program. The robot program can be downloaded to a controller of the robot, and the robot automatically completes teaching programming according to the robot program.

For example: the head, the middle and the tail of the preset program template all have a preset fixed format, i.e. fixed sentences.

A head section: the programs of the robot all have fixed formats, and contain contents such as the number of target points, coordinate system description (conversion positions) of the programs and the like, a head program is generated, and assignment of data is completed.

The intermediate point is as follows: the robot program description may be fixed statements, assigning different fixed statements, such as P008 ═ 100,0,0,0, MOVL P008V ═ 20, that is to pass the 8 th target point, the velocity passing this target point being 20% of full speed;

3. end: for example a fixed statement END, or the robot tool may be reset after the machining is completed, such as: p018 is 500,10,10,0,0,0

MOVL P018 V＝20

END

In summary, the robot programming method of the embodiment of the invention has the following advantages:

based on laser lines:

1) the teaching programming process of the robot can be quickly realized, and the teaching programming process of the robot can be quickly realized by the robot interactive teaching method based on the laser lines generated by projection mapping;

2) the lines required by projection are used for reaching the processing position, and the laser lines in the projection mapping process can be adjusted until the requirements are met, so that the robot can work with a human in a cooperative manner;

3) the teaching programming of the robot can be completed conveniently with low cost, high precision and high efficiency.

Based on the laser spot:

1) the invention discloses an interactive robot teaching method for realizing laser ranging based on laser points, which is equivalent to projection mapping to generate laser lines (relatively suitable for a slightly simple workpiece), and can quickly realize a robot teaching programming process facing a complex workpiece;

2) the teaching guidance method for projecting the laser point to the target position to be processed is provided, the projection position of the laser point can be randomly adjusted according to the processing technology in the laser point emitting process until the requirement is met, so that the robot can work with people in a cooperative manner;

3) the teaching programming of the robot can be completed conveniently with low cost, high precision and high efficiency.

An embodiment of the present invention further provides a robot programming apparatus, including:

the laser module is used for emitting laser to the workpiece through the laser equipment so as to form a laser body on the workpiece; the laser body comprises a laser line or a laser spot;

the determining module is used for determining that the laser body is located at a desired position, taking the laser body as a target laser body and determining at least one target point from the target laser body;

the conversion module is used for converting the target point to obtain a conversion position; converting the coordinate description of the position representation target point under the robot base coordinate system;

and the generating module is used for generating the robot program according to the conversion position and the preset program template.

The contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.

The embodiment of the invention also provides a robot programming device, which comprises a processor and a memory;

the memory is used for storing programs;

the processor is used for executing programs to realize the robot programming method of the embodiment of the invention. The device of the embodiment of the invention can realize the function of robot programming. The device can be any intelligent terminal including an industrial personal computer, a mobile phone, a tablet personal computer, a computer and the like.

The contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.

The embodiment of the invention also provides a computer-readable storage medium, which stores a program, and the program is executed by a processor to implement the robot programming method according to the embodiment of the invention.

Embodiments of the present invention also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the robot programming method of the aforementioned embodiments of the invention.

The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing programs, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.