阅读说明：本技术 螺杆点胶补偿方法、装置、计算机设备及其存储介质 (Screw dispensing compensation method and device, computer equipment and storage medium thereof ) 是由 黄爱林 李国庆 于 2021-07-29 设计创作，主要内容包括：本发明公开了一种螺杆点胶补偿方法、装置、计算机设备及其存储介质,该方法包括：控制点胶阀开始出胶；获取点胶阀在设定时间内t的出胶量fout(t)；根据所述出胶量fout(t)获取设定时间内t的出胶偏差offset(t)；S根据所述出胶偏差offset(t)获取出胶补偿量△U(t)；根据所述出胶补偿量△U(t)对出点胶阀的出胶进行补偿控制。如此,可根据出胶偏差实现出胶量的不断补偿,从而实现点胶头的高精度出胶。(The invention discloses a screw dispensing compensation method, a screw dispensing compensation device, computer equipment and a storage medium thereof, wherein the method comprises the following steps: controlling a dispensing valve to start dispensing glue; obtaining the glue output amount fout (t) of the glue dispensing valve within the set time t; obtaining a glue discharging deviation offset (t) of t within a set time according to the glue discharging amount fout (t); s, obtaining a glue outlet compensation quantity delta U (t) according to the glue outlet deviation offset (t); and performing compensation control on the glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t). Therefore, continuous compensation of glue discharging amount can be realized according to glue discharging deviation, and high-precision glue discharging of the dispensing head is realized.)

1. A screw dispensing compensation method is characterized by comprising the following steps:

controlling a dispensing valve to start dispensing glue;

obtaining the glue output amount fout (t) of the glue dispensing valve within the set time t;

obtaining a glue discharging deviation offset (t) of t within a set time according to the glue discharging amount fout (t);

obtaining a glue outlet compensation quantity delta U (t) according to the glue outlet deviation offset (t);

and performing compensation control on the glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t).

2. The screw dispensing compensation method according to claim 1, wherein the method for controlling the compensation of the dispensing valve according to the dispensing compensation quantity Δ u (t) comprises:

converting the glue outlet compensation quantity delta U (t) into a new rotation degree W (t) of the motor rotation;

and controlling the motor to switch at a new rotating speed W (t) so as to drive the dispensing valve to compensate dispensing.

3. The screw dispensing compensation method according to claim 1 or 2, wherein the method for obtaining the dispensing amount fout (t) of the dispensing valve within the set time t comprises:

receiving flow data output by a flowmeter;

the total flow rate in the set time t is counted as the glue output amount fout (t).

4. The screw dispensing compensation method according to claim 3, wherein the method for obtaining the dispensing deviation of t within the set time according to the dispensing amount comprises:

offset (t) fin (t) -fout (t); where fin (t) is the expected input glue amount.

5. The screw dispensing compensation method according to claim 4, wherein in the set system sampling period k, the dispensing compensation amount Δ U (k) is:

kp (offset (k) -offset (k-1)) + Kioffset (k) + Kd (offset (k) -2offset (k-1) + offset (k-2)); wherein Kp is a proportional band, Ki is an integral time, and Kd is a derivative time.

6. The utility model provides a compensation arrangement is glued to screw rod point which characterized in that includes:

the glue discharging control module is used for controlling the glue dispensing valve to start glue discharging;

the glue yield obtaining module is used for obtaining the glue yield fout (t) of the dispensing valve within the set time t;

the glue discharging deviation calculation module is used for acquiring glue discharging deviation offset (t) of t in set time according to the glue discharging amount fout (t);

the compensation amount calculation module is used for acquiring a glue outlet compensation amount delta U (t) according to the glue outlet deviation offset (t);

and the glue outlet compensation control module is used for performing compensation control on glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t).

7. The screw dispensing compensation device of claim 6, wherein the dispensing compensation control module comprises:

the motor rotating speed conversion module is used for converting the glue outlet compensation quantity delta U (t) into a new rotating degree W (t) of motor rotation;

and the compensation dispensing module is used for controlling the motor to switch at a new rotating speed W (t) so as to drive the dispensing valve to compensate dispensing.

8. The screw dispensing compensation device according to claim 6 or 7, wherein in the set system sampling period k, the dispensing compensation amount Δ u (k) is:

kp (offset (k) -offset (k-1)) + Kioffset (k) + Kd (offset (k) -2offset (k-1) + offset (k-2)); wherein Kp is a proportional band, Ki is an integral time, and Kd is a derivative time.

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the screw dispensing compensation method according to any one of claims 1 to 5.

10. A computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the screw dispensing compensation method of any one of claims 1 to 5.

Technical Field

The invention relates to the technical field of dispensing, in particular to a screw dispensing compensation method and device, computer equipment and a storage medium thereof.

Background

The dispensing system comprises a pneumatic dispensing system and a screw type electric dispensing system, the pneumatic dispensing system sends compressed air into a glue bottle (injector), the glue is pressed into a feeding pipe connected with a piston chamber, when a piston is in an up stroke, the piston chamber is filled with the glue, when the piston downwards pushes a glue dripping needle head, the glue is pressed out from a needle nozzle, but the dispensing mode has relatively large error and is difficult to meet the requirement of high-precision dispensing.

The screw type electric dispensing system realizes a medium conveying function through the directional rotation effect of the rotor of the motor in the stator cavity, and has relatively high precision due to the fact that the motor rotates to control the dispensing amount.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a screw dispensing compensation method, device, computer device and storage medium thereof.

In order to achieve the above object, in a first aspect, a screw dispensing compensation method according to an embodiment of the present invention includes:

controlling a dispensing valve to start dispensing glue;

obtaining the glue output amount fout (t) of the glue dispensing valve within the set time t;

obtaining a glue discharging deviation offset (t) of t within a set time according to the glue discharging amount fout (t);

obtaining a glue outlet compensation quantity delta U (t) according to the glue outlet deviation offset (t);

and performing compensation control on the glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t).

According to an embodiment of the present invention, the method for controlling the compensation of the glue discharging of the dispensing valve according to the glue discharging compensation amount Δ u (t) includes:

converting the glue outlet compensation quantity delta U (t) into a new rotation degree W (t) of the motor rotation;

and controlling the motor to switch at a new rotating speed W (t) so as to drive the dispensing valve to compensate dispensing.

According to one embodiment of the invention, the method for acquiring the glue output fout (t) of the glue dispensing valve in the set time t comprises the following steps:

receiving flow data output by a flowmeter;

the total flow rate in the set time t is counted as the glue output amount fout (t).

According to an embodiment of the present invention, the method for obtaining the glue discharging deviation t within the set time according to the glue discharging amount comprises:

offset (t) fin (t) -fout (t); where fin (t) is the expected input glue amount.

According to an embodiment of the present invention, in the set system sampling period k, the glue-out compensation amount Δ u (k) is:

kp (offset (k) -offset (k-1)) + Kioffset (k) + Kd (offset (k) -2offset (k-1) + offset (k-2)); wherein Kp is a proportional band, Ki is an integral time, and Kd is a derivative time.

In a second aspect, a screw dispensing compensation device according to an embodiment of the present invention includes:

the glue discharging control module is used for controlling the glue dispensing valve to start glue discharging;

the glue yield obtaining module is used for obtaining the glue yield fout (t) of the dispensing valve within the set time t;

the glue discharging deviation calculation module is used for acquiring glue discharging deviation offset (t) of t in set time according to the glue discharging amount fout (t);

the compensation amount calculation module is used for acquiring a glue outlet compensation amount delta U (t) according to the glue outlet deviation offset (t);

and the glue outlet compensation control module is used for performing compensation control on glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t).

According to one embodiment of the invention, the glue outlet compensation control module comprises:

the motor rotating speed conversion module is used for converting the glue outlet compensation quantity delta U (t) into a new rotating degree W (t) of motor rotation;

and the compensation dispensing module is used for controlling the motor to switch at a new rotating speed W (t) so as to drive the dispensing valve to compensate dispensing.

According to an embodiment of the present invention, in the set system sampling period k, the glue-out compensation amount Δ u (k) is:

Kp(offset(k)-offset(k-1))+Kioffset(k)+Kd(offset(k)-2offset(k-1)+offset(k-2))；

wherein Kp is a proportional band, Ki is an integral time, and Kd is a derivative time.

In a third aspect, a computer device provided according to an embodiment of the present invention includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the screw dispensing compensation method as described above is implemented.

In a fourth aspect, a computer storage medium is provided according to an embodiment of the present invention, on which a computer program is stored, and the program is executed by a processor to implement the screw dispensing compensation method as described above.

According to the screw dispensing compensation method, the screw dispensing compensation device, the computer equipment and the storage medium thereof, provided by the embodiment of the invention, the dispensing valve is controlled to start to discharge glue; obtaining the glue output amount fout (t) of the glue dispensing valve within the set time t; obtaining a glue discharging deviation offset (t) of t within a set time according to the glue discharging amount fout (t); s, obtaining a glue outlet compensation quantity delta U (t) according to the glue outlet deviation offset (t); and performing compensation control on the glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t). Therefore, continuous compensation of glue discharging amount can be realized according to glue discharging deviation, and high-precision glue discharging of the dispensing head is realized.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a flowchart illustrating a screw dispensing compensation method according to an embodiment of the present invention;

FIG. 2 is a flowchart of step S105 in the screw dispensing compensation method of the present invention;

FIG. 3 is a flowchart of step S102 in the embodiment of the screw dispensing compensation method of the present invention;

FIG. 4 is a schematic structural diagram of an embodiment of a screw dispensing compensation device according to the present invention;

FIG. 5 is a schematic structural diagram of a glue discharging compensation control module in an embodiment of the screw glue dispensing compensation device of the present invention;

FIG. 6 is a schematic structural diagram of a glue yield obtaining module in an embodiment of the screw glue dispensing compensation device of the present invention;

FIG. 7 is a schematic diagram of the structure of the computer apparatus of the present invention;

fig. 8 is a schematic diagram of proportional, derivative and integral adjustment of dispensing increments in accordance with the present invention.

Reference numerals:

a screw dispensing supplementary device 10;

a glue discharging control module 101;

a glue yield obtaining module 102;

a traffic data receiving module 1021;

a traffic statistics module 1022;

a glue outlet deviation calculation module 103;

a replenishment amount calculation module 104;

a glue discharging compensation control module 105;

a motor speed conversion module 1051;

a compensation dispensing module 1052;

a computer device 20;

a memory 201;

a computer program 2011;

a processor 202.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

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 invention. 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 to be expressly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

The application provides a screw rod dispensing compensation method, which is characterized in that a flow meter is arranged on a dispensing head on the basis of the existing electric dispensing system. Therefore, the glue discharging amount of the glue dispensing head in the set time can be obtained, and the error of the glue discharging amount can be obtained by comparing the glue discharging amount with the preset glue discharging amount. Through compensating the error, can satisfy the some glue demands of high accuracy.

Referring to fig. 1, fig. 1 is a flowchart illustrating an embodiment of a screw dispensing compensation method according to an embodiment of the present invention, and for convenience of description, only a portion related to the embodiment of the present invention is shown. The screw dispensing compensation method specifically comprises the following steps:

S1O1, controlling a dispensing valve to start dispensing glue;

s102, obtaining the glue output amount fout (t) of the glue dispensing valve in the set time t;

s103, obtaining a glue discharging deviation offset (t) of t in a set time according to the glue discharging amount fout (t);

s104, obtaining a glue discharging compensation quantity delta U (t) according to the glue discharging deviation offset (t);

and S105, performing compensation control on the glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t).

Specifically, in step S101, when the dispensing system starts dispensing, the control system controls the electric dispensing valve to rotate, so as to deliver the glue and dispense the dispensed parts. When the motor is controlled, the glue outlet amount can be acquired through the flow meter on the glue dispensing head. In step S102, the dispensing control system may obtain the dispensing amount fout (t) within the set time t through the flow meter. After obtaining the glue output amount fout (t), S103, obtaining a glue output deviation offset (t) of t within a set time according to the glue output amount fout (t); in an embodiment of the present invention, the method for obtaining the glue discharging deviation t within the set time according to the glue discharging amount includes: offset (t) fin (t) -fout (t); where fin (t) is the expected input glue amount. The difference between the actual glue output fout (t) and the expected glue output is the glue output deviation offset (t); the larger the dispensing deviation offset (t), the lower the dispensing accuracy. In order to ensure the dispensing accuracy, the dispensing offset (t) should be reduced as much as possible. In step S104, a glue dispensing compensation amount Δ u (t) is obtained according to the glue dispensing deviation offset (t). When the input is fin (T) at a certain time T, the output is fout (T), and the deviation is offset (T) fin (T) -fout (T);

it is understood that the formula Δ u (t) ═ kp (offset (t) +1/Ti) — integral whole offset (t) dt + tddoffset (t)/dt). In one embodiment of the present invention, the system sampling period k is set to offset (k) ═ fin (k) -fout (k); the glue-out compensation quantity delta U (K) is as follows:

kp (offset (k) -offset (k-1)) + Kioffset (k) + Kd (offset (k) -2offset (k-1) + offset (k-2)); wherein Kp is a proportional band, Ki is an integral time, and Kd is a derivative time. As shown in fig. 7, the compensation of the glue discharging amount is realized by respectively adopting the proportional compensation, the integral compensation and the differential compensation according to the glue discharging deviation offset (t), so that the compensation precision is high. After the acquisition of the compensation quantity Δ u (k) of the sampling time period k. In step S105, the glue discharging of the dispensing valve is compensated and controlled according to the glue discharging compensation amount Δ u (k). That is, adding Δ U (K) advance compensation amount when outputting. Specifically, at the next glue-out sampling period, the rotation speed is increased by converting the delta U (K). The electric motor system realizes the delivery of the dispensing amount through the directional rotation of the rotor of the motor in the stator cavity. The rotating speed is in proportion to the glue output. The compensation of the dispensing amount can be realized by controlling the motor to rotate according to the new rotating speed. At the same time, k is used in the next application time period t. The above steps of S101-S105 may be repeated. The continuous compensation of the glue discharging amount can be realized, so that the high-precision glue discharging of the glue dispensing head is realized.

According to the screw dispensing compensation method provided by the embodiment of the invention, glue begins to be discharged by controlling the dispensing valve through the step S1O 1; s102, obtaining the glue output amount fout (t) of the glue dispensing valve in the set time t; s103, obtaining a glue discharging deviation offset (t) of t in a set time according to the glue discharging amount fout (t); s104, obtaining a glue discharging compensation quantity delta U (t) according to the glue discharging deviation offset (t); and S105, performing compensation control on the glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t). Therefore, continuous compensation of glue discharging amount can be realized according to glue discharging deviation, and high-precision glue discharging of the dispensing head is realized.

Referring to fig. 2, the method for controlling the glue discharging compensation of the glue discharging valve according to the glue discharging compensation amount Δ u (t) includes:

s1051, converting the glue outlet compensation quantity delta U (t) into a new rotation degree W (t) of motor rotation;

s1052, controlling the motor to switch at the new rotating speed W (t), so as to drive the dispensing valve to compensate dispensing.

Specifically, when dispensing starts, the controller controls the motor of the dispensing valve to rotate at a speed set by the installation, sampling is carried out simultaneously in a sampling period K, and after the sampling period is finished, the controller can acquire a compensation error glue discharging deviation offset (K) and calculate a glue advance compensation quantity delta U (t). Because the motor rotating speed and the glue discharging amount of the electric glue dispensing system are in a proportional relation, converting the glue discharging compensation amount delta U (t ═ k) into a new rotation degree W (t) of the motor rotation through the step S1051; the rotating speed W (t) of the rotation of the driving motor is obtained again according to the compensation quantity delta U (t). In the next sampling time period, the motor is controlled to switch through the step S1052 at the new rotation speed w (t), so as to drive the dispensing valve to compensate dispensing. When the glue is discharged by rotating at the original rotating speed in the last time period K, a glue discharging deviation offset (K) is generated. And in the next time period K +1, driving the motor to rotate to discharge the glue according to the new rotating speed W (t). The actual glue discharging amount is closer to the expected value, so that the glue discharging error caused by the system error is compensated, and the glue dispensing precision is more accurate.

Referring to fig. 3, the method for obtaining the glue output fout (t) of the glue dispensing valve in the set time t includes:

s1021, receiving flow data output by the flowmeter;

s1022, the total flow rate in the set time t is counted as the glue output amount fout (t).

Specifically, the flow meter is installed on the dispensing head to detect the glue output amount of the dispensing head. The controller is in communication connection with the flowmeter through the interface so as to receive flow data output by the flowmeter. Meanwhile, in step S1022, the total flow rate within the set time t is counted as the glue output amount fout (t). In one embodiment of the present invention, a calculation module may be disposed in the controller to perform real-time statistics on the flow output by the flow meter. In a time period t ═ k, the amount of glue fout (k) can be counted. In some other embodiments of the present invention, the flow value at a time period t ═ k may also be counted by the flow meter and sent to the controller.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a screw dispensing compensation device according to an embodiment of the present invention, and for convenience of description, only the portions related to the embodiment of the present invention are shown. This compensation arrangement is glued to screw rod point specifically includes: the glue discharging control module 101, the glue discharging amount obtaining module 102, the glue discharging deviation calculating module 103, the compensation amount calculating module and the glue discharging compensation control module 105 are arranged, and the glue discharging control module 101 is used for controlling the glue dispensing valve to start glue discharging.

The glue outlet amount obtaining module 102 is configured to obtain a glue outlet amount fout (t) of the dispensing valve within a set time t.

The glue discharging deviation calculating module 103 is configured to obtain a glue discharging deviation offset (t) of t within a set time according to the glue discharging amount fout (t).

The compensation amount calculation module is used for acquiring a glue outlet compensation amount delta U (t) according to the glue outlet deviation offset (t).

The glue outlet compensation control module 105 is used for performing compensation control on glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t).

According to the screw dispensing compensation device provided by the embodiment of the invention, the glue outlet amount obtaining module 102 is used for obtaining the glue outlet amount fout (t) of the dispensing valve within the set time t. The glue discharging deviation calculating module 103 is configured to obtain a glue discharging deviation offset (t) of t within a set time according to the glue discharging amount fout (t). And the compensation amount calculation module is used for acquiring a glue outlet compensation amount delta U (t) according to the glue outlet deviation offset (t). The glue outlet compensation control module 105 is used for performing compensation control on glue outlet of the glue outlet dispensing valve according to the glue outlet compensation quantity delta U (t). The continuous compensation of the glue discharging amount can be realized, so that the high-precision glue discharging of the glue dispensing head is realized.

Referring to fig. 5, the glue-out compensation control module 105 includes: the glue dispensing device comprises a motor rotating speed conversion module 1051 and a compensation glue dispensing module 1052, wherein the motor rotating speed conversion module 1051 is used for converting the glue dispensing compensation quantity delta U (t) into a new rotating degree W (t) of motor rotation.

The compensation dispensing module 1052 is used for controlling the motor to switch at a new rotating speed w (t), so as to drive the dispensing valve to compensate dispensing.

Referring to fig. 6, the glue yield obtaining module 102 includes: a flow data receiving module 1021 and a flow statistics module 1022, where the flow data receiving module 1021 is configured to receive flow data output by the flow meter.

The flow rate counting module 1022 is configured to count the total flow rate within the set time t as the glue output amount fout (t).

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device or system type embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

Referring to fig. 7, fig. 7 illustrates a computer device provided in an embodiment of the present invention, which includes a memory 201, a processor 202, and a computer program 2011 stored on the memory 201 and executable on the processor 202, where the processor 202 implements the screw dispensing compensation method described above when executing the computer program 2011.

Illustratively, the computer program 2011 can be partitioned into one or more modules/units, which are stored in the memory 201 and executed by the processor 202 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program 2011 in the computer device 20.

The computer device 20 may include, but is not limited to, a processor 202, a memory 201. Those skilled in the art will appreciate that the figure is merely an example of a computer device 20 and is not intended to limit the computer device 20 and may include more or fewer components than those shown, or some of the components may be combined, or different components, for example the computer device 20 may also include input output devices, network access devices, buses, etc.

The Processor 202 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic, discrete default hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 201 may be an internal storage unit of the computer device 20, such as a hard disk or a memory of the computer device 20. The memory 201 may also be an external storage device of the computer device 20, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 20. Further, the memory 201 may also include both an internal storage unit and an external storage device of the computer device 20. The memory 201 is used for storing the computer program 2011 and other programs and data required by the computer device 20. The memory 201 may also be used to temporarily store data that has been output or is to be output.

An embodiment of the present invention further provides a computer storage medium, on which a computer program 2011 is stored, and when the program is executed by the processor 202, the method for screw dispensing compensation is implemented.

The computer program 2011 may be stored in a computer readable storage medium, and when executed by the processor 202, the computer program 2011 may implement the steps of the method embodiments. Wherein the computer program 2011 comprises computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.

It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.

The modules or units in the system of the embodiment of the invention can be combined, divided and deleted according to actual needs.

Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic pre-set hardware or in a combination of computer software and electronic pre-set hardware. Whether these functions are performed by pre-determined hardware or software depends on the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/computer device 20 and method may be implemented in other ways. For example, the above-described embodiment of apparatus/computer device 20 is merely illustrative, and for example, the division of the modules or units is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. 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.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.